+ python -m lidar_slam --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters 0.03297263324498695 Centerline is valid? [0, True] SLAMing on 0.062320587999999996 meters 0.029428225919956207 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99822552e-01 1.23175855e-02 1.42527518e-02 6.07063795e-02] [-1.23058173e-02 9.99923864e-01 -9.13085774e-04 4.63252618e-03] [-1.42629137e-02 7.37531989e-04 9.99898007e-01 8.25943606e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122320588 meters 0.024438850294091194 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 9.99608126e-01 2.69208631e-02 7.67209843e-03 1.21174979e-01] [-2.69178816e-02 9.99637527e-01 -4.91626261e-04 -4.84093015e-03] [-7.68255251e-03 2.84916968e-04 9.99970448e-01 6.65171855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182320588 meters 0.020731601917470543 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:0.01 [[ 9.98981707e-01 4.51050979e-02 1.03922338e-03 1.80607315e-01] [-4.51050528e-02 9.98982247e-01 -6.67692292e-05 -1.99337669e-02] [-1.04117734e-03 1.98270131e-05 9.99999458e-01 6.16878386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242320588 meters 0.019667078667362968 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.03, Z:0.01 [[ 9.98629717e-01 5.23124190e-02 -1.44893997e-03 2.38784806e-01] [-5.23123370e-02 9.98630768e-01 9.44872838e-05 -3.05297463e-02] [ 1.45189889e-03 -1.85603734e-05 9.99998946e-01 5.55389795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302320588 meters 0.019339061355140314 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.04, Z:0.01 [[ 9.98129214e-01 6.11148226e-02 1.74632231e-03 2.97135303e-01] [-6.11147271e-02 9.98130742e-01 -1.08068282e-04 -4.34341569e-02] [-1.74966256e-03 1.14009770e-06 9.99998469e-01 6.21593973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362320588 meters 0.0194097283981433 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.05, Z:0.01 [[ 9.98027466e-01 6.21631293e-02 8.77058784e-03 3.55487864e-01] [-6.21607151e-02 9.98066003e-01 -5.47856974e-04 -5.35669218e-02] [-8.78768205e-03 1.59029474e-06 9.99961388e-01 8.26343530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422320588 meters 0.019480710108554997 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.06, Z:0.01 [[ 9.98068167e-01 6.10657448e-02 1.14415813e-02 4.15403049e-01] [-6.10615289e-02 9.98133746e-01 -7.17762111e-04 -5.90814220e-02] [-1.14640590e-02 1.77350680e-05 9.99934285e-01 9.54590365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482320588 meters 0.019822381083740626 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:0.01 [[ 9.98130184e-01 5.79832203e-02 1.93411849e-02 4.77031616e-01] [-5.79705631e-02 9.98317554e-01 -1.21491285e-03 -6.21354893e-02] [-1.93790890e-02 9.14218038e-05 9.99812204e-01 7.46094255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542320588 meters 0.020128904033746054 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.07, Z:0.01 [[ 9.98238969e-01 5.57185289e-02 2.03569636e-02 5.39391558e-01] [-5.57039758e-02 9.98446506e-01 -1.28167539e-03 -6.52561743e-02] [-2.03967522e-02 1.45454516e-04 9.99791954e-01 5.24313258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602320588 meters 0.02063933603234574 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.07, Z:0.00 [[ 9.98495552e-01 5.08399648e-02 2.05409377e-02 6.01592439e-01] [-5.08240617e-02 9.98706782e-01 -1.29585373e-03 -7.34544829e-02] [-2.05802549e-02 2.49930306e-04 9.99788173e-01 2.89476955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters 0.020938628591570047 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.08, Z:0.00 [[ 9.98565228e-01 4.91932304e-02 2.11544652e-02 6.63237822e-01] [-4.91759367e-02 9.98789237e-01 -1.33723793e-03 -7.97931984e-02] [-2.11946352e-02 2.95028663e-04 9.99775325e-01 3.19725923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters 0.021182279415936887 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:0.00 [[ 9.98666866e-01 4.63169607e-02 2.27866139e-02 7.25034490e-01] [-4.62960827e-02 9.98926719e-01 -1.44320760e-03 -8.36265157e-02] [-2.28290025e-02 3.86352649e-04 9.99739310e-01 4.46452362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters 0.02192110075431942 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.09, Z:0.00 [[ 9.98918366e-01 4.18243335e-02 2.03180701e-02 7.87389463e-01] [-4.18067523e-02 9.99124883e-01 -1.28947617e-03 -8.91711297e-02] [-2.03542209e-02 4.38648901e-04 9.99792735e-01 2.49687928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842320588 meters 0.02192110075431942 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.09, Z:0.00 [[ 9.98910503e-01 4.20118344e-02 2.03178078e-02 8.49834054e-01] [-4.19942080e-02 9.99117017e-01 -1.29360495e-03 -9.30766422e-02] [-2.03542142e-02 4.38965327e-04 9.99792735e-01 2.81214327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9023205879999999 meters 0.022447458606063193 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.10, Z:0.00 [[ 9.99102232e-01 3.84812044e-02 1.77179693e-02 9.11424966e-01] [-3.84672103e-02 9.99259224e-01 -1.13007784e-03 -1.00074514e-01] [-1.77483310e-02 4.47502436e-04 9.99842386e-01 2.03712818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962320588 meters 0.0224926303209023 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.10, Z:0.00 [[ 9.99089321e-01 3.85993574e-02 1.81829181e-02 9.73278616e-01] [-3.85845984e-02 9.99254662e-01 -1.16194994e-03 -1.04200186e-01] [-1.82142162e-02 4.59311181e-04 9.99834002e-01 4.20190410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters 0.02179428744230462 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.11, Z:0.01 [[ 9.98948988e-01 4.24307046e-02 1.73364881e-02 1.03566109e+00] [-4.24177856e-02 9.99099341e-01 -1.11239332e-03 -1.09908355e-01] [-1.73680735e-02 3.75848744e-04 9.99849093e-01 8.14288875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082320588 meters 0.02071486521796497 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.12, Z:0.01 [[ 9.98748897e-01 4.91723115e-02 9.09534271e-03 1.09657424e+00] [-4.91690326e-02 9.98790301e-01 -5.83891851e-04 -1.21074884e-01] [-9.11305139e-03 1.35952140e-04 9.99958466e-01 6.05490958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters 0.020449774318920158 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.13, Z:0.00 [[ 9.98640913e-01 5.16534889e-02 6.94573028e-03 1.15799235e+00] [-5.16516332e-02 9.98665064e-01 -4.46414980e-04 -1.28445329e-01] [-6.95951707e-03 8.70499508e-05 9.99975778e-01 4.21247128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2023205879999999 meters 0.020333189536882613 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.14, Z:0.00 [[ 9.98300753e-01 5.61793424e-02 1.54754265e-02 1.21783294e+00] [-5.61706842e-02 9.98420686e-01 -9.93918839e-04 -1.38155699e-01] [-1.55068236e-02 1.22964630e-04 9.99879754e-01 4.81552117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262320588 meters 0.020574597422677386 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.15, Z:0.01 [[ 9.97808683e-01 5.95062937e-02 2.89280554e-02 1.27873224e+00] [-5.94773680e-02 9.98227921e-01 -1.86011713e-03 -1.45791679e-01] [-2.89874813e-02 1.35476423e-04 9.99579765e-01 1.04719761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3223205879999997 meters 0.019806305151389026 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.23, Z:0.01 [[ 9.97946080e-01 6.40577496e-02 -4.75098175e-04 1.33445090e+00] [-6.40577424e-02 9.97946193e-01 3.05376288e-05 -2.27485734e-01] [ 4.76078587e-04 -4.11904717e-08 9.99999887e-01 5.42125553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3823205879999998 meters 0.019771271096694156 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.23, Z:0.01 [[ 9.97939766e-01 6.41428868e-02 -1.38325983e-03 1.39285659e+00] [-6.41428227e-02 9.97940725e-01 9.06724161e-05 -2.31908575e-01] [ 1.38622730e-03 -1.75941987e-06 9.99999039e-01 7.71559989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4423205879999998 meters 0.019531894720326338 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.24, Z:0.01 [[ 9.97905644e-01 6.46846635e-02 4.69141821e-04 1.45104784e+00] [-6.46846578e-02 9.97905754e-01 -2.73228024e-05 -2.37650247e-01] [-4.69926689e-04 -3.08069943e-06 9.99999890e-01 1.04137215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502320588 meters 0.01958290250225488 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.24, Z:0.01 [[ 9.98010362e-01 6.26678515e-02 6.93237559e-03 1.51017346e+00] [-6.26663190e-02 9.98034438e-01 -4.38268901e-04 -2.43466087e-01] [-6.94621495e-03 2.97044396e-06 9.99975875e-01 1.16431974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562320588 meters 0.019960053201267824 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.25, Z:0.01 [[ 9.98213963e-01 5.87452151e-02 1.08574122e-02 1.57208535e+00] [-5.87411945e-02 9.98273007e-01 -6.89112190e-04 -2.51053547e-01] [-1.08791436e-02 5.01040488e-05 9.99940819e-01 1.03802101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6223205879999998 meters 0.020153270039788746 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.26, Z:0.01 [[ 9.98284078e-01 5.68340511e-02 1.40993155e-02 1.63428133e+00] [-5.68270563e-02 9.98383635e-01 -8.96571010e-04 -2.57723699e-01] [-1.41274816e-02 9.38099679e-05 9.99900198e-01 8.81667414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters 0.020258983470263666 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.27, Z:0.01 [[ 9.98314712e-01 5.53878514e-02 1.73182538e-02 1.69627408e+00] [-5.53770429e-02 9.98464905e-01 -1.10340902e-03 -2.65765803e-01] [-1.73527841e-02 1.42515778e-04 9.99849419e-01 7.93091907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters 0.02011129894555008 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.27, Z:0.01 [[ 9.98268424e-01 5.61750936e-02 1.74502948e-02 1.75937680e+00] [-5.61641725e-02 9.98420924e-01 -1.11567355e-03 -2.70346610e-01] [-1.74854125e-02 1.33660308e-04 9.99847110e-01 8.15492291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters 0.020158997622444674 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.28, Z:0.01 [[ 9.98098638e-01 5.92852152e-02 1.68633149e-02 1.82156271e+00] [-5.92754277e-02 9.98241082e-01 -1.08007804e-03 -2.76412853e-01] [-1.68976863e-02 7.84442205e-05 9.99857221e-01 7.29791688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8623205879999998 meters 0.02004208244680039 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.28, Z:0.01 [[ 9.97987228e-01 6.15658129e-02 1.52033775e-02 1.88338569e+00] [-6.15580902e-02 9.98103025e-01 -9.75856011e-04 -2.82626151e-01] [-1.52346165e-02 3.80009494e-05 9.99883946e-01 7.68972199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9223205879999998 meters 0.0199593865435189 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.29, Z:0.01 [[ 9.97801154e-01 6.52631038e-02 1.15578589e-02 1.94476351e+00] [-6.52588687e-02 9.97868091e-01 -7.43588079e-04 -2.90994735e-01] [-1.15817474e-02 -1.22997514e-05 9.99932929e-01 9.31649403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters 0.019957726045695758 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.30, Z:0.01 [[ 9.97734800e-01 6.67680779e-02 8.20315086e-03 2.00700179e+00] [-6.67659845e-02 9.97768522e-01 -5.29078851e-04 -2.96497897e-01] [-8.22017128e-03 -1.98110612e-05 9.99966214e-01 1.04291717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters 0.019728240597422803 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.30, Z:0.01 [[ 9.97696114e-01 6.77776258e-02 2.94243094e-03 2.06959224e+00] [-6.77773575e-02 9.97700453e-01 -1.90888748e-04 -2.99362154e-01] [-2.94860267e-03 -8.98123196e-06 9.99995653e-01 1.14116088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters 0.019657575931564426 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.30, Z:0.01 [[ 9.97593006e-01 6.92753018e-02 3.02092972e-03 2.13185928e+00] [-6.92750252e-02 9.97597580e-01 -1.96217874e-04 -3.04698306e-01] [-3.02726523e-03 -1.35294041e-05 9.99995418e-01 1.25265572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters 0.019704301942247236 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.31, Z:0.01 [[ 9.97492419e-01 7.04805783e-02 6.43137442e-03 2.19321556e+00] [-7.04793544e-02 9.97513151e-01 -4.17034482e-04 -3.10547495e-01] [-6.44477339e-03 -3.72903826e-05 9.99979232e-01 1.44507772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2223205879999997 meters 0.019800900647085617 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.31, Z:0.02 [[ 9.97105273e-01 7.45674272e-02 1.48584373e-02 2.25532813e+00] [-7.45613188e-02 9.97215963e-01 -9.65421700e-04 -3.14912746e-01] [-1.48890599e-02 -1.45237613e-04 9.99889141e-01 1.70692183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2823205879999997 meters 0.020092635981758884 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.32, Z:0.02 [[ 9.96767522e-01 7.80828597e-02 1.89096189e-02 2.31714480e+00] [-7.80735524e-02 9.96946842e-01 -1.23106319e-03 -3.19594939e-01] [-1.89480097e-02 -2.49257312e-04 9.99820439e-01 1.65364250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3423205879999998 meters 0.02118457371573162 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.33, Z:0.01 [[ 9.95986209e-01 8.62014783e-02 2.40993107e-02 2.37790910e+00] [-8.61887325e-02 9.96277592e-01 -1.56902071e-03 -3.26301200e-01] [-2.41448552e-02 -5.14366057e-04 9.99708338e-01 1.46789789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402320588 meters 0.02202779438691874 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.33, Z:0.02 [[ 9.95356558e-01 9.30627310e-02 2.45896448e-02 2.43965690e+00] [-9.30512465e-02 9.95660014e-01 -1.61334486e-03 -3.29299009e-01] [-2.46330683e-02 -6.82243708e-04 9.99696327e-01 1.55264370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462320588 meters 0.0250582758681862 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.33, Z:0.02 [[ 9.93854521e-01 1.08255304e-01 2.31080057e-02 2.50040133e+00] [-1.08249297e-01 9.94122626e-01 -1.51434552e-03 -3.25636896e-01] [-2.31361273e-02 -9.96386232e-04 9.99731827e-01 1.55670809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522320588 meters 0.026481580428009858 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.33, Z:0.01 [[ 9.93053217e-01 1.15644461e-01 2.17178699e-02 2.56140813e+00] [-1.15640899e-01 9.93290066e-01 -1.42403941e-03 -3.25378692e-01] [-2.17368267e-02 -1.09732710e-03 9.99763125e-01 1.48325211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters 0.03006544487612968 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.32, Z:0.01 [[ 9.91542493e-01 1.28794780e-01 1.59809173e-02 2.62223350e+00] [-1.28794529e-01 9.91670746e-01 -1.04920654e-03 -3.24291147e-01] [-1.59829405e-02 -1.01792185e-03 9.99871747e-01 1.41963293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters 0.0319959510206553 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.32, Z:0.02 [[ 9.90472745e-01 1.37385993e-01 9.42497018e-03 2.68340726e+00] [-1.37386293e-01 9.90517352e-01 -6.18662452e-04 -3.15266439e-01] [-9.42059206e-03 -6.82093422e-04 9.99955393e-01 1.52059236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters 0.0319959510206553 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.32, Z:0.02 [[ 9.90456350e-01 1.37504150e-01 9.42485880e-03 2.74511806e+00] [-1.37504440e-01 9.90500956e-01 -6.20357788e-04 -3.19292193e-01] [-9.42063343e-03 -6.81522620e-04 9.99955393e-01 1.55176198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7623205879999997 meters 0.03285223372949108 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.31, Z:0.02 [[ 9.89991258e-01 1.41033479e-01 5.18338332e-03 2.80734208e+00] [-1.41033613e-01 9.90004749e-01 -3.41451934e-04 -3.05877259e-01] [-5.17973026e-03 -3.92996849e-04 9.99986508e-01 1.83029843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8223205879999997 meters 0.03285166905064525 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.30, Z:0.02 [[ 9.89846439e-01 1.42089682e-01 3.81437652e-03 2.86772949e+00] [-1.42089765e-01 9.89853745e-01 -2.50525703e-04 -2.99644247e-01] [-3.81127200e-03 -2.94001888e-04 9.99992694e-01 2.02997694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882320588 meters 0.0325563044491964 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.28, Z:0.02 [[ 9.89937532e-01 1.41273137e-01 8.09841264e-03 2.92776736e+00] [-1.41273524e-01 9.89970461e-01 -5.27039198e-04 -2.82199639e-01] [-8.09164578e-03 -6.22355413e-04 9.99967068e-01 2.24916299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942320588 meters 0.03128334000205708 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.27, Z:0.02 [[ 9.90316693e-01 1.38224287e-01 1.29187529e-02 2.98757459e+00] [-1.38225070e-01 9.90400490e-01 -8.36554356e-04 -2.68766147e-01] [-1.29103713e-02 -9.57241780e-04 9.99916199e-01 2.12588694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002320588 meters 0.02913813819489084 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.26, Z:0.02 [[ 9.91623666e-01 1.28106008e-01 1.64728981e-02 3.04788092e+00] [-1.28105863e-01 9.91759924e-01 -1.06838513e-03 -2.58765747e-01] [-1.64740267e-02 -1.05083885e-03 9.99863742e-01 2.17708667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062320588 meters 0.026806623625841984 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.26, Z:0.02 [[ 9.92697899e-01 1.19018411e-01 1.96341397e-02 3.10877166e+00] [-1.19016428e-01 9.92891468e-01 -1.27366205e-03 -2.55172998e-01] [-1.96461590e-02 -1.07242353e-03 9.99806420e-01 2.19771557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122320588 meters 0.022698354567717745 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.25, Z:0.02 [[ 9.94848880e-01 9.89706786e-02 2.19205451e-02 3.17012862e+00] [-9.89633232e-02 9.95090064e-01 -1.42275987e-03 -2.47554026e-01] [-2.19537282e-02 -7.53898929e-04 9.99758704e-01 2.16382215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1823205879999996 meters 0.021737055935192925 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.25, Z:0.02 [[ 9.95651219e-01 9.02877037e-02 2.29517110e-02 3.23189444e+00] [-9.02772723e-02 9.95915552e-01 -1.49235552e-03 -2.47140540e-01] [-2.29927073e-02 -5.86152269e-04 9.99735461e-01 1.91662094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters 0.02035479395815472 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.24, Z:0.02 [[ 9.96875180e-01 7.51782443e-02 2.42509247e-02 3.29431901e+00] [-7.51620656e-02 9.97170081e-01 -1.57924704e-03 -2.42690334e-01] [-2.43010215e-02 -2.48437414e-04 9.99704656e-01 1.78189258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters 0.02026998049344117 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.24, Z:0.02 [[ 9.97277252e-01 6.93597096e-02 2.50462210e-02 3.35684219e+00] [-6.93405299e-02 9.97591710e-01 -1.63450464e-03 -2.44585275e-01] [-2.50992712e-02 -1.06663938e-04 9.99684958e-01 1.75870561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters 0.020569899474143744 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.25, Z:0.02 [[ 9.97903505e-01 5.92574609e-02 2.60220537e-02 3.41853308e+00] [-5.92332332e-02 9.98242720e-01 -1.70155308e-03 -2.48741127e-01] [-2.60771554e-02 1.56615409e-04 9.99659921e-01 1.56494448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters 0.02114838163675615 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.26, Z:0.01 [[ 9.98436040e-01 5.09480823e-02 2.30166559e-02 3.48078107e+00] [-5.09268097e-02 9.98701247e-01 -1.50982760e-03 -2.56170192e-01] [-2.30636858e-02 3.35301436e-04 9.99733942e-01 1.37177542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482320588 meters 0.021413176009700725 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.26, Z:0.01 [[ 9.98672729e-01 4.73084899e-02 2.03638558e-02 3.54252581e+00] [-4.72910349e-02 9.98880257e-01 -1.33813559e-03 -2.62667903e-01] [-2.04043587e-02 3.73331706e-04 9.99791740e-01 1.37979393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542320588 meters 0.022106869028921682 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.27, Z:0.01 [[ 9.98868069e-01 4.40188525e-02 1.80255588e-02 3.60421723e+00] [-4.40045986e-02 9.99030624e-01 -1.18682702e-03 -2.68157957e-01] [-1.80603280e-02 3.92276137e-04 9.99836822e-01 1.31981679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6023205879999995 meters 0.022718008465144997 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.27, Z:0.01 [[ 9.99117418e-01 3.95507543e-02 1.41464476e-02 3.66584579e+00] [-3.95415013e-02 9.99217493e-01 -9.33299340e-04 -2.71931469e-01] [-1.41722906e-02 3.73103852e-04 9.99899498e-01 1.36925577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6623205879999996 meters 0.022985268725611043 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.28, Z:0.01 [[ 9.99207145e-01 3.80949987e-02 1.15694713e-02 3.72903045e+00] [-3.80886823e-02 9.99274069e-01 -7.65880301e-04 -2.77787320e-01] [-1.15902488e-02 3.24607153e-04 9.99932778e-01 1.40285915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7223205879999997 meters 0.02297396710323598 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.28, Z:0.01 [[ 9.99218302e-01 3.78354991e-02 1.14569033e-02 3.79106297e+00] [-3.78292752e-02 9.99283928e-01 -7.59547167e-04 -2.84876416e-01] [-1.14774372e-02 3.25547081e-04 9.99934079e-01 1.41620050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7823205879999997 meters 0.02275336274398802 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.29, Z:0.02 [[ 9.99075051e-01 3.99465119e-02 1.59159753e-02 3.85277891e+00] [-3.99347397e-02 9.99201731e-01 -1.05690354e-03 -2.91346738e-01] [-1.59454897e-02 4.20325627e-04 9.99872774e-01 1.66242669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8423205879999998 meters 0.022838728455982206 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.29, Z:0.02 [[ 9.98967442e-01 4.12817682e-02 1.89701303e-02 3.91469876e+00] [-4.12652413e-02 9.99147430e-01 -1.26198883e-03 -2.93477177e-01] [-1.90060541e-02 4.77878746e-04 9.99819254e-01 1.61144160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902320588 meters 0.022322681157343864 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.30, Z:0.01 [[ 9.98639714e-01 4.68520597e-02 2.28824243e-02 3.97676881e+00] [-4.68294098e-02 9.98901737e-01 -1.52498612e-03 -2.97367763e-01] [-2.29287421e-02 4.51341278e-04 9.99737000e-01 1.31585012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962320588 meters 0.021835191413614133 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.30, Z:0.01 [[ 9.98133381e-01 5.38146338e-02 2.88745461e-02 4.03840181e+00] [-5.37813749e-02 9.98550874e-01 -1.92778849e-03 -3.03025876e-01] [-2.89364465e-02 3.71277254e-04 9.99581184e-01 1.20107899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0223205879999995 meters 0.021866155053310122 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.31, Z:0.01 [[ 9.97836931e-01 5.73991869e-02 3.20435901e-02 4.09998126e+00] [-5.73596067e-02 9.98351259e-01 -2.15383578e-03 -3.06373476e-01] [-3.21143870e-02 3.11169160e-04 9.99484152e-01 1.34190325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082320588 meters 0.022013413727992117 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.31, Z:0.01 [[ 9.97375574e-01 6.19007422e-02 3.75534527e-02 4.16174304e+00] [-6.18489886e-02 9.98082288e-01 -2.53941682e-03 -3.08401432e-01] [-3.76386278e-02 2.10109244e-04 9.99291394e-01 1.24647004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142320588 meters 0.022170296723124507 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.31, Z:0.01 [[ 9.97252784e-01 6.27591652e-02 3.93468282e-02 4.22429737e+00] [-6.27023272e-02 9.98028680e-01 -2.67814425e-03 -3.11306171e-01] [-3.94373411e-02 2.03649119e-04 9.99222025e-01 1.18007495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202320588 meters 0.022144827184646845 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.31, Z:0.01 [[ 9.97416669e-01 6.16599268e-02 3.68516202e-02 4.28701760e+00] [-6.16087089e-02 9.98097186e-01 -2.52488742e-03 -3.09634282e-01] [-3.69371828e-02 2.47984054e-04 9.99317559e-01 1.00473932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262320588 meters 0.0220877139400345 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.31, Z:0.01 [[ 9.97544409e-01 6.09535064e-02 3.44937888e-02 4.34981715e+00] [-6.09080698e-02 9.98140572e-01 -2.36747636e-03 -3.10705235e-01] [-3.45739561e-02 2.60712711e-04 9.99402108e-01 1.00571431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322320588 meters 0.022146671925494462 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.31, Z:0.01 [[ 9.97631320e-01 6.05861375e-02 3.25740496e-02 4.41212367e+00] [-6.05449067e-02 9.98162935e-01 -2.25153731e-03 -3.12694921e-01] [-3.26506209e-02 2.74011347e-04 9.99466789e-01 8.52365729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382320588 meters 0.02189674352449095 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.32, Z:0.01 [[ 9.97580802e-01 6.18266005e-02 3.17807230e-02 4.47392425e+00] [-6.17875350e-02 9.98086876e-01 -2.21076954e-03 -3.16159061e-01] [-3.18566069e-02 2.41768712e-04 9.99492420e-01 8.40861513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442320587999999 meters 0.021580293258428127 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.32, Z:0.01 [[ 9.97500869e-01 6.52156992e-02 2.71832332e-02 4.53573410e+00] [-6.51883464e-02 9.97871184e-01 -1.89215199e-03 -3.17349614e-01] [-2.72487631e-02 1.15393235e-04 9.99628677e-01 8.31425072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502320588 meters 0.021319479252537948 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.32, Z:0.01 [[ 9.97430347e-01 6.79230149e-02 2.27852334e-02 4.59743381e+00] [-6.79044317e-02 9.97690565e-01 -1.58919544e-03 -3.22533827e-01] [-2.28405553e-02 3.78934323e-05 9.99739120e-01 6.49181124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5623205879999995 meters 0.021400466970329966 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.33, Z:0.01 [[ 9.97402914e-01 6.85506120e-02 2.20961583e-02 4.65967364e+00] [-6.85332262e-02 9.97647640e-01 -1.54401139e-03 -3.28132447e-01] [-2.21500231e-02 2.56804471e-05 9.99754658e-01 6.35459792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622320588 meters 0.02139968937770439 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.33, Z:0.01 [[ 9.97506536e-01 6.71940938e-02 2.15792722e-02 4.72130675e+00] [-6.71771334e-02 9.97739921e-01 -1.51072114e-03 -3.32042282e-01] [-2.16320129e-02 5.73205650e-05 9.99765999e-01 7.25468868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682320588 meters 0.021277981135289604 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.34, Z:0.01 [[ 9.97618574e-01 6.55645610e-02 2.14118839e-02 4.78419082e+00] [-6.55473911e-02 9.97848325e-01 -1.50348552e-03 -3.35045559e-01] [-2.14643878e-02 9.64119509e-05 9.99769609e-01 7.73628888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742320588 meters 0.02196063384648816 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.34, Z:0.01 [[ 9.97784634e-01 6.08846087e-02 2.68121156e-02 4.84582049e+00] [-6.08559438e-02 9.98144780e-01 -1.88454865e-03 -3.38955600e-01] [-2.68771132e-02 2.48697082e-04 9.99638714e-01 5.55018581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802320588 meters 0.022614899011107185 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.34, Z:0.01 [[ 9.97735620e-01 5.80655862e-02 3.39414170e-02 4.90642969e+00] [-5.80179281e-02 9.98312685e-01 -2.38816502e-03 -3.44681652e-01] [-3.40228174e-02 4.13546615e-04 9.99420971e-01 5.43022751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862320587999999 meters 0.022945137850580652 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.35, Z:0.01 [[ 9.97562725e-01 5.81712403e-02 3.85320147e-02 4.96882721e+00] [-5.81096990e-02 9.98306509e-01 -2.71613369e-03 -3.47411930e-01] [-3.86247619e-02 4.70429951e-04 9.99253675e-01 5.68351748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922320588 meters 0.022712855649201 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.35, Z:0.01 [[ 9.97192374e-01 6.13555761e-02 4.29285848e-02 5.03109257e+00] [-6.12819018e-02 9.98115895e-01 -3.03132671e-03 -3.48500220e-01] [-4.30336916e-02 3.92070558e-04 9.99073545e-01 6.14441606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982320587999999 meters 0.022390137692214134 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.35, Z:0.01 [[ 9.97116388e-01 6.34588080e-02 4.16159603e-02 5.09274198e+00] [-6.33905757e-02 9.97984410e-01 -2.95846047e-03 -3.54975211e-01] [-4.17198199e-02 3.11869741e-04 9.99129301e-01 5.58558751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042320588 meters 0.022614408966579725 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.37, Z:0.00 [[ 9.97466862e-01 6.15451564e-02 3.56658535e-02 5.15304497e+00] [-6.14937986e-02 9.98104243e-01 -2.53619187e-03 -3.69700849e-01] [-3.57543300e-02 3.36538533e-04 9.99360553e-01 9.09648571e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1023205879999995 meters 0.02379413419870086 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.38, Z:0.00 [[ 9.97926596e-01 5.15778293e-02 3.84998142e-02 5.21415299e+00] [-5.15104731e-02 9.98668695e-01 -2.74007614e-03 -3.77202814e-01] [-3.85898864e-02 7.51251215e-04 9.99254851e-01 3.98505620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162320588 meters 0.025105415038553628 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.38, Z:0.00 [[ 9.98165121e-01 4.53244986e-02 4.01507334e-02 5.27501697e+00] [-4.52461402e-02 9.98971779e-01 -2.85862821e-03 -3.80191169e-01] [-4.02390155e-02 1.03671726e-03 9.99189545e-01 1.18441881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222320588 meters 0.027180517439626968 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.39, Z:-0.00 [[ 9.98623248e-01 3.48036793e-02 3.92468059e-02 5.33595274e+00] [-3.47205964e-02 9.99393145e-01 -2.79675776e-03 -3.88223878e-01] [-3.93203262e-02 1.43023482e-03 9.99225633e-01 -1.09405764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282320587999999 meters 0.02864536229259517 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.40, Z:-0.00 [[ 9.98999086e-01 2.74385594e-02 3.53263569e-02 5.39715896e+00] [-2.73664991e-02 9.99622286e-01 -2.52185492e-03 -4.03896951e-01] [-3.53822097e-02 1.55257205e-03 9.99372648e-01 -2.16988491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342320588 meters 0.029619749728208165 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.41, Z:-0.00 [[ 9.99078749e-01 2.46559155e-02 3.51246142e-02 5.45841464e+00] [-2.45824456e-02 9.99694625e-01 -2.52208324e-03 -4.14084648e-01] [-3.51760723e-02 1.65631085e-03 9.99379758e-01 -1.45999909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402320587999999 meters 0.03015932978307625 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.44, Z:-0.00 [[ 9.99193025e-01 2.21844739e-02 3.34835320e-02 5.51894834e+00] [-2.21158672e-02 9.99752490e-01 -2.41798886e-03 -4.36585461e-01] [-3.35288863e-02 1.67552026e-03 9.99436344e-01 -3.58440692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462320588 meters 0.029597882059193264 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.45, Z:-0.00 [[ 9.99171419e-01 2.23241105e-02 3.40310148e-02 5.58006103e+00] [-2.22528538e-02 9.99749320e-01 -2.47124095e-03 -4.51469883e-01] [-3.40776522e-02 1.71190613e-03 9.99417722e-01 -3.62739149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5223205879999995 meters 0.02916904458082758 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.47, Z:-0.00 [[ 9.98896968e-01 2.58120588e-02 3.92248086e-02 5.64110473e+00] [-2.57194324e-02 9.99665097e-01 -2.86429195e-03 -4.70481362e-01] [-3.92856054e-02 1.85229273e-03 9.99226306e-01 -1.37828842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582320588 meters 0.026633365835867735 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.49, Z:0.00 [[ 9.98504639e-01 3.61563960e-02 4.10024396e-02 5.70114601e+00] [-3.60639099e-02 9.99345003e-01 -2.99329261e-03 -4.86666747e-01] [-4.10838097e-02 1.51010827e-03 9.99154563e-01 7.06096960e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642320588 meters 0.025089645827377584 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.50, Z:-0.00 [[ 9.98331773e-01 4.27662769e-02 3.87906680e-02 5.76160260e+00] [-4.26884407e-02 9.99084416e-01 -2.83300397e-03 -4.96403257e-01] [-3.88763089e-02 1.17236475e-03 9.99243343e-01 -3.39983877e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702320588 meters 0.023142007159236196 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.51, Z:-0.00 [[ 9.97720176e-01 5.62776410e-02 3.72461876e-02 5.82188896e+00] [-5.62152222e-02 9.98414964e-01 -2.72182313e-03 -5.09904763e-01] [-3.73403289e-02 6.21815134e-04 9.99302413e-01 -4.83283318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762320588 meters 0.023735016335866752 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.51, Z:-0.00 [[ 9.98655138e-01 4.59467079e-02 2.40169907e-02 5.88354240e+00] [-4.59177339e-02 9.98943680e-01 -1.75677898e-03 -5.09174862e-01] [-2.40723393e-02 6.51610570e-04 9.99710007e-01 -2.25111650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822320587999999 meters 0.024036800196200202 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.52, Z:-0.00 [[ 9.98699909e-01 4.50658590e-02 2.38235311e-02 5.94512700e+00] [-4.50368064e-02 9.98983787e-01 -1.75490426e-03 -5.20104563e-01] [-2.38784075e-02 6.79686967e-04 9.99714639e-01 -2.31443534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882320588 meters 0.02427925483401755 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.54, Z:-0.00 [[ 9.98816472e-01 4.36401784e-02 2.14753247e-02 6.00707066e+00] [-4.36160008e-02 9.99047099e-01 -1.59315526e-03 -5.38004314e-01] [-2.15243865e-02 6.54601939e-04 9.99768109e-01 -1.09041916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942320587999999 meters 0.02445164225733113 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.55, Z:-0.00 [[ 9.98893941e-01 4.21104839e-02 2.09189441e-02 6.06844816e+00] [-4.20870226e-02 9.99112730e-01 -1.56072624e-03 -5.47120201e-01] [-2.09661063e-02 6.78583907e-04 9.99779957e-01 -1.49778467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002320588 meters 0.02458616846400313 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.56, Z:-0.00 [[ 9.98854987e-01 4.24645857e-02 2.20334506e-02 6.13001129e+00] [-4.24384337e-02 9.99097716e-01 -1.65336910e-03 -5.56280420e-01] [-2.20837798e-02 7.16410842e-04 9.99755867e-01 -1.53980423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0623205879999995 meters 0.024917489101106072 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.57, Z:-0.00 [[ 9.98811315e-01 4.26594233e-02 2.35824040e-02 6.19095883e+00] [-4.26292795e-02 9.99089374e-01 -1.77970681e-03 -5.72861003e-01] [-2.36368505e-02 7.72290407e-04 9.99720312e-01 -6.37648530e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122320588 meters 0.023755246540518093 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.59, Z:-0.00 [[ 9.98807063e-01 4.68947723e-02 1.36136458e-02 6.25145483e+00] [-4.68851306e-02 9.98899760e-01 -1.02670149e-03 -5.85376103e-01] [-1.36468145e-02 3.87199138e-04 9.99906803e-01 -9.20147638e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182320588 meters 0.023188397352177932 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.59, Z:-0.00 [[ 9.98748781e-01 4.95242448e-02 6.94415202e-03 6.31240419e+00] [-4.95217950e-02 9.98772906e-01 -5.24394986e-04 -5.94256704e-01] [-6.96160116e-03 1.79851981e-04 9.99975752e-01 -8.71544231e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242320588 meters 0.02247398690137147 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.61, Z:-0.00 [[ 9.98550000e-01 5.36847757e-02 3.98019485e-03 6.37373831e+00] [-5.36840000e-02 9.98557929e-01 -3.01552260e-04 -6.09551631e-01] [-3.99064389e-03 8.74422287e-05 9.99992034e-01 -7.25625652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302320588 meters 0.022456381476121313 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.62, Z:0.00 [[ 9.98361442e-01 5.61159398e-02 1.11996396e-02 6.43552005e+00] [-5.61099471e-02 9.98424235e-01 -8.48829697e-04 -6.21803924e-01] [-1.12296245e-02 2.19027653e-04 9.99936922e-01 2.15276560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362320587999999 meters 0.022276038901120947 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.63, Z:0.00 [[ 9.98213639e-01 5.81152364e-02 1.38618322e-02 6.49701069e+00] [-5.81062256e-02 9.98309851e-01 -1.05225046e-03 -6.28852800e-01] [-1.38995554e-02 2.44912013e-04 9.99903367e-01 3.48646821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422320588 meters 0.021992077583315398 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.64, Z:0.00 [[ 9.97928036e-01 6.28098490e-02 1.39483832e-02 6.55844093e+00] [-6.28011578e-02 9.98025495e-01 -1.06066951e-03 -6.38702964e-01] [-1.39874625e-02 1.82497232e-04 9.99902154e-01 2.40271358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482320587999999 meters 0.021750992860151284 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.65, Z:0.00 [[ 9.97757232e-01 6.57943375e-02 1.23130496e-02 6.62059493e+00] [-6.57877709e-02 9.97833197e-01 -9.38026286e-04 -6.46836758e-01] [-1.23480865e-02 1.25874422e-04 9.99923752e-01 9.18082595e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542320588 meters 0.02154162732406694 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.65, Z:-0.00 [[ 9.97605641e-01 6.83663507e-02 1.04416337e-02 6.68211913e+00] [-6.83617538e-02 9.97660281e-01 -7.96951437e-04 -6.54894140e-01] [-1.04716878e-02 8.12348582e-05 9.99945167e-01 -7.29486207e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6023205879999995 meters 0.021494817344733425 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.66, Z:-0.00 [[ 9.97164051e-01 7.47562477e-02 8.68095363e-03 6.74367561e+00] [-7.47533011e-02 9.97201837e-01 -6.63862256e-04 -6.64965534e-01] [-8.70629076e-03 1.30496355e-05 9.99962099e-01 -2.00861291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662320588 meters 0.0213832300739082 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.68, Z:0.00 [[ 9.96629466e-01 8.15494974e-02 8.90989319e-03 6.80521876e+00] [-8.15466538e-02 9.96669292e-01 -6.82579232e-04 -6.76256403e-01] [-8.93588093e-03 -4.62933998e-05 9.99960073e-01 7.49828818e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722320588 meters 0.02153132349350323 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.69, Z:0.00 [[ 9.96411221e-01 8.41506400e-02 9.12958542e-03 6.86647756e+00] [-8.41477523e-02 9.96453042e-01 -7.00647483e-04 -6.85200412e-01] [-9.15616310e-03 -7.01010790e-05 9.99958079e-01 3.08018450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782320587999999 meters 0.022017463804371265 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.69, Z:0.00 [[ 9.95935249e-01 8.93873915e-02 1.10848571e-02 6.92836168e+00] [-8.93834434e-02 9.95996925e-01 -8.52071067e-04 -6.93557098e-01] [-1.11166480e-02 -1.42195087e-04 9.99938198e-01 4.96722916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842320588 meters 0.02233320152756103 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.70, Z:0.00 [[ 9.95584363e-01 9.30556268e-02 1.23461075e-02 6.99074362e+00] [-9.30509916e-02 9.95660891e-01 -9.50587891e-04 -6.96492646e-01] [-1.23809939e-02 -2.02427103e-04 9.99923332e-01 3.61834089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902320587999999 meters 0.023204095156089115 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.70, Z:0.00 [[ 9.94684212e-01 1.02311428e-01 1.16486137e-02 7.05340317e+00] [-1.02307917e-01 9.94752373e-01 -8.98465879e-04 -6.97103366e-01] [-1.16794095e-02 -2.98055586e-04 9.99931749e-01 1.06689548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962320588 meters 0.025506513811264623 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.70, Z:0.00 [[ 9.93454496e-01 1.14144059e-01 4.39290694e-03 7.11426558e+00] [-1.14143675e-01 9.93464195e-01 -3.38883498e-04 -7.01068047e-01] [-4.40287729e-03 -1.64757206e-04 9.99990294e-01 2.85644462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0223205879999995 meters 0.026138715283360512 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.70, Z:0.01 [[ 9.92946190e-01 1.18551224e-01 1.86329275e-03 7.17633697e+00] [-1.18551161e-01 9.92947935e-01 -1.44543183e-04 -7.03377276e-01] [-1.86728846e-03 -7.73719157e-05 9.99998254e-01 5.38036767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082320588 meters 0.026445111260021803 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.70, Z:0.01 [[ 9.92634906e-01 1.21143021e-01 5.57914639e-04 7.23815301e+00] [-1.21143016e-01 9.92635063e-01 -4.36190356e-05 -7.02899104e-01] [-5.59089774e-04 -2.42896845e-05 9.99999843e-01 5.83792454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142320588 meters 0.025432142992586743 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.71, Z:0.01 [[ 9.93322973e-01 1.15366058e-01 3.80170524e-04 7.29952577e+00] [-1.15366055e-01 9.93323045e-01 -2.97445629e-05 -7.06967504e-01] [-3.81063655e-04 -1.43128159e-05 9.99999927e-01 5.05713644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202320587999999 meters 0.02495548119824055 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.71, Z:0.00 [[ 9.93635053e-01 1.12613776e-01 2.74221347e-03 7.36183722e+00] [-1.12613616e-01 9.93638832e-01 -2.13221633e-04 -7.08869449e-01] [-2.74878148e-03 -9.69460852e-05 9.99996217e-01 4.41823651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262320588 meters 0.024283182638256 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.70, Z:0.01 [[ 9.93906153e-01 1.10165547e-01 3.75642981e-03 7.42454511e+00] [-1.10165228e-01 9.93913244e-01 -2.92336233e-04 -7.03620268e-01] [-3.76577072e-03 -1.23273165e-04 9.99992902e-01 5.57967851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322320587999999 meters 0.02450785656552478 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.71, Z:0.01 [[ 9.93728602e-01 1.11771982e-01 3.23888017e-03 7.48706639e+00] [-1.11771751e-01 9.93733874e-01 -2.52570140e-04 -7.06671074e-01] [-3.24681521e-03 -1.11029138e-04 9.99994723e-01 5.94543839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382320588 meters 0.02553451089151956 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.71, Z:0.01 [[ 9.93073661e-01 1.17471589e-01 2.26505669e-03 7.54888957e+00] [-1.17471490e-01 9.93076240e-01 -1.77110783e-04 -7.10399038e-01] [-2.27017946e-03 -9.01955302e-05 9.99997419e-01 7.11203875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442320587999999 meters 0.026196566503622138 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.71, Z:0.01 [[ 9.92525885e-01 1.21826080e-01 7.12563783e-03 7.60999137e+00] [-1.21825225e-01 9.92551412e-01 -5.55529269e-04 -7.09893837e-01] [-7.14023984e-03 -3.16705252e-04 9.99974458e-01 9.26223249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502320588 meters 0.02665112776022952 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.71, Z:0.01 [[ 9.92419232e-01 1.22502966e-01 9.85346361e-03 7.67166584e+00] [-1.22501348e-01 9.92468048e-01 -7.69868115e-04 -7.14215314e-01] [-9.87355893e-03 -4.43030649e-04 9.99951157e-01 1.04615271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5623205879999995 meters 0.025913798888610024 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.72, Z:0.01 [[ 9.92917828e-01 1.18345770e-01 1.04146648e-02 7.73260106e+00] [-1.18343731e-01 9.92972355e-01 -8.14021490e-04 -7.19422308e-01] [-1.04378103e-02 -4.24253842e-04 9.99945435e-01 1.34346657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622320588 meters 0.025093704983426647 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.72, Z:0.01 [[ 9.93288015e-01 1.14993306e-01 1.24682803e-02 7.79469097e+00] [-1.14990096e-01 9.93366158e-01 -9.76383576e-04 -7.21456706e-01] [-1.24978453e-02 -4.63898644e-04 9.99921791e-01 1.40083991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682320588 meters 0.0240137931730066 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.71, Z:0.01 [[ 9.93862849e-01 1.09088131e-01 1.83416530e-02 7.85813560e+00] [-1.09080129e-01 9.94031918e-01 -1.43914632e-03 -7.13713641e-01] [-1.83891823e-02 -5.70395804e-04 9.99830742e-01 1.47941028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742320587999999 meters 0.023672434718576232 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.70, Z:0.02 [[ 9.94018099e-01 1.07658078e-01 1.83781475e-02 7.92122766e+00] [-1.07649759e-01 9.94187831e-01 -1.44423353e-03 -7.02959558e-01] [-1.84268140e-02 -5.42808885e-04 9.99830065e-01 1.59679544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802320588 meters 0.023767204242045394 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.70, Z:0.02 [[ 9.93867612e-01 1.09288994e-01 1.68251797e-02 7.98353920e+00] [-1.09282217e-01 9.94009881e-01 -1.32443821e-03 -7.00931763e-01] [-1.68691413e-02 -5.22376691e-04 9.99857569e-01 1.53055204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862320587999999 meters 0.024132131766673746 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.69, Z:0.01 [[ 9.93599198e-01 1.12302968e-01 1.21933590e-02 8.04721320e+00] [-1.12299599e-01 9.93673927e-01 -9.62747869e-04 -6.93395741e-01] [-1.22243423e-02 -4.12723814e-04 9.99925195e-01 1.26528296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922320588 meters 0.023994213500300773 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.69, Z:0.01 [[ 9.93680799e-01 1.11780188e-01 1.01813425e-02 8.11048065e+00] [-1.11777800e-01 9.93732899e-01 -8.05051633e-04 -6.86591542e-01] [-1.02075238e-02 -3.38083714e-04 9.99947845e-01 1.14243547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982320587999999 meters 0.02345856806796539 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.68, Z:0.01 [[ 9.94076172e-01 1.08457226e-01 7.04235233e-03 8.17180734e+00] [-1.08455997e-01 9.94101095e-01 -5.57195972e-04 -6.84623028e-01] [-7.06124209e-03 -2.09890107e-04 9.99975047e-01 1.16871828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042320587999999 meters 0.021796632769297216 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.68, Z:0.01 [[ 9.95310202e-01 9.66526490e-02 3.98340156e-03 8.23394114e+00] [-9.66521618e-02 9.95318170e-01 -3.15097703e-04 -6.75833308e-01] [-3.99520698e-03 -7.13844141e-05 9.99992017e-01 1.02807730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102320588 meters 0.021268475609634865 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.67, Z:0.01 [[ 9.96047179e-01 8.87485969e-02 3.70173717e-03 8.29346451e+00] [-8.87481299e-02 9.96054057e-01 -2.90538133e-04 -6.74018550e-01] [-3.71291518e-03 -3.91325634e-05 9.99993106e-01 1.00642167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162320588 meters 0.02070131782755 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.67, Z:0.01 [[ 9.97102529e-01 7.58642774e-02 5.58193131e-03 8.35316352e+00] [-7.58630311e-02 9.97118153e-01 -4.34977905e-04 -6.67939225e-01] [-5.59884432e-03 1.02553405e-05 9.99984326e-01 1.09653988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222320587999999 meters 0.02101181064445165 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.67, Z:0.01 [[ 9.97836803e-01 6.55568004e-02 4.90102293e-03 8.41342812e+00] [-6.55557049e-02 9.97848837e-01 -3.84020738e-04 -6.69100090e-01] [-4.91565520e-03 6.19000123e-05 9.99987916e-01 1.18982377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282320588 meters 0.021841412590573723 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.68, Z:0.01 [[ 9.98360221e-01 5.71568323e-02 3.15669696e-03 8.47353830e+00] [-5.71563358e-02 9.98365210e-01 -2.47343690e-04 -6.76398233e-01] [-3.16567381e-03 6.65128693e-05 9.99994987e-01 1.06159010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342320588 meters 0.02220378044091723 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.68, Z:0.01 [[ 9.98506259e-01 5.43477335e-02 5.61916596e-03 8.53268932e+00] [-5.43461197e-02 9.98522061e-01 -4.39612461e-04 -6.84615652e-01] [-5.63475311e-03 1.33575928e-04 9.99984116e-01 1.09205174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402320588 meters 0.022631076182901725 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.69, Z:0.01 [[ 9.98577171e-01 5.27841572e-02 7.58069533e-03 8.59377030e+00] [-5.27811655e-02 9.98605926e-01 -5.94305065e-04 -6.91047387e-01] [-7.60149717e-03 1.93341535e-04 9.99971090e-01 1.28422341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462320587999999 meters 0.022643998341655164 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.70, Z:0.01 [[ 9.98548681e-01 5.29639563e-02 9.76477572e-03 8.65552248e+00] [-5.29589865e-02 9.98596394e-01 -7.67005826e-04 -6.95230374e-01] [-9.79169348e-03 2.48760030e-04 9.99952029e-01 1.45565907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522320588 meters 0.02194951908727431 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.70, Z:0.02 [[ 9.98275955e-01 5.79426123e-02 9.36861822e-03 8.71785229e+00] [-5.79382452e-02 9.98319897e-01 -7.37109801e-04 -6.98513291e-01] [-9.39558804e-03 1.93037691e-04 9.99955842e-01 1.65432406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582320588 meters 0.0211201978500819 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.71, Z:0.02 [[ 9.97719883e-01 6.64511133e-02 1.18018600e-02 8.77988777e+00] [-6.64447552e-02 9.97789672e-01 -9.30458035e-04 -7.09900349e-01] [-1.18376040e-02 1.44164786e-04 9.99929923e-01 1.60495321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642320588 meters 0.02100939659412527 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.72, Z:0.02 [[ 9.97499135e-01 6.94784248e-02 1.29701200e-02 8.84170927e+00] [-6.94709824e-02 9.97583447e-01 -1.02401855e-03 -7.17370991e-01] [-1.30099243e-02 1.20410640e-04 9.99915360e-01 1.69569009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702320588 meters 0.02093115026762164 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.72, Z:0.02 [[ 9.97224547e-01 7.29040080e-02 1.51065603e-02 8.90377089e+00] [-7.28942757e-02 9.97338958e-01 -1.19460198e-03 -7.21915167e-01] [-1.51534524e-02 9.01046484e-05 9.99885176e-01 1.77456317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762320588 meters 0.020921229245134364 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.73, Z:0.02 [[ 9.97122918e-01 7.45695551e-02 1.36113046e-02 8.96607612e+00] [-7.45617838e-02 9.97215813e-01 -1.07822248e-03 -7.27879796e-01] [-1.36538107e-02 6.02372021e-05 9.99906781e-01 1.78701258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822320588 meters 0.021100182847564607 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.73, Z:0.02 [[ 9.96969613e-01 7.70713299e-02 1.05641665e-02 9.02808166e+00] [-7.70667728e-02 9.97025581e-01 -8.38394595e-04 -7.33463457e-01] [-1.05973605e-02 2.17077137e-05 9.99943846e-01 1.68417848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882320587999999 meters 0.02105913761200824 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.73, Z:0.02 [[ 9.96400265e-01 8.44647525e-02 7.22617051e-03 9.09031396e+00] [-8.44628059e-02 9.96426467e-01 -5.74679579e-04 -7.31478633e-01] [-7.24888772e-03 -3.77317530e-05 9.99973726e-01 1.89934072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942320588 meters 0.02116549440698422 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.73, Z:0.02 [[ 9.96028990e-01 8.88950132e-02 4.89163459e-03 9.15179953e+00] [-8.88941736e-02 9.96041000e-01 -3.89226942e-04 -7.34505529e-01] [-4.90686894e-03 -4.71564959e-05 9.99987960e-01 2.09185991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002320588 meters 0.021912141620886557 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.74, Z:0.02 [[ 9.95377671e-01 9.60376743e-02 2.38160241e-04 9.21071731e+00] [-9.60376726e-02 9.95377700e-01 -1.85831471e-05 -7.41948329e-01] [-2.38844075e-04 -4.37510561e-06 9.99999971e-01 2.19366482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062320588 meters 0.022354931541545626 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.74, Z:0.02 [[ 9.95173507e-01 9.81207693e-02 -1.41617050e-03 9.27004554e+00] [-9.81207061e-02 9.95174514e-01 1.14202706e-04 -7.40568082e-01] [ 1.42054245e-03 2.53041416e-05 9.99998991e-01 2.37207693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122320588 meters 0.022367929639663425 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.74, Z:0.02 [[ 9.95228191e-01 9.75639148e-02 -1.45987031e-03 9.32791073e+00] [-9.75638478e-02 9.95229261e-01 1.17203059e-04 -7.39000254e-01] [ 1.46434044e-03 2.57867763e-05 9.99998928e-01 2.37616782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182320588 meters 0.022211850308341656 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.74, Z:0.02 [[ 9.95335441e-01 9.64715861e-02 -7.70490454e-04 9.38643195e+00] [-9.64715664e-02 9.95335739e-01 6.27280583e-05 -7.38005855e-01] [ 7.72948161e-04 1.18949614e-05 9.99999701e-01 2.31326652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242320588 meters 0.022198016923973867 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.74, Z:0.02 [[ 9.95502182e-01 9.47374598e-02 4.67820480e-04 9.44454946e+00] [-9.47374545e-02 9.95502292e-01 -3.34532668e-05 -7.41650222e-01] [-4.68885638e-04 -1.10173213e-05 9.99999890e-01 2.41531110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302320587999999 meters 0.02202238211947299 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.74, Z:0.03 [[ 9.95618277e-01 9.33410268e-02 5.63028179e-03 9.50388817e+00] [-9.33400851e-02 9.95634192e-01 -4.30360435e-04 -7.37790688e-01] [-5.64587135e-03 -9.70562677e-05 9.99984057e-01 2.73851757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362320588 meters 0.02201929372506767 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.73, Z:0.03 [[ 9.95664974e-01 9.24148517e-02 1.05240042e-02 9.56356951e+00] [-9.24115401e-02 9.95720576e-01 -8.01568694e-04 -7.32757627e-01] [-1.05530444e-02 -1.74445564e-04 9.99944300e-01 2.53868104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422320588 meters 0.021839259348614134 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.73, Z:0.02 [[ 9.95995661e-01 8.88662420e-02 9.76908221e-03 9.62320657e+00] [-8.88632059e-02 9.96043561e-01 -7.45270396e-04 -7.33161087e-01] [-9.79666081e-03 -1.25825883e-04 9.99952004e-01 2.19518317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482320588 meters 0.02163791641718127 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.73, Z:0.02 [[ 9.96273229e-01 8.54851391e-02 1.14866786e-02 9.68310443e+00] [-8.54807250e-02 9.96339440e-01 -8.75593218e-04 -7.33479284e-01] [-1.15194811e-02 -1.09559533e-04 9.99933643e-01 2.16693500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542320587999999 meters 0.021422889468199934 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.73, Z:0.02 [[ 9.96581984e-01 8.16967242e-02 1.22472613e-02 9.74410964e+00] [-8.16914156e-02 9.96657233e-01 -9.33928842e-04 -7.33287893e-01] [-1.22826205e-02 -6.97594578e-05 9.99924563e-01 2.36614682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602320588 meters 0.021211127473448436 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.73, Z:0.03 [[ 9.97109040e-01 7.41883939e-02 1.64208790e-02 9.80543111e+00] [-7.41778084e-02 9.97244243e-01 -1.25361639e-03 -7.33774785e-01] [-1.64686308e-02 3.19274135e-05 9.99864382e-01 2.62369376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662320588 meters 0.021785780055536275 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.74, Z:0.03 [[ 9.97677425e-01 6.57299155e-02 1.78699258e-02 9.86798248e+00] [-6.57159752e-02 9.97837433e-01 -1.36683134e-03 -7.36305944e-01] [-1.79211226e-02 1.89317165e-04 9.99839386e-01 2.53354257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722320587999999 meters 0.022220245489961852 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.74, Z:0.02 [[ 9.98079083e-01 6.01390944e-02 1.48806521e-02 9.92993935e+00] [-6.01287771e-02 9.98189977e-01 -1.14017334e-03 -7.38647597e-01] [-1.49222868e-02 2.43227744e-04 9.99888627e-01 2.25954821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782320588 meters 0.022309101801032308 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.74, Z:0.02 [[ 9.98206437e-01 5.87314262e-02 1.15986880e-02 9.99160923e+00] [-5.87250444e-02 9.98273798e-01 -8.90322198e-04 -7.44441447e-01] [-1.16309562e-02 2.07591882e-04 9.99932337e-01 2.04366668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters 0.02190164757715276 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.75, Z:0.02 [[ 9.98205130e-01 5.97165040e-02 4.52303741e-03 1.00528337e+01] [-5.97155407e-02 9.98215374e-01 -3.47843280e-04 -7.53496086e-01] [-4.53573746e-03 7.71233219e-05 9.99989711e-01 2.26656358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902320588 meters 0.021458250153866706 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.76, Z:0.03 [[ 9.98049993e-01 6.24138125e-02 -8.53048721e-04 1.01118727e+01] [-6.24137778e-02 9.98050357e-01 6.72511228e-05 -7.58814437e-01] [ 8.55582979e-04 -1.38779893e-05 9.99999634e-01 2.66595047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962320587999999 meters 0.021256880745485898 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.77, Z:0.03 [[ 9.97826812e-01 6.57920096e-02 -3.61442320e-03 1.01702788e+01] [-6.57914388e-02 9.97833358e-01 2.76731367e-04 -7.65003644e-01] [ 3.62479875e-03 -3.83318752e-05 9.99993430e-01 2.81261456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022320588 meters 0.020951764216123832 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.77, Z:0.03 [[ 9.97611694e-01 6.90096305e-02 -2.92886780e-03 1.02290538e+01] [-6.90092722e-02 9.97615993e-01 2.23331984e-04 -7.69222990e-01] [ 2.93729742e-03 -2.06795639e-05 9.99995686e-01 2.90131041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082320588 meters 0.0209810897032133 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.77, Z:0.03 [[ 9.97040756e-01 7.68588234e-02 1.56598412e-03 1.02872451e+01] [-7.68587381e-02 9.97041986e-01 -1.14693750e-04 -7.72527384e-01] [-1.57016715e-03 -6.00522042e-06 9.99998767e-01 2.94103943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142320587999999 meters 0.0211794368884987 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.78, Z:0.03 [[ 9.96620130e-01 8.21481204e-02 -5.69094570e-05 1.03458217e+01] [-8.21481202e-02 9.96620131e-01 6.57180599e-06 -7.77762889e-01] [ 5.72569720e-05 -1.87458923e-06 9.99999998e-01 3.02497005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202320588 meters 0.021167495146164585 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.78, Z:0.03 [[ 9.96603025e-01 8.23529248e-02 6.38095466e-04 1.04035639e+01] [-8.23529132e-02 9.96603229e-01 -4.44802166e-05 -7.79941806e-01] [-6.39591077e-04 -8.21990213e-06 9.99999795e-01 2.95508805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262320588 meters 0.021195164007737837 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.78, Z:0.03 [[ 9.96639033e-01 8.17345082e-02 5.48699212e-03 1.04621781e+01] [-8.17335404e-02 9.96654136e-01 -4.00767317e-04 -7.80539401e-01] [-5.50138991e-03 -4.90509407e-05 9.99984866e-01 3.22411043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322320588 meters 0.02118368250864892 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.78, Z:0.03 [[ 9.96649480e-01 8.14182615e-02 7.80265769e-03 1.05209584e+01] [-8.14163153e-02 9.96680020e-01 -5.67272985e-04 -7.83206890e-01] [-7.82293940e-03 -6.98913132e-05 9.99969398e-01 3.35252140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382320587999999 meters 0.021419732476075367 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.78, Z:0.03 [[ 9.96558288e-01 8.21908431e-02 1.07816248e-02 1.05796564e+01] [-8.21872171e-02 9.96616603e-01 -7.79700875e-04 -7.84287797e-01] [-1.08092306e-02 -1.09094370e-04 9.99941573e-01 3.39231652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442320588 meters 0.02162473108204339 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.79, Z:0.03 [[ 9.96156220e-01 8.70243580e-02 9.97728950e-03 1.06396502e+01] [-8.70214834e-02 9.96206173e-01 -7.22717529e-04 -7.87072947e-01] [-1.00023314e-02 -1.48298970e-04 9.99949964e-01 3.45180103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502320588 meters 0.022395468238387367 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.79, Z:0.04 [[ 9.95331430e-01 9.63718409e-02 5.27386252e-03 1.06981175e+01] [-9.63711768e-02 9.95345393e-01 -3.80506869e-04 -7.87901366e-01] [-5.28598491e-03 -1.29517891e-04 9.99986021e-01 3.69225722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562320587999999 meters 0.023474483399225015 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.79, Z:0.04 [[ 9.94373044e-01 1.05930130e-01 1.02836230e-03 1.07579125e+01] [-1.05930110e-01 9.94373575e-01 -7.39585234e-05 -7.87036238e-01] [-1.03041074e-03 -3.53921700e-05 9.99999469e-01 3.84580384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622320588 meters 0.024297022042521745 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.79, Z:0.04 [[ 9.93751107e-01 1.11611753e-01 1.24634680e-03 1.08176731e+01] [-1.11611728e-01 9.93751888e-01 -8.96206287e-05 -7.86187768e-01] [-1.24856220e-03 -5.00463218e-05 9.99999219e-01 3.91472667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682320588 meters 0.025921240512964423 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.78, Z:0.04 [[ 9.92602420e-01 1.21324775e-01 -4.55357376e-03 1.08783925e+01] [-1.21324541e-01 9.92612839e-01 3.28669994e-04 -7.77029344e-01] [ 4.55981159e-03 2.26221614e-04 9.99989578e-01 4.25483012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742320588 meters 0.027420342198626477 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.77, Z:0.04 [[ 9.91688652e-01 1.28633923e-01 -2.63266773e-03 1.09388874e+01] [-1.28633871e-01 9.91692135e-01 1.89967049e-04 -7.67621143e-01] [ 2.63523209e-03 1.50262073e-04 9.99996516e-01 4.32356301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802320587999999 meters 0.027652703821647348 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.76, Z:0.04 [[ 9.91597176e-01 1.29337137e-01 2.63543558e-03 1.09988014e+01] [-1.29337096e-01 9.91600666e-01 -1.86560520e-04 -7.56564336e-01] [-2.63742888e-03 -1.55866701e-04 9.99996510e-01 4.39790006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862320588 meters 0.025479456922713653 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.74, Z:0.05 [[ 9.92560898e-01 1.21741624e-01 1.35656334e-03 1.10604198e+01] [-1.21741604e-01 9.92561823e-01 -9.69687943e-05 -7.41475081e-01] [-1.35827812e-03 -6.89027642e-05 9.99999075e-01 4.53945653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922320588 meters 0.0238074955432541 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.74, Z:0.05 [[ 9.94059552e-01 1.08835993e-01 5.77548452e-04 1.11207983e+01] [-1.08835987e-01 9.94059720e-01 -4.12993341e-05 -7.37940440e-01] [-5.78612506e-04 -2.18040583e-05 9.99999832e-01 4.56721062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982320588 meters 0.021910289409087697 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.73, Z:0.05 [[ 9.95441093e-01 9.53581348e-02 1.96398216e-03 1.11815908e+01] [-9.53580433e-02 9.95443029e-01 -1.40391191e-04 -7.32519696e-01] [-1.96841979e-03 -4.75303356e-05 9.99998062e-01 4.64704497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters 0.020425836181897014 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.73, Z:0.04 [[ 9.96425557e-01 8.44748273e-02 3.36263442e-04 1.12407534e+01] [-8.44748242e-02 9.96425614e-01 -2.33666841e-05 -7.27743765e-01] [-3.37035404e-04 -5.12263396e-06 9.99999943e-01 4.42358226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102320588 meters 0.019775764584347502 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.72, Z:0.04 [[ 9.97073113e-01 7.62738009e-02 5.24546871e-03 1.13001097e+01] [-7.62729101e-02 9.97086910e-01 -3.69964931e-04 -7.24757583e-01] [-5.25840682e-03 -3.12050782e-05 9.99986174e-01 4.49483164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162320588 meters 0.0197536353465906 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.73, Z:0.04 [[ 9.97785275e-01 6.59430944e-02 8.72083023e-03 1.13591526e+01] [-6.59402578e-02 9.97823385e-01 -6.12718375e-04 -7.27476844e-01] [-8.74225288e-03 3.63075790e-05 9.99961785e-01 4.49131546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222320587999999 meters 0.021119322646557023 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.75, Z:0.04 [[ 9.98526306e-01 5.35818366e-02 8.61415274e-03 1.14169794e+01] [-5.35786409e-02 9.98563452e-01 -6.01487746e-04 -7.45662968e-01] [-8.63400692e-03 1.39066740e-04 9.99962717e-01 4.16896947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282320588 meters 0.0223510386226386 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.75, Z:0.04 [[ 9.98864280e-01 4.66402372e-02 9.73852145e-03 1.14766181e+01] [-4.66358075e-02 9.98911726e-01 -6.81587579e-04 -7.48463818e-01] [-9.75971268e-03 2.26649674e-04 9.99952347e-01 4.05421203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342320588 meters 0.023650128010389945 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.77, Z:0.04 [[ 9.99218575e-01 3.95134484e-02 9.62363811e-04 1.15350576e+01] [-3.95134022e-02 9.99219038e-01 -6.70246107e-05 -7.66694358e-01] [-9.64260616e-04 2.89459677e-05 9.99999535e-01 3.92032725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402320588 meters 0.024155587365374133 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.78, Z:0.04 [[ 9.99355190e-01 3.58530189e-02 -1.94030867e-03 1.15926303e+01] [-3.58528203e-02 9.99357072e-01 1.37042396e-04 -7.82561414e-01] [ 1.94397457e-03 -6.73884915e-05 9.99998108e-01 4.17818504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462320587999999 meters 0.024335442816635453 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.80, Z:0.04 [[ 9.99367539e-01 3.55201189e-02 -1.68627372e-03 1.16495778e+01] [-3.55199688e-02 9.99368960e-01 1.18887492e-04 -7.97080105e-01] [ 1.68943251e-03 -5.89159109e-05 9.99998571e-01 4.06685545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522320588 meters 0.023441026940743043 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.81, Z:0.04 [[ 9.99261901e-01 3.83720212e-02 -1.80038183e-03 1.17071004e+01] [-3.83718570e-02 9.99263521e-01 1.25689302e-04 -8.13950721e-01] [ 1.80387884e-03 -5.65125371e-05 9.99998371e-01 4.00323334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582320588 meters 0.022199979056276985 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.84, Z:0.04 [[ 9.99002915e-01 4.45580800e-02 -2.78447857e-03 1.17647013e+01] [-4.45577196e-02 9.99006793e-01 1.91376819e-04 -8.35857469e-01] [ 2.79024039e-03 -6.71159853e-05 9.99996105e-01 4.15470231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642320587999999 meters 0.02189189446563567 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.85, Z:0.04 [[ 9.98907216e-01 4.67327127e-02 -6.54134652e-04 1.18228747e+01] [-4.67326922e-02 9.98907430e-01 4.65888279e-05 -8.53228851e-01] [ 6.55597187e-04 -1.59684430e-05 9.99999785e-01 4.19862683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702320588 meters 0.021395042428405862 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.86, Z:0.04 [[ 9.98663497e-01 5.10743857e-02 7.91370887e-03 1.18800016e+01] [-5.10717701e-02 9.98694844e-01 -5.32373203e-04 -8.64895646e-01] [-7.93057088e-03 1.27494564e-04 9.99968544e-01 4.07921052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters 0.020795161836285422 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.88, Z:0.04 [[ 9.98150961e-01 5.94461781e-02 1.26811243e-02 1.19392668e+01] [-5.94401168e-02 9.98231507e-01 -8.54678913e-04 -8.79231603e-01] [-1.27095053e-02 9.93310664e-05 9.99919226e-01 4.31833273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters 0.02081873573262093 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.89, Z:0.05 [[ 9.97220886e-01 7.34900933e-02 1.22356566e-02 1.20010815e+01] [-7.34854708e-02 9.97295944e-01 -8.27559303e-04 -8.88695739e-01] [-1.22633881e-02 -7.38835657e-05 9.99924799e-01 4.56104843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882320587999999 meters 0.022306556037255527 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.89, Z:0.05 [[ 9.95574719e-01 9.33102471e-02 1.11434941e-02 1.20619055e+01] [-9.33076528e-02 9.95637039e-01 -7.53623265e-04 -8.88702053e-01] [-1.11651963e-02 -2.89485012e-04 9.99937625e-01 4.69686086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942320588 meters 0.023060929419850856 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.89, Z:0.05 [[ 9.95091735e-01 9.83943277e-02 1.05354150e-02 1.21208388e+01] [-9.83923712e-02 9.95147448e-01 -7.05127424e-04 -8.91047838e-01] [-1.05536719e-02 -3.34937989e-04 9.99944252e-01 4.98300599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters 0.022389979722615274 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.89, Z:0.05 [[ 9.95591952e-01 9.36445590e-02 5.23077944e-03 1.21799995e+01] [-9.36440122e-02 9.95605683e-01 -3.49886637e-04 -8.91117116e-01] [-5.24055872e-03 -1.41486854e-04 9.99986258e-01 5.12965503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters 0.020980196441382336 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.89, Z:0.05 [[ 9.96873760e-01 7.89195822e-02 3.79543135e-03 1.22399102e+01] [-7.89191880e-02 9.96880985e-01 -2.53759072e-04 -8.89067457e-01] [-3.80361990e-03 -4.65666000e-05 9.99992765e-01 4.88054864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122320588 meters 0.020642871980517855 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.89, Z:0.05 [[ 9.97608058e-01 6.91176649e-02 9.54730564e-04 1.22983676e+01] [-6.91176381e-02 9.97608515e-01 -6.11010433e-05 -8.94154704e-01] [-9.56670501e-04 -5.03382843e-06 9.99999542e-01 4.88685423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182320588 meters 0.0205156570862309 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.90, Z:0.05 [[ 9.98076393e-01 6.19353702e-02 -2.74294159e-03 1.23561476e+01] [-6.19350996e-02 9.98080162e-01 1.83560777e-04 -9.01362419e-01] [ 2.74904449e-03 -1.33233176e-05 9.99996221e-01 5.02395820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242320588 meters 0.020614426532971564 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.91, Z:0.05 [[ 9.98313081e-01 5.80602134e-02 -6.14596469e-05 1.24150264e+01] [-5.80602131e-02 9.98313083e-01 6.35097283e-06 -9.07255759e-01] [ 6.17247085e-05 -2.77189906e-06 9.99999998e-01 5.25113287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters 0.020806465532499208 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.92, Z:0.05 [[ 9.98358805e-01 5.65269643e-02 9.18689789e-03 1.24729288e+01] [-5.65238813e-02 9.98401070e-01 -5.95097007e-04 -9.16551176e-01] [-9.20584771e-03 7.48412115e-05 9.99957622e-01 5.18047563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters 0.020825952960596392 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.93, Z:0.05 [[ 9.98359706e-01 5.62943414e-02 1.04328528e-02 1.25325230e+01] [-5.62903253e-02 9.98414212e-01 -6.78419969e-04 -9.25772370e-01] [-1.04544997e-02 9.00384835e-05 9.99945346e-01 5.28719700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters 0.020973233519345248 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.93, Z:0.05 [[ 9.98435636e-01 5.55645535e-02 6.23381871e-03 1.25933522e+01] [-5.55631010e-02 9.98455095e-01 -4.06096776e-04 -9.34307906e-01] [-6.24675264e-03 5.90911951e-05 9.99980487e-01 5.09343186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters 0.021728411572550642 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.95, Z:0.05 [[ 9.98868762e-01 4.71653020e-02 6.05228686e-03 1.26517934e+01] [-4.71637848e-02 9.98887092e-01 -3.93246001e-04 -9.51791011e-01] [-6.06409879e-03 1.07352392e-04 9.99981607e-01 4.94341968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542320587999999 meters 0.02279548318608503 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.96, Z:0.05 [[ 9.99161831e-01 3.99123749e-02 9.09054224e-03 1.27121167e+01] [-3.99086434e-02 9.99203158e-01 -5.91587464e-04 -9.62952769e-01] [-9.10691017e-03 2.28300405e-04 9.99958505e-01 5.21240783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602320588 meters 0.02409818954903043 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.97, Z:0.05 [[ 9.99450468e-01 3.19959653e-02 8.66142631e-03 1.27726481e+01] [-3.19922783e-02 9.99487957e-01 -5.63936948e-04 -9.70311016e-01] [-8.67503500e-03 2.86528286e-04 9.99962330e-01 5.19303631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662320588 meters 0.025637363042940557 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.99, Z:0.05 [[ 9.99693605e-01 2.47084252e-02 1.47961068e-03 1.28330125e+01] [-2.47083088e-02 9.99694698e-01 -9.69089748e-05 -9.90121623e-01] [-1.48155342e-03 6.03206047e-05 9.99998901e-01 4.64108797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722320587999999 meters 0.025366852632609932 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.01, Z:0.05 [[ 9.99699043e-01 2.45036151e-02 1.18132416e-03 1.28915710e+01] [-2.45035417e-02 9.99699740e-01 -7.66220591e-05 -1.00530291e+00] [-1.18284698e-03 4.76523733e-05 9.99999299e-01 5.03008922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782320588 meters 0.024940214916610602 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.02, Z:0.05 [[ 9.99647514e-01 2.65302593e-02 9.96496031e-04 1.29497327e+01] [-2.65302081e-02 9.99648010e-01 -6.45227762e-05 -1.02353606e+00] [-9.97857080e-04 3.80627857e-05 9.99999501e-01 5.44592805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters 0.022706837423808017 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.05, Z:0.05 [[ 9.99333420e-01 3.65042808e-02 3.91118550e-04 1.30082998e+01] [-3.65042738e-02 9.99333497e-01 -2.52486177e-05 -1.04795270e+00] [-3.91779551e-04 1.09542888e-05 9.99999923e-01 5.34942230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters 0.020834051524125947 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.06, Z:0.05 [[ 9.98758349e-01 4.96189421e-02 4.44089840e-03 1.30674069e+01] [-4.96181498e-02 9.98768219e-01 -2.88461242e-04 -1.06443521e+00] [-4.44974132e-03 6.77539121e-05 9.99990098e-01 5.37175848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters 0.01995923120086214 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.08, Z:0.06 [[ 9.97947579e-01 6.38122667e-02 5.35008595e-03 1.31284997e+01] [-6.38113141e-02 9.97961920e-01 -3.48749595e-04 -1.07884051e+00] [-5.36143655e-03 6.63779924e-06 9.99985627e-01 5.68757639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters 0.020707653853104083 Centerline is valid? [True, True] Translation: X:13.19, Y:-1.08, Z:0.06 [[ 9.96644575e-01 8.18251010e-02 2.05998609e-03 1.31891927e+01] [-8.18249981e-02 9.96646704e-01 -1.34323817e-04 -1.08155785e+00] [-2.06406941e-03 -3.46852544e-05 9.99997869e-01 5.89496245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters 0.021927677994891367 Centerline is valid? [True, True] Translation: X:13.25, Y:-1.08, Z:0.06 [[ 9.95844034e-01 9.09042590e-02 5.57448898e-03 1.32497095e+01] [-9.09036501e-02 9.95859626e-01 -3.63038820e-04 -1.08386935e+00] [-5.58441028e-03 -1.45211352e-04 9.99984397e-01 5.86022748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters 0.023425200038720336 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.08, Z:0.06 [[ 9.94928662e-01 1.00394732e-01 6.15269097e-03 1.33111794e+01] [-1.00394167e-01 9.94947662e-01 -4.01432786e-04 -1.08476184e+00] [-6.16190723e-03 -2.18297301e-04 9.99980991e-01 5.73914074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters 0.02391619163228184 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.08, Z:0.06 [[ 9.94667138e-01 1.02921065e-01 -6.67379452e-03 1.33736658e+01] [-1.02920458e-01 9.94689494e-01 4.35286522e-04 -1.08158788e+00] [ 6.68315345e-03 2.53904789e-04 9.99977635e-01 5.62408728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters 0.023199076479826112 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.08, Z:0.06 [[ 9.95008685e-01 9.93146993e-02 -9.71116357e-03 1.34330278e+01] [-9.93132534e-02 9.95056018e-01 6.32203892e-04 -1.07714702e+00] [ 9.72593889e-03 3.35398886e-04 9.99952646e-01 5.84667973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters 0.02222837149574109 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.07, Z:0.06 [[ 9.95558203e-01 9.41032953e-02 -2.90431059e-03 1.34921558e+01] [-9.41031450e-02 9.95562435e-01 1.88668431e-04 -1.07082625e+00] [ 2.90917684e-03 8.54743564e-05 9.99995765e-01 6.01692711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters 0.021426506392681514 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.08, Z:0.06 [[ 9.96206146e-01 8.70158394e-02 -1.24837415e-03 1.35510855e+01] [-8.70158044e-02 9.96206928e-01 8.24733406e-05 -1.07891167e+00] [ 1.25081546e-03 2.64678317e-05 9.99999217e-01 5.99002516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters 0.01997274884873919 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.08, Z:0.06 [[ 9.97259780e-01 7.39787402e-02 -2.79449897e-04 1.36095246e+01] [-7.39787379e-02 9.97259819e-01 1.86169051e-05 -1.08175198e+00] [ 2.80061409e-04 2.10746005e-06 9.99999961e-01 5.99483801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters 0.019573358205095703 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.09, Z:0.06 [[ 9.97720923e-01 6.74588774e-02 1.50301295e-03 1.36675836e+01] [-6.74588133e-02 9.97722055e-01 -9.33137009e-05 -1.08845166e+00] [-1.50588400e-03 -8.29043794e-06 9.99998866e-01 6.04289800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters 0.019587276288573756 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.10, Z:0.06 [[ 9.97891411e-01 6.49037931e-02 -4.79830641e-04 1.37269137e+01] [-6.49037857e-02 9.97891526e-01 3.08616124e-05 -1.10241917e+00] [ 4.80821967e-04 3.46287169e-07 9.99999884e-01 6.17225987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters 0.019528823456748376 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.11, Z:0.06 [[ 9.97871431e-01 6.50546025e-02 -4.52832948e-03 1.37855660e+01] [-6.50539641e-02 9.97881706e-01 2.88278565e-04 -1.10727965e+00] [ 4.53749100e-03 6.92083956e-06 9.99989706e-01 6.06766371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters 0.019358862224780105 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.12, Z:0.06 [[ 9.97854217e-01 6.52807024e-02 -5.03890763e-03 1.38427406e+01] [-6.52799284e-02 9.97866940e-01 3.18109020e-04 -1.11803201e+00] [ 5.04892572e-03 1.15131020e-05 9.99987254e-01 6.01884069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters 0.019311649186846098 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.12, Z:0.06 [[ 9.98000665e-01 6.29891842e-02 -5.19949488e-03 1.39010131e+01] [-6.29883442e-02 9.98014210e-01 3.25316707e-04 -1.12272219e+00] [ 5.20966121e-03 2.84128340e-06 9.99986430e-01 6.36820593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters 0.019584681702698458 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.13, Z:0.06 [[ 9.98601489e-01 5.28114362e-02 -2.45329055e-03 1.39592459e+01] [-5.28112185e-02 9.98604502e-01 1.53478784e-04 -1.12960069e+00] [ 2.45797243e-03 -2.37028785e-05 9.99996979e-01 6.26850384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters 0.021137380307434478 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.14, Z:0.06 [[ 9.99272321e-01 3.81377964e-02 5.80729397e-04 1.40184499e+01] [-3.81377823e-02 9.99272490e-01 -3.54010655e-05 -1.14000317e+00] [-5.81657029e-04 1.32275736e-05 9.99999831e-01 6.33361486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922320588 meters 0.02120010482490518 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.15, Z:0.06 [[ 9.99298887e-01 3.74376611e-02 3.95545258e-04 1.40785993e+01] [-3.74376544e-02 9.99298965e-01 -2.43365727e-05 -1.14710107e+00] [-3.96179071e-04 9.51122332e-06 9.99999921e-01 6.38646151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982320587999999 meters 0.021338514900125886 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.15, Z:0.07 [[ 9.99326044e-01 3.66659022e-02 1.75209482e-03 1.41391950e+01] [-3.66657696e-02 9.99327579e-01 -1.07800516e-04 -1.15437431e+00] [-1.75486928e-03 4.34859583e-05 9.99998459e-01 6.51617444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters 0.020770474854611608 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.16, Z:0.07 [[ 9.99198667e-01 3.91398761e-02 8.37218419e-03 1.42001427e+01] [-3.91369260e-02 9.99233724e-01 -5.15975515e-04 -1.16307364e+00] [-8.38596401e-03 1.87900494e-04 9.99964820e-01 6.82645470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters 0.020374197393391063 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.17, Z:0.07 [[ 9.99067841e-01 4.26982266e-02 6.34910126e-03 1.42621594e+01] [-4.26965939e-02 9.99088008e-01 -3.92531850e-04 -1.17230725e+00] [-6.36007134e-03 1.21080950e-04 9.99979767e-01 6.67849777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters 0.02000649222568428 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.18, Z:0.07 [[ 9.98938451e-01 4.58539262e-02 4.40335461e-03 1.43238863e+01] [-4.58531681e-02 9.98948153e-01 -2.73012081e-04 -1.17939999e+00] [-4.41124163e-03 7.08145057e-05 9.99990268e-01 6.64062418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters 0.01927499961310605 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.18, Z:0.07 [[ 9.98459757e-01 5.54329577e-02 2.30222311e-03 1.43850200e+01] [-5.54327756e-02 9.98462411e-01 -1.42882594e-04 -1.18397799e+00] [-2.30660364e-03 1.50439030e-05 9.99997340e-01 6.68463592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters 0.019399490532970493 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.19, Z:0.07 [[ 9.97264720e-01 7.38861364e-02 1.97932226e-03 1.44458540e+01] [-7.38860382e-02 9.97266684e-01 -1.22791205e-04 -1.18524176e+00] [-1.98298471e-03 -2.37889436e-05 9.99998034e-01 6.85704592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters 0.02044538579173705 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.18, Z:0.07 [[ 9.96562688e-01 8.28418572e-02 1.87083941e-04 1.45069074e+01] [-8.28418565e-02 9.96562706e-01 -1.17681303e-05 -1.18465672e+00] [-1.87415772e-04 -3.77070134e-06 9.99999982e-01 6.70147329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters 0.020976424408409012 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.18, Z:0.07 [[ 9.96219218e-01 8.68573359e-02 -1.75307727e-03 1.45674310e+01] [-8.68572786e-02 9.96220759e-01 1.08884983e-04 -1.17958731e+00] [ 1.75590943e-03 4.37942083e-05 9.99998457e-01 6.65785687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters 0.020443553539271873 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.18, Z:0.07 [[ 9.96533172e-01 8.31680562e-02 2.17080039e-03 1.46267278e+01] [-8.31679680e-02 9.96535535e-01 -1.31020534e-04 -1.17544867e+00] [-2.17417646e-03 -4.99747494e-05 9.99997635e-01 7.03114671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters 0.019586681671898424 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.17, Z:0.07 [[ 9.97155567e-01 7.52102962e-02 4.91792070e-03 1.46879477e+01] [-7.52097186e-02 9.97167692e-01 -3.02534954e-04 -1.17343440e+00] [-4.92674538e-03 -6.82010183e-05 9.99987861e-01 7.28795796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters 0.019082800373052662 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.17, Z:0.07 [[ 9.98096975e-01 6.14771289e-02 4.79486996e-03 1.47496477e+01] [-6.14764188e-02 9.98108492e-01 -2.95476475e-04 -1.17201457e+00] [-4.80396548e-03 1.42741986e-07 9.99988461e-01 6.97772302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters 0.01935202851301756 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.17, Z:0.07 [[ 9.98542969e-01 5.33408955e-02 8.16629208e-03 1.48111846e+01] [-5.33385611e-02 9.98576359e-01 -5.03540774e-04 -1.17246429e+00] [-8.18152552e-03 6.72288306e-05 9.99966529e-01 6.86590548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters 0.0198961072986371 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.18, Z:0.07 [[ 9.98801913e-01 4.76792764e-02 1.10193165e-02 1.48728675e+01] [-4.76746629e-02 9.98862685e-01 -6.81122316e-04 -1.17811442e+00] [-1.10392594e-02 1.54964075e-04 9.99939054e-01 7.01389337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters 0.02010221342747553 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.19, Z:0.07 [[ 9.98995796e-01 4.39765047e-02 8.57124345e-03 1.49346900e+01] [-4.39735664e-02 9.99032554e-01 -5.31055135e-04 -1.18527150e+00] [-8.58630518e-03 1.53613705e-04 9.99963125e-01 6.92747349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters 0.020126041396237023 Centerline is valid? [True, True] Translation: X:15.00, Y:-1.19, Z:0.07 [[ 9.98953274e-01 4.48403593e-02 9.03876583e-03 1.49970651e+01] [-4.48371081e-02 9.98994153e-01 -5.62119163e-04 -1.19439313e+00] [-9.05487984e-03 1.56258658e-04 9.99958992e-01 6.87861504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters 0.019990982007041268 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.20, Z:0.07 [[ 9.98900198e-01 4.64168899e-02 6.62316325e-03 1.50587463e+01] [-4.64151736e-02 9.98922150e-01 -4.12693100e-04 -1.20380281e+00] [-6.63518040e-03 1.04823948e-04 9.99977981e-01 6.93705871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters 0.019929522570792023 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.22, Z:0.07 [[ 9.98886698e-01 4.71325015e-02 -1.97284344e-03 1.51197103e+01] [-4.71323518e-02 9.98888646e-01 1.22333486e-04 -1.22121711e+00] [ 1.97641680e-03 -2.92125407e-05 9.99998046e-01 6.94558011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters 0.019936049288352346 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.23, Z:0.07 [[ 9.98941590e-01 4.59949852e-02 -4.01094486e-04 1.51777757e+01] [-4.59949780e-02 9.98941671e-01 2.71622171e-05 -1.23093618e+00] [ 4.01919322e-04 -8.68513624e-06 9.99999919e-01 7.22930400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters 0.0193289043345135 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.24, Z:0.07 [[ 9.98591570e-01 5.28136314e-02 5.05934770e-03 1.52384013e+01] [-5.28127231e-02 9.98604385e-01 -3.13048269e-04 -1.23532142e+00] [-5.06882002e-03 4.54094328e-05 9.99987152e-01 7.34321797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters 0.019180696701939847 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.25, Z:0.07 [[ 9.97822162e-01 6.58849864e-02 3.17816092e-03 1.52998112e+01] [-6.58846907e-02 9.97827224e-01 -1.97763610e-04 -1.24618665e+00] [-3.18428514e-03 -1.20592364e-05 9.99994930e-01 7.27965640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters 0.019955477292217996 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.25, Z:0.07 [[ 9.96868440e-01 7.90729105e-02 -8.87926734e-04 1.53615050e+01] [-7.90728933e-02 9.96868835e-01 5.44980039e-05 -1.25276641e+00] [ 8.89455805e-04 1.58835957e-05 9.99999604e-01 7.32491866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters 0.021309679547204575 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.26, Z:0.07 [[ 9.96051551e-01 8.87669389e-02 1.31828909e-03 1.54220578e+01] [-8.87669076e-02 9.96052423e-01 -8.24006537e-05 -1.26095019e+00] [-1.32039950e-03 -3.49451469e-05 9.99999128e-01 7.42190635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters 0.020756511567989498 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.26, Z:0.08 [[ 9.96346368e-01 8.53847494e-02 1.83312195e-03 1.54831680e+01] [-8.53846831e-02 9.96348053e-01 -1.14517568e-04 -1.26322316e+00] [-1.83620554e-03 -4.24213746e-05 9.99998313e-01 7.55857858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters 0.02040356974302403 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.26, Z:0.07 [[ 9.96738517e-01 8.06974431e-02 -5.00738982e-04 1.55448207e+01] [-8.06974377e-02 9.96738643e-01 3.08836503e-05 -1.26293157e+00] [ 5.01598126e-04 9.62542902e-06 9.99999874e-01 7.31572552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters 0.02032483038071374 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.27, Z:0.07 [[ 9.96840876e-01 7.94237657e-02 -3.66249683e-04 1.56049267e+01] [-7.94237627e-02 9.96840943e-01 2.28378035e-05 -1.26644375e+00] [ 3.66906543e-04 6.32327186e-06 9.99999933e-01 7.42545134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters 0.02047340181279723 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.26, Z:0.08 [[ 9.96607554e-01 8.22936766e-02 -1.06506617e-03 1.56647457e+01] [-8.22936523e-02 9.96608123e-01 6.66813891e-05 -1.25906798e+00] [ 1.06694105e-03 2.11930090e-05 9.99999431e-01 7.79497568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters 0.02051190703323668 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.26, Z:0.08 [[ 9.96605783e-01 8.22059253e-02 -4.37035135e-03 1.57238886e+01] [-8.22055215e-02 9.96615361e-01 2.72265750e-04 -1.26171334e+00] [ 4.37794114e-03 8.79253910e-05 9.99990413e-01 7.61624761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters 0.02004908942617919 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.27, Z:0.08 [[ 9.96997822e-01 7.74235366e-02 9.69468097e-04 1.57824111e+01] [-7.74235173e-02 9.96998293e-01 -5.74231685e-05 -1.26512426e+00] [-9.71003942e-04 -1.78088560e-05 9.99999528e-01 7.73496888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters 0.01943801945645106 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.26, Z:0.08 [[ 9.97681660e-01 6.80113730e-02 2.39976346e-03 1.58430235e+01] [-6.80112133e-02 9.97684546e-01 -1.48155782e-04 -1.26392337e+00] [-2.40428319e-03 -1.53985181e-05 9.99997110e-01 7.89098630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters 0.019368992368457107 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.27, Z:0.08 [[ 9.98104059e-01 6.14612237e-02 -3.28713904e-03 1.59037922e+01] [-6.14608890e-02 9.98109472e-01 2.02820162e-04 -1.26902746e+00] [ 3.29339019e-03 -4.05138909e-07 9.99994577e-01 7.69448577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters 0.019299661051095967 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.27, Z:0.08 [[ 9.98307773e-01 5.79247860e-02 -5.12920619e-03 1.59619022e+01] [-5.79239220e-02 9.98320950e-01 3.16964230e-04 -1.27291401e+00] [ 5.13895408e-03 -1.93241159e-05 9.99986795e-01 7.79459982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters 0.019329380705706566 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.28, Z:0.08 [[ 9.98231197e-01 5.94374520e-02 1.29132041e-03 1.60204940e+01] [-5.94374033e-02 9.98232032e-01 -7.60758440e-05 -1.27715942e+00] [-1.29355915e-03 -8.11451167e-07 9.99999163e-01 8.17929695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters 0.019412081273526983 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.28, Z:0.08 [[ 9.97826903e-01 6.58085688e-02 3.27159403e-03 1.60806970e+01] [-6.58082706e-02 9.97832266e-01 -1.98838919e-04 -1.27941705e+00] [-3.27758739e-03 -1.68911226e-05 9.99994629e-01 8.15844795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters 0.01995317233314211 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.28, Z:0.08 [[ 9.97202526e-01 7.45314202e-02 5.67356964e-03 1.61417648e+01] [-7.45306602e-02 9.97218663e-01 -3.45557065e-04 -1.28487767e+00] [-5.68354439e-03 -7.82645131e-05 9.99983845e-01 7.93679894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters 0.02031259843610274 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.29, Z:0.08 [[ 9.96970042e-01 7.76956500e-02 3.75787038e-03 1.62038208e+01] [-7.76953354e-02 9.96977122e-01 -2.29859701e-04 -1.28802485e+00] [-3.76436990e-03 -6.28057639e-05 9.99992913e-01 7.99250368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters 0.02030968155891316 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.29, Z:0.08 [[ 9.96964782e-01 7.77849165e-02 3.27571465e-03 1.62647425e+01] [-7.77846781e-02 9.96970162e-01 -2.00332908e-04 -1.28960464e+00] [-3.28137265e-03 -5.50755559e-05 9.99994615e-01 8.10633735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters 0.019806619933298485 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.28, Z:0.08 [[ 9.97292895e-01 7.35198627e-02 1.30835314e-03 1.63269117e+01] [-7.35198206e-02 9.97293753e-01 -8.03091951e-05 -1.28423938e+00] [-1.31071673e-03 -1.60980984e-05 9.99999141e-01 8.29963413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters 0.019784744385942993 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.28, Z:0.08 [[ 9.97337896e-01 7.29179417e-02 -3.08321284e-04 1.63877460e+01] [-7.29179393e-02 9.97337944e-01 1.88445876e-05 -1.28318413e+00] [ 3.08874624e-04 3.68773134e-06 9.99999952e-01 8.09845560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters 0.019913560629443973 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.28, Z:0.08 [[ 9.97162130e-01 7.52682723e-02 1.54058053e-03 1.64474259e+01] [-7.52682173e-02 9.97163320e-01 -9.37131005e-05 -1.28293173e+00] [-1.54326401e-03 -2.25095948e-05 9.99998809e-01 8.10912408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters 0.019860790925407074 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.29, Z:0.08 [[ 9.97192360e-01 7.48795129e-02 6.75102309e-04 1.65077116e+01] [-7.48795021e-02 9.97192588e-01 -4.12162957e-05 -1.29485459e+00] [-6.76293275e-04 -9.45074957e-06 9.99999771e-01 8.28175830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters 0.019746828699432357 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.30, Z:0.08 [[ 9.97223367e-01 7.44394179e-02 2.08089756e-03 1.65685854e+01] [-7.44393149e-02 9.97225537e-01 -1.27042802e-04 -1.29802259e+00] [-2.08458118e-03 -2.82105376e-05 9.99997827e-01 8.17387307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters 0.02038498403582368 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.30, Z:0.08 [[ 9.96739789e-01 8.04739868e-02 5.80781788e-03 1.66288563e+01] [-8.04732864e-02 9.96756703e-01 -3.54578464e-04 -1.30089594e+00] [-5.81751575e-03 -1.13951729e-04 9.99983072e-01 8.40809934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters 0.022363325955013856 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.30, Z:0.09 [[ 9.95563683e-01 9.37323202e-02 8.19793435e-03 1.66896314e+01] [-9.37313695e-02 9.95597398e-01 -5.00940606e-04 -1.30107551e+00] [-8.20879644e-03 -2.69685340e-04 9.99966271e-01 8.67383488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters 0.023396506765246034 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.30, Z:0.08 [[ 9.94994383e-01 9.97079142e-02 6.67159733e-03 1.67519436e+01] [-9.97074094e-02 9.95016716e-01 -4.09063770e-04 -1.30189532e+00] [-6.67913776e-03 -2.58191533e-04 9.99977661e-01 8.08408543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters 0.02317890765705435 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.30, Z:0.08 [[ 9.95165131e-01 9.80946440e-02 4.87872436e-03 1.68136257e+01] [-9.80943539e-02 9.95177074e-01 -2.99298935e-04 -1.30276562e+00] [-4.88455426e-03 -1.80723450e-04 9.99988054e-01 8.08031159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters 0.021794866338805254 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.29, Z:0.08 [[ 9.95759685e-01 9.19758724e-02 1.75739822e-03 1.68752750e+01] [-9.19758254e-02 9.95761234e-01 -1.07711946e-04 -1.29143770e+00] [-1.75985592e-03 -5.43829389e-05 9.99998450e-01 8.47337678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters 0.021393304547077465 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.29, Z:0.08 [[ 9.96179196e-01 8.72296025e-02 -4.24336331e-03 1.69350401e+01] [-8.72292842e-02 9.96188227e-01 2.60390715e-04 -1.28549882e+00] [ 4.24990235e-03 1.10749731e-04 9.99990963e-01 8.13434740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters 0.0217396302218907 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.28, Z:0.08 [[ 9.96029915e-01 8.90189983e-02 1.61393046e-04 1.69948011e+01] [-8.90189983e-02 9.96029928e-01 -7.36884894e-06 -1.27765497e+00] [-1.61408271e-04 -7.02745329e-06 9.99999987e-01 8.27629753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters 0.021793632217718673 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.27, Z:0.09 [[ 9.96002623e-01 8.93235627e-02 2.74996478e-04 1.70545439e+01] [-8.93235622e-02 9.96002661e-01 -1.41233609e-05 -1.26688128e+00] [-2.75158773e-04 -1.04967605e-05 9.99999962e-01 8.53974699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters 0.02036846132509242 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.26, Z:0.08 [[ 9.97149027e-01 7.53553421e-02 3.92311469e-03 1.71145978e+01] [-7.53550029e-02 9.97156742e-01 -2.34416137e-04 -1.25889239e+00] [-3.92962478e-03 -6.18784965e-05 9.99992277e-01 8.15575719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters 0.019732215769623168 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.24, Z:0.08 [[ 9.98831595e-01 4.82273350e-02 3.09332667e-03 1.71748590e+01] [-4.82270050e-02 9.98836385e-01 -1.81237062e-04 -1.24141271e+00] [-3.09846781e-03 3.18434224e-05 9.99995199e-01 8.43535671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters 0.021775144322192495 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.26, Z:0.08 [[ 9.99443798e-01 3.33441436e-02 5.12074415e-04 1.72334962e+01] [-3.33441326e-02 9.99443929e-01 -3.00464758e-05 -1.25860173e+00] [-5.12791540e-04 1.29550866e-05 9.99999868e-01 8.08494550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters 0.021550149509452284 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.28, Z:0.08 [[ 9.99396501e-01 3.38615800e-02 7.74774296e-03 1.72909918e+01] [-3.38590788e-02 9.99426514e-01 -4.53804043e-04 -1.28221883e+00] [-7.75866626e-03 1.91198733e-04 9.99969883e-01 8.28698081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters 0.019119551827250825 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.30, Z:0.09 [[ 9.98250971e-01 5.89427789e-02 -4.55495257e-03 1.73505876e+01] [-5.89421692e-02 9.98261363e-01 2.68084182e-04 -1.29939775e+00] [ 4.56283479e-03 8.63489946e-07 9.99989590e-01 8.67315031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters 0.019300876009293665 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.30, Z:0.08 [[ 9.97865407e-01 6.52833313e-02 1.64811497e-03 1.74089987e+01] [-6.52832652e-02 9.97866768e-01 -9.39154330e-05 -1.30321144e+00] [-1.65073027e-03 -1.38793648e-05 9.99998637e-01 8.38813790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters 0.019811397935925176 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.31, Z:0.08 [[ 9.97528396e-01 7.02553374e-02 1.13442953e-03 1.74670055e+01] [-7.02553107e-02 9.97529041e-01 -6.33776310e-05 -1.31472509e+00] [-1.13607902e-03 -1.64787129e-05 9.99999355e-01 8.19231018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters 0.019480902956278932 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.31, Z:0.09 [[ 9.97799873e-01 6.60981577e-02 5.14272059e-03 1.75253300e+01] [-6.60975280e-02 9.97813124e-01 -2.92501301e-04 -1.31276343e+00] [-5.15080790e-03 -4.80633576e-05 9.99986733e-01 8.62064000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters 0.019186603213598157 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.31, Z:0.09 [[ 9.98283218e-01 5.85480638e-02 -1.65578018e-03 1.75866360e+01] [-5.85479868e-02 9.98284591e-01 9.49403639e-05 -1.31014516e+00] [ 1.65849842e-03 2.16522438e-06 9.99998625e-01 8.66148590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters 0.020886299942712735 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.31, Z:0.09 [[ 9.99368145e-01 3.55309825e-02 9.27719407e-04 1.76457446e+01] [-3.55309488e-02 9.99368575e-01 -5.26982615e-05 -1.31461260e+00] [-9.29006043e-04 1.97022130e-05 9.99999568e-01 8.72834568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters 0.020483934730243562 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.33, Z:0.09 [[ 9.99295461e-01 3.73972284e-02 3.16687555e-03 1.77045545e+01] [-3.73968422e-02 9.99300477e-01 -1.81073841e-04 -1.33498309e+00] [-3.17143191e-03 6.25151225e-05 9.99994969e-01 8.74220888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters 0.019055498219935442 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.35, Z:0.09 [[ 9.98489389e-01 5.49428037e-02 -4.77040345e-04 1.77643561e+01] [-5.49427970e-02 9.98489503e-01 2.71758378e-05 -1.34574147e+00] [ 4.77812894e-04 -9.24854844e-07 9.99999886e-01 8.85773034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters 0.01931099594259478 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.34, Z:0.09 [[ 9.98120329e-01 6.12728115e-02 1.20509156e-03 1.78236967e+01] [-6.12727764e-02 9.98121056e-01 -6.61258141e-05 -1.34490929e+00] [-1.20687897e-03 -7.83778626e-06 9.99999272e-01 8.71392194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters 0.01911655866930023 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.34, Z:0.09 [[ 9.98651314e-01 5.17627112e-02 4.02186877e-03 1.78824454e+01] [-5.17622276e-02 9.98659412e-01 -2.24310625e-04 -1.34405504e+00] [-4.02808803e-03 1.58272140e-05 9.99991887e-01 8.63644499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters 0.02061139947955034 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.34, Z:0.09 [[ 9.99379986e-01 3.50140481e-02 3.69587758e-03 1.79436719e+01] [-3.50135147e-02 9.99386817e-01 -2.08957131e-04 -1.34245141e+00] [-3.70092777e-03 7.94219106e-05 9.99993148e-01 8.77470551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters 0.02222291915460511 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.35, Z:0.09 [[ 9.99675002e-01 2.54374907e-02 1.68054805e-03 1.80039166e+01] [-2.54373668e-02 9.99676413e-01 -9.50617226e-05 -1.35479910e+00] [-1.68242238e-03 5.22821104e-05 9.99998583e-01 8.96822624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters 0.021376269841790016 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.37, Z:0.09 [[ 9.99521079e-01 3.09452801e-02 4.05500385e-05 1.80635148e+01] [-3.09452800e-02 9.99521080e-01 -2.28988495e-06 -1.36924199e+00] [-4.06014794e-05 1.03395598e-06 9.99999999e-01 8.69160433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters 0.020991211502130784 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.38, Z:0.09 [[ 9.99487649e-01 3.20068132e-02 -5.18520531e-05 1.81226462e+01] [-3.20068131e-02 9.99487651e-01 3.24367391e-06 -1.38345835e+00] [ 5.19293064e-05 -1.58239304e-06 9.99999999e-01 8.64272139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters 0.01935314569871498 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.39, Z:0.09 [[ 9.99013375e-01 4.43458552e-02 2.39213740e-03 1.81817574e+01] [-4.43456604e-02 9.99016238e-01 -1.34449335e-04 -1.39478250e+00] [-2.39574637e-03 2.82357717e-05 9.99997130e-01 8.93394122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters 0.019297679752407867 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.41, Z:0.09 [[ 9.97910431e-01 6.46096462e-02 -6.04379938e-04 1.82421416e+01] [-6.46096376e-02 9.97910614e-01 3.37578950e-05 -1.40648400e+00] [ 6.05298241e-04 5.36141316e-06 9.99999817e-01 9.15059968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters 0.02007713607418591 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.41, Z:0.09 [[ 9.97301531e-01 7.33966883e-02 -1.60692058e-03 1.83019515e+01] [-7.33966372e-02 9.97302825e-01 9.08749373e-05 -1.40620415e+00] [ 1.60925635e-03 2.73128526e-05 9.99998705e-01 9.19692879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters 0.020309051023658903 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.41, Z:0.09 [[ 9.97191826e-01 7.48870862e-02 6.20957016e-04 1.83611063e+01] [-7.48870806e-02 9.97192020e-01 -3.22817624e-05 -1.40542374e+00] [-6.21630868e-04 -1.43105485e-05 9.99999807e-01 9.25950598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters 0.020415657398785224 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.39, Z:0.09 [[ 9.97068982e-01 7.64744956e-02 2.25737393e-03 1.84210479e+01] [-7.64744139e-02 9.97071537e-01 -1.22634980e-04 -1.38897866e+00] [-2.26014174e-03 -5.03558136e-05 9.99997445e-01 9.29948752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters 0.022299956391735088 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.38, Z:0.09 [[ 9.96079355e-01 8.83983483e-02 3.41317721e-03 1.84820126e+01] [-8.83982199e-02 9.96085197e-01 -1.88730393e-04 -1.37560803e+00] [-3.41649874e-03 -1.13728341e-04 9.99994157e-01 9.32778796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters 0.02172683539013363 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.37, Z:0.09 [[ 9.96469855e-01 8.39472945e-02 8.24277624e-04 1.85416283e+01] [-8.39472876e-02 9.96470196e-01 -4.30969720e-05 -1.37217148e+00] [-8.24985959e-04 -2.62510373e-05 9.99999659e-01 9.29990790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters 0.02088875260415844 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.35, Z:0.09 [[ 9.96947979e-01 7.79292831e-02 4.66404003e-03 1.86017719e+01] [-7.79289586e-02 9.96958883e-01 -2.51540254e-04 -1.35042294e+00] [-4.66945849e-03 -1.12691235e-04 9.99989092e-01 9.15319062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters 0.021967313866486985 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.35, Z:0.09 [[ 9.96354935e-01 8.52029659e-02 4.15920184e-03 1.86614090e+01] [-8.52027648e-02 9.96363607e-01 -2.25828660e-04 -1.34969220e+00] [-4.16331862e-03 -1.29369996e-04 9.99991325e-01 9.46217065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters 0.020727137190934018 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.35, Z:0.09 [[ 9.97218715e-01 7.41228082e-02 7.78744968e-03 1.87214274e+01] [-7.41217639e-02 9.97249109e-01 -4.23027135e-04 -1.35066614e+00] [-7.79738321e-03 -1.55368931e-04 9.99969588e-01 9.37021256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters 0.01969653243189547 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.34, Z:0.09 [[ 9.98089069e-01 6.15985848e-02 4.88102548e-03 1.87819945e+01] [-6.15980258e-02 9.98101003e-01 -2.64915052e-04 -1.34416518e+00] [-4.88807482e-03 -3.62527154e-05 9.99988053e-01 9.10281824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters 0.01940993595217291 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.35, Z:0.09 [[ 9.98612861e-01 5.24876987e-02 4.17082406e-03 1.88406881e+01] [-5.24872285e-02 9.98621571e-01 -2.22187817e-04 -1.34718100e+00] [-4.17673700e-03 2.96461618e-06 9.99991277e-01 9.03934476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters 0.02070705665107118 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.35, Z:0.09 [[ 9.99315494e-01 3.64507342e-02 6.31563932e-03 1.89000452e+01] [-3.64493177e-02 9.99335445e-01 -3.39289589e-04 -1.34956328e+00] [-6.32380959e-03 1.08856599e-04 9.99979999e-01 9.33045690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters 0.024556155859687546 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.36, Z:0.09 [[ 9.99873426e-01 1.56745240e-02 2.72794385e-03 1.89600698e+01] [-1.56741819e-02 9.99877142e-01 -1.46737747e-04 -1.35721327e+00] [-2.72990874e-03 1.03960885e-04 9.99996268e-01 8.89334489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters 0.027995412713033956 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.38, Z:0.09 [[ 9.99994922e-01 2.46116783e-03 2.02473103e-03 1.90194649e+01] [-2.46095133e-03 9.99996966e-01 -1.09413177e-04 -1.38016152e+00] [-2.02499418e-03 1.04429857e-04 9.99997944e-01 9.18060984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters 0.027672038671764054 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.42, Z:0.09 [[ 9.99994027e-01 1.33476800e-03 3.18817927e-03 1.90800207e+01] [-1.33421654e-03 9.99999095e-01 -1.75093256e-04 -1.41629367e+00] [-3.18841009e-03 1.70838489e-04 9.99994902e-01 9.32120296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters 0.025584719142215034 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.44, Z:0.09 [[ 9.99937367e-01 1.03807941e-02 -4.18343909e-03 1.91398470e+01] [-1.03799349e-02 9.99946101e-01 2.27019977e-04 -1.43962408e+00] [ 4.18557025e-03 -1.83581933e-04 9.99991224e-01 9.32850240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters 0.021731259650224957 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.48, Z:0.09 [[ 9.99601741e-01 2.76340277e-02 5.72011143e-03 1.91984442e+01] [-2.76327038e-02 9.99618096e-01 -3.10378266e-04 -1.47690003e+00] [-5.72650390e-03 1.52192511e-04 9.99983592e-01 9.35321572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters 0.019856301993126175 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.49, Z:0.09 [[ 9.99088092e-01 4.23777010e-02 5.20715696e-03 1.92596740e+01] [-4.23767985e-02 9.99101660e-01 -2.83568587e-04 -1.48897540e+00] [-5.21449615e-03 6.26473573e-05 9.99986402e-01 9.42561631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters 0.019635764965309895 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.49, Z:0.10 [[ 9.97928869e-01 6.43234223e-02 6.85833408e-04 1.93213498e+01] [-6.43234111e-02 9.97929104e-01 -3.83714385e-05 -1.49496696e+00] [-6.86881301e-04 -5.82317806e-06 9.99999764e-01 9.52618927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters 0.019662388089095706 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.50, Z:0.10 [[ 9.97837298e-01 6.57314537e-02 -3.19462410e-04 1.93826473e+01] [-6.57314516e-02 9.97837349e-01 1.71035371e-05 -1.49689803e+00] [ 3.19895765e-04 3.93218067e-06 9.99999949e-01 9.80886786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters 0.01939261597420385 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.49, Z:0.10 [[ 9.98069161e-01 6.21120976e-02 -1.91131621e-04 1.94439270e+01] [-6.21120968e-02 9.98069180e-01 1.04400412e-05 -1.48937563e+00] [ 1.91411033e-04 1.45170254e-06 9.99999982e-01 9.70483053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters 0.019327109798904788 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.48, Z:0.10 [[ 9.98476750e-01 5.50752611e-02 3.30080783e-03 1.95046640e+01] [-5.50749661e-02 9.98482206e-01 -1.80297586e-04 -1.48164433e+00] [-3.30572782e-03 -1.76893150e-06 9.99994536e-01 9.57900499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters 0.019434405762497664 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.48, Z:0.09 [[ 9.98889706e-01 4.70149820e-02 2.99098745e-03 1.95660696e+01] [-4.70147019e-02 9.98894184e-01 -1.63916540e-04 -1.47861042e+00] [-2.99538650e-03 2.31141617e-05 9.99995514e-01 9.28813207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters 0.019415086851674326 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.48, Z:0.10 [[ 9.98748897e-01 4.92618581e-02 8.59709077e-03 1.96278433e+01] [-4.92596240e-02 9.98785897e-01 -4.71553779e-04 -1.47792465e+00] [-8.60988263e-03 4.74743584e-05 9.99962933e-01 9.59062648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters 0.0193273496324478 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.48, Z:0.10 [[ 9.98382584e-01 5.68149090e-02 2.06939468e-03 1.96899152e+01] [-5.68147940e-02 9.98384729e-01 -1.14343199e-04 -1.48006780e+00] [-2.07254844e-03 -3.41397436e-06 9.99997852e-01 9.54489903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters 0.019340022851116627 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.48, Z:0.09 [[ 9.98454093e-01 5.50851134e-02 7.41985830e-03 1.97513341e+01] [-5.50835995e-02 9.98481662e-01 -4.08391580e-04 -1.48400896e+00] [-7.43108875e-03 -9.52258581e-07 9.99972389e-01 9.42462434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters 0.019480056253551814 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.49, Z:0.10 [[ 9.98042974e-01 6.25130871e-02 1.52861819e-03 1.98139828e+01] [-6.25130297e-02 9.98044144e-01 -8.53182215e-05 -1.48621029e+00] [-1.53096194e-03 -1.04073028e-05 9.99998828e-01 9.64401071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters 0.020402074917889243 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.48, Z:0.10 [[ 9.97126148e-01 7.57503096e-02 1.15545196e-03 1.98743058e+01] [-7.57502867e-02 9.97126817e-01 -6.35571121e-05 -1.48283325e+00] [-1.15694661e-03 -2.41513592e-05 9.99999330e-01 9.65017697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters 0.021443863852744372 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.46, Z:0.10 [[ 9.96517643e-01 8.31821722e-02 5.77171752e-03 1.99349274e+01] [-8.31817268e-02 9.96534344e-01 -3.17595050e-04 -1.46473458e+00] [-5.77813298e-03 -1.63612360e-04 9.99983293e-01 9.77566580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters 0.020444675656006477 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.41, Z:0.09 [[ 9.97385913e-01 7.22380247e-02 1.73444108e-03 1.99976893e+01] [-7.22379685e-02 9.97387421e-01 -9.50820191e-05 -1.40887851e+00] [-1.73677825e-03 -3.04590335e-05 9.99998491e-01 8.75027680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters 0.021043709852472406 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.41, Z:0.09 [[ 9.96999819e-01 7.73968225e-02 1.04578357e-03 2.00565442e+01] [-7.73968076e-02 9.97000367e-01 -5.46957201e-05 -1.41368397e+00] [-1.04687987e-03 -2.64086864e-05 9.99999452e-01 8.72375341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters 0.021601558118997843 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.40, Z:0.10 [[ 9.96306399e-01 8.57761233e-02 4.00193786e-03 2.01173527e+01] [-8.57759401e-02 9.96314429e-01 -2.17707151e-04 -1.39746595e+00] [-4.00586251e-03 -1.26366955e-04 9.99991969e-01 9.60573650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters 0.020444973643140015 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.41, Z:0.09 [[ 9.97473386e-01 7.08999266e-02 4.47711954e-03 2.01764054e+01] [-7.08995486e-02 9.97483431e-01 -2.43279203e-04 -1.40787772e+00] [-4.48310104e-03 -7.47612243e-05 9.99989948e-01 9.25074225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters 0.019511218487422693 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.39, Z:0.09 [[ 9.98498179e-01 5.37805087e-02 1.04424113e-02 2.02361821e+01] [-5.37775839e-02 9.98552781e-01 -5.60886852e-04 -1.39485120e+00] [-1.04574637e-02 -1.52315141e-06 9.99945319e-01 9.39206637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters 0.019437870057818194 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.40, Z:0.09 [[ 9.98679646e-01 5.12096707e-02 4.06631147e-03 2.02975475e+01] [-5.12091997e-02 9.98687924e-01 -2.19933743e-04 -1.40190000e+00] [-4.07223889e-03 1.14107969e-05 9.99991708e-01 9.40569545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters 0.019533988911355774 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.41, Z:0.09 [[ 9.98774690e-01 4.94862747e-02 -4.76063746e-04 2.03563607e+01] [-4.94862671e-02 9.98774804e-01 2.78464142e-05 -1.41029069e+00] [ 4.76858490e-04 -4.25367599e-06 9.99999886e-01 9.09101726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters 0.019190218809866152 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.41, Z:0.10 [[ 9.98742109e-01 5.01364287e-02 -7.33049162e-04 2.04144890e+01] [-5.01364117e-02 9.98742378e-01 4.15346387e-05 -1.40750044e+00] [ 7.34209662e-04 -4.72993810e-06 9.99999730e-01 9.66826467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters 0.019509824303882844 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.41, Z:0.09 [[ 9.98742800e-01 5.00026612e-02 3.54319066e-03 2.04732015e+01] [-5.00023237e-02 9.98749085e-01 -1.83834108e-04 -1.41333635e+00] [-3.54795062e-03 6.43522604e-06 9.99993706e-01 9.18353031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters 0.019404024753703054 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.42, Z:0.10 [[ 9.98438236e-01 5.53176454e-02 7.81319654e-03 2.05316489e+01] [-5.53161731e-02 9.98468806e-01 -4.04573758e-04 -1.41699336e+00] [-7.82361309e-03 -2.82542226e-05 9.99969395e-01 9.66754461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters 0.01970937142473404 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.42, Z:0.09 [[ 9.98068281e-01 6.21243807e-02 -5.18006561e-04 2.05911903e+01] [-6.21243749e-02 9.98068415e-01 2.72744417e-05 -1.41562241e+00] [ 5.18700395e-04 4.95907868e-06 9.99999865e-01 9.24182152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters 0.020965434344241328 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.42, Z:0.10 [[ 9.97222421e-01 7.44735332e-02 1.06556411e-03 2.06511780e+01] [-7.44735169e-02 9.97222990e-01 -5.50241644e-05 -1.41610287e+00] [-1.06670287e-03 -2.44849761e-05 9.99999431e-01 9.56425361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters 0.021642203523828295 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.40, Z:0.10 [[ 9.96729051e-01 8.06850151e-02 4.59644380e-03 2.07112254e+01] [-8.06847742e-02 9.96739640e-01 -2.38131603e-04 -1.40430503e+00] [-4.60067139e-03 -1.33510343e-04 9.99989408e-01 9.99475410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters 0.021611754468363976 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.39, Z:0.10 [[ 9.96818807e-01 7.89682311e-02 1.07835000e-02 2.07707180e+01] [-7.89668758e-02 9.96877088e-01 -5.52076452e-04 -1.38851692e+00] [-1.07934205e-02 -3.01219111e-04 9.99941704e-01 9.89275069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters 0.020898312007192246 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.38, Z:0.10 [[ 9.97274773e-01 7.23098437e-02 1.46394585e-02 2.08296212e+01] [-7.23067164e-02 9.97382166e-01 -7.43492168e-04 -1.38312484e+00] [-1.46548966e-02 -3.17065189e-04 9.99892561e-01 9.96726970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters 0.019570553252300473 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.38, Z:0.10 [[ 9.98235189e-01 5.87827125e-02 8.43209819e-03 2.08902543e+01] [-5.87811844e-02 9.98270799e-01 -4.29149053e-04 -1.37871256e+00] [-8.44274395e-03 -6.72570325e-05 9.99964357e-01 9.78454934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters 0.019355060973463647 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.37, Z:0.10 [[ 9.98648870e-01 5.14944483e-02 6.98262805e-03 2.09495223e+01] [-5.14932600e-02 9.98673281e-01 -3.49963154e-04 -1.37324629e+00] [-6.99138523e-03 -1.00679742e-05 9.99975560e-01 9.74189989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters 0.020248526705511187 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.38, Z:0.10 [[ 9.99246364e-01 3.79352432e-02 8.22319841e-03 2.10078901e+01] [-3.79331310e-02 9.99280195e-01 -4.12733156e-04 -1.37509027e+00] [-8.23293644e-03 1.00490443e-04 9.99966104e-01 9.98291182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters 0.02273499261243031 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.38, Z:0.10 [[ 9.99744056e-01 2.22545086e-02 4.06925808e-03 2.10686492e+01] [-2.22538587e-02 9.99752331e-01 -2.04926838e-04 -1.38433167e+00] [-4.07281080e-03 1.14317693e-04 9.99991700e-01 9.70034435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters 0.02502508020927554 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.41, Z:0.10 [[ 9.99928540e-01 1.19535368e-02 -1.65505753e-04 2.11279820e+01] [-1.19535356e-02 9.99928554e-01 8.32848035e-06 -1.40762241e+00] [ 1.65593483e-04 -6.34950629e-06 9.99999986e-01 9.89342611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters 0.023467927143744644 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.43, Z:0.10 [[ 9.99820520e-01 1.85699224e-02 3.75309086e-03 2.11866571e+01] [-1.85693461e-02 9.99827557e-01 -1.88330375e-04 -1.43271060e+00] [-3.75594095e-03 1.18604131e-04 9.99992939e-01 9.82966551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters 0.019893697943122023 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.47, Z:0.10 [[ 9.99112767e-01 4.14977803e-02 7.18428147e-03 2.12456190e+01] [-4.14962541e-02 9.99138594e-01 -3.61427509e-04 -1.46636286e+00] [-7.19309133e-03 6.29860689e-05 9.99974127e-01 9.85234250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters 0.019630042676692737 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.48, Z:0.10 [[ 9.98632477e-01 5.22049858e-02 2.79559530e-03 2.13060773e+01] [-5.22047953e-02 9.98636390e-01 -1.41110576e-04 -1.48003913e+00] [-2.79914987e-03 -5.02587648e-06 9.99996082e-01 9.73486170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters 0.019764445705746293 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.50, Z:0.10 [[ 9.98590957e-01 5.22848654e-02 9.07706665e-03 2.13637262e+01] [-5.22829303e-02 9.98632211e-01 -4.50502572e-04 -1.49850153e+00] [-9.08820560e-03 -2.47078492e-05 9.99958701e-01 9.89300794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters 0.019880635658341785 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.50, Z:0.10 [[ 9.98562901e-01 5.32213993e-02 6.29407278e-03 2.14261440e+01] [-5.32204678e-02 9.98582737e-01 -3.15516449e-04 -1.49576511e+00] [-6.30194465e-03 -1.99104771e-05 9.99980142e-01 9.78107454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters 0.01991132895436502 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.50, Z:0.10 [[ 9.98555166e-01 5.36696385e-02 2.67399022e-03 2.14867533e+01] [-5.36694727e-02 9.98558746e-01 -1.33759936e-04 -1.50241886e+00] [-2.67731517e-03 -9.94496996e-06 9.99996416e-01 1.02286045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters 0.019780597184779692 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.50, Z:0.10 [[ 9.98660010e-01 5.17511343e-02 -7.37579468e-05 2.15456924e+01] [-5.17511340e-02 9.98660012e-01 6.03465548e-06 -1.50232291e+00] [ 7.39714124e-05 -2.20951171e-06 9.99999997e-01 1.01664148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters 0.01984625727435221 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.52, Z:0.10 [[ 9.98794298e-01 4.90824940e-02 -9.26488917e-04 2.16029610e+01] [-4.90824705e-02 9.98794728e-01 4.81073638e-05 -1.51680277e+00] [ 9.27733475e-04 -2.57499575e-06 9.99999570e-01 9.58811562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters 0.01980067823093689 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.53, Z:0.11 [[ 9.98448979e-01 5.53926524e-02 5.59377137e-03 2.16616015e+01] [-5.53920135e-02 9.98464648e-01 -2.69201033e-04 -1.52716131e+00] [-5.60009472e-03 -4.10667623e-05 9.99984319e-01 1.06894548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters 0.020440869273697104 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.54, Z:0.10 [[ 9.97978607e-01 6.31166419e-02 7.41552885e-03 2.17221180e+01] [-6.31157029e-02 9.98006151e-01 -3.60820197e-04 -1.53982665e+00] [-7.42351717e-03 -1.07945478e-04 9.99972439e-01 9.72477959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters 0.020499989855190488 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.56, Z:0.11 [[ 9.97989674e-01 6.31229766e-02 5.66572498e-03 2.17832576e+01] [-6.31224218e-02 9.98005753e-01 -2.76864574e-04 -1.55924682e+00] [-5.67190264e-03 -8.13262961e-05 9.99983911e-01 1.06198452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters 0.021158903668319573 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.55, Z:0.10 [[ 9.97521851e-01 7.01638515e-02 5.21441263e-03 2.18455809e+01] [-7.01634774e-02 9.97535474e-01 -2.54875282e-04 -1.54659560e+00] [-5.21944461e-03 -1.11617660e-04 9.99986372e-01 1.04678794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters 0.023013429022165154 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.54, Z:0.11 [[ 9.96466197e-01 8.39262730e-02 3.39086993e-03 2.19064424e+01] [-8.39261951e-02 9.96471960e-01 -1.65522496e-04 -1.53974809e+00] [-3.39279849e-03 -1.19645239e-04 9.99994237e-01 1.07770307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters 0.022766871688581783 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.54, Z:0.11 [[ 9.96561386e-01 8.27842802e-02 3.48810490e-03 2.19653361e+01] [-8.27842045e-02 9.96567483e-01 -1.66333029e-04 -1.53927078e+00] [-3.48990168e-03 -1.22998915e-04 9.99993903e-01 1.09852765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters 0.02121393367259273 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.51, Z:0.10 [[ 9.97711245e-01 6.69779066e-02 9.28608780e-03 2.20260995e+01] [-6.69766365e-02 9.97754443e-01 -4.48038915e-04 -1.51493281e+00] [-9.29524408e-03 -1.74937463e-04 9.99956783e-01 1.01672744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters 0.020220023027105107 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.50, Z:0.11 [[ 9.98334381e-01 5.75158812e-02 4.51531919e-03 2.20873203e+01] [-5.75154834e-02 9.98344591e-01 -2.18021878e-04 -1.49775672e+00] [-4.52038421e-03 -4.20420291e-05 9.99989782e-01 1.05578951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters 0.02025318493405159 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.50, Z:0.10 [[ 9.99166562e-01 4.00031377e-02 8.11978030e-03 2.21462326e+01] [-4.00013225e-02 9.99199552e-01 -3.85892697e-04 -1.49620750e+00] [-8.12871776e-03 6.07691289e-05 9.99966960e-01 1.02919863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters 0.022371532319624004 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.50, Z:0.10 [[ 9.99639864e-01 2.48752544e-02 1.00680056e-02 2.22074997e+01] [-2.48716570e-02 9.99690536e-01 -4.82371738e-04 -1.50341308e+00] [-1.00768890e-02 2.31790036e-04 9.99949200e-01 1.00725603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters 0.022836278053299033 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.51, Z:0.11 [[ 9.99770966e-01 2.05374835e-02 6.01890746e-03 2.22693215e+01] [-2.05361122e-02 9.99789070e-01 -2.89559150e-04 -1.50771682e+00] [-6.02358471e-03 1.65887873e-04 9.99981844e-01 1.06258534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters 0.02171527203294733 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.52, Z:0.10 [[ 9.99565873e-01 2.79031542e-02 9.45935792e-03 2.23305780e+01] [-2.79000930e-02 9.99610613e-01 -4.55457596e-04 -1.52337252e+00] [-9.46838327e-03 1.91342905e-04 9.99955156e-01 1.03487658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters 0.02178183090513109 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.53, Z:0.10 [[ 9.99590040e-01 2.77852849e-02 6.90873596e-03 2.23926392e+01] [-2.77836411e-02 9.99613904e-01 -3.33811053e-04 -1.53268045e+00] [-6.91534357e-03 1.41724363e-04 9.99976079e-01 1.04183493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters 0.022206150435539106 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.56, Z:0.10 [[ 9.99698520e-01 2.43596690e-02 3.07813307e-03 2.24541051e+01] [-2.43593241e-02 9.99703256e-01 -1.49470054e-04 -1.55821199e+00] [-3.08086070e-03 7.44437501e-05 9.99995251e-01 1.02826880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters 0.021979488970994575 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.56, Z:0.11 [[ 9.99678433e-01 2.48424237e-02 5.08774080e-03 2.25156245e+01] [-2.48414901e-02 9.99691372e-01 -2.46640150e-04 -1.56279224e+00] [-5.09229772e-03 1.20173776e-04 9.99987027e-01 1.05953970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters 0.020502631679377055 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.57, Z:0.10 [[ 9.99246473e-01 3.83496694e-02 5.98245235e-03 2.25763816e+01] [-3.83486183e-02 9.99264379e-01 -2.90355102e-04 -1.57445713e+00] [-5.98918655e-03 6.07175301e-05 9.99982063e-01 1.01335535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters 0.020086971138553844 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.59, Z:0.10 [[ 9.98827502e-01 4.83125114e-02 3.08578701e-03 2.26372009e+01] [-4.83122781e-02 9.98832269e-01 -1.50134031e-04 -1.58845369e+00] [-3.08943699e-03 8.76599472e-07 9.99995228e-01 1.02889882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters 0.019911718518114394 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.60, Z:0.11 [[ 9.98802878e-01 4.88582169e-02 2.38457590e-03 2.26973872e+01] [-4.88580798e-02 9.98805724e-01 -1.15761079e-04 -1.59736254e+00] [-2.38738394e-03 -8.83300633e-07 9.99997150e-01 1.05515001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters 0.020173275419776218 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.60, Z:0.10 [[ 9.98678150e-01 5.12120946e-02 4.39022504e-03 2.27578976e+01] [-5.12116525e-02 9.98687800e-01 -2.13126866e-04 -1.60161347e+00] [-4.39537886e-03 -1.19855350e-05 9.99990340e-01 1.03861848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters 0.020497022429415694 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.61, Z:0.11 [[ 9.98140892e-01 5.99998629e-02 1.07134106e-02 2.28192597e+01] [-5.99977248e-02 9.98198378e-01 -5.21151022e-04 -1.60512345e+00] [-1.07253780e-02 -1.22598112e-04 9.99942474e-01 1.07049871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters 0.021271250832854426 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.61, Z:0.11 [[ 9.97563208e-01 6.93574940e-02 7.56202297e-03 2.28809616e+01] [-6.93566864e-02 9.97591857e-01 -3.69300152e-04 -1.60991524e+00] [-7.56942627e-03 -1.56076611e-04 9.99971339e-01 1.08714441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters 0.021599142926752746 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.61, Z:0.11 [[ 9.97392050e-01 7.18912263e-02 6.38354532e-03 2.29426155e+01] [-7.18907014e-02 9.97412467e-01 -3.11942397e-04 -1.60667930e+00] [-6.38945361e-03 -1.47788683e-04 9.99979576e-01 1.06381403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters 0.02097285110723146 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.61, Z:0.11 [[ 9.97791505e-01 6.63682020e-02 2.71557183e-03 2.30038258e+01] [-6.63680855e-02 9.97795199e-01 -1.33090943e-04 -1.60520516e+00] [-2.71841755e-03 -4.74302914e-05 9.99996304e-01 1.07057158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters 0.020338136057149868 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.61, Z:0.10 [[ 9.98366621e-01 5.68861225e-02 5.29709209e-03 2.30624229e+01] [-5.68855758e-02 9.98380672e-01 -2.53947480e-04 -1.60686272e+00] [-5.30296045e-03 -4.77954463e-05 9.99985938e-01 1.03755705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters 0.01999004113939201 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.61, Z:0.10 [[ 9.98683388e-01 5.06252969e-02 8.28064203e-03 2.31242766e+01] [-5.06237065e-02 9.98717717e-01 -4.01680483e-04 -1.60515580e+00] [-8.29035910e-03 -1.80451664e-05 9.99965634e-01 1.04982243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters 0.020032479333021033 Centerline is valid? [True, True] Translation: X:23.19, Y:-1.61, Z:0.11 [[ 9.99028146e-01 4.38985253e-02 3.96007782e-03 2.31861674e+01] [-4.38981046e-02 9.99035995e-01 -1.93139768e-04 -1.61108060e+00] [-3.96473883e-03 1.91121545e-05 9.99992140e-01 1.06929790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters 0.02062173544538005 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.63, Z:0.11 [[ 9.99438047e-01 3.33187365e-02 3.66758264e-03 2.32467836e+01] [-3.33183046e-02 9.99444775e-01 -1.78820242e-04 -1.62883727e+00] [-3.67150438e-03 5.65221178e-05 9.99993258e-01 1.08334935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters 0.02107246104707324 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.64, Z:0.11 [[ 9.99572234e-01 2.88850119e-02 4.58317104e-03 2.33077600e+01] [-2.88842899e-02 9.99582737e-01 -2.23668331e-04 -1.63554389e+00] [-4.58771931e-03 9.11910125e-05 9.99989472e-01 1.08121934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters 0.021662488619519082 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.66, Z:0.11 [[ 9.99582441e-01 2.66041443e-02 1.12766212e-02 2.33691343e+01] [-2.65996132e-02 9.99646015e-01 -5.51630234e-04 -1.66144968e+00] [-1.12873051e-02 2.51446133e-04 9.99936265e-01 1.05712684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters 0.02247670510898645 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.68, Z:0.10 [[ 9.99712260e-01 2.22038891e-02 9.07662988e-03 2.34308017e+01] [-2.22007607e-02 9.99753434e-01 -4.45288915e-04 -1.67579853e+00] [-9.08427903e-03 2.43652700e-04 9.99958707e-01 1.00250506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters 0.023952809961013934 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.70, Z:0.10 [[ 9.99898329e-01 1.39337743e-02 3.03027027e-03 2.34917082e+01] [-1.39333853e-02 9.99902915e-01 -1.49461505e-04 -1.69882056e+00] [-3.03205864e-03 1.07224386e-04 9.99995398e-01 1.04796082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters 0.023595843429656 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.72, Z:0.10 [[ 9.99841001e-01 1.60332050e-02 7.80441731e-03 2.35533988e+01] [-1.60306882e-02 9.99871426e-01 -3.84938076e-04 -1.71773055e+00] [-7.80958566e-03 2.59766691e-04 9.99969471e-01 1.04669266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters 0.022728316268590218 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.73, Z:0.10 [[ 9.99756436e-01 2.12298280e-02 6.03017141e-03 2.36144529e+01] [-2.12284186e-02 9.99774607e-01 -2.97642050e-04 -1.72523587e+00] [-6.03513115e-03 1.69558553e-04 9.99981774e-01 1.03827194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters 0.02082163300210967 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.75, Z:0.10 [[ 9.99235460e-01 3.83520941e-02 7.59022860e-03 2.36740009e+01] [-3.83503561e-02 9.99264284e-01 -3.74449765e-04 -1.75404572e+00] [-7.59900528e-03 8.30755137e-05 9.99971124e-01 1.03905743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters 0.020355640112090775 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.76, Z:0.11 [[ 9.98819267e-01 4.76064645e-02 9.67969170e-03 2.37360098e+01] [-4.76040539e-02 9.98866169e-01 -4.79422483e-04 -1.75950035e+00] [-9.69154017e-03 1.80638481e-05 9.99953036e-01 1.08963527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters 0.020932225613549616 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.76, Z:0.10 [[ 9.98030241e-01 6.25498712e-02 4.81172005e-03 2.37979553e+01] [-6.25494442e-02 9.98041838e-01 -2.39317038e-04 -1.76479346e+00] [-4.81726718e-03 -6.21247736e-05 9.99988395e-01 1.04890177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters 0.02206959122089239 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.77, Z:0.10 [[ 9.97382186e-01 7.19671937e-02 7.03555125e-03 2.38599636e+01] [-7.19665107e-02 9.97406987e-01 -3.50524849e-04 -1.77051883e+00] [-7.04253427e-03 -1.56716834e-04 9.99975189e-01 1.04832876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters 0.02241489973653183 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.77, Z:0.11 [[ 9.97130953e-01 7.53826896e-02 6.87849061e-03 2.39221601e+01] [-7.53821117e-02 9.97154662e-01 -3.43605402e-04 -1.77124956e+00] [-6.88482088e-03 -1.75895566e-04 9.99976284e-01 1.05460340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters 0.02310764403086808 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.77, Z:0.11 [[ 9.96724308e-01 8.02431412e-02 1.00842912e-02 2.39848312e+01] [-8.02421375e-02 9.96775273e-01 -5.04745117e-04 -1.76848161e+00] [-1.00922744e-02 -3.06093353e-04 9.99949025e-01 1.07979207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters 0.02254572645967941 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.76, Z:0.11 [[ 9.97078013e-01 7.61369599e-02 6.21284993e-03 2.40463669e+01] [-7.61364972e-02 9.97097356e-01 -3.11301299e-04 -1.76433559e+00] [-6.21851777e-03 -1.62632951e-04 9.99980652e-01 1.07463824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters 0.02188850838064946 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.76, Z:0.11 [[ 9.97428849e-01 7.16516074e-02 -1.31822273e-03 2.41083754e+01] [-7.16515832e-02 9.97429720e-01 6.56115856e-05 -1.76386321e+00] [ 1.31953570e-03 2.90098572e-05 9.99999129e-01 1.07095794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters 0.02114613546490854 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.76, Z:0.11 [[ 9.97783074e-01 6.63794857e-02 4.76466566e-03 2.41697534e+01] [-6.63790981e-02 9.97794447e-01 -2.39615054e-04 -1.75986538e+00] [-4.77006246e-03 -7.71903636e-05 9.99988620e-01 1.10581302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters 0.02077217749584961 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.76, Z:0.11 [[ 9.98065755e-01 6.16781877e-02 7.78138647e-03 2.42320255e+01] [-6.16770017e-02 9.98096084e-01 -3.92523696e-04 -1.75988866e+00] [-7.79078152e-03 -8.81681279e-05 9.99969648e-01 1.12917155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters 0.020518256956494285 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.76, Z:0.11 [[ 9.98284292e-01 5.83884099e-02 4.38933476e-03 2.42947834e+01] [-5.83879968e-02 9.98293941e-01 -2.22319633e-04 -1.75818173e+00] [-4.39482719e-03 -3.43462662e-05 9.99990342e-01 1.06770301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters 0.02058288371730614 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.77, Z:0.11 [[ 9.98255037e-01 5.84735410e-02 8.22953306e-03 2.43570619e+01] [-5.84720870e-02 9.98288957e-01 -4.17375804e-04 -1.76543549e+00] [-8.23985741e-03 -6.45504748e-05 9.99966050e-01 1.08363853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters 0.02047223815537883 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.77, Z:0.11 [[ 9.98305809e-01 5.78772482e-02 5.97794382e-03 2.44187535e+01] [-5.78764643e-02 9.98323706e-01 -3.04190331e-04 -1.76817808e+00] [-5.98552872e-03 -4.23072778e-05 9.99982086e-01 1.13515961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters 0.020836547888385678 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.77, Z:0.11 [[ 9.98064035e-01 6.18259409e-02 6.76273390e-03 2.44813475e+01] [-6.18250226e-02 9.98086944e-01 -3.44960718e-04 -1.77003891e+00] [-6.77112393e-03 -7.38132898e-05 9.99977073e-01 1.11169890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters 0.021088135463367075 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.77, Z:0.11 [[ 9.97818295e-01 6.57065354e-02 6.42666501e-03 2.45435602e+01] [-6.57057807e-02 9.97838986e-01 -3.28723812e-04 -1.77038654e+00] [-6.43437620e-03 -9.42624081e-05 9.99979295e-01 1.12566963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters 0.021784243172626484 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.76, Z:0.11 [[ 9.97300137e-01 7.33266649e-02 3.95431029e-03 2.46063037e+01] [-7.33264359e-02 9.97307973e-01 -2.03059797e-04 -1.76430399e+00] [-3.95855488e-03 -8.74439168e-05 9.99992161e-01 1.14802685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters 0.021764597771859785 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.77, Z:0.12 [[ 9.97222955e-01 7.42968563e-02 5.13377380e-03 2.46688720e+01] [-7.42964806e-02 9.97236162e-01 -2.64110532e-04 -1.76713991e+00] [-5.13920746e-03 -1.18044241e-04 9.99986787e-01 1.16164908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters 0.02088555899348737 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.77, Z:0.11 [[ 9.97917934e-01 6.39227854e-02 8.58337362e-03 2.47313416e+01] [-6.39213452e-02 9.97954842e-01 -4.42300776e-04 -1.76775980e+00] [-8.59409236e-03 -1.07280911e-04 9.99963064e-01 1.14156239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters 0.02041533436915469 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.76, Z:0.11 [[ 9.98384480e-01 5.66614693e-02 4.23174757e-03 2.47941268e+01] [-5.66610499e-02 9.98393448e-01 -2.19013756e-04 -1.76230571e+00] [-4.23735869e-03 -2.11153251e-05 9.99991022e-01 1.12035375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters 0.020325429356043725 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.76, Z:0.11 [[ 9.98878564e-01 4.72787964e-02 2.51596033e-03 2.48563029e+01] [-4.72786168e-02 9.98881732e-01 -1.30847784e-04 -1.75808262e+00] [-2.51933314e-03 1.17499223e-05 9.99996826e-01 1.14640830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters 0.020272472988447365 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.76, Z:0.11 [[ 9.98888447e-01 4.64413563e-02 8.06660663e-03 2.49176821e+01] [-4.64394937e-02 9.98921017e-01 -4.18158953e-04 -1.75749670e+00] [-8.07732277e-03 4.30850201e-05 9.99967377e-01 1.13065170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters 0.02034683448606788 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.77, Z:0.11 [[ 9.98880903e-01 4.71224590e-02 4.05156405e-03 2.49792536e+01] [-4.71219904e-02 9.98889120e-01 -2.11088886e-04 -1.76623933e+00] [-4.05701028e-03 1.99348950e-05 9.99991770e-01 1.11929820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters 0.020190347948274366 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.77, Z:0.11 [[ 9.98779264e-01 4.92894305e-02 3.24553887e-03 2.50418647e+01] [-4.92891394e-02 9.98784537e-01 -1.69680909e-04 -1.76583923e+00] [-3.24995751e-03 9.50395627e-06 9.99994719e-01 1.13953471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters 0.020206927140167263 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.77, Z:0.11 [[ 9.98693405e-01 5.11012507e-02 -3.81643721e-04 2.51039801e+01] [-5.11012470e-02 9.98693478e-01 1.92367879e-05 -1.77150901e+00] [ 3.82128118e-04 2.90816807e-07 9.99999927e-01 1.13066366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters 0.020402646514219403 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.78, Z:0.11 [[ 9.98775966e-01 4.93730081e-02 2.97938956e-03 2.51639218e+01] [-4.93727638e-02 9.98780409e-01 -1.55540138e-04 -1.77857833e+00] [-2.98343541e-03 8.24905459e-06 9.99995550e-01 1.12659858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters 0.020431869857906033 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.78, Z:0.11 [[ 9.98645381e-01 5.11555565e-02 9.51376019e-03 2.52258443e+01] [-5.11531320e-02 9.98690697e-01 -4.98157652e-04 -1.77664548e+00] [-9.52678733e-03 1.08242068e-05 9.99954619e-01 1.10841137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters 0.02048300273431016 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.78, Z:0.11 [[ 9.98396115e-01 5.62693394e-02 6.24173432e-03 2.52877921e+01] [-5.62683885e-02 9.98415625e-01 -3.28003416e-04 -1.78247612e+00] [-6.25030161e-03 -2.37349955e-05 9.99980466e-01 1.10237352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters 0.020531733785284455 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.79, Z:0.11 [[ 9.98160593e-01 6.05841889e-02 2.23298566e-03 2.53496405e+01] [-6.05840763e-02 9.98163091e-01 -1.18101605e-04 -1.78711415e+00] [-2.23603896e-03 -1.73990061e-05 9.99997500e-01 1.13143964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters 0.020548749095656255 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.79, Z:0.12 [[ 9.98079245e-01 6.17613994e-02 4.83217898e-03 2.54113519e+01] [-6.17608864e-02 9.98090942e-01 -2.55437716e-04 -1.79225509e+00] [-4.83873026e-03 -4.34925743e-05 9.99988292e-01 1.16231868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters 0.020916647208252256 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.78, Z:0.12 [[ 9.97937459e-01 6.35805102e-02 8.85135224e-03 2.54741760e+01] [-6.35788551e-02 9.97976708e-01 -4.68541752e-04 -1.78393586e+00] [-8.86323350e-03 -9.51834758e-05 9.99960716e-01 1.15091854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters 0.020911082334760068 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.78, Z:0.11 [[ 9.97791868e-01 6.60459114e-02 7.02316721e-03 2.55376744e+01] [-6.60449169e-02 9.97816581e-01 -3.73689907e-04 -1.78190349e+00] [-7.03251338e-03 -9.09797439e-05 9.99975267e-01 1.14528417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters 0.02125783074918323 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.79, Z:0.12 [[ 9.97463311e-01 7.11547128e-02 1.98732028e-03 2.55997459e+01] [-7.11546420e-02 9.97465290e-01 -1.06415388e-04 -1.78621445e+00] [-1.98985496e-03 -3.52616174e-05 9.99998020e-01 1.16205826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters 0.021451501695826703 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.78, Z:0.12 [[ 9.97363942e-01 7.25526092e-02 1.13415691e-03 2.56606328e+01] [-7.25525875e-02 9.97364587e-01 -6.03356966e-05 -1.78426646e+00] [-1.13554545e-03 -2.21093702e-05 9.99999355e-01 1.16610361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters 0.021330920291797565 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.79, Z:0.12 [[ 9.97348317e-01 7.23485308e-02 7.87551804e-03 2.57210461e+01] [-7.23474772e-02 9.97379400e-01 -4.18967484e-04 -1.78529873e+00] [-7.88519113e-03 -1.51917346e-04 9.99968900e-01 1.16325417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters 0.021502655611370682 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.79, Z:0.12 [[ 9.97234949e-01 7.37556371e-02 9.08636530e-03 2.57837289e+01] [-7.37542755e-02 9.97276326e-01 -4.85302503e-04 -1.78526795e+00] [-9.09741080e-03 -1.86197672e-04 9.99958600e-01 1.17209513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters 0.02122540315576776 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.78, Z:0.12 [[ 9.97384571e-01 7.16582991e-02 9.43952905e-03 2.58458914e+01] [-7.16567239e-02 9.97429225e-01 -5.05412704e-04 -1.78032980e+00] [-9.45147916e-03 -1.72314895e-04 9.99955319e-01 1.18188662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters 0.020987852180724353 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.78, Z:0.12 [[ 9.97604958e-01 6.88979617e-02 6.11701926e-03 2.59076703e+01] [-6.88972417e-02 9.97623708e-01 -3.28594109e-04 -1.78488094e+00] [-6.12512290e-03 -9.36386416e-05 9.99981237e-01 1.18593538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters 0.02029837573346173 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.79, Z:0.12 [[ 9.98484831e-01 5.35847638e-02 1.25186016e-02 2.59693646e+01] [-5.35805309e-02 9.98563304e-01 -6.73517540e-04 -1.78741288e+00] [-1.25367064e-02 1.74372957e-06 9.99921412e-01 1.19132241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters 0.02105588926597259 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.79, Z:0.12 [[ 9.99069010e-01 4.05702516e-02 1.46686201e-02 2.60308468e+01] [-4.05630193e-02 9.99176669e-01 -7.90355124e-04 -1.79272819e+00] [-1.46886079e-02 1.94615790e-04 9.99892098e-01 1.18271649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters 0.02195294980473228 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.80, Z:0.11 [[ 9.99433422e-01 3.24168221e-02 9.05454980e-03 2.60922924e+01] [-3.24137181e-02 9.99474418e-01 -4.89383654e-04 -1.80270206e+00] [-9.06565515e-03 1.95614755e-04 9.99958887e-01 1.14240257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters 0.021616073930379336 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.81, Z:0.11 [[ 9.99404043e-01 3.45188077e-02 1.04350822e-04 2.61542295e+01] [-3.45188072e-02 9.99404048e-01 -6.30247399e-06 -1.81090977e+00] [-1.04506188e-04 2.69665208e-06 9.99999995e-01 1.13716276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters 0.02174119683790653 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.83, Z:0.12 [[ 9.99433230e-01 3.32562299e-02 5.21930451e-03 2.62134640e+01] [-3.32552102e-02 9.99446853e-01 -2.82066818e-04 -1.82581986e+00] [-5.22579795e-03 1.08337883e-04 9.99986340e-01 1.17418198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters 0.022608567287087288 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.84, Z:0.12 [[ 9.99583386e-01 2.84889704e-02 4.62961090e-03 2.62748550e+01] [-2.84881080e-02 9.99594100e-01 -2.52117553e-04 -1.83509591e+00] [-4.63491431e-03 1.20123662e-04 9.99989252e-01 1.15353437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters 0.022626492994958145 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.85, Z:0.11 [[ 9.99540842e-01 2.88243464e-02 9.34140597e-03 2.63363536e+01] [-2.88208502e-02 9.99584464e-01 -5.08699695e-04 -1.84802894e+00] [-9.35218721e-03 2.39238860e-04 9.99956239e-01 1.12714154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters 0.022239582239389523 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.87, Z:0.12 [[ 9.99458948e-01 3.15969259e-02 9.13481968e-03 2.63978702e+01] [-3.15936872e-02 9.99500670e-01 -4.98660900e-04 -1.86502356e+00] [-9.14601455e-03 2.09788463e-04 9.99958152e-01 1.15514196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters 0.02156100302456047 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.88, Z:0.11 [[ 9.99292892e-01 3.73737503e-02 4.11335916e-03 2.64586917e+01] [-3.73731401e-02 9.99301355e-01 -2.25143232e-04 -1.88183981e+00] [-4.11889982e-03 7.12548834e-05 9.99991515e-01 1.14796313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters 0.020659735929809592 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.89, Z:0.12 [[ 9.98590627e-01 5.16767313e-02 1.20944418e-02 2.65205173e+01] [-5.16724933e-02 9.98663864e-01 -6.62846611e-04 -1.89082109e+00] [-1.21125358e-02 3.69624485e-05 9.99926640e-01 1.18617294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters 0.02100126487990169 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.90, Z:0.12 [[ 9.98001315e-01 6.18351405e-02 1.30303490e-02 2.65817630e+01] [-6.18310639e-02 9.98086373e-01 -7.15868988e-04 -1.90447012e+00] [-1.30496796e-02 -9.12421483e-05 9.99914845e-01 1.15364173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters 0.021322254094983964 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.91, Z:0.11 [[ 9.97837230e-01 6.32558714e-02 1.78761375e-02 2.66436535e+01] [-6.32483870e-02 9.97997331e-01 -9.84298948e-04 -1.90859070e+00] [-1.79026002e-02 -1.48466726e-04 9.99839725e-01 1.13597323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters 0.02122416442643679 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.91, Z:0.12 [[ 9.97590057e-01 6.81594654e-02 1.29755984e-02 2.67055151e+01] [-6.81558339e-02 9.97674426e-01 -7.22382407e-04 -1.90910995e+00] [-1.29946599e-02 -1.63721224e-04 9.99915552e-01 1.15454080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters 0.02140971325386898 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.92, Z:0.12 [[ 9.97628232e-01 6.84595765e-02 7.15520666e-03 2.67665937e+01] [-6.84584774e-02 9.97653887e-01 -3.98695803e-04 -1.92392797e+00] [-7.16571428e-03 -9.20843641e-05 9.99974322e-01 1.15618996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters 0.021447568174284212 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.93, Z:0.12 [[ 9.97500423e-01 7.01533022e-02 8.45103585e-03 2.68286970e+01] [-7.01518212e-02 9.97536215e-01 -4.71920436e-04 -1.92731471e+00] [-8.46332109e-03 -1.22114721e-04 9.99964178e-01 1.17789804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters 0.02225359706842082 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.93, Z:0.12 [[ 9.97013640e-01 7.66152387e-02 9.69052169e-03 2.68907065e+01] [-7.66135847e-02 9.97060713e-01 -5.42335244e-04 -1.93018366e+00] [-9.70358960e-03 -2.01709968e-04 9.99952899e-01 1.16484098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters 0.022806956072996425 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.93, Z:0.12 [[ 9.96622147e-01 8.11148358e-02 1.28327531e-02 2.69523916e+01] [-8.11122681e-02 9.96704710e-01 -7.21291522e-04 -1.93273298e+00] [-1.28489730e-02 -3.22038609e-04 9.99917397e-01 1.15850863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters 0.022893581828418174 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.94, Z:0.12 [[ 9.96706867e-01 8.07078496e-02 7.85270760e-03 2.70144886e+01] [-8.07068346e-02 9.96737783e-01 -4.46564884e-04 -1.93652808e+00] [-7.86313166e-03 -1.88672888e-04 9.99969067e-01 1.18447390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters 0.022522500757923357 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.93, Z:0.11 [[ 9.96997022e-01 7.73078877e-02 4.51979020e-03 2.70773548e+01] [-7.73075155e-02 9.97007263e-01 -2.57265499e-04 -1.93417377e+00] [-4.52615231e-03 -9.29208148e-05 9.99989753e-01 1.14658883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters 0.021915798977225794 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.94, Z:0.12 [[ 9.97273589e-01 7.34367512e-02 7.24094770e-03 2.71393275e+01] [-7.34356915e-02 9.97299869e-01 -4.12475771e-04 -1.93557944e+00] [-7.25168708e-03 -1.20392808e-04 9.99973699e-01 1.18111747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters 0.02173892103413402 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.93, Z:0.12 [[ 9.97362274e-01 7.22271661e-02 7.19235717e-03 2.72022809e+01] [-7.22260820e-02 9.97388201e-01 -4.10700729e-04 -1.93027482e+00] [-7.20323593e-03 -1.09858365e-04 9.99974050e-01 1.19022817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters 0.02190442488778841 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.93, Z:0.12 [[ 9.97324925e-01 7.30820731e-02 1.41583991e-03 2.72641390e+01] [-7.30820309e-02 9.97325930e-01 -8.15979031e-05 -1.93389419e+00] [-1.41801719e-03 -2.20928331e-05 9.99998994e-01 1.18220958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters 0.021796571935726823 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.93, Z:0.12 [[ 9.97266807e-01 7.37562599e-02 4.35081818e-03 2.73269965e+01] [-7.37558714e-02 9.97276295e-01 -2.49888855e-04 -1.92647292e+00] [-4.35739871e-03 -7.16925255e-05 9.99990504e-01 1.19575974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters 0.021681995450549177 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.94, Z:0.12 [[ 9.97690282e-01 6.72173620e-02 9.79422723e-03 2.73890575e+01] [-6.72150734e-02 9.97738351e-01 -5.63016602e-04 -1.93574381e+00] [-9.80992061e-03 -9.66035095e-05 9.99951877e-01 1.19327227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters 0.02138299507202291 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.93, Z:0.12 [[ 9.98600263e-01 5.24055485e-02 7.15357744e-03 2.74515401e+01] [-5.24039390e-02 9.98625884e-01 -4.12385948e-04 -1.93142453e+00] [-7.16535891e-03 3.69330809e-05 9.99974328e-01 1.21605361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters 0.022154087015180565 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.94, Z:0.12 [[ 9.99092258e-01 4.21220979e-02 6.35518482e-03 2.75138568e+01] [-4.21206136e-02 9.99112466e-01 -3.67288134e-04 -1.93751234e+00] [-6.36501533e-03 9.92704465e-05 9.99979738e-01 1.21656154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters 0.02324757579956112 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.95, Z:0.12 [[ 9.99358187e-01 3.37747225e-02 1.19365860e-02 2.75744457e+01] [-3.37688924e-02 9.99429430e-01 -6.89693119e-04 -1.95006680e+00] [-1.19530695e-02 2.86165177e-04 9.99928519e-01 1.19755334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters 0.02315520880275079 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.96, Z:0.12 [[ 9.99240841e-01 3.57349425e-02 1.55162833e-02 2.76356602e+01] [-3.57252921e-02 9.99361244e-01 -8.98776661e-04 -1.96115103e+00] [-1.55384899e-02 3.43770595e-04 9.99879211e-01 1.21066642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters 0.02235478686364321 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.97, Z:0.12 [[ 9.99080121e-01 4.21859288e-02 7.69804677e-03 2.76966319e+01] [-4.21837410e-02 9.99109770e-01 -4.46420977e-04 -1.97032369e+00] [-7.71002642e-03 1.21277913e-04 9.99970270e-01 1.21393865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters 0.02244842224518927 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.99, Z:0.12 [[ 9.99050013e-01 4.27772904e-02 8.31720221e-03 2.77587614e+01] [-4.27747376e-02 9.99084625e-01 -4.84652539e-04 -1.98904410e+00] [-8.33032097e-03 1.28425983e-04 9.99965294e-01 1.19937673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters 0.022637932269631598 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.00, Z:0.12 [[ 9.99101691e-01 4.12466024e-02 9.72256069e-03 2.78204649e+01] [-4.12430338e-02 9.99148983e-01 -5.67337474e-04 -1.99749199e+00] [-9.73768737e-03 1.65839931e-04 9.99952574e-01 1.20617896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters 0.022965015454547807 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.01, Z:0.12 [[ 9.99211681e-01 3.76611342e-02 1.25561154e-02 2.78816647e+01] [-3.76548141e-02 9.99290532e-01 -7.39459376e-04 -2.00616911e+00] [-1.25750561e-02 2.66078257e-04 9.99920895e-01 1.19562318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters 0.022966105401278556 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.02, Z:0.12 [[ 9.99295434e-01 3.68477081e-02 7.13316583e-03 2.79435589e+01] [-3.68456422e-02 9.99320880e-01 -4.20854038e-04 -2.02062133e+00] [-7.14382907e-03 1.57731443e-04 9.99974470e-01 1.20788841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters 0.021692520428012944 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.03, Z:0.12 [[ 9.98589874e-01 5.29843204e-02 3.30523676e-03 2.80047389e+01] [-5.29839636e-02 9.98595344e-01 -1.95473719e-04 -2.03095525e+00] [-3.31095109e-03 2.00735323e-05 9.99994519e-01 1.20063468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters 0.022083812645170352 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.04, Z:0.12 [[ 9.97450689e-01 7.12300084e-02 4.29061030e-03 2.80664412e+01] [-7.12295731e-02 9.97459916e-01 -2.54368294e-04 -2.04027295e+00] [-4.29783045e-03 -5.18985098e-05 9.99990763e-01 1.20648731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters 0.025214766140839964 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.05, Z:0.12 [[ 9.95604859e-01 9.32796806e-02 8.35862896e-03 2.81265731e+01] [-9.32788145e-02 9.95639904e-01 -4.94262387e-04 -2.04576983e+00] [-8.36828918e-03 -2.87592966e-04 9.99964944e-01 1.23001083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters 0.02616560637318807 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.04, Z:0.12 [[ 9.95191302e-01 9.78392483e-02 4.66409477e-03 2.81889524e+01] [-9.78390230e-02 9.95202215e-01 -2.77011308e-04 -2.04489520e+00] [-4.66882002e-03 -1.80651231e-04 9.99989085e-01 1.23021784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters 0.025398477439462212 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.03, Z:0.12 [[ 9.95380032e-01 9.57239780e-02 7.45058113e-03 2.82525252e+01] [-9.57233367e-02 9.95407879e-01 -4.43453735e-04 -2.03155313e+00] [-7.45881632e-03 -2.71789493e-04 9.99972146e-01 1.24386896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters 0.02459720914484026 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.03, Z:0.12 [[ 9.95960631e-01 8.95613586e-02 6.41753563e-03 2.83146859e+01] [-8.95607522e-02 9.95981288e-01 -3.82386967e-04 -2.02942120e+00] [-6.42599249e-03 -1.93916953e-04 9.99979334e-01 1.22601683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters 0.02390306752603493 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.03, Z:0.12 [[ 9.96144847e-01 8.69200517e-02 1.18468785e-02 2.83781709e+01] [-8.69177703e-02 9.96215238e-01 -7.08286687e-04 -2.02519045e+00] [-1.18636052e-02 -3.24148130e-04 9.99929572e-01 1.24192882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters 0.022653259941905476 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.03, Z:0.12 [[ 9.96996474e-01 7.66304542e-02 1.12162460e-02 2.84398658e+01] [-7.66277502e-02 9.97059546e-01 -6.71264860e-04 -2.02950382e+00] [-1.12347045e-02 -1.90227002e-04 9.99936871e-01 1.24958995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters 0.02197142091449603 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.03, Z:0.12 [[ 9.97622164e-01 6.83695981e-02 8.69576471e-03 2.85025958e+01] [-6.83676420e-02 9.97660059e-01 -5.22355691e-04 -2.03062389e+00] [-8.71113038e-03 -7.33953138e-05 9.99962055e-01 1.23551770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters 0.021413127778615128 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.03, Z:0.12 [[ 9.98314814e-01 5.78896042e-02 4.04054088e-03 2.85643817e+01] [-5.78890925e-02 9.98322991e-01 -2.43571549e-04 -2.03476044e+00] [-4.04786512e-03 9.25784047e-06 9.99991807e-01 1.23959330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters 0.021408692579154055 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.04, Z:0.13 [[ 9.98310628e-01 5.78695666e-02 5.19655714e-03 2.86263753e+01] [-5.78687172e-02 9.98324152e-01 -3.13789296e-04 -2.04231722e+00] [-5.20600736e-03 1.25410927e-05 9.99986449e-01 1.25830812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters 0.021330540557115002 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.05, Z:0.13 [[ 9.98362995e-01 5.67861938e-02 6.83064491e-03 2.86881188e+01] [-5.67846959e-02 9.98386362e-01 -4.13185223e-04 -2.05025437e+00] [-6.84308594e-03 2.46327424e-05 9.99976586e-01 1.26871431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters 0.021894419691057296 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.06, Z:0.12 [[ 9.98714066e-01 4.95303778e-02 1.08146582e-02 2.87493560e+01] [-4.95261858e-02 9.98772611e-01 -6.55252453e-04 -2.06171094e+00] [-1.08338393e-02 1.18801068e-04 9.99941305e-01 1.24855868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters 0.021955915540036435 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.07, Z:0.12 [[ 9.98820293e-01 4.83983743e-02 3.95211818e-03 2.88113969e+01] [-4.83978006e-02 9.98828111e-01 -2.40725641e-04 -2.07278379e+00] [-3.95913747e-03 4.91678270e-05 9.99992161e-01 1.23307174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters 0.021679023983289355 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.08, Z:0.12 [[ 9.98708695e-01 5.07651372e-02 -1.96058203e-03 2.88728820e+01] [-5.07650022e-02 9.98710619e-01 1.18579173e-04 -2.08354545e+00] [ 1.96407378e-03 -1.88970999e-05 9.99998071e-01 1.24152289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters 0.021366950143139184 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.10, Z:0.13 [[ 9.98329555e-01 5.74115533e-02 6.48174774e-03 2.89343751e+01] [-5.74101928e-02 9.98350596e-01 -3.95907687e-04 -2.09530636e+00] [-6.49378640e-03 2.31279568e-05 9.99978915e-01 1.26023838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters 0.02181163407988128 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.12, Z:0.13 [[ 9.97553181e-01 6.96343179e-02 6.22199763e-03 2.89958330e+01] [-6.96332964e-02 9.97572583e-01 -3.80925841e-04 -2.11516513e+00] [-6.23341976e-03 -5.32644208e-05 9.99980571e-01 1.27682234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters 0.023323222518833273 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.13, Z:0.12 [[ 9.96567199e-01 8.26118770e-02 5.39399936e-03 2.90571536e+01] [-8.26112967e-02 9.96581790e-01 -3.30674301e-04 -2.12625620e+00] [-5.40287916e-03 -1.16066120e-04 9.99985398e-01 1.23399079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters 0.024073902664659228 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.13, Z:0.13 [[ 9.95948360e-01 8.93882201e-02 9.82901627e-03 2.91180980e+01] [-8.93866225e-02 9.95996822e-01 -6.02593205e-04 -2.13099397e+00] [-9.84353370e-03 -2.78430853e-04 9.99951512e-01 1.27260589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters 0.025476212539759638 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.13, Z:0.13 [[ 9.95271046e-01 9.63400563e-02 1.24152270e-02 2.91795946e+01] [-9.63380387e-02 9.95348382e-01 -7.61857630e-04 -2.12797082e+00] [-1.24308736e-02 -4.37803783e-04 9.99922638e-01 1.29490551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters 0.026428373150441657 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.13, Z:0.13 [[ 9.94783586e-01 1.01569551e-01 9.44691877e-03 2.92412562e+01] [-1.01568563e-01 9.94828369e-01 -5.85568046e-04 -2.13433404e+00] [-9.45753868e-03 -3.76996483e-04 9.99955205e-01 1.29077977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters 0.026648642501856206 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.12, Z:0.13 [[ 9.94644912e-01 1.03056976e-01 7.79474377e-03 2.93050227e+01] [-1.03056312e-01 9.94675404e-01 -4.87827007e-04 -2.11670916e+00] [-7.80351388e-03 -3.18082899e-04 9.99969502e-01 1.26146837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters 0.02709426780082701 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.11, Z:0.13 [[ 9.94291277e-01 1.06541446e-01 5.81176999e-03 2.93680902e+01] [-1.06541140e-01 9.94308229e-01 -3.63193348e-04 -2.10756245e+00] [-5.81738586e-03 -2.58072622e-04 9.99983046e-01 1.27274404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters 0.02689545492674417 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.11, Z:0.13 [[ 9.94323478e-01 1.06351547e-01 3.18913545e-03 2.94303310e+01] [-1.06351451e-01 9.94328582e-01 -1.99980495e-04 -2.10523674e+00] [-3.19231676e-03 -1.40323882e-04 9.99994895e-01 1.32016528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters 0.025208863554657176 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.10, Z:0.13 [[ 9.95137334e-01 9.78438280e-02 1.13256913e-02 2.94918732e+01] [-9.78420873e-02 9.95201700e-01 -7.09006113e-04 -2.10052933e+00] [-1.13407191e-02 -4.02570819e-04 9.99935611e-01 1.31594134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters 0.024059313258435865 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.09, Z:0.13 [[ 9.95769674e-01 9.13790109e-02 9.62455387e-03 2.95539418e+01] [-9.13774455e-02 9.95816147e-01 -6.03187008e-04 -2.08724075e+00] [-9.63940479e-03 -2.78831816e-04 9.99953501e-01 1.26137751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters 0.02309177127477102 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.09, Z:0.13 [[ 9.96129504e-01 8.77396733e-02 5.26893468e-03 2.96160328e+01] [-8.77391468e-02 9.96143430e-01 -3.31434846e-04 -2.08594850e+00] [-5.27769465e-03 -1.32139805e-04 9.99986064e-01 1.29671982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters 0.022674503599903608 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.09, Z:0.14 [[ 9.96365735e-01 8.47564672e-02 8.46538840e-03 2.96786013e+01] [-8.47549948e-02 9.96401679e-01 -5.33178481e-04 -2.08741236e+00] [-8.48011755e-03 -1.86243181e-04 9.99964026e-01 1.37639507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters 0.021668896488405483 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.08, Z:0.13 [[ 9.97306860e-01 7.26998249e-02 9.68311563e-03 2.97408055e+01] [-7.26973276e-02 9.97353862e-01 -6.10104072e-04 -2.08076992e+00] [-9.70184723e-03 -9.54756526e-05 9.99952931e-01 1.30550308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters 0.021446199475022847 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.08, Z:0.13 [[ 9.97614244e-01 6.81014810e-02 1.13141196e-02 2.98033582e+01] [-6.80977548e-02 9.97678398e-01 -7.14706771e-04 -2.08231016e+00] [-1.13365253e-02 -5.74644861e-05 9.99935738e-01 1.28326292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters 0.021538267026105232 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.09, Z:0.13 [[ 9.98187138e-01 5.88461843e-02 1.26318700e-02 2.98654346e+01] [-5.88407772e-02 9.98267060e-01 -7.99604316e-04 -2.08804826e+00] [-1.26570334e-02 5.48856960e-05 9.99919895e-01 1.29523946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters 0.021352998636839034 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.09, Z:0.13 [[ 9.98500929e-01 5.47057734e-02 1.78123890e-03 2.99273415e+01] [-5.47056578e-02 9.98502518e-01 -1.13571865e-04 -2.09129255e+00] [-1.78478456e-03 1.59577669e-05 9.99998407e-01 1.32741254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters 0.021284006048219405 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.10, Z:0.13 [[ 9.98516623e-01 5.44268101e-02 1.50845017e-03 2.99891417e+01] [-5.44267265e-02 9.98517763e-01 -9.64966157e-05 -2.09653923e+00] [-1.51146629e-03 1.42534702e-05 9.99998858e-01 1.33905164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters 0.021204910627509482 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.11, Z:0.13 [[ 9.97944447e-01 6.38389179e-02 5.61008658e-03 3.00504713e+01] [-6.38379153e-02 9.97960216e-01 -3.57796554e-04 -2.10799823e+00] [-5.62148456e-03 -1.07514694e-06 9.99984199e-01 1.32891120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters 0.021423698246693327 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.11, Z:0.13 [[ 9.97538343e-01 6.97810664e-02 6.91783087e-03 3.01127048e+01] [-6.97796789e-02 9.97562329e-01 -4.42014222e-04 -2.11134827e+00] [-6.93181170e-03 -4.17978821e-05 9.99975974e-01 1.30052311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters 0.021446990382231697 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.12, Z:0.13 [[ 9.97593869e-01 6.92814318e-02 2.56052756e-03 3.01748692e+01] [-6.92812381e-02 9.97597155e-01 -1.64395435e-04 -2.11790737e+00] [-2.56576456e-03 -1.33966413e-05 9.99996708e-01 1.29686156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters 0.02157021084437196 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.13, Z:0.13 [[ 9.97700193e-01 6.76809346e-02 3.69005475e-03 3.02365169e+01] [-6.76805205e-02 9.97707017e-01 -2.37130756e-04 -2.12632007e+00] [-3.69764274e-03 -1.31594249e-05 9.99993164e-01 1.34150573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters 0.021718286982545687 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.13, Z:0.14 [[ 9.97238446e-01 7.31570018e-02 1.27880641e-02 3.02982489e+01] [-7.31524855e-02 9.97320430e-01 -8.21196975e-04 -2.12976143e+00] [-1.28138739e-02 -1.16549480e-04 9.99917892e-01 1.35168648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters 0.02287495619955906 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.13, Z:0.13 [[ 9.96358721e-01 8.32202288e-02 1.85389655e-02 3.03592717e+01] [-8.32124763e-02 9.96531117e-01 -1.19052596e-03 -2.13187849e+00] [-1.85737318e-02 -3.56482305e-04 9.99827430e-01 1.31202840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters 0.024736585528179644 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.13, Z:0.13 [[ 9.95067109e-01 9.84552744e-02 1.21658608e-02 3.04207190e+01] [-9.84530599e-02 9.95141388e-01 -7.82258171e-04 -2.13164449e+00] [-1.21837690e-02 -4.19366844e-04 9.99925687e-01 1.31931295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters 0.025533532078140717 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.14, Z:0.14 [[ 9.94600889e-01 1.03701939e-01 3.87027088e-03 3.04824851e+01] [-1.03701751e-01 9.94608408e-01 -2.49890096e-04 -2.13637014e+00] [-3.87531804e-03 -1.52812953e-04 9.99992479e-01 1.36042372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters 0.02589572056168462 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.14, Z:0.14 [[ 9.94459071e-01 1.04584919e-01 1.06372326e-02 3.05442341e+01] [-1.04583548e-01 9.94515867e-01 -6.86551097e-04 -2.13669908e+00] [-1.06506995e-02 -4.29732562e-04 9.99943187e-01 1.36066891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters 0.027110008139814835 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.13, Z:0.14 [[ 9.93871522e-01 1.09814179e-01 1.26587608e-02 3.06063018e+01] [-1.09812654e-01 9.93951967e-01 -8.17562592e-04 -2.12875604e+00] [-1.26719802e-02 -5.77539941e-04 9.99919540e-01 1.35484139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters 0.027904210017724827 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.12, Z:0.14 [[ 9.93408937e-01 1.14518462e-01 4.92003267e-03 3.06691494e+01] [-1.14518283e-01 9.93421090e-01 -3.18868824e-04 -2.12363107e+00] [-4.92418059e-03 -2.46666557e-04 9.99987846e-01 1.36258160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters 0.026697418790192797 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.12, Z:0.14 [[ 9.93860113e-01 1.10396115e-01 7.40095150e-03 3.07315744e+01] [-1.10395595e-01 9.93887610e-01 -4.79888030e-04 -2.11576026e+00] [-7.40869177e-03 -3.40090875e-04 9.99972497e-01 1.39578397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters 0.02444158332422566 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.11, Z:0.14 [[ 9.94860431e-01 1.00412242e-01 1.30424348e-02 3.07929252e+01] [-1.00409776e-01 9.94945809e-01 -8.45432620e-04 -2.11415785e+00] [-1.30614076e-02 -4.68500497e-04 9.99914586e-01 1.41477035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters 0.022406564238811284 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.11, Z:0.13 [[ 9.96295870e-01 8.53098556e-02 1.08059576e-02 3.08539611e+01] [-8.53072727e-02 9.96354444e-01 -7.00572091e-04 -2.10829840e+00] [-1.08263296e-02 -2.23849692e-04 9.99941369e-01 1.33000454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters 0.021838243149646965 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.10, Z:0.14 [[ 9.96696783e-01 8.09063492e-02 7.04883413e-03 3.09165318e+01] [-8.09051288e-02 9.96721701e-01 -4.58576655e-04 -2.10407791e+00] [-7.06282771e-03 -1.13224957e-04 9.99975052e-01 1.35501280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters 0.021455765473694936 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.10, Z:0.14 [[ 9.96992451e-01 7.72990508e-02 5.55964642e-03 3.09788388e+01] [-7.72982304e-02 9.97007950e-01 -3.62605858e-04 -2.10474578e+00] [-5.57104077e-03 -6.82355275e-05 9.99984479e-01 1.37441463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters 0.02128898163423002 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.11, Z:0.14 [[ 9.97203749e-01 7.38725723e-02 1.12927373e-02 3.10410785e+01] [-7.38689584e-02 9.97267684e-01 -7.37361393e-04 -2.10852149e+00] [-1.13163528e-02 -9.88832001e-05 9.99935963e-01 1.38143558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters 0.021347352241016016 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.10, Z:0.14 [[ 9.97108806e-01 7.52491532e-02 1.05638074e-02 3.11044026e+01] [-7.52460410e-02 9.97164758e-01 -6.92320025e-04 -2.09900010e+00] [-1.05859530e-02 -1.04566295e-04 9.99943962e-01 1.36572721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters 0.021106257456159124 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.10, Z:0.13 [[ 9.97192756e-01 7.42557568e-02 9.62760672e-03 3.11665375e+01] [-7.42531155e-02 9.97239227e-01 -6.32008868e-04 -2.10171774e+00] [-9.64795737e-03 -8.46451280e-05 9.99953454e-01 1.34816783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters 0.02108068847244648 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.12, Z:0.14 [[ 9.97667661e-01 6.75325003e-02 9.92970221e-03 3.12281514e+01] [-6.75293440e-02 9.97717075e-01 -6.53195646e-04 -2.11639163e+00] [-9.95114538e-03 -1.88741039e-05 9.99950486e-01 1.36726692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters 0.021106614805697047 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.12, Z:0.13 [[ 9.98166674e-01 5.97467245e-02 9.67574967e-03 3.12903369e+01] [-5.97433487e-02 9.98213567e-01 -6.37808894e-04 -2.11883858e+00] [-9.69657158e-03 5.85778960e-05 9.99952985e-01 1.34853735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters 0.02107428224952775 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.12, Z:0.14 [[ 9.98184114e-01 5.86091711e-02 1.39082369e-02 3.13520842e+01] [-5.86020727e-02 9.98281000e-01 -9.17720406e-04 -2.12060014e+00] [-1.39381154e-02 1.01002423e-04 9.99902855e-01 1.37790225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters 0.020834936582985235 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.13, Z:0.14 [[ 9.97992604e-01 6.18656572e-02 1.35425963e-02 3.14140588e+01] [-6.18592001e-02 9.98084484e-01 -8.95569365e-04 -2.12761703e+00] [-1.35720602e-02 5.60374289e-05 9.99907894e-01 1.37587740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters 0.0211421618345429 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.15, Z:0.13 [[ 9.98114579e-01 6.00530943e-02 1.26851543e-02 3.14761968e+01] [-6.00472451e-02 9.98195181e-01 -8.41816324e-04 -2.14984419e+00] [-1.27128136e-02 7.85205764e-05 9.99919186e-01 1.30712909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters 0.021321730529782125 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.16, Z:0.13 [[ 9.98269145e-01 5.68721623e-02 1.49756648e-02 3.15378967e+01] [-5.68636299e-02 9.98381459e-01 -9.95292589e-04 -2.16194559e+00] [-1.50080305e-02 1.41999222e-04 9.99887363e-01 1.33364002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters 0.021199964205477078 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.16, Z:0.14 [[ 9.98315649e-01 5.63009742e-02 1.40023120e-02 3.16000046e+01] [-5.62934319e-02 9.98413832e-01 -9.32514011e-04 -2.16470355e+00] [-1.40326035e-02 1.42705131e-04 9.99901528e-01 1.38493664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters 0.020870710974377416 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.18, Z:0.14 [[ 9.97817764e-01 6.44820604e-02 1.42046922e-02 3.16619959e+01] [-6.44750999e-02 9.97918866e-01 -9.47898947e-04 -2.17505520e+00] [-1.42362528e-02 2.99814633e-05 9.99898659e-01 1.36176797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters 0.021263841518959027 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.20, Z:0.13 [[ 9.96822299e-01 7.84372980e-02 1.38886462e-02 3.17232173e+01] [-7.84319704e-02 9.96919036e-01 -9.28700880e-04 -2.19658655e+00] [-1.39187006e-02 -1.63564144e-04 9.99903117e-01 1.34394403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters 0.021670278579988784 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.20, Z:0.14 [[ 9.96579582e-01 8.12390863e-02 1.51442351e-02 3.17849262e+01] [-8.12330448e-02 9.96694619e-01 -1.01467033e-03 -2.20484601e+00] [-1.51766085e-02 -2.19012595e-04 9.99884805e-01 1.35521986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters 0.021871398382360442 Centerline is valid? [True, True] Translation: X:31.85, Y:-2.21, Z:0.14 [[ 9.96357358e-01 8.37656439e-02 1.59790993e-02 3.18465344e+01] [-8.37592086e-02 9.96485446e-01 -1.07272386e-03 -2.21369314e+00] [-1.60127973e-02 -2.69580397e-04 9.99871751e-01 1.37164015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters 0.022372348715290313 Centerline is valid? [True, True] Translation: X:31.91, Y:-2.22, Z:0.13 [[ 9.96041616e-01 8.82927262e-02 1.02709662e-02 3.19081796e+01] [-8.82902912e-02 9.96094547e-01 -6.91150018e-04 -2.21965016e+00] [-1.02918769e-02 -2.18412416e-04 9.99947013e-01 1.34839882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters 0.024553485437046465 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.22, Z:0.14 [[ 9.94738553e-01 1.02131210e-01 8.02664603e-03 3.19697435e+01] [-1.02130170e-01 9.94770896e-01 -5.40444223e-04 -2.21980148e+00] [-8.03987009e-03 -2.82162021e-04 9.99967640e-01 1.38029986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters 0.025268834665960457 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.22, Z:0.14 [[ 9.94193670e-01 1.07183323e-01 9.52265317e-03 3.20308916e+01] [-1.07182089e-01 9.94239201e-01 -6.41246186e-04 -2.21700948e+00] [-9.53652598e-03 -3.83134963e-04 9.99954453e-01 1.37939834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters 0.025128755836762037 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.22, Z:0.14 [[ 9.94366285e-01 1.05327128e-01 1.19116596e-02 3.20929002e+01] [-1.05325042e-01 9.94437524e-01 -8.04088170e-04 -2.21907806e+00] [-1.19300936e-02 -4.55037882e-04 9.99928730e-01 1.38335890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters 0.02404990713669233 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.20, Z:0.14 [[ 9.94796511e-01 1.00782384e-01 1.49269095e-02 3.21570672e+01] [-1.00778537e-01 9.94908369e-01 -1.01163591e-03 -2.20006408e+00] [-1.49528623e-02 -4.97940224e-04 9.99888076e-01 1.38343030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters 0.023321182066350057 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.19, Z:0.14 [[ 9.95288164e-01 9.61669743e-02 1.23847966e-02 3.22188179e+01] [-9.61639670e-02 9.95365152e-01 -8.39485653e-04 -2.19445244e+00] [-1.24081257e-02 -3.55441032e-04 9.99922953e-01 1.36872721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters 0.021628362095517002 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.18, Z:0.14 [[ 9.96332458e-01 8.48396843e-02 1.11293321e-02 3.22815301e+01] [-8.48365340e-02 9.96394596e-01 -7.55715152e-04 -2.18367591e+00] [-1.11533210e-02 -1.91230423e-04 9.99937781e-01 1.39403976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters 0.021052498205968946 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.18, Z:0.14 [[ 9.97219583e-01 7.33115975e-02 1.33608685e-02 3.23445420e+01] [-7.33059956e-02 9.97309082e-01 -9.09193309e-04 -2.17766465e+00] [-1.33915699e-02 -7.27663966e-05 9.99910326e-01 1.38546919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters 0.021326550675115588 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.18, Z:0.14 [[ 9.98320890e-01 5.70814457e-02 9.85444618e-03 3.24071609e+01] [-5.70775921e-02 9.98369519e-01 -6.72083628e-04 -2.17648724e+00] [-9.87674220e-03 1.08487067e-04 9.99951218e-01 1.37792197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters 0.02287007708608624 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.18, Z:0.14 [[ 9.98900297e-01 4.53031667e-02 1.20755641e-02 3.24680841e+01] [-4.52965226e-02 9.98973247e-01 -8.23287789e-04 -2.17907742e+00] [-1.21004630e-02 2.75401356e-04 9.99926749e-01 1.36308898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters 0.02325972001774836 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.18, Z:0.14 [[ 9.98959255e-01 4.36182146e-02 1.33363181e-02 3.25299541e+01] [-4.36099318e-02 9.99048219e-01 -9.11389105e-04 -2.18434889e+00] [-1.33633780e-02 3.28844659e-04 9.99910652e-01 1.36885172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters 0.02311853258765819 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.19, Z:0.14 [[ 9.99055728e-01 4.29048512e-02 6.84292494e-03 3.25921362e+01] [-4.29026458e-02 9.99079148e-01 -4.68817246e-04 -2.18803502e+00] [-6.85673815e-03 1.74794971e-04 9.99976477e-01 1.36746473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters 0.023007209508805315 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.20, Z:0.14 [[ 9.99010543e-01 4.39284344e-02 6.94455635e-03 3.26531990e+01] [-4.39261817e-02 9.99034666e-01 -4.76656885e-04 -2.20496177e+00] [-6.95879132e-03 1.71137410e-04 9.99975773e-01 1.36026213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters 0.02293473029822103 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.21, Z:0.14 [[ 9.98882514e-01 4.54524675e-02 1.29536598e-02 3.27150119e+01] [-4.54447428e-02 9.98966457e-01 -8.90216358e-04 -2.21201668e+00] [-1.29807341e-02 3.00545817e-04 9.99915702e-01 1.39676005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters 0.02196998415329659 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.22, Z:0.14 [[ 9.98519787e-01 5.30837035e-02 1.18471685e-02 3.27759430e+01] [-5.30777729e-02 9.98590049e-01 -8.14675641e-04 -2.22260758e+00] [-1.18737106e-02 1.84648426e-04 9.99929488e-01 1.36833072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters 0.02153111270187745 Centerline is valid? [True, True] Translation: X:32.84, Y:-2.24, Z:0.14 [[ 9.98134253e-01 5.99045388e-02 1.18093139e-02 3.28378117e+01] [-5.98990940e-02 9.98204105e-01 -8.14533342e-04 -2.23534450e+00] [-1.18368999e-02 1.05646425e-04 9.99929936e-01 1.35458768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters 0.02140134747802566 Centerline is valid? [True, True] Translation: X:32.90, Y:-2.24, Z:0.14 [[ 9.97254432e-01 7.34143135e-02 9.69211731e-03 3.28993884e+01] [-7.34112660e-02 9.97301527e-01 -6.70295423e-04 -2.24496009e+00] [-9.71517268e-03 -4.30555218e-05 9.99952806e-01 1.38875190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters 0.02166427531300655 Centerline is valid? [True, True] Translation: X:32.96, Y:-2.25, Z:0.14 [[ 9.96802700e-01 7.92168752e-02 1.04433844e-02 3.29613426e+01] [-7.92136425e-02 9.96857400e-01 -7.23479530e-04 -2.25245315e+00] [-1.04678769e-02 -1.06092173e-04 9.99945205e-01 1.38945625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters 0.02226398679629219 Centerline is valid? [True, True] Translation: X:33.02, Y:-2.26, Z:0.14 [[ 9.96157386e-01 8.70446012e-02 9.67984020e-03 3.30234160e+01] [-8.70421799e-02 9.96204400e-01 -6.71951665e-04 -2.25789284e+00] [-9.70158917e-03 -1.73184778e-04 9.99952923e-01 1.38565223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters 0.022683778722117905 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.27, Z:0.14 [[ 9.95873804e-01 8.97625850e-02 1.33433646e-02 3.30853340e+01] [-8.97582075e-02 9.95963154e-01 -9.27781068e-04 -2.26528588e+00] [-1.33727795e-02 -2.73723624e-04 9.99910543e-01 1.38774225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters 0.022300062091428006 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.27, Z:0.14 [[ 9.96212993e-01 8.55704266e-02 1.54069492e-02 3.31476184e+01] [-8.55640587e-02 9.96332093e-01 -1.07323352e-03 -2.27212970e+00] [-1.54422750e-02 -2.49111929e-04 9.99880730e-01 1.38075812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters 0.0219804647543671 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.28, Z:0.14 [[ 9.96639534e-01 8.00871459e-02 1.71956048e-02 3.32093809e+01] [-8.00783584e-02 9.96787849e-01 -1.20008623e-03 -2.27646823e+00] [-1.72364814e-02 -1.80942421e-04 9.99851424e-01 1.37776650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters 0.021864187012781644 Centerline is valid? [True, True] Translation: X:33.27, Y:-2.28, Z:0.14 [[ 9.96988796e-01 7.41051937e-02 2.28420921e-02 3.32713151e+01] [-7.40880496e-02 9.97250425e-01 -1.59707762e-03 -2.27824111e+00] [-2.28976378e-02 -1.00057558e-04 9.99737810e-01 1.35422199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters 0.022026452237208467 Centerline is valid? [True, True] Translation: X:33.33, Y:-2.29, Z:0.13 [[ 9.97017456e-01 7.43643751e-02 2.06429465e-02 3.33323745e+01] [-7.43501930e-02 9.97231133e-01 -1.45471843e-03 -2.29036277e+00] [-2.06939681e-02 -8.44273838e-05 9.99785853e-01 1.34448796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters 0.022197320323952323 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.29, Z:0.13 [[ 9.96666731e-01 7.93076599e-02 1.91238788e-02 3.33950186e+01] [-7.92961880e-02 9.96850174e-01 -1.35862176e-03 -2.29379992e+00] [-1.91713911e-02 -1.62357586e-04 9.99816199e-01 1.34440863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters 0.02222958280157796 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.30, Z:0.14 [[ 9.96578637e-01 8.01933144e-02 2.00013129e-02 3.34567830e+01] [-8.01807613e-02 9.96779314e-01 -1.43005734e-03 -2.30177927e+00] [-2.00515760e-02 -1.78555907e-04 9.99798931e-01 1.37075773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters 0.022085792701422174 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.31, Z:0.13 [[ 9.96715477e-01 7.74085837e-02 2.37943121e-02 3.35184171e+01] [-7.73897862e-02 9.96999445e-01 -1.71122092e-03 -2.30530639e+00] [-2.38553791e-02 -1.35836343e-04 9.99715411e-01 1.33503444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters 0.02235346980864753 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.31, Z:0.13 [[ 9.96934865e-01 7.39433295e-02 2.55589393e-02 3.35800245e+01] [-7.39201907e-02 9.97262444e-01 -1.85024083e-03 -2.30949141e+00] [-2.56257833e-02 -4.47520824e-05 9.99671605e-01 1.30954957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters 0.022177126824087602 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.32, Z:0.13 [[ 9.97649308e-01 6.59148050e-02 1.87375627e-02 3.36415158e+01] [-6.59009407e-02 9.97825247e-01 -1.35709346e-03 -2.31535057e+00] [-1.87862657e-02 1.19080342e-04 9.99823515e-01 1.32654246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters 0.02221407606678484 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.33, Z:0.13 [[ 9.97789706e-01 6.47944659e-02 1.47438171e-02 3.37030289e+01] [-6.47856301e-02 9.97898624e-01 -1.07662286e-03 -2.32588272e+00] [-1.47825940e-02 1.19055720e-04 9.99890724e-01 1.33084884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters 0.022105056449022397 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.34, Z:0.13 [[ 9.97817785e-01 6.44744623e-02 1.42376893e-02 3.37650819e+01] [-6.44661667e-02 9.97919350e-01 -1.04131504e-03 -2.33580660e+00] [-1.42752039e-02 1.21193409e-04 9.99898097e-01 1.32571442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters 0.022561767306362442 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.35, Z:0.13 [[ 9.97791742e-01 6.26170213e-02 2.21528500e-02 3.38259768e+01] [-6.25963803e-02 9.98037601e-01 -1.62463945e-03 -2.34845632e+00] [-2.22111074e-02 2.34363598e-04 9.99753275e-01 1.31636970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters 0.022716515358023937 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.36, Z:0.13 [[ 9.97325503e-01 6.78881188e-02 2.70747841e-02 3.38874312e+01] [-6.78588547e-02 9.97692928e-01 -1.99926295e-03 -2.36043513e+00] [-2.71480468e-02 1.56652085e-04 9.99631412e-01 1.33763382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters 0.02256583363576622 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.37, Z:0.13 [[ 9.97336273e-01 7.02790203e-02 1.95247993e-02 3.39487581e+01] [-7.02642233e-02 9.97527370e-01 -1.44368925e-03 -2.37213254e+00] [-1.95779828e-02 6.79487993e-05 9.99808331e-01 1.31444257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters 0.022601588520761686 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.40, Z:0.13 [[ 9.97355883e-01 7.01335235e-02 1.90402801e-02 3.40100148e+01] [-7.01191890e-02 9.97537609e-01 -1.42023955e-03 -2.39543282e+00] [-1.90930019e-02 8.13952742e-05 9.99817709e-01 1.28507667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters 0.022473013723024324 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.41, Z:0.13 [[ 9.97231739e-01 7.20217315e-02 1.84858910e-02 3.40719357e+01] [-7.20083539e-02 9.97403062e-01 -1.38914330e-03 -2.40559611e+00] [-1.85379328e-02 5.41592075e-05 9.99828156e-01 1.31914831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters 0.022414284185116304 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.41, Z:0.13 [[ 9.96747328e-01 7.93442796e-02 1.41155656e-02 3.41339524e+01] [-7.93371139e-02 9.96847271e-01 -1.06777442e-03 -2.41386801e+00] [-1.41557848e-02 -5.55869319e-05 9.99899800e-01 1.32297558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters 0.024017307584407684 Centerline is valid? [True, True] Translation: X:34.20, Y:-2.43, Z:0.13 [[ 9.95253290e-01 9.68293235e-02 9.74526272e-03 3.41951634e+01] [-9.68266953e-02 9.95300980e-01 -7.42250120e-04 -2.42987864e+00] [-9.77134111e-03 -2.04874710e-04 9.99952238e-01 1.28596830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters 0.025752155035582376 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.44, Z:0.13 [[ 9.94124066e-01 1.07665397e-01 1.12028701e-02 3.42563998e+01] [-1.07662629e-01 9.94187122e-01 -8.51686158e-04 -2.43555957e+00] [-1.12294463e-02 -3.59448733e-04 9.99936883e-01 1.29759614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782320588000005 meters 0.02659783866722597 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.44, Z:0.13 [[ 9.93383756e-01 1.14526158e-01 8.51307326e-03 3.43181031e+01] [-1.14524765e-01 9.93420179e-01 -6.52513092e-04 -2.43894303e+00] [-8.53178858e-03 -3.26761809e-04 9.99963550e-01 1.32714754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842320588 meters 0.02722661940676236 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.45, Z:0.13 [[ 9.93109825e-01 1.16849672e-01 8.88989799e-03 3.43800620e+01] [-1.16848210e-01 9.93149549e-01 -6.85381792e-04 -2.44558778e+00] [-8.90908481e-03 -3.58109278e-04 9.99960249e-01 1.30618470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902320588 meters 0.02785308874760271 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.44, Z:0.13 [[ 9.92668558e-01 1.20619810e-01 7.74567579e-03 3.44425863e+01] [-1.20618818e-01 9.92698718e-01 -5.96827451e-04 -2.44025366e+00] [-7.76111164e-03 -3.41822410e-04 9.99969824e-01 1.32680917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962320588000004 meters 0.028028528832022424 Centerline is valid? [True, True] Translation: X:34.51, Y:-2.43, Z:0.13 [[ 9.92621583e-01 1.21124059e-01 5.59959871e-03 3.45055716e+01] [-1.21123544e-01 9.92637346e-01 -4.32347968e-04 -2.43182632e+00] [-5.61073854e-03 -2.49085314e-04 9.99984229e-01 1.34961539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022320588 meters 0.02674066056193568 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.43, Z:0.14 [[ 9.93273479e-01 1.15098704e-01 1.26524547e-02 3.45669140e+01] [-1.15095588e-01 9.93353941e-01 -9.76593630e-04 -2.43447544e+00] [-1.26807704e-02 -4.86217162e-04 9.99919478e-01 1.35639356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082320588 meters 0.025092278621554394 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.43, Z:0.13 [[ 9.94323679e-01 1.05226534e-01 1.57415823e-02 3.46289302e+01] [-1.05220459e-01 9.94448177e-01 -1.21596673e-03 -2.42809533e+00] [-1.57821398e-02 -4.47271998e-04 9.99875354e-01 1.31121965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters 0.02368167275586408 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.43, Z:0.13 [[ 9.95661635e-01 9.20882995e-02 1.33287165e-02 3.46895811e+01] [-9.20827694e-02 9.95750824e-01 -1.02931103e-03 -2.42716595e+00] [-1.33668679e-02 -2.02499626e-04 9.99910639e-01 1.29610041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters 0.02249603074313373 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.43, Z:0.14 [[ 9.96688641e-01 8.09477491e-02 7.69511886e-03 3.47510132e+01] [-8.09455669e-02 9.96718346e-01 -5.95122493e-04 -2.43070259e+00] [-7.71803997e-03 -2.97339301e-05 9.99970215e-01 1.37316111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters 0.022393307848718347 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.43, Z:0.13 [[ 9.97113595e-01 7.54796465e-02 8.20380655e-03 3.48140002e+01] [-7.54769612e-02 9.97147343e-01 -6.36871380e-04 -2.43258771e+00] [-8.22847472e-03 1.58347227e-05 9.99966145e-01 1.33957132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters 0.022644895944240864 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.44, Z:0.13 [[ 9.97622315e-01 6.80043717e-02 1.11858227e-02 3.48752617e+01] [-6.79989068e-02 9.97685018e-01 -8.68596626e-04 -2.44139923e+00] [-1.12189961e-02 1.05907658e-04 9.99937059e-01 1.33597188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters 0.023964264207252957 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.45, Z:0.13 [[ 9.98286033e-01 5.73439051e-02 1.16907030e-02 3.49363682e+01] [-5.73371845e-02 9.98354456e-01 -9.09506691e-04 -2.45417687e+00] [-1.17236201e-02 2.37635830e-04 9.99931248e-01 1.33042263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters 0.023864139729666115 Centerline is valid? [True, True] Translation: X:35.00, Y:-2.46, Z:0.13 [[ 9.98503582e-01 5.43028880e-02 6.46468828e-03 3.49985993e+01] [-5.43007569e-02 9.98524498e-01 -5.04839466e-04 -2.46353650e+00] [-6.48256386e-03 1.53046548e-04 9.99978976e-01 1.34721706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters 0.023356757764663786 Centerline is valid? [True, True] Translation: X:35.06, Y:-2.48, Z:0.13 [[ 9.98442984e-01 5.57529015e-02 1.79481560e-03 3.50588652e+01] [-5.57527385e-02 9.98444597e-01 -1.40784619e-04 -2.48497321e+00] [-1.79987309e-03 4.04995302e-05 9.99998379e-01 1.33530735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters 0.0232940748998183 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.49, Z:0.14 [[ 9.98146754e-01 6.02277030e-02 8.69950667e-03 3.51201644e+01] [-6.02240542e-02 9.98184652e-01 -6.81022380e-04 -2.49411634e+00] [-8.72473045e-03 1.55840716e-04 9.99961927e-01 1.35112314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters 0.02288221010629053 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.50, Z:0.14 [[ 9.97870913e-01 6.49820914e-02 5.56499921e-03 3.51814843e+01] [-6.49806666e-02 9.97886428e-01 -4.36648009e-04 -2.50352302e+00] [-5.58161148e-03 7.41009889e-05 9.99984420e-01 1.35067005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters 0.02225128268680376 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.53, Z:0.14 [[ 9.97400628e-01 7.20256858e-02 2.07068301e-03 3.52420237e+01] [-7.20255022e-02 9.97402777e-01 -1.63197210e-04 -2.52542001e+00] [-2.07705938e-03 1.36310159e-05 9.99997843e-01 1.36155600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters 0.022544112124594493 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.53, Z:0.14 [[ 9.96184034e-01 8.71628642e-02 4.47265686e-03 3.53038230e+01] [-8.71621608e-02 9.96194074e-01 -3.52321281e-04 -2.53359365e+00] [-4.48634360e-03 -3.88696015e-05 9.99989936e-01 1.40923798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters 0.02346309057518093 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.54, Z:0.14 [[ 9.95380581e-01 9.59386162e-02 3.64426411e-03 3.53656463e+01] [-9.59382058e-02 9.95387250e-01 -2.87661890e-04 -2.54283093e+00] [-3.65505192e-03 -6.32911011e-05 9.99993318e-01 1.39447550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters 0.025070652352471617 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.55, Z:0.14 [[ 9.94414253e-01 1.05340102e-01 6.61478315e-03 3.54267383e+01] [-1.05338961e-01 9.94436238e-01 -5.21678543e-04 -2.54867896e+00] [-6.63293374e-03 -1.78029806e-04 9.99977986e-01 1.37113921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters 0.025222512189853885 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.55, Z:0.14 [[ 9.93995704e-01 1.09171253e-01 7.36061204e-03 3.54890225e+01] [-1.09169907e-01 9.94022932e-01 -5.85655595e-04 -2.55133281e+00] [-7.38055392e-03 -2.21418188e-04 9.99972739e-01 1.40552393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters 0.025317728619526914 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.55, Z:0.14 [[ 9.93871457e-01 1.10387046e-01 5.85031940e-03 3.55527380e+01] [-1.10386195e-01 9.93888660e-01 -4.69283235e-04 -2.54686317e+00] [-5.86636889e-03 -1.79387282e-04 9.99982777e-01 1.40676913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042320588 meters 0.025233067331644102 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.54, Z:0.14 [[ 9.93952051e-01 1.09785024e-01 2.56285279e-03 3.56151947e+01] [-1.09784858e-01 9.93955352e-01 -2.05422587e-04 -2.54417861e+00] [-2.56991357e-03 -7.71822284e-05 9.99996695e-01 1.37265170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102320588000005 meters 0.02472643433867724 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.55, Z:0.14 [[ 9.94469322e-01 1.04918491e-01 4.78297614e-03 3.56768896e+01] [-1.04917860e-01 9.94480817e-01 -3.83442838e-04 -2.55184053e+00] [-4.79680826e-03 -1.20497481e-04 9.99988488e-01 1.38700258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters 0.02435593181260822 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.56, Z:0.14 [[ 9.94647556e-01 1.02884390e-01 9.54155762e-03 3.57397503e+01] [-1.02881768e-01 9.94693297e-01 -7.66497422e-04 -2.55717841e+00] [-9.56978402e-03 -2.19257531e-04 9.99954185e-01 1.41082619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters 0.024353240161545477 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.55, Z:0.14 [[ 9.94491901e-01 1.04632327e-01 6.15920137e-03 3.58030195e+01] [-1.04631237e-01 9.94510962e-01 -4.99945596e-04 -2.55480999e+00] [-6.17770375e-03 -1.47253009e-04 9.99980907e-01 1.40587121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters 0.02419288255125826 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.56, Z:0.14 [[ 9.94649445e-01 1.03296662e-01 1.51023538e-03 3.58655655e+01] [-1.03296595e-01 9.94650591e-01 -1.22800132e-04 -2.55654284e+00] [-1.51484136e-03 -3.38590891e-05 9.99998852e-01 1.41178989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters 0.02380457745265497 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.57, Z:0.14 [[ 9.95064743e-01 9.88024972e-02 9.17734064e-03 3.59270995e+01] [-9.87998350e-02 9.95107049e-01 -7.44119157e-04 -2.56544378e+00] [-9.20595719e-03 -1.66273004e-04 9.99957610e-01 1.43327450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters 0.023367826414471275 Centerline is valid? [True, True] Translation: X:35.99, Y:-2.57, Z:0.14 [[ 9.95687777e-01 9.22882479e-02 9.41967949e-03 3.59896755e+01] [-9.22851234e-02 9.95732328e-01 -7.66755331e-04 -2.56951616e+00] [-9.45024189e-03 -1.05847373e-04 9.99955340e-01 1.43819616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters 0.023067950030590006 Centerline is valid? [True, True] Translation: X:36.05, Y:-2.57, Z:0.14 [[ 9.96016540e-01 8.89001988e-02 6.91423664e-03 3.60517038e+01] [-8.88984290e-02 9.96040537e-01 -5.63490155e-04 -2.57049602e+00] [-6.93695436e-03 -5.34192606e-05 9.99975938e-01 1.41843298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters 0.022936610589204112 Centerline is valid? [True, True] Translation: X:36.11, Y:-2.57, Z:0.14 [[ 9.95935842e-01 8.99617378e-02 4.32252932e-03 3.61135579e+01] [-8.99610524e-02 9.95945222e-01 -3.53116962e-04 -2.57493529e+00] [-4.33676943e-03 -3.71774480e-05 9.99990595e-01 1.43369843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters 0.02311445574124179 Centerline is valid? [True, True] Translation: X:36.17, Y:-2.59, Z:0.15 [[ 9.95750644e-01 9.20121781e-02 3.79656076e-03 3.61746553e+01] [-9.20116620e-02 9.95757881e-01 -3.10752252e-04 -2.58600800e+00] [-3.80904829e-03 -3.98961106e-05 9.99992745e-01 1.45478571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters 0.023400426272975755 Centerline is valid? [True, True] Translation: X:36.24, Y:-2.59, Z:0.15 [[ 9.95586836e-01 9.38063421e-02 2.68755735e-03 3.62381660e+01] [-9.38060870e-02 9.95590463e-01 -2.21069412e-04 -2.58705567e+00] [-2.69644418e-03 -3.20154424e-05 9.99996364e-01 1.46081673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters 0.023560257523171327 Centerline is valid? [True, True] Translation: X:36.30, Y:-2.59, Z:0.14 [[ 9.95362234e-01 9.60330459e-02 5.62831253e-03 3.62994465e+01] [-9.60319691e-02 9.95378143e-01 -4.61889782e-04 -2.59477213e+00] [-5.64665596e-03 -8.07502905e-05 9.99984054e-01 1.43626587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters 0.02327789693163603 Centerline is valid? [True, True] Translation: X:36.36, Y:-2.60, Z:0.15 [[ 9.95497489e-01 9.46461409e-02 5.18232970e-03 3.63610300e+01] [-9.46452044e-02 9.95510976e-01 -4.26200425e-04 -2.60437683e+00] [-5.19940432e-03 -6.62012006e-05 9.99986481e-01 1.46524799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters 0.023176462912186082 Centerline is valid? [True, True] Translation: X:36.42, Y:-2.61, Z:0.15 [[ 9.95588995e-01 9.37944982e-02 2.26821831e-03 3.64233094e+01] [-9.37943145e-02 9.95591579e-01 -1.87470166e-04 -2.61096516e+00] [-2.27580272e-03 -2.61027468e-05 9.99997410e-01 1.49264377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters 0.023541764374768605 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.61, Z:0.15 [[ 9.95309891e-01 9.64900461e-02 6.92044331e-03 3.64848407e+01] [-9.64884105e-02 9.95333944e-01 -5.70614822e-04 -2.61493352e+00] [-6.94321079e-03 -9.98039982e-05 9.99975891e-01 1.48471485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters 0.02444001760238793 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.63, Z:0.15 [[ 9.94613364e-01 1.03296394e-01 8.60876822e-03 3.65464499e+01] [-1.03294107e-01 9.94650603e-01 -7.11004653e-04 -2.62500756e+00] [-8.63616072e-03 -1.82060297e-04 9.99962691e-01 1.47899398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters 0.025240424018185673 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.64, Z:0.15 [[ 9.93967164e-01 1.09544420e-01 5.41270155e-03 3.66079205e+01] [-1.09543603e-01 9.93981890e-01 -4.47969257e-04 -2.63609092e+00] [-5.42919985e-03 -1.47660099e-04 9.99985251e-01 1.49250426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters 0.026248148478378072 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.64, Z:0.15 [[ 9.93170720e-01 1.16649629e-01 2.18766297e-03 3.66696078e+01] [-1.16649510e-01 9.93173126e-01 -1.82323226e-04 -2.63651118e+00] [-2.19399601e-03 -7.41117250e-05 9.99997590e-01 1.50930057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters 0.027455649620040923 Centerline is valid? [True, True] Translation: X:36.73, Y:-2.64, Z:0.15 [[ 9.92496449e-01 1.22007421e-01 8.06148944e-03 3.67315276e+01] [-1.22006007e-01 9.92529137e-01 -6.68753205e-04 -2.63533747e+00] [-8.08285601e-03 -3.19814958e-04 9.99967282e-01 1.49749602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters 0.028811123581781863 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.64, Z:0.15 [[ 9.91564510e-01 1.29569727e-01 3.39239591e-03 3.67926263e+01] [-1.29569520e-01 9.91570300e-01 -2.81548287e-04 -2.63783312e+00] [-3.40027917e-03 -1.60377822e-04 9.99994206e-01 1.50628053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters 0.029638020079131935 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.63, Z:0.15 [[ 9.90995965e-01 1.33865396e-01 2.65572281e-03 3.68542148e+01] [-1.33865285e-01 9.90999514e-01 -2.20523377e-04 -2.63243177e+00] [-2.66134047e-03 -1.36971314e-04 9.99996449e-01 1.53772544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters 0.030078332613759997 Centerline is valid? [True, True] Translation: X:36.92, Y:-2.63, Z:0.16 [[ 9.90691212e-01 1.35837865e-01 8.88799129e-03 3.69166756e+01] [-1.35836684e-01 9.90730967e-01 -7.39228544e-04 -2.62839296e+00] [-8.90602344e-03 -4.74968039e-04 9.99960228e-01 1.55087084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters 0.030091199014027643 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.62, Z:0.15 [[ 9.90646079e-01 1.36155490e-01 9.05698012e-03 3.69791943e+01] [-1.36154267e-01 9.90687361e-01 -7.54374996e-04 -2.62374005e+00] [-9.07534802e-03 -4.85827855e-04 9.99958700e-01 1.53761928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters 0.028784166947712925 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.61, Z:0.15 [[ 9.91458907e-01 1.30140677e-01 8.52284997e-03 3.70411085e+01] [-1.30139374e-01 9.91495456e-01 -7.09722167e-04 -2.61400702e+00] [-8.54273074e-03 -4.05497992e-04 9.99963428e-01 1.52869096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters 0.026850719189333072 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.60, Z:0.16 [[ 9.92276142e-01 1.23788954e-01 8.02204935e-03 3.71025202e+01] [-1.23787593e-01 9.92308513e-01 -6.67874645e-04 -2.60294336e+00] [-8.04302337e-03 -3.30314102e-04 9.99967600e-01 1.57865060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters 0.02488883356126904 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.59, Z:0.15 [[ 9.93404748e-01 1.14500649e-01 6.05047839e-03 3.71644631e+01] [-1.14499703e-01 9.93423155e-01 -5.03731769e-04 -2.58677462e+00] [-6.06836294e-03 -1.92368445e-04 9.99981569e-01 1.53910255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters 0.02401017694012648 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.59, Z:0.15 [[ 9.94324133e-01 1.06168804e-01 6.90678430e-03 3.72263395e+01] [-1.06167358e-01 9.94348108e-01 -5.76679851e-04 -2.59005745e+00] [-6.92897331e-03 -1.59868350e-04 9.99975982e-01 1.53814119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters 0.02252780521566718 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.58, Z:0.16 [[ 9.95712796e-01 9.24825850e-02 1.73181871e-03 3.72893920e+01] [-9.24824725e-02 9.95714302e-01 -1.45106740e-04 -2.58028635e+00] [-1.73781650e-03 -1.56782380e-05 9.99998490e-01 1.60434571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters 0.022369093217065993 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.58, Z:0.16 [[ 9.96167769e-01 8.74501891e-02 -1.49660882e-03 3.73510215e+01] [-8.74501004e-02 9.96168894e-01 1.24715786e-04 -2.58199049e+00] [ 1.50178157e-03 6.64074560e-06 9.99998872e-01 1.61167625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters 0.022302874118754416 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.58, Z:0.16 [[ 9.96201313e-01 8.69455218e-02 4.83945254e-03 3.74105267e+01] [-8.69445865e-02 9.96213068e-01 -4.03722772e-04 -2.58269175e+00] [-4.85622774e-03 -1.85750447e-05 9.99988208e-01 1.59972324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters 0.02225279071147893 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.60, Z:0.16 [[ 9.96470432e-01 8.38427059e-02 4.13261268e-03 3.74722365e+01] [-8.38419907e-02 9.96479002e-01 -3.46309298e-04 -2.59579249e+00] [-4.14709727e-03 -1.39949746e-06 9.99991401e-01 1.58810894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters 0.022377657113529233 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.60, Z:0.16 [[ 9.96810550e-01 7.96536344e-02 4.90166485e-03 3.75338447e+01] [-7.96525749e-02 9.96822601e-01 -4.11297738e-04 -2.60387056e+00] [-4.91885167e-03 1.95556977e-05 9.99987902e-01 1.58184461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters 0.02261943965554109 Centerline is valid? [True, True] Translation: X:37.60, Y:-2.61, Z:0.16 [[ 9.97108923e-01 7.54537523e-02 8.97368015e-03 3.75964466e+01] [-7.54500254e-02 9.97149300e-01 -7.53607027e-04 -2.60534959e+00] [-9.00496136e-03 7.43638955e-05 9.99959452e-01 1.60118238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters 0.02248931478767861 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.61, Z:0.16 [[ 9.97133940e-01 7.50846824e-02 9.28414527e-03 3.76595367e+01] [-7.50806570e-02 9.97177158e-01 -7.81849377e-04 -2.61266525e+00] [-9.31664250e-03 8.25488237e-05 9.99956596e-01 1.61103969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters 0.02263589247736968 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.63, Z:0.16 [[ 9.97263007e-01 7.35888470e-02 7.15376919e-03 3.77206943e+01] [-7.35864124e-02 9.97288662e-01 -6.03303338e-04 -2.62618949e+00] [-7.17876930e-03 7.52318910e-05 9.99974229e-01 1.56766126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters 0.02319418958122739 Centerline is valid? [True, True] Translation: X:37.78, Y:-2.64, Z:0.16 [[ 9.97431103e-01 7.11454549e-02 8.33775709e-03 3.77815402e+01] [-7.11420540e-02 9.97465945e-01 -7.04157763e-04 -2.64099022e+00] [-8.36672638e-03 1.09183690e-04 9.99964992e-01 1.56242108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters 0.023240184779352274 Centerline is valid? [True, True] Translation: X:37.84, Y:-2.65, Z:0.16 [[ 9.97524772e-01 6.98661641e-02 7.94024287e-03 3.78429551e+01] [-6.98630303e-02 9.97556367e-01 -6.71700617e-04 -2.64828010e+00] [-7.96776898e-03 1.15308576e-04 9.99968250e-01 1.60532541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters 0.02278193442060924 Centerline is valid? [True, True] Translation: X:37.90, Y:-2.66, Z:0.16 [[ 9.97186024e-01 7.47341878e-02 5.90207692e-03 3.79046471e+01] [-7.47325359e-02 9.97203489e-01 -5.00250740e-04 -2.65636096e+00] [-5.92295753e-03 5.77658713e-05 9.99982457e-01 1.60873345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters 0.022346811114805267 Centerline is valid? [True, True] Translation: X:37.97, Y:-2.67, Z:0.16 [[ 9.96567390e-01 8.24739749e-02 7.17497475e-03 3.79653758e+01] [-8.24717279e-02 9.96593219e-01 -6.08979860e-04 -2.67086541e+00] [-7.20075617e-03 1.51569044e-05 9.99974074e-01 1.60603635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters 0.02260071057014588 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.68, Z:0.16 [[ 9.95815567e-01 9.05386833e-02 1.24138005e-02 3.80266285e+01] [-9.05325683e-02 9.95892937e-01 -1.05482493e-03 -2.68405894e+00] [-1.24583187e-02 -7.34421635e-05 9.99922389e-01 1.60287721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters 0.023353346737381965 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.69, Z:0.16 [[ 9.94781883e-01 1.01310826e-01 1.20466343e-02 3.80879886e+01] [-1.01305836e-01 9.94854802e-01 -1.02529093e-03 -2.69332996e+00] [-1.20885250e-02 -2.00453516e-04 9.99926911e-01 1.60231509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters 0.024644791901309582 Centerline is valid? [True, True] Translation: X:38.15, Y:-2.70, Z:0.16 [[ 9.93531870e-01 1.12921684e-01 1.19631533e-02 3.81491683e+01] [-1.12917598e-01 9.93603834e-01 -1.01862061e-03 -2.69843089e+00] [-1.20016593e-02 -3.38818495e-04 9.99927920e-01 1.61489266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters 0.026715309990069096 Centerline is valid? [True, True] Translation: X:38.21, Y:-2.70, Z:0.16 [[ 9.92158360e-01 1.24132651e-01 1.45901721e-02 3.82104153e+01] [-1.24127785e-01 9.92265463e-01 -1.24212352e-03 -2.69527111e+00] [-1.46315120e-02 -5.78662515e-04 9.99892786e-01 1.60747178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters 0.0265618242881884 Centerline is valid? [True, True] Translation: X:38.27, Y:-2.70, Z:0.16 [[ 9.92165006e-01 1.23985273e-01 1.53704985e-02 3.82736302e+01] [-1.23979796e-01 9.92283875e-01 -1.31239031e-03 -2.69872966e+00] [-1.54146148e-02 -6.03523515e-04 9.99881006e-01 1.62222133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters 0.02512630458449017 Centerline is valid? [True, True] Translation: X:38.34, Y:-2.69, Z:0.16 [[ 9.93112490e-01 1.16277190e-01 1.43943451e-02 3.83359845e+01] [-1.16271581e-01 9.93216698e-01 -1.22876087e-03 -2.68544669e+00] [-1.44395808e-02 -4.53355495e-04 9.99895641e-01 1.61340812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters 0.02413479342144345 Centerline is valid? [True, True] Translation: X:38.40, Y:-2.68, Z:0.16 [[ 9.93820910e-01 1.10228389e-01 1.30269549e-02 3.83981678e+01] [-1.10223255e-01 9.93906230e-01 -1.11366723e-03 -2.68360236e+00] [-1.30703294e-02 -3.29087588e-04 9.99914525e-01 1.61502579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters 0.02282033598097249 Centerline is valid? [True, True] Translation: X:38.46, Y:-2.68, Z:0.16 [[ 9.94858320e-01 1.01012189e-01 7.31174916e-03 3.84604618e+01] [-1.01010316e-01 9.94885181e-01 -6.26036863e-04 -2.68158196e+00] [-7.33758824e-03 -1.15744108e-04 9.99973073e-01 1.61692470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters 0.022711918211261235 Centerline is valid? [True, True] Translation: X:38.52, Y:-2.68, Z:0.16 [[ 9.95312855e-01 9.60738800e-02 1.10512732e-02 3.85237726e+01] [-9.60692728e-02 9.95374199e-01 -9.48225681e-04 -2.67690528e+00] [-1.10912519e-02 -1.17906572e-04 9.99938483e-01 1.61036687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters 0.022162930903045993 Centerline is valid? [True, True] Translation: X:38.59, Y:-2.67, Z:0.17 [[ 9.96179349e-01 8.67032485e-02 1.04523763e-02 3.85873234e+01] [-8.66985969e-02 9.96234183e-01 -8.98176222e-04 -2.66611193e+00] [-1.04908893e-02 -1.14617545e-05 9.99944969e-01 1.65502120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters 0.022391547676228953 Centerline is valid? [True, True] Translation: X:38.65, Y:-2.67, Z:0.16 [[ 9.96479587e-01 8.32114960e-02 1.02117035e-02 3.86497653e+01] [-8.32068477e-02 9.96531909e-01 -8.79940496e-04 -2.67131505e+00] [-1.02495096e-02 2.71590827e-05 9.99947472e-01 1.62334956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters 0.02262108949948885 Centerline is valid? [True, True] Translation: X:38.71, Y:-2.68, Z:0.16 [[ 9.96864869e-01 7.79088186e-02 1.38075870e-02 3.87115337e+01] [-7.78997953e-02 9.96960482e-01 -1.19094914e-03 -2.67857609e+00] [-1.38584041e-02 1.11607158e-04 9.99903961e-01 1.63722398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters 0.022319084975842066 Centerline is valid? [True, True] Translation: X:38.77, Y:-2.68, Z:0.17 [[ 9.96972961e-01 7.72194432e-02 9.05938037e-03 3.87743678e+01] [-7.72155174e-02 9.97014118e-01 -7.82834254e-04 -2.67759800e+00] [-9.09278015e-03 8.09398417e-05 9.99958657e-01 1.67026683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters 0.022320228251917432 Centerline is valid? [True, True] Translation: X:38.84, Y:-2.68, Z:0.16 [[ 9.96737538e-01 8.02033083e-02 9.03936675e-03 3.88362955e+01] [-8.01995113e-02 9.96778524e-01 -7.82333221e-04 -2.67938996e+00] [-9.07299236e-03 5.48280917e-05 9.99958838e-01 1.64815859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters 0.022203638143533853 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.68, Z:0.16 [[ 9.96116580e-01 8.74237538e-02 1.04329056e-02 3.88982385e+01] [-8.74190780e-02 9.96171214e-01 -9.04240175e-04 -2.68144419e+00] [-1.04720123e-02 -1.13063583e-05 9.99945167e-01 1.64271036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters 0.022317700942756254 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.68, Z:0.17 [[ 9.95520535e-01 9.42754403e-02 7.14180860e-03 3.89608092e+01] [-9.42734170e-02 9.95546151e-01 -6.20168568e-04 -2.68315331e+00] [-7.16846673e-03 -5.58921563e-05 9.99974305e-01 1.65828881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters 0.022233249316048052 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.68, Z:0.17 [[ 9.95251838e-01 9.70416633e-02 7.52954995e-03 3.90230869e+01] [-9.70394859e-02 9.95280317e-01 -6.54849269e-04 -2.68322629e+00] [-7.55756053e-03 -7.89237176e-05 9.99971438e-01 1.68712899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters 0.02256020709981688 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.68, Z:0.17 [[ 9.94855642e-01 1.00852657e-01 9.53902018e-03 3.90855035e+01] [-1.00849326e-01 9.94901364e-01 -8.30725880e-04 -2.68479949e+00] [-9.57416510e-03 -1.35551430e-04 9.99954157e-01 1.68751638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters 0.02302731569104843 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.68, Z:0.17 [[ 9.94566762e-01 1.03674161e-01 9.41409596e-03 3.91481385e+01] [-1.03671032e-01 9.94611302e-01 -8.21143850e-04 -2.67998540e+00] [-9.44849764e-03 -1.59286660e-04 9.99955349e-01 1.68374497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters 0.022937555329104554 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.67, Z:0.17 [[ 9.94484457e-01 1.04290925e-01 1.11386014e-02 3.92101904e+01] [-1.04286580e-01 9.94546814e-01 -9.71834381e-04 -2.67293786e+00] [-1.11792140e-02 -1.95132450e-04 9.99937492e-01 1.68291872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters 0.02248495651581439 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.68, Z:0.17 [[ 9.94943997e-01 1.00167670e-01 7.27186488e-03 3.92721960e+01] [-1.00165697e-01 9.94970567e-01 -6.35918174e-04 -2.67972747e+00] [-7.29898996e-03 -9.56884426e-05 9.99973357e-01 1.69303712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters 0.022253383052039 Centerline is valid? [True, True] Translation: X:39.33, Y:-2.68, Z:0.17 [[ 9.95838729e-01 9.11307037e-02 6.47984825e-04 3.93325528e+01] [-9.11306862e-02 9.95838940e-01 -5.66048082e-05 -2.68032627e+00] [-6.50446957e-04 -2.68204143e-06 9.99999788e-01 1.68866360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters 0.022105804478101274 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.68, Z:0.17 [[ 9.96520710e-01 8.31409808e-02 5.83533831e-03 3.93912124e+01] [-8.31394513e-02 9.96537795e-01 -5.04614340e-04 -2.68476927e+00] [-5.85708930e-03 1.77118157e-05 9.99982847e-01 1.68845100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters 0.0227852421996559 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.70, Z:0.17 [[ 9.97097693e-01 7.52135517e-02 1.17945955e-02 3.94510004e+01] [-7.52066913e-02 9.97167440e-01 -1.02474236e-03 -2.69750971e+00] [-1.18382611e-02 1.34735746e-04 9.99929916e-01 1.71032732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters 0.022781164612320978 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.70, Z:0.17 [[ 9.97260919e-01 7.33852214e-02 9.23414854e-03 3.95132710e+01] [-7.33809206e-02 9.97303662e-01 -8.04155355e-04 -2.70335912e+00] [-9.26826327e-03 1.24342386e-04 9.99957041e-01 1.70581053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters 0.022667220017600385 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.71, Z:0.17 [[ 9.97213189e-01 7.46046414e-02 -4.67331573e-05 3.95746685e+01] [-7.46046413e-02 9.97213191e-01 3.57415253e-06 -2.71080323e+00] [ 4.68695693e-05 -7.76816058e-08 9.99999999e-01 1.67648376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters 0.022371770600030934 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.72, Z:0.17 [[ 9.97192460e-01 7.48811410e-02 1.09896580e-04 3.96315250e+01] [-7.48811407e-02 9.97192466e-01 -6.84841688e-06 -2.72053170e+00] [-1.10100859e-04 -1.39999157e-06 9.99999994e-01 1.68191494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters 0.02207876062031183 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.74, Z:0.17 [[ 9.97081263e-01 7.61693122e-02 5.21454795e-03 3.96892428e+01] [-7.61680174e-02 9.97094897e-01 -4.46735835e-04 -2.73922359e+00] [-5.23342671e-03 4.82501524e-05 9.99986304e-01 1.71650252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters 0.021930025727680283 Centerline is valid? [True, True] Translation: X:39.75, Y:-2.75, Z:0.17 [[ 9.96851661e-01 7.90475013e-02 6.18531421e-03 3.97501551e+01] [-7.90457132e-02 9.96870850e-01 -5.33405992e-04 -2.74500075e+00] [-6.20812384e-03 4.28040765e-05 9.99980728e-01 1.71929395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters 0.02180881853961375 Centerline is valid? [True, True] Translation: X:39.81, Y:-2.75, Z:0.17 [[ 9.95896083e-01 9.04474688e-02 3.20115339e-03 3.98107864e+01] [-9.04470475e-02 9.95901228e-01 -2.76433734e-04 -2.75283202e+00] [-3.21303532e-03 -1.42355994e-05 9.99994838e-01 1.70727252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters 0.021945048756236672 Centerline is valid? [True, True] Translation: X:39.87, Y:-2.76, Z:0.17 [[ 9.95204199e-01 9.78081894e-02 1.46970248e-03 3.98711689e+01] [-9.78081088e-02 9.95205284e-01 -1.26762168e-04 -2.75786605e+00] [-1.47505405e-03 -1.75945775e-05 9.99998912e-01 1.73290002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters 0.0223644455176898 Centerline is valid? [True, True] Translation: X:39.93, Y:-2.77, Z:0.17 [[ 9.94548871e-01 1.04177137e-01 4.43479311e-03 3.99298269e+01] [-1.04176487e-01 9.94558755e-01 -3.77980007e-04 -2.76514771e+00] [-4.45003919e-03 -8.60815788e-05 9.99990095e-01 1.72276731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters 0.022850618239362012 Centerline is valid? [True, True] Translation: X:39.99, Y:-2.77, Z:0.17 [[ 9.94187603e-01 1.07420447e-01 7.20128052e-03 3.99907330e+01] [-1.07418787e-01 9.94213670e-01 -6.18085653e-04 -2.76669064e+00] [-7.22600657e-03 -1.59059725e-04 9.99973879e-01 1.71599248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters 0.022996516952978562 Centerline is valid? [True, True] Translation: X:40.05, Y:-2.77, Z:0.17 [[ 9.94017035e-01 1.09105316e-01 5.11518953e-03 4.00524128e+01] [-1.09104497e-01 9.94030188e-01 -4.39599044e-04 -2.76843512e+00] [-5.13261540e-03 -1.21121244e-04 9.99986821e-01 1.73758986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters 0.02342189373038594 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.77, Z:0.17 [[ 9.93667353e-01 1.12281809e-01 4.24106309e-03 4.01130517e+01] [-1.12281276e-01 9.93676397e-01 -3.64195634e-04 -2.76807458e+00] [-4.25513684e-03 -1.14302666e-04 9.99990940e-01 1.73154625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters 0.02344044884932195 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.77, Z:0.17 [[ 9.93624340e-01 1.12262667e-01 1.03809841e-02 4.01721053e+01] [-1.12259552e-01 9.93678525e-01 -8.84154598e-04 -2.76575201e+00] [-1.04146186e-02 -2.86847101e-04 9.99945725e-01 1.74133954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters 0.022562579493014333 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.77, Z:0.17 [[ 9.94561534e-01 1.03839875e-01 8.03965677e-03 4.02332814e+01] [-1.03837709e-01 9.94594016e-01 -6.87478178e-04 -2.76993731e+00] [-8.06758217e-03 -1.51080192e-04 9.99967445e-01 1.71507611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters 0.022150249296048155 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.77, Z:0.17 [[ 9.95265510e-01 9.70474438e-02 5.32520777e-03 4.02948468e+01] [-9.70463938e-02 9.95279754e-01 -4.55841868e-04 -2.77258495e+00] [-5.34430977e-03 -6.31085210e-05 9.99985717e-01 1.70155091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters 0.021822834960329798 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.78, Z:0.17 [[ 9.95901123e-01 9.03139234e-02 4.93446137e-03 4.03547085e+01] [-9.03129423e-02 9.95913347e-01 -4.21735712e-04 -2.77808571e+00] [-4.95238454e-03 -2.56386552e-05 9.99987737e-01 1.74327231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters 0.021537923614496763 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.79, Z:0.17 [[ 9.96130065e-01 8.78577316e-02 2.43170276e-03 4.04140820e+01] [-8.78574871e-02 9.96133033e-01 -2.07413835e-04 -2.78669352e+00] [-2.44052236e-03 -7.03213663e-06 9.99997022e-01 1.74163526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters 0.02171673856709934 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.80, Z:0.17 [[ 9.96355456e-01 8.52507358e-02 2.84892248e-03 4.04728246e+01] [-8.52503899e-02 9.96359530e-01 -2.42858420e-04 -2.79935025e+00] [-2.85925492e-03 -8.98440248e-07 9.99995912e-01 1.72878287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters 0.021720140557813145 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.81, Z:0.18 [[ 9.96447321e-01 8.37973817e-02 8.41047516e-03 4.05316794e+01] [-8.37943141e-02 9.96482814e-01 -7.17069419e-04 -2.80847660e+00] [-8.44098250e-03 9.77190334e-06 9.99964374e-01 1.77299748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters 0.0217056191729488 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.81, Z:0.18 [[ 9.96065796e-01 8.83510497e-02 6.85725366e-03 4.05938064e+01] [-8.83491055e-02 9.96089399e-01 -5.86522126e-04 -2.81261279e+00] [-6.88225752e-03 -2.16175987e-05 9.99976317e-01 1.77820657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters 0.02196916207437588 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.82, Z:0.17 [[ 9.95742968e-01 9.20073762e-02 5.53034544e-03 4.06551918e+01] [-9.20061671e-02 9.95758325e-01 -4.73188138e-04 -2.81768009e+00] [-5.55042431e-03 -3.76521268e-05 9.99984596e-01 1.74593601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters 0.022092817099552062 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.83, Z:0.18 [[ 9.95286778e-01 9.61906584e-02 1.23120392e-02 4.07156233e+01] [-9.61849804e-02 9.95362918e-01 -1.05386188e-03 -2.82878391e+00] [-1.23563189e-02 -1.35338452e-04 9.99923649e-01 1.77340240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters 0.02227562474784558 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.83, Z:0.18 [[ 9.95154787e-01 9.80576572e-02 7.18655831e-03 4.07778819e+01] [-9.80557609e-02 9.95180731e-01 -6.16597941e-04 -2.83243158e+00] [-7.21238650e-03 -9.10730506e-05 9.99973986e-01 1.78718726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters 0.022556152968665148 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.83, Z:0.17 [[ 9.95022234e-01 9.95312343e-02 4.92826922e-03 4.08398332e+01] [-9.95303596e-02 9.95034436e-01 -4.23044515e-04 -2.83155510e+00] [-4.94590372e-03 -6.95737084e-05 9.99987767e-01 1.73368659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters 0.02258600881224913 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.83, Z:0.18 [[ 9.94765865e-01 1.01958493e-01 6.73341965e-03 4.09003456e+01] [-1.01956919e-01 9.94788648e-01 -5.77536195e-04 -2.83342245e+00] [-6.75721415e-03 -1.12005427e-04 9.99977163e-01 1.78448373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters 0.022753578138973125 Centerline is valid? [True, True] Translation: X:40.96, Y:-2.83, Z:0.18 [[ 9.94400882e-01 1.05553170e-01 5.04119508e-03 4.09618393e+01] [-1.05552330e-01 9.94413655e-01 -4.33068792e-04 -2.83425976e+00] [-5.05874501e-03 -1.01465900e-04 9.99987199e-01 1.78443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters 0.02276557666878967 Centerline is valid? [True, True] Translation: X:41.02, Y:-2.84, Z:0.18 [[ 9.94752831e-01 1.02040479e-01 7.38551950e-03 4.10211098e+01] [-1.02038590e-01 9.94780240e-01 -6.33122135e-04 -2.84109720e+00] [-7.41157294e-03 -1.23807962e-04 9.99972526e-01 1.75901906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters 0.02217138982451156 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.84, Z:0.18 [[ 9.95474141e-01 9.49597333e-02 3.72609990e-03 4.10824026e+01] [-9.49592000e-02 9.95481114e-01 -3.20186800e-04 -2.84048940e+00] [-3.73966693e-03 -3.50897858e-05 9.99993007e-01 1.76867045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters 0.022164223447513846 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.84, Z:0.18 [[ 9.96104138e-01 8.80144180e-02 5.47796694e-03 4.11417061e+01] [-8.80131906e-02 9.96119201e-01 -4.65194498e-04 -2.84057714e+00] [-5.49765187e-03 -1.87511838e-05 9.99984888e-01 1.76649880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters 0.022043989607913976 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.85, Z:0.18 [[ 9.96803331e-01 7.95770344e-02 7.11447488e-03 4.12009375e+01] [-7.95747268e-02 9.96828719e-01 -6.07292108e-04 -2.85448973e+00] [-7.14023939e-03 3.92184004e-05 9.99974507e-01 1.78585148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters 0.02227406849922795 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.86, Z:0.18 [[ 9.96933855e-01 7.78386106e-02 8.00252743e-03 4.12626335e+01] [-7.78356279e-02 9.96965971e-01 -6.83972356e-04 -2.85764422e+00] [-8.03148699e-03 5.89934496e-05 9.99967745e-01 1.75749250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters 0.02227689163760991 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.86, Z:0.18 [[ 9.96609895e-01 8.21162834e-02 5.06295826e-03 4.13245011e+01] [-8.21151390e-02 9.96622755e-01 -4.33858445e-04 -2.86030645e+00] [-5.08148625e-03 1.66420984e-05 9.99987089e-01 1.76601302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters 0.0219121581152627 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.87, Z:0.18 [[ 9.96325552e-01 8.54707993e-02 5.48968305e-03 4.13845772e+01] [-8.54695087e-02 9.96340676e-01 -4.69700311e-04 -2.87073309e+00] [-5.50974018e-03 -1.22609151e-06 9.99984821e-01 1.80961728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters 0.021990210275466503 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.88, Z:0.18 [[ 9.95973280e-01 8.90558696e-02 1.03091496e-02 4.14452056e+01] [-8.90514993e-02 9.96026631e-01 -8.83095667e-04 -2.88204933e+00] [-1.03468324e-02 -3.85055447e-05 9.99946469e-01 1.79386919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters 0.022116257450203698 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.89, Z:0.18 [[ 9.95925563e-01 8.97555173e-02 8.73042548e-03 4.15073900e+01] [-8.97523921e-02 9.95963828e-01 -7.49894640e-04 -2.89045262e+00] [-8.76249516e-03 -3.67373300e-05 9.99961608e-01 1.80469551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters 0.02230351432107848 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.89, Z:0.18 [[ 9.95474839e-01 9.47609664e-02 7.08545787e-03 4.15701878e+01] [-9.47590280e-02 9.95500053e-01 -6.09542151e-04 -2.89023500e+00] [-7.11133449e-03 -6.46272263e-05 9.99974712e-01 1.80553775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters 0.022710686402797723 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.89, Z:0.18 [[ 9.94611406e-01 1.03072331e-01 1.11465812e-02 4.16308677e+01] [-1.03068067e-01 9.94673844e-01 -9.57846143e-04 -2.89076222e+00] [-1.11859402e-02 -1.96171876e-04 9.99937416e-01 1.81577642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters 0.023538660386180563 Centerline is valid? [True, True] Translation: X:41.69, Y:-2.90, Z:0.18 [[ 9.93745937e-01 1.11106897e-01 1.11476877e-02 4.16922403e+01] [-1.11103112e-01 9.93808420e-01 -9.60143674e-04 -2.90120467e+00] [-1.11853445e-02 -2.84403920e-04 9.99937402e-01 1.80668874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters 0.024408274969189504 Centerline is valid? [True, True] Translation: X:41.75, Y:-2.90, Z:0.18 [[ 9.92993473e-01 1.17922910e-01 7.62559582e-03 4.17547728e+01] [-1.17921330e-01 9.93022722e-01 -6.58006375e-04 -2.90050421e+00] [-7.64998395e-03 -2.45824367e-04 9.99970708e-01 1.82671401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters 0.02392227740826013 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.89, Z:0.18 [[ 9.93466523e-01 1.13568662e-01 1.12440002e-02 4.18150790e+01] [-1.13564972e-01 9.93530100e-01 -9.68163500e-04 -2.89321985e+00] [-1.12812057e-02 -3.15086551e-04 9.99936316e-01 1.84525229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters 0.02333654649109223 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.91, Z:0.18 [[ 9.94188596e-01 1.07315511e-01 8.50983484e-03 4.18759270e+01] [-1.07313154e-01 9.94224998e-01 -7.34375750e-04 -2.90568963e+00] [-8.53950044e-03 -1.83109224e-04 9.99963521e-01 1.81481989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters 0.02266193724839366 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.90, Z:0.18 [[ 9.95542757e-01 9.39061795e-02 8.73207471e-03 4.19370457e+01] [-9.39031865e-02 9.95581049e-01 -7.53027528e-04 -2.90153266e+00] [-8.76420203e-03 -7.02985389e-05 9.99961591e-01 1.83644990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters 0.022314586089122235 Centerline is valid? [True, True] Translation: X:42.00, Y:-2.91, Z:0.19 [[ 9.96063278e-01 8.82776500e-02 8.06237349e-03 4.19979611e+01] [-8.82749069e-02 9.96095907e-01 -6.96153822e-04 -2.90880268e+00] [-8.09235206e-03 -1.82920103e-05 9.99967256e-01 1.86110770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters 0.02247162459674679 Centerline is valid? [True, True] Translation: X:42.06, Y:-2.92, Z:0.18 [[ 9.95917131e-01 8.98542730e-02 8.67628842e-03 4.20583300e+01] [-8.98511513e-02 9.95954923e-01 -7.49713360e-04 -2.92173619e+00] [-8.70855712e-03 -3.29221253e-05 9.99962079e-01 1.82111314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters 0.022464228659455614 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.93, Z:0.18 [[ 9.95579667e-01 9.35635017e-02 8.18523463e-03 4.21200437e+01] [-9.35608366e-02 9.95613312e-01 -7.08747404e-04 -2.93114701e+00] [-8.21564145e-03 -6.02028949e-05 9.99966249e-01 1.84042007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters 0.022657077162757215 Centerline is valid? [True, True] Translation: X:42.18, Y:-2.95, Z:0.19 [[ 9.95116141e-01 9.85453835e-02 5.71613127e-03 4.21809851e+01] [-9.85441603e-02 9.95132555e-01 -4.95926117e-04 -2.94873747e+00] [-5.73717955e-03 -6.97872730e-05 9.99983540e-01 1.85514876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters 0.022874988176923294 Centerline is valid? [True, True] Translation: X:42.24, Y:-2.95, Z:0.18 [[ 9.94950102e-01 1.00311351e-01 3.45355620e-03 4.22415088e+01] [-1.00310917e-01 9.94956095e-01 -2.99218209e-04 -2.94676903e+00] [-3.46615177e-03 -4.87222008e-05 9.99993992e-01 1.84231387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters 0.023263797047555747 Centerline is valid? [True, True] Translation: X:42.30, Y:-2.96, Z:0.19 [[ 9.94167204e-01 1.07729394e-01 5.09385337e-03 4.23006675e+01] [-1.07728550e-01 9.94180248e-01 -4.40653075e-04 -2.95776615e+00] [-5.11167969e-03 -1.10670600e-04 9.99986929e-01 1.85703740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters 0.02380416759739026 Centerline is valid? [True, True] Translation: X:42.36, Y:-2.96, Z:0.19 [[ 9.93782007e-01 1.11186675e-01 5.90298151e-03 4.23606366e+01] [-1.11185600e-01 9.93799528e-01 -5.11040201e-04 -2.96296149e+00] [-5.92320110e-03 -1.48463982e-04 9.99982447e-01 1.85425748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters 0.02474862304120657 Centerline is valid? [True, True] Translation: X:42.42, Y:-2.96, Z:0.19 [[ 9.92842423e-01 1.19334768e-01 4.81000205e-03 4.24217231e+01] [-1.19334149e-01 9.92854061e-01 -4.16417434e-04 -2.95895674e+00] [-4.82532315e-03 -1.60560609e-04 9.99988345e-01 1.87919003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters 0.0253338038127716 Centerline is valid? [True, True] Translation: X:42.48, Y:-2.96, Z:0.19 [[ 9.92359611e-01 1.22973742e-01 9.99308726e-03 4.24807441e+01] [-1.22971272e-01 9.92409855e-01 -8.63641579e-04 -2.96275519e+00] [-1.00234435e-02 -3.71819627e-04 9.99949695e-01 1.90132038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters 0.026061611855255733 Centerline is valid? [True, True] Translation: X:42.54, Y:-2.96, Z:0.19 [[ 9.91785283e-01 1.27717656e-01 7.08179023e-03 4.25414545e+01] [-1.27716534e-01 9.91810522e-01 -6.12389586e-04 -2.95961454e+00] [-7.10200703e-03 -2.97102720e-04 9.99974736e-01 1.87091401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters 0.026971150706653672 Centerline is valid? [True, True] Translation: X:42.60, Y:-2.96, Z:0.19 [[ 9.91392345e-01 1.30828419e-01 5.01432158e-03 4.26003460e+01] [-1.30827919e-01 9.91404999e-01 -4.29063546e-04 -2.95761896e+00] [-5.02735718e-03 -2.30642943e-04 9.99987336e-01 1.86876045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters 0.027489651366506208 Centerline is valid? [True, True] Translation: X:42.66, Y:-2.95, Z:0.19 [[ 9.90971259e-01 1.33720887e-01 9.73081478e-03 4.26607973e+01] [-1.33719113e-01 9.91018920e-01 -8.35632852e-04 -2.94630525e+00] [-9.75516312e-03 -4.73107783e-04 9.99952305e-01 1.89703252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters 0.027351583548111555 Centerline is valid? [True, True] Translation: X:42.72, Y:-2.94, Z:0.19 [[ 9.91121432e-01 1.32630964e-01 9.34525221e-03 4.27198376e+01] [-1.32629335e-01 9.91165387e-01 -7.96519916e-04 -2.94394447e+00] [-9.36833373e-03 -4.50006630e-04 9.99956015e-01 1.89045293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters 0.02650502745495186 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.93, Z:0.19 [[ 9.91727456e-01 1.28297702e-01 4.04385032e-03 4.27818081e+01] [-1.28297359e-01 9.91735685e-01 -3.45354849e-04 -2.92540668e+00] [-4.05473890e-03 -1.76317429e-04 9.99991764e-01 1.90056314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters 0.025615094883623537 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.91, Z:0.19 [[ 9.92253301e-01 1.24067811e-01 6.36908236e-03 4.28419097e+01] [-1.24066880e-01 9.92273710e-01 -5.42691508e-04 -2.91144646e+00] [-6.38720352e-03 -2.51704735e-04 9.99979570e-01 1.91063080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters 0.02439450885606881 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.90, Z:0.19 [[ 9.93438504e-01 1.14209417e-01 6.01232004e-03 4.29029755e+01] [-1.14208405e-01 9.93456681e-01 -5.12546880e-04 -2.90119834e+00] [-6.03151719e-03 -1.77473676e-04 9.99981794e-01 1.94093107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters 0.023442065759819934 Centerline is valid? [True, True] Translation: X:42.96, Y:-2.90, Z:0.19 [[ 9.94658344e-01 1.03156934e-01 3.66414524e-03 4.29638832e+01] [-1.03156485e-01 9.94665091e-01 -3.11717034e-04 -2.89534861e+00] [-3.67675313e-03 -6.79283951e-05 9.99993238e-01 1.91493513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters 0.02254888380716194 Centerline is valid? [True, True] Translation: X:43.02, Y:-2.88, Z:0.19 [[ 9.96276650e-01 8.61706795e-02 2.72943316e-03 4.30241697e+01] [-8.61703687e-02 9.96280389e-01 -2.31477413e-04 -2.87651611e+00] [-2.73922729e-03 -4.58071919e-06 9.99996248e-01 1.93245287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters 0.023639631432322044 Centerline is valid? [True, True] Translation: X:43.08, Y:-2.88, Z:0.19 [[ 9.97630064e-01 6.87607941e-02 2.49157320e-03 4.30831376e+01] [-6.87604878e-02 9.97633175e-01 -2.08473974e-04 -2.87550622e+00] [-2.50001092e-03 3.66581147e-05 9.99996874e-01 1.94788682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters 0.026024253398255263 Centerline is valid? [True, True] Translation: X:43.14, Y:-2.88, Z:0.19 [[ 9.98472338e-01 5.52537858e-02 -9.88015602e-05 4.31433939e+01] [-5.52537852e-02 9.98472343e-01 8.35830623e-06 -2.88365649e+00] [ 9.91124534e-05 -2.88637737e-06 9.99999995e-01 1.92903345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters 0.02853177886797861 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.89, Z:0.20 [[ 9.98994383e-01 4.47985325e-02 1.82025613e-03 4.32031634e+01] [-4.47983265e-02 9.98996039e-01 -1.53781163e-04 -2.88511742e+00] [-1.82531783e-03 7.20820893e-05 9.99998332e-01 1.96856662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters 0.02826935470368721 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.89, Z:0.20 [[ 9.99027086e-01 4.40245895e-02 -2.59172548e-03 4.32609384e+01] [-4.40241658e-02 9.99030442e-01 2.20331360e-04 -2.89248408e+00] [ 2.59891265e-03 -1.06018445e-04 9.99996617e-01 2.00461706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters 0.027668788600023534 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.91, Z:0.20 [[ 9.98951628e-01 4.56353621e-02 -3.61376185e-03 4.33189654e+01] [-4.56345589e-02 9.98958154e-01 3.04430102e-04 -2.90996412e+00] [ 3.62388965e-03 -1.39198517e-04 9.99993424e-01 1.95538544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters 0.028451610507997084 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.92, Z:0.19 [[ 9.99043762e-01 4.36938856e-02 1.55131437e-03 4.33763434e+01] [-4.36937410e-02 9.99044964e-01 -1.27046024e-04 -2.92418287e+00] [-1.55538395e-03 5.91418093e-05 9.99998789e-01 1.93604704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters 0.027824532390779793 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.94, Z:0.20 [[ 9.98998208e-01 4.46842854e-02 2.42796401e-03 4.34341307e+01] [-4.46839334e-02 9.99001154e-01 -1.99060638e-04 -2.94093988e+00] [-2.43443373e-03 9.03702382e-05 9.99997033e-01 1.97965112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters 0.027294619997389066 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.95, Z:0.20 [[ 9.98963940e-01 4.55087516e-02 -2.42298046e-05 4.34924397e+01] [-4.55087515e-02 9.98963940e-01 4.12502321e-06 -2.94724830e+00] [ 2.43924258e-05 -3.01808128e-06 1.00000000e+00 1.98434891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters 0.02598031674524427 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.97, Z:0.20 [[ 9.98696329e-01 5.10355546e-02 -1.00691677e-03 4.35496528e+01] [-5.10354963e-02 9.98696836e-01 8.34880334e-05 -2.96598568e+00] [ 1.00986545e-03 -3.19906955e-05 9.99999490e-01 1.95203468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters 0.02539676544141011 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.98, Z:0.20 [[ 9.98509257e-01 5.45218934e-02 2.57444233e-03 4.36077104e+01] [-5.45215367e-02 9.98512573e-01 -2.08580528e-04 -2.97802544e+00] [-2.58198524e-03 6.79070367e-05 9.99996664e-01 1.97371484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters 0.024388260385251676 Centerline is valid? [True, True] Translation: X:43.67, Y:-2.99, Z:0.19 [[ 9.98157304e-01 6.06467140e-02 1.99335924e-03 4.36660430e+01] [-6.06465107e-02 9.98159293e-01 -1.62331290e-04 -2.98875151e+00] [-1.99953491e-03 4.11418797e-05 9.99998000e-01 1.93497467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters 0.023296652573436275 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.00, Z:0.20 [[ 9.97697893e-01 6.78125274e-02 6.12687302e-04 4.37244577e+01] [-6.78125109e-02 9.97698081e-01 -4.77479568e-05 -3.00090134e+00] [-6.14514855e-04 6.09017150e-06 9.99999811e-01 1.96226549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters 0.02251411478389906 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.00, Z:0.20 [[ 9.96996813e-01 7.74107158e-02 2.22183948e-03 4.37830850e+01] [-7.74105128e-02 9.96999288e-01 -1.77373385e-04 -3.00404736e+00] [-2.22890298e-03 4.84696623e-06 9.99997516e-01 1.98822421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters 0.022484772310135206 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.02, Z:0.20 [[ 9.96752079e-01 8.02235412e-02 7.03398927e-03 4.38408530e+01] [-8.02215646e-02 9.96776898e-01 -5.63153549e-04 -3.01763058e+00] [-7.05649617e-03 -2.95315417e-06 9.99975103e-01 1.97166272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters 0.02271594217174214 Centerline is valid? [True, True] Translation: X:43.90, Y:-3.01, Z:0.20 [[ 9.95827151e-01 9.10997753e-02 5.39600168e-03 4.39011012e+01] [-9.10987878e-02 9.95841768e-01 -4.29022246e-04 -3.00650280e+00] [-5.41264768e-03 -6.43372111e-05 9.99985349e-01 1.96813589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters 0.023167189073311143 Centerline is valid? [True, True] Translation: X:43.96, Y:-3.01, Z:0.20 [[ 9.95308559e-01 9.67077371e-02 2.91306807e-03 4.39600819e+01] [-9.67074804e-02 9.95312821e-01 -2.29163564e-04 -3.00510499e+00] [-2.92157589e-03 -5.36270167e-05 9.99995731e-01 1.95660934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters 0.022797774428109915 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.01, Z:0.20 [[ 9.95664033e-01 9.24250128e-02 1.05238151e-02 4.40181013e+01] [-9.24214125e-02 9.95719637e-01 -8.28967639e-04 -3.01115722e+00] [-1.05553867e-02 -1.47252591e-04 9.99944280e-01 2.03262296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters 0.022623169491568607 Centerline is valid? [True, True] Translation: X:44.08, Y:-3.01, Z:0.20 [[ 9.96296783e-01 8.55093123e-02 8.99314865e-03 4.40768458e+01] [-8.55064425e-02 9.96337369e-01 -7.03831654e-04 -3.01207458e+00] [-9.02039423e-03 -6.77469351e-05 9.99959313e-01 2.01629519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters 0.022555067656143724 Centerline is valid? [True, True] Translation: X:44.14, Y:-3.00, Z:0.20 [[ 9.96832103e-01 7.92678173e-02 6.50936846e-03 4.41362134e+01] [-7.92662046e-02 9.96853356e-01 -5.05779655e-04 -3.00259118e+00] [-6.52897784e-03 -1.17955343e-05 9.99978686e-01 1.96590337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters 0.022359855222045106 Centerline is valid? [True, True] Translation: X:44.19, Y:-3.01, Z:0.20 [[ 9.96852722e-01 7.88286925e-02 8.40764732e-03 4.41942935e+01] [-7.88260127e-02 9.96888177e-01 -6.50149652e-04 -3.01252460e+00] [-8.43273465e-03 -1.46378644e-05 9.99964444e-01 2.02160066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters 0.02249442803343731 Centerline is valid? [True, True] Translation: X:44.25, Y:-3.02, Z:0.20 [[ 9.97134323e-01 7.51510385e-02 8.68693997e-03 4.42518419e+01] [-7.51480806e-02 9.97172162e-01 -6.66868652e-04 -3.02064460e+00] [-8.71249059e-03 1.21507561e-05 9.99962045e-01 2.04670014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters 0.02302917131479179 Centerline is valid? [True, True] Translation: X:44.31, Y:-3.02, Z:0.20 [[ 9.97825822e-01 6.58537323e-02 2.62978150e-03 4.43093729e+01] [-6.58534372e-02 9.97829287e-01 -1.98717778e-04 -3.02295137e+00] [-2.63715931e-03 2.51055793e-05 9.99996522e-01 1.97608188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters 0.023067083336323072 Centerline is valid? [True, True] Translation: X:44.37, Y:-3.03, Z:0.20 [[ 9.97972507e-01 6.36304829e-02 -1.42693171e-03 4.43672285e+01] [-6.36303891e-02 9.97973527e-01 1.11092591e-04 -3.02758334e+00] [ 1.43110895e-03 -2.00711318e-05 9.99998976e-01 1.99459118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters 0.022735943406216496 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.03, Z:0.20 [[ 9.97762770e-01 6.67806783e-02 3.12974708e-03 4.44248364e+01] [-6.67802737e-02 9.97767679e-01 -2.33714177e-04 -3.03348923e+00] [-3.13836807e-03 2.41859384e-05 9.99995075e-01 2.04222728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters 0.022682682943572705 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.04, Z:0.20 [[ 9.97685922e-01 6.78933451e-02 3.64624731e-03 4.44816637e+01] [-6.78928088e-02 9.97692585e-01 -2.70820609e-04 -3.04481602e+00] [-3.65622082e-03 2.26399377e-05 9.99993316e-01 2.00858464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters 0.023117805031799065 Centerline is valid? [True, True] Translation: X:44.54, Y:-3.05, Z:0.20 [[ 9.97774766e-01 6.62327128e-02 7.66448561e-03 4.45403987e+01] [-6.62302968e-02 9.97804201e-01 -5.68892348e-04 -3.04681045e+00] [-7.68533523e-03 6.00052725e-05 9.99970466e-01 2.02846116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters 0.02324985547226656 Centerline is valid? [True, True] Translation: X:44.60, Y:-3.05, Z:0.20 [[ 9.97954488e-01 6.34667043e-02 7.66918215e-03 4.45989525e+01] [-6.34642298e-02 9.97983953e-01 -5.65834736e-04 -3.05091216e+00] [-7.68963239e-03 7.79585764e-05 9.99970431e-01 2.02402546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters 0.02321729725216671 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.05, Z:0.20 [[ 9.97905842e-01 6.46404670e-02 2.35402352e-03 4.46586800e+01] [-6.46402396e-02 9.97908618e-01 -1.72602357e-04 -3.04755609e+00] [-2.36025745e-03 2.00762556e-05 9.99997214e-01 1.98617261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters 0.023070345533387 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.05, Z:0.20 [[ 9.97793291e-01 6.59011118e-02 8.09882588e-03 4.47174163e+01] [-6.58984773e-02 9.97826157e-01 -5.92013000e-04 -3.05308586e+00] [-8.12023462e-03 5.70063062e-05 9.99967029e-01 2.01394734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters 0.02294271227768861 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.07, Z:0.20 [[ 9.97471128e-01 7.04760736e-02 9.19082329e-03 4.47755379e+01] [-7.04729104e-02 9.97513470e-01 -6.67976190e-04 -3.06606667e+00] [-9.21504637e-03 1.85828967e-05 9.99957540e-01 2.04291974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters 0.023099163775240985 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.07, Z:0.20 [[ 9.97020606e-01 7.68492728e-02 6.64080499e-03 4.48346980e+01] [-7.68477871e-02 9.97042721e-01 -4.78982743e-04 -3.06629618e+00] [-6.65797576e-03 -3.27755030e-05 9.99977835e-01 1.95837020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters 0.022916398642966206 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.07, Z:0.20 [[ 9.96904163e-01 7.82128422e-02 8.05243491e-03 4.48938140e+01] [-7.82107285e-02 9.96936682e-01 -5.77533931e-04 -3.06762828e+00] [-8.07293831e-03 -5.40408203e-05 9.99967412e-01 2.03232373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters 0.022839760795091143 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.06, Z:0.20 [[ 9.97235812e-01 7.39874279e-02 6.82612522e-03 4.49532817e+01] [-7.39858339e-02 9.97259174e-01 -4.86082213e-04 -3.06474467e+00] [-6.84337998e-03 -2.02979763e-05 9.99976584e-01 2.02360104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters 0.023138472250126507 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.07, Z:0.20 [[ 9.97616273e-01 6.81443914e-02 1.08679908e-02 4.50111541e+01] [-6.81400438e-02 9.97675469e-01 -7.70251465e-04 -3.07416643e+00] [-1.08952162e-02 2.78700246e-05 9.99940645e-01 1.96976715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters 0.023116666674712603 Centerline is valid? [True, True] Translation: X:45.07, Y:-3.07, Z:0.20 [[ 9.97892569e-01 6.44436400e-02 7.57880118e-03 4.50714178e+01] [-6.44414129e-02 9.97921347e-01 -5.37942016e-04 -3.07230081e+00] [-7.59771442e-03 4.84196839e-05 9.99971136e-01 2.03926353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters 0.022790728640734233 Centerline is valid? [True, True] Translation: X:45.13, Y:-3.07, Z:0.21 [[ 9.97822946e-01 6.59015690e-02 2.52006712e-03 4.51303472e+01] [-6.59013359e-02 9.97826129e-01 -1.75524291e-04 -3.07404502e+00] [-2.52615615e-03 9.06637536e-06 9.99996809e-01 2.05502952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters 0.022821623986476212 Centerline is valid? [True, True] Translation: X:45.19, Y:-3.08, Z:0.20 [[ 9.97408263e-01 7.17186554e-02 5.76118589e-03 4.51885675e+01] [-7.17175322e-02 9.97424902e-01 -4.01585175e-04 -3.08092780e+00] [-5.77515142e-03 -1.26336628e-05 9.99983324e-01 2.02679155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters 0.022913034798734494 Centerline is valid? [True, True] Translation: X:45.25, Y:-3.08, Z:0.21 [[ 9.96952992e-01 7.72581080e-02 1.07664211e-02 4.52470011e+01] [-7.72544895e-02 9.97011122e-01 -7.52196782e-04 -3.08120127e+00] [-1.07923549e-02 -8.18495355e-05 9.99941757e-01 2.06353759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters 0.02303895651821992 Centerline is valid? [True, True] Translation: X:45.30, Y:-3.08, Z:0.21 [[ 9.96918321e-01 7.77180061e-02 1.06664146e-02 4.53046083e+01] [-7.77145603e-02 9.96975377e-01 -7.37780266e-04 -3.08352840e+00] [-1.06914915e-02 -9.34290545e-05 9.99942840e-01 2.06853387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters 0.022893142784459884 Centerline is valid? [True, True] Translation: X:45.36, Y:-3.08, Z:0.21 [[ 9.97195521e-01 7.44395851e-02 7.73566693e-03 4.53634980e+01] [-7.44377048e-02 9.97225524e-01 -5.31110933e-04 -3.08432603e+00] [-7.75374019e-03 -4.62038478e-05 9.99969938e-01 2.05246359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters 0.02323611907233744 Centerline is valid? [True, True] Translation: X:45.42, Y:-3.08, Z:0.20 [[ 9.98033698e-01 6.20659594e-02 8.74951868e-03 4.54228549e+01] [-6.20631102e-02 9.98072048e-01 -5.97038259e-04 -3.08265862e+00] [-8.76970578e-03 5.28419597e-05 9.99961544e-01 2.04324813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters 0.024104711678842337 Centerline is valid? [True, True] Translation: X:45.48, Y:-3.09, Z:0.21 [[ 9.98543743e-01 5.30085381e-02 1.00243854e-02 4.54808582e+01] [-5.30043519e-02 9.98594048e-01 -6.83002388e-04 -3.08739243e+00] [-1.00464965e-02 1.50671710e-04 9.99949521e-01 2.06799536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters 0.02534826085705149 Centerline is valid? [True, True] Translation: X:45.54, Y:-3.09, Z:0.21 [[ 9.99022184e-01 4.38019079e-02 6.00568871e-03 4.55409395e+01] [-4.38002346e-02 9.99040225e-01 -4.09924760e-04 -3.09069462e+00] [-6.01788009e-03 1.46473355e-04 9.99981882e-01 2.08203353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters 0.02535683069626727 Centerline is valid? [True, True] Translation: X:45.60, Y:-3.09, Z:0.21 [[ 9.99072156e-01 4.27178248e-02 5.47852163e-03 4.55998235e+01] [-4.27164411e-02 9.99087168e-01 -3.69380927e-04 -3.09260288e+00] [-5.48929981e-03 1.35015253e-04 9.99984925e-01 2.07784088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters 0.025460837647275202 Centerline is valid? [True, True] Translation: X:45.66, Y:-3.10, Z:0.21 [[ 9.99060077e-01 4.32262861e-02 3.23279008e-03 4.56577145e+01] [-4.32258145e-02 9.99065304e-01 -2.15659186e-04 -3.10484803e+00] [-3.23909055e-03 7.57164984e-05 9.99994751e-01 2.07877058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters 0.02568317613637359 Centerline is valid? [True, True] Translation: X:45.72, Y:-3.12, Z:0.21 [[ 9.99151837e-01 4.09172838e-02 4.62420457e-03 4.57161035e+01] [-4.09162987e-02 9.99162530e-01 -3.07457538e-04 -3.11538735e+00] [-4.63291227e-03 1.17991428e-04 9.99989261e-01 2.09949899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters 0.02604376366727623 Centerline is valid? [True, True] Translation: X:45.77, Y:-3.13, Z:0.21 [[ 9.99261009e-01 3.84325182e-02 6.14775703e-04 4.57744264e+01] [-3.84325016e-02 9.99261198e-01 -3.87279323e-05 -3.13092872e+00] [-6.15809917e-04 1.50719444e-05 9.99999810e-01 2.08193564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters 0.02567949314631179 Centerline is valid? [True, True] Translation: X:45.83, Y:-3.14, Z:0.21 [[ 9.99164585e-01 4.08364140e-02 1.58733661e-03 4.58331269e+01] [-4.08363024e-02 9.99165845e-01 -1.02711109e-04 -3.13872637e+00] [-1.59020688e-03 3.78043450e-05 9.99998735e-01 2.06148081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters 0.024382541618992993 Centerline is valid? [True, True] Translation: X:45.89, Y:-3.16, Z:0.21 [[ 9.98823795e-01 4.83193063e-02 4.03374954e-03 4.58912167e+01] [-4.83186385e-02 9.98831938e-01 -2.62912239e-04 -3.15622543e+00] [-4.04174161e-03 6.76977141e-05 9.99991830e-01 2.11948241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters 0.023549820006768054 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.17, Z:0.21 [[ 9.98341758e-01 5.75539975e-02 1.12729489e-03 4.59490804e+01] [-5.75539535e-02 9.98342395e-01 -7.14729829e-05 -3.16844600e+00] [-1.12953983e-03 6.47418589e-06 9.99999362e-01 2.06556988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters 0.02349550662224158 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.17, Z:0.21 [[ 9.98102212e-01 6.10304022e-02 8.20145419e-03 4.60077115e+01] [-6.10281148e-02 9.98135907e-01 -5.29121015e-04 -3.17351391e+00] [-8.21845838e-03 2.75975684e-05 9.99966228e-01 2.05575263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters 0.023293889612583517 Centerline is valid? [True, True] Translation: X:46.07, Y:-3.18, Z:0.21 [[ 9.97897373e-01 6.45998915e-02 5.26184917e-03 4.60669446e+01] [-6.45989952e-02 9.97911246e-01 -3.40296838e-04 -3.18288419e+00] [-5.27284159e-03 -3.28847974e-07 9.99986098e-01 2.12081255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters 0.0231960877308206 Centerline is valid? [True, True] Translation: X:46.12, Y:-3.19, Z:0.21 [[ 9.98013487e-01 6.29016115e-02 3.53082968e-03 4.61246032e+01] [-6.29012128e-02 9.98019733e-01 -2.23977898e-04 -3.19010037e+00] [-3.53792627e-03 1.43949404e-06 9.99993742e-01 2.09608546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters 0.023191485824856833 Centerline is valid? [True, True] Translation: X:46.18, Y:-3.20, Z:0.21 [[ 9.97716894e-01 6.75349996e-02 1.52018476e-04 4.61820588e+01] [-6.75349993e-02 9.97716906e-01 -7.01440860e-06 -3.19909673e+00] [-1.52145121e-04 -3.26817369e-06 9.99999988e-01 2.09498444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters 0.02321238831146496 Centerline is valid? [True, True] Translation: X:46.24, Y:-3.20, Z:0.21 [[ 9.97399981e-01 7.19804667e-02 -3.47701340e-03 4.62412905e+01] [-7.19801298e-02 9.97406041e-01 2.22104198e-04 -3.19880598e+00] [ 3.48398134e-03 2.87491534e-05 9.99993931e-01 2.11998678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters 0.02359489530195861 Centerline is valid? [True, True] Translation: X:46.30, Y:-3.21, Z:0.21 [[ 9.97167031e-01 7.51629601e-02 2.90533401e-03 4.62997911e+01] [-7.51627549e-02 9.97171263e-01 -1.79893096e-04 -3.20797709e+00] [-2.91063689e-03 -3.89894444e-05 9.99995763e-01 2.11608172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters 0.02359842138570337 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.21, Z:0.21 [[ 9.97259330e-01 7.38188987e-02 4.95978571e-03 4.63581620e+01] [-7.38182907e-02 9.97271661e-01 -3.05782104e-04 -3.20923699e+00] [-4.96882623e-03 -6.11788474e-05 9.99987653e-01 2.12943793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters 0.02330263019307601 Centerline is valid? [True, True] Translation: X:46.42, Y:-3.21, Z:0.21 [[ 9.97813679e-01 6.59515492e-02 4.27270148e-03 4.64168512e+01] [-6.59510345e-02 9.97822826e-01 -2.61389991e-04 -3.21250487e+00] [-4.28063814e-03 -2.09705746e-05 9.99990838e-01 2.10678714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters 0.02327958196377442 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.22, Z:0.21 [[ 9.98456078e-01 5.55461290e-02 2.96213445e-04 4.64749814e+01] [-5.55461268e-02 9.98456122e-01 -1.58251340e-05 -3.22192038e+00] [-2.96635152e-04 -6.52808286e-07 9.99999956e-01 2.13175491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters 0.023367763301365505 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.23, Z:0.22 [[ 9.98618031e-01 5.25547866e-02 -1.48416877e-04 4.65328865e+01] [-5.25547855e-02 9.98618042e-01 1.13264820e-05 -3.23233529e+00] [ 1.48807032e-04 -3.51081204e-06 9.99999989e-01 2.15389867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters 0.023280482757786432 Centerline is valid? [True, True] Translation: X:46.59, Y:-3.24, Z:0.22 [[ 9.98368804e-01 5.67271759e-02 6.46216334e-03 4.65913326e+01] [-5.67258550e-02 9.98389717e-01 -3.87666354e-04 -3.24471769e+00] [-6.47374864e-03 2.04622541e-05 9.99979045e-01 2.15424589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters 0.023018686059369048 Centerline is valid? [True, True] Translation: X:46.65, Y:-3.24, Z:0.21 [[ 9.97974149e-01 6.34093021e-02 5.18258011e-03 4.66518516e+01] [-6.34085329e-02 9.97987605e-01 -3.12760287e-04 -3.24458179e+00] [-5.19198262e-03 -1.64931202e-05 9.99986521e-01 2.14688713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters 0.023258926784673596 Centerline is valid? [True, True] Translation: X:46.71, Y:-3.26, Z:0.21 [[ 9.97479432e-01 7.09058038e-02 2.67394938e-03 4.67110974e+01] [-7.09056274e-02 9.97483015e-01 -1.60860383e-04 -3.25603592e+00] [-2.67862503e-03 -2.91431345e-05 9.99996412e-01 2.14981065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters 0.023358358874121368 Centerline is valid? [True, True] Translation: X:46.77, Y:-3.26, Z:0.22 [[ 9.97399489e-01 7.19325709e-02 4.46817559e-03 4.67698967e+01] [-7.19321058e-02 9.97409496e-01 -2.64915325e-04 -3.25580287e+00] [-4.47565681e-03 -5.71788698e-05 9.99989983e-01 2.18315488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters 0.023336356666016446 Centerline is valid? [True, True] Translation: X:46.83, Y:-3.25, Z:0.22 [[ 9.97483085e-01 7.01972058e-02 9.99238612e-03 4.68287749e+01] [-7.01948110e-02 9.97533127e-01 -5.90614444e-04 -3.25260288e+00] [-1.00091957e-02 -1.12285737e-04 9.99949900e-01 2.18793469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters 0.023298787725989395 Centerline is valid? [True, True] Translation: X:46.89, Y:-3.25, Z:0.22 [[ 9.97752541e-01 6.60916086e-02 1.10347626e-02 4.68905472e+01] [-6.60883962e-02 9.97813557e-01 -6.55901714e-04 -3.25090656e+00] [-1.10539854e-02 -7.48421639e-05 9.99938900e-01 2.19020519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters 0.023037659692353604 Centerline is valid? [True, True] Translation: X:46.95, Y:-3.25, Z:0.22 [[ 9.97951024e-01 6.37683720e-02 5.22953559e-03 4.69525718e+01] [-6.37676149e-02 9.97964726e-01 -3.11554866e-04 -3.24897431e+00] [-5.23875940e-03 -2.25585144e-05 9.99986277e-01 2.18482205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters 0.022892625673488733 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.25, Z:0.22 [[ 9.97969577e-01 6.35921086e-02 3.57318489e-03 4.70110543e+01] [-6.35917715e-02 9.97975973e-01 -2.07977421e-04 -3.24571411e+00] [-3.57917839e-03 -1.96700182e-05 9.99993595e-01 2.18689407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters 0.02300223856198079 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.24, Z:0.22 [[ 9.97941969e-01 6.37895515e-02 6.53609247e-03 4.70702617e+01] [-6.37884308e-02 9.97963372e-01 -3.79986123e-04 -3.24091624e+00] [-6.54702003e-03 -3.77229834e-05 9.99978567e-01 2.19563157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters 0.022898231408281115 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.24, Z:0.22 [[ 9.98032382e-01 6.23626422e-02 6.50117812e-03 4.71286860e+01] [-6.23615229e-02 9.98053556e-01 -3.74949975e-04 -3.24088698e+00] [-6.51190681e-03 -3.12111510e-05 9.99978797e-01 2.22077282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters 0.022932421065692946 Centerline is valid? [True, True] Translation: X:47.19, Y:-3.24, Z:0.22 [[ 9.98296789e-01 5.79233590e-02 6.95737340e-03 4.71863665e+01] [-5.79219962e-02 9.98321033e-01 -3.97390545e-04 -3.23790295e+00] [-6.96871040e-03 -6.27125075e-06 9.99975718e-01 2.23576443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters 0.0231133936202146 Centerline is valid? [True, True] Translation: X:47.25, Y:-3.24, Z:0.22 [[ 9.98681028e-01 5.09817331e-02 6.08828605e-03 4.72452690e+01] [-5.09805773e-02 9.98699585e-01 -3.44985760e-04 -3.24053967e+00] [-6.09795672e-03 3.41463954e-05 9.99981407e-01 2.21931312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters 0.023342822915840427 Centerline is valid? [True, True] Translation: X:47.30, Y:-3.24, Z:0.22 [[ 9.98949788e-01 4.57178195e-02 3.03346815e-03 4.73038913e+01] [-4.57175159e-02 9.98954393e-01 -1.69380121e-04 -3.24331968e+00] [-3.03804002e-03 3.05196077e-05 9.99995385e-01 2.21924474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters 0.022806899826889458 Centerline is valid? [True, True] Translation: X:47.36, Y:-3.24, Z:0.23 [[ 9.98805985e-01 4.88182325e-02 1.83957971e-03 4.73624094e+01] [-4.88181293e-02 9.98807679e-01 -1.00969107e-04 -3.24484376e+00] [-1.84231547e-03 1.10437087e-05 9.99998303e-01 2.28845111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters 0.022618305084447506 Centerline is valid? [True, True] Translation: X:47.42, Y:-3.24, Z:0.23 [[ 9.98411461e-01 5.61914865e-02 4.13170595e-03 4.74206246e+01] [-5.61910278e-02 9.98420010e-01 -2.27112039e-04 -3.24414313e+00] [-4.13793966e-03 -5.41354113e-06 9.99991439e-01 2.28453112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters 0.02281418117401112 Centerline is valid? [True, True] Translation: X:47.48, Y:-3.25, Z:0.23 [[ 9.98197117e-01 5.93420756e-02 9.00184912e-03 4.74795924e+01] [-5.93400327e-02 9.98237705e-01 -4.94106120e-04 -3.24813929e+00] [-9.01530649e-03 -4.09547161e-05 9.99959360e-01 2.25759941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters 0.02274300197907689 Centerline is valid? [True, True] Translation: X:47.54, Y:-3.25, Z:0.23 [[ 9.98625308e-01 5.23673032e-02 2.27149480e-03 4.75390723e+01] [-5.23671548e-02 9.98627891e-01 -1.24787364e-04 -3.25125509e+00] [-2.27491284e-03 5.66409988e-06 9.99997412e-01 2.27425595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters 0.023451051739051734 Centerline is valid? [True, True] Translation: X:47.60, Y:-3.25, Z:0.23 [[ 9.99120952e-01 4.18634534e-02 2.18497262e-03 4.75979320e+01] [-4.18632975e-02 9.99123341e-01 -1.17058918e-04 -3.25383335e+00] [-2.18795764e-03 2.54858584e-05 9.99997606e-01 2.27999998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters 0.023449909915683367 Centerline is valid? [True, True] Translation: X:47.66, Y:-3.26, Z:0.23 [[ 9.99206136e-01 3.95637601e-02 4.66975375e-03 4.76565897e+01] [-3.95630203e-02 9.99217046e-01 -2.50727278e-04 -3.25703806e+00] [-4.67601726e-03 6.57786727e-05 9.99989065e-01 2.32063813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters 0.023597239012977295 Centerline is valid? [True, True] Translation: X:47.72, Y:-3.27, Z:0.23 [[ 9.99269820e-01 3.82058023e-02 3.78999807e-04 4.77158715e+01] [-3.82057973e-02 9.99269892e-01 -2.01914607e-05 -3.27435372e+00] [-3.79494527e-04 5.69672744e-06 9.99999928e-01 2.27134771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters 0.023887433488549988 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.28, Z:0.23 [[ 9.99359729e-01 3.57368577e-02 -1.73491564e-03 4.77745723e+01] [-3.57367460e-02 9.99361234e-01 9.53534078e-05 -3.28268323e+00] [ 1.73721506e-03 -3.32921163e-05 9.99998490e-01 2.26031777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters 0.02363562573884512 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.29, Z:0.23 [[ 9.99316240e-01 3.69274859e-02 1.84767394e-03 4.78317734e+01] [-3.69273721e-02 9.99317947e-01 -9.56488218e-05 -3.29340024e+00] [-1.84994580e-03 2.73536779e-05 9.99998288e-01 2.29510470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters 0.02302123755544402 Centerline is valid? [True, True] Translation: X:47.89, Y:-3.31, Z:0.23 [[ 9.99059081e-01 4.33512569e-02 1.27334131e-03 4.78895953e+01] [-4.33512095e-02 9.99059892e-01 -6.48509421e-05 -3.30567944e+00] [-1.27495561e-03 9.58903650e-06 9.99999187e-01 2.29979298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters 0.022610162979979784 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.32, Z:0.23 [[ 9.98582250e-01 5.32145134e-02 1.30605195e-03 4.79478579e+01] [-5.32144728e-02 9.98583104e-01 -6.59078306e-05 -3.31580490e+00] [-1.30770867e-03 -3.68647642e-06 9.99999145e-01 2.26801665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters 0.02278303431732386 Centerline is valid? [True, True] Translation: X:48.01, Y:-3.32, Z:0.23 [[ 9.98413938e-01 5.61346025e-02 4.30283973e-03 4.80064597e+01] [-5.61341739e-02 9.98423210e-01 -2.20400308e-04 -3.31912747e+00] [-4.30842714e-03 -2.14856147e-05 9.99990718e-01 2.28509263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters 0.022811640492605454 Centerline is valid? [True, True] Translation: X:48.07, Y:-3.32, Z:0.23 [[ 9.98485428e-01 5.48973058e-02 3.62442842e-03 4.80650005e+01] [-5.48970011e-02 9.98492006e-01 -1.83584333e-04 -3.31984333e+00] [-3.62904109e-03 -1.56639697e-05 9.99993415e-01 2.28910405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters 0.02278609897018468 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.32, Z:0.23 [[ 9.98699138e-01 5.07929012e-02 4.48466968e-03 4.81230114e+01] [-5.07924030e-02 9.98709208e-01 -2.24973705e-04 -3.32264631e+00] [-4.49030797e-03 -3.10610462e-06 9.99989919e-01 2.29615325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters 0.02267257511995165 Centerline is valid? [True, True] Translation: X:48.18, Y:-3.33, Z:0.23 [[ 9.98739617e-01 5.00795506e-02 3.34893624e-03 4.81814954e+01] [-5.00792750e-02 9.98745232e-01 -1.66136091e-04 -3.32507838e+00] [-3.35305413e-03 -1.78560307e-06 9.99994378e-01 2.32420469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters 0.022676776593471882 Centerline is valid? [True, True] Translation: X:48.24, Y:-3.32, Z:0.23 [[ 9.98439880e-01 5.56536386e-02 4.52524687e-03 4.82401671e+01] [-5.56531986e-02 9.98450135e-01 -2.23209496e-04 -3.32383901e+00] [-4.53065577e-03 -2.89832008e-05 9.99989736e-01 2.32417676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters 0.022978718694855488 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.33, Z:0.23 [[ 9.98121967e-01 6.12579744e-02 -1.52938995e-05 4.82988875e+01] [-6.12579744e-02 9.98121967e-01 3.08416979e-06 -3.32562695e+00] [ 1.54541071e-05 -2.14150432e-06 1.00000000e+00 2.31860698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters 0.02295125887941383 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.33, Z:0.23 [[ 9.98191216e-01 6.00483995e-02 2.91316499e-03 4.83567941e+01] [-6.00482478e-02 9.98195466e-01 -1.39590395e-04 -3.32712864e+00] [-2.91629027e-03 -3.55925475e-05 9.99995747e-01 2.34625814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters 0.022788805117206965 Centerline is valid? [True, True] Translation: X:48.41, Y:-3.32, Z:0.24 [[ 9.98333477e-01 5.76032471e-02 3.48349267e-03 4.84148402e+01] [-5.76030199e-02 9.98339554e-01 -1.65613598e-04 -3.32252806e+00] [-3.48724840e-03 -3.53220984e-05 9.99993919e-01 2.35502675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters 0.022778497397025928 Centerline is valid? [True, True] Translation: X:48.47, Y:-3.32, Z:0.23 [[ 9.98385406e-01 5.66026175e-02 4.76712513e-03 4.84725989e+01] [-5.66021880e-02 9.98396786e-01 -2.25070515e-04 -3.32089075e+00] [-4.77222198e-03 -4.51225947e-05 9.99988612e-01 2.33064755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters 0.022733148764330257 Centerline is valid? [True, True] Translation: X:48.53, Y:-3.33, Z:0.23 [[ 9.98511863e-01 5.41013073e-02 6.86346240e-03 4.85297776e+01] [-5.41003750e-02 9.98535451e-01 -3.21559590e-04 -3.32855553e+00] [-6.87080731e-03 -5.02348236e-05 9.99976394e-01 2.33805972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters 0.022617791061028618 Centerline is valid? [True, True] Translation: X:48.59, Y:-3.32, Z:0.24 [[ 9.98559874e-01 5.30916488e-02 7.71075264e-03 4.85898288e+01] [-5.30904252e-02 9.98589643e-01 -3.63427695e-04 -3.32445774e+00] [-7.71917270e-03 -4.64628231e-05 9.99970206e-01 2.35669149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters 0.022539046280123855 Centerline is valid? [True, True] Translation: X:48.65, Y:-3.33, Z:0.23 [[ 9.98614945e-01 5.22906649e-02 5.82046526e-03 4.86500866e+01] [-5.22899526e-02 9.98631907e-01 -2.74586749e-04 -3.32607032e+00] [-5.82686064e-03 -3.01454207e-05 9.99983023e-01 2.33864477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters 0.022534074995442088 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.33, Z:0.23 [[ 9.98724764e-01 5.02154605e-02 5.22046682e-03 4.87091379e+01] [-5.02148845e-02 9.98738408e-01 -2.41421592e-04 -3.32620027e+00] [-5.22600381e-03 -2.10314155e-05 9.99986344e-01 2.34212516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters 0.022544726496671597 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.33, Z:0.23 [[ 9.98760447e-01 4.96457725e-02 3.58703565e-03 4.87672223e+01] [-4.96455054e-02 9.98766888e-01 -1.63539767e-04 -3.33184417e+00] [-3.59073150e-03 -1.47431473e-05 9.99993553e-01 2.32343050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters 0.02237178624891085 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.33, Z:0.23 [[ 9.98683977e-01 5.10945083e-02 4.43453567e-03 4.88263536e+01] [-5.10941209e-02 9.98693822e-01 -2.00696386e-04 -3.32953415e+00] [-4.43899786e-03 -2.61464370e-05 9.99990147e-01 2.32961931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters 0.02272181546736795 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.33, Z:0.23 [[ 9.98255547e-01 5.85245251e-02 7.79371162e-03 4.88853250e+01] [-5.85235687e-02 9.98285965e-01 -3.50922661e-04 -3.32835008e+00] [-7.80089051e-03 -1.05805324e-04 9.99969567e-01 2.32259207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters 0.023140153627078424 Centerline is valid? [True, True] Translation: X:48.94, Y:-3.33, Z:0.23 [[ 9.97995427e-01 6.30860978e-02 5.02706700e-03 4.89447272e+01] [-6.30857535e-02 9.98008084e-01 -2.27179957e-04 -3.33302651e+00] [-5.03138540e-03 -9.04117512e-05 9.99987338e-01 2.30023705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters 0.02323297561195928 Centerline is valid? [True, True] Translation: X:49.00, Y:-3.33, Z:0.23 [[ 9.97864599e-01 6.50198609e-02 6.21768915e-03 4.90039020e+01] [-6.50194014e-02 9.97883962e-01 -2.76219310e-04 -3.32983315e+00] [-6.22249202e-03 -1.28640955e-04 9.99980632e-01 2.33750121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters 0.02298355738503698 Centerline is valid? [True, True] Translation: X:49.06, Y:-3.33, Z:0.24 [[ 9.98002126e-01 6.29804439e-02 5.02206047e-03 4.90623314e+01] [-6.29801322e-02 9.98014757e-01 -2.20334270e-04 -3.32762555e+00] [-5.02596720e-03 -9.63959621e-05 9.99987365e-01 2.35656479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters 0.02298254734562626 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.31, Z:0.23 [[ 9.98053544e-01 6.21005047e-02 5.71399575e-03 4.91212804e+01] [-6.21001043e-02 9.98069895e-01 -2.47652179e-04 -3.31387485e+00] [-5.71834647e-03 -1.07669597e-04 9.99983644e-01 2.31530077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters 0.022643429581850626 Centerline is valid? [True, True] Translation: X:49.18, Y:-3.31, Z:0.24 [[ 9.98246124e-01 5.85540866e-02 8.72326823e-03 4.91796449e+01] [-5.85530460e-02 9.98284228e-01 -3.74857146e-04 -3.30567540e+00] [-8.73025051e-03 -1.36574232e-04 9.99961881e-01 2.35612840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters 0.022112483904602624 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.30, Z:0.23 [[ 9.98787939e-01 4.90943697e-02 3.52076850e-03 4.92384197e+01] [-4.90941417e-02 9.98794144e-01 -1.51229066e-04 -3.30451060e+00] [-3.52394746e-03 -2.18033398e-05 9.99993791e-01 2.34751675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters 0.02229438657789841 Centerline is valid? [True, True] Translation: X:49.30, Y:-3.29, Z:0.24 [[ 9.99315045e-01 3.63411903e-02 6.98267664e-03 4.92977743e+01] [-3.63400107e-02 9.99339440e-01 -2.95779184e-04 -3.29461306e+00] [-6.98881313e-03 4.18260446e-05 9.99975577e-01 2.36341414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters 0.02277536334575117 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.29, Z:0.24 [[ 9.99550002e-01 2.91758434e-02 6.96870160e-03 4.93580916e+01] [-2.91744837e-02 9.99574290e-01 -2.96712758e-04 -3.28773217e+00] [-6.97439180e-03 9.32709666e-05 9.99975674e-01 2.40677615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters 0.02407381550863195 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.30, Z:0.24 [[ 9.99769711e-01 2.12604944e-02 2.91840462e-03 4.94180749e+01] [-2.12602218e-02 9.99773968e-01 -1.24394324e-04 -3.29551647e+00] [-2.92038965e-03 6.23197475e-05 9.99995734e-01 2.37698527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters 0.02616542611809836 Centerline is valid? [True, True] Translation: X:49.48, Y:-3.31, Z:0.24 [[ 9.99932640e-01 1.04000715e-02 5.15299222e-03 4.94778146e+01] [-1.03990792e-02 9.99945904e-01 -2.19332388e-04 -3.30720251e+00] [-5.15499454e-03 1.65731240e-04 9.99986699e-01 2.37469794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters 0.026718911729296236 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.31, Z:0.24 [[ 9.99951620e-01 7.82892736e-03 5.95537435e-03 4.95404435e+01] [-7.82754744e-03 9.99969332e-01 -2.54984154e-04 -3.30688975e+00] [-5.95718796e-03 2.08355843e-04 9.99982234e-01 2.42769121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters 0.02598101146126691 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.32, Z:0.24 [[ 9.99946011e-01 1.03498079e-02 9.25486225e-04 4.96017387e+01] [-1.03497751e-02 9.99946439e-01 -4.02484285e-05 -3.32456238e+00] [-9.25853218e-04 3.06676813e-05 9.99999571e-01 2.36467635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters 0.02590661901362046 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.34, Z:0.24 [[ 9.99926056e-01 1.20711776e-02 -1.47269037e-03 4.96607094e+01] [-1.20710975e-02 9.99927140e-01 6.32993764e-05 -3.34339459e+00] [ 1.47334716e-03 -4.55177069e-05 9.99998914e-01 2.35299866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters 0.025800322551994662 Centerline is valid? [True, True] Translation: X:49.72, Y:-3.35, Z:0.24 [[ 9.99940994e-01 1.04409412e-02 -2.99932059e-03 4.97194436e+01] [-1.04406007e-02 9.99945487e-01 1.29157341e-04 -3.34998966e+00] [ 3.00050561e-03 -9.78350110e-05 9.99995494e-01 2.38338990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters 0.025504009158442583 Centerline is valid? [True, True] Translation: X:49.78, Y:-3.37, Z:0.24 [[ 9.99923227e-01 1.23759358e-02 -6.12833740e-04 4.97770758e+01] [-1.23759210e-02 9.99923415e-01 2.78585135e-05 -3.36902631e+00] [ 6.13131581e-04 -2.02719927e-05 9.99999812e-01 2.36705564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters 0.024810787515192632 Centerline is valid? [True, True] Translation: X:49.84, Y:-3.38, Z:0.24 [[ 9.99887904e-01 1.46773864e-02 2.95851571e-03 4.98354698e+01] [-1.46770938e-02 9.99892278e-01 -1.20577554e-04 -3.38190483e+00] [-2.95996678e-03 7.71416256e-05 9.99995616e-01 2.37142461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters 0.023766213486346503 Centerline is valid? [True, True] Translation: X:49.90, Y:-3.39, Z:0.24 [[ 9.99766398e-01 2.15702686e-02 1.36883862e-03 4.98953800e+01] [-2.15702111e-02 9.99767334e-01 -5.67892156e-05 -3.39242635e+00] [-1.36974509e-03 2.72498117e-05 9.99999062e-01 2.37000788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters 0.023198411997812397 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.40, Z:0.24 [[ 9.99630942e-01 2.71430404e-02 -1.11142497e-03 4.99544237e+01] [-2.71430056e-02 9.99631560e-01 4.63609851e-05 -3.40231286e+00] [ 1.11227386e-03 -1.61764609e-05 9.99999381e-01 2.35482170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters 0.02247169115211916 Centerline is valid? [True, True] Translation: X:50.01, Y:-3.41, Z:0.24 [[ 9.99351201e-01 3.49754192e-02 8.59639455e-03 5.00124372e+01] [-3.49737108e-02 9.99388172e-01 -3.49016842e-04 -3.41234568e+00] [-8.60334204e-03 4.81425831e-05 9.99962989e-01 2.39688630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters 0.022470377583504987 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.42, Z:0.24 [[ 9.99039384e-01 4.26281267e-02 1.01564260e-02 5.00747758e+01] [-4.26260858e-02 9.99091008e-01 -4.17430289e-04 -3.41815651e+00] [-1.01649881e-02 -1.58993859e-05 9.99948335e-01 2.43307354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters 0.023068541193708925 Centerline is valid? [True, True] Translation: X:50.14, Y:-3.41, Z:0.24 [[ 9.98561084e-01 5.25612691e-02 1.06336055e-02 5.01372481e+01] [-5.25595803e-02 9.98617694e-01 -4.38403595e-04 -3.41488149e+00] [-1.06419496e-02 -1.21125072e-04 9.99943366e-01 2.35833885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters 0.02352616432725341 Centerline is valid? [True, True] Translation: X:50.20, Y:-3.41, Z:0.24 [[ 9.98225640e-01 5.86545045e-02 1.02577082e-02 5.01985891e+01] [-5.86532508e-02 9.98278326e-01 -4.23270888e-04 -3.40846732e+00] [-1.02648745e-02 -1.79128076e-04 9.99947299e-01 2.39836171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters 0.023171668185989383 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.41, Z:0.24 [[ 9.98374452e-01 5.63501955e-02 8.55035756e-03 5.02596496e+01] [-5.63492384e-02 9.98411057e-01 -3.52994004e-04 -3.40747138e+00] [-8.55666282e-03 -1.29385941e-04 9.99963383e-01 2.43850567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters 0.023196423860775504 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.41, Z:0.24 [[ 9.98885038e-01 4.42685805e-02 1.64003989e-02 5.03205270e+01] [-4.42634237e-02 9.99019665e-01 -6.77469526e-04 -3.40919926e+00] [-1.64143116e-02 -4.92236321e-05 9.99865275e-01 2.38132175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters 0.023089671972610585 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.41, Z:0.24 [[ 9.99191546e-01 3.75496922e-02 1.43623028e-02 5.03830685e+01] [-3.75450088e-02 9.99294760e-01 -5.95680795e-04 -3.40893017e+00] [-1.43745415e-02 5.59664309e-05 9.99896679e-01 2.37418998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters 0.023203838486578608 Centerline is valid? [True, True] Translation: X:50.45, Y:-3.42, Z:0.24 [[ 9.99416792e-01 3.39433535e-02 3.73145752e-03 5.04453192e+01] [-3.39430086e-02 9.99423758e-01 -1.55745944e-04 -3.41642862e+00] [-3.73459384e-03 2.89982170e-05 9.99993026e-01 2.40010627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters 0.022911983416156138 Centerline is valid? [True, True] Translation: X:50.51, Y:-3.42, Z:0.24 [[ 9.99295435e-01 3.71387280e-02 5.41746369e-03 5.05053473e+01] [-3.71380568e-02 9.99310119e-01 -2.24478302e-04 -3.41867265e+00] [-5.42206312e-03 2.31260685e-05 9.99985300e-01 2.39960202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters 0.022945020452503406 Centerline is valid? [True, True] Translation: X:50.57, Y:-3.44, Z:0.24 [[ 9.99146146e-01 4.06550043e-02 7.35859614e-03 5.05655515e+01] [-4.06538520e-02 9.99173244e-01 -3.06168344e-04 -3.43636558e+00] [-7.36495965e-03 6.75164228e-06 9.99972878e-01 2.40235545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters 0.02313243980084837 Centerline is valid? [True, True] Translation: X:50.63, Y:-3.44, Z:0.24 [[ 9.99286501e-01 3.70112667e-02 7.52694975e-03 5.06270737e+01] [-3.70099540e-02 9.99314848e-01 -3.13665545e-04 -3.44360426e+00] [-7.53340180e-03 3.48696809e-05 9.99971623e-01 2.38714673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters 0.02316376916993509 Centerline is valid? [True, True] Translation: X:50.69, Y:-3.46, Z:0.24 [[ 9.99264743e-01 3.78490818e-02 6.11721024e-03 5.06893226e+01] [-3.78482210e-02 9.99283466e-01 -2.56463784e-04 -3.45574707e+00] [-6.12253397e-03 2.47496929e-05 9.99981257e-01 2.39459111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters 0.0229017243924096 Centerline is valid? [True, True] Translation: X:50.75, Y:-3.46, Z:0.24 [[ 9.99027914e-01 4.34942555e-02 7.17473781e-03 5.07506764e+01] [-4.34932181e-02 9.99053677e-01 -3.00640683e-04 -3.46148947e+00] [-7.18102433e-03 -1.17040019e-05 9.99974216e-01 2.44162679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters 0.0229631408060646 Centerline is valid? [True, True] Translation: X:50.81, Y:-3.47, Z:0.24 [[ 9.98816020e-01 4.83438281e-02 5.42521388e-03 5.08124506e+01] [-4.83433003e-02 9.98830753e-01 -2.28466458e-04 -3.47083406e+00] [-5.42991541e-03 -3.40767860e-05 9.99985257e-01 2.42270767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters 0.02377706631582469 Centerline is valid? [True, True] Translation: X:50.87, Y:-3.48, Z:0.24 [[ 9.98200569e-01 5.95904312e-02 6.67864415e-03 5.08729231e+01] [-5.95898883e-02 9.98222904e-01 -2.80429846e-04 -3.47726598e+00] [-6.68348650e-03 -1.18054427e-04 9.99977658e-01 2.44358636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters 0.024038431971084104 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.47, Z:0.25 [[ 9.97882869e-01 6.46022969e-02 7.50485881e-03 5.09338328e+01] [-6.46017530e-02 9.97911075e-01 -3.15121805e-04 -3.47373691e+00] [-7.50953932e-03 -1.70372385e-04 9.99971788e-01 2.46974273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters 0.02566251196551391 Centerline is valid? [True, True] Translation: X:50.99, Y:-3.47, Z:0.25 [[ 9.96955771e-01 7.73291559e-02 9.96957037e-03 5.09941686e+01] [-7.73288362e-02 9.97005555e-01 -4.18116350e-04 -3.46560598e+00] [-9.97204962e-03 -3.54091766e-04 9.99950215e-01 2.47747383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters 0.02665007447666801 Centerline is valid? [True, True] Translation: X:51.05, Y:-3.46, Z:0.24 [[ 9.96502265e-01 8.31447227e-02 8.37799063e-03 5.10546937e+01] [-8.31447009e-02 9.96537423e-01 -3.51506642e-04 -3.46447884e+00] [-8.37820711e-03 -3.46308359e-04 9.99964842e-01 2.44775489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters 0.026542644421419345 Centerline is valid? [True, True] Translation: X:51.11, Y:-3.45, Z:0.25 [[ 9.96581409e-01 8.19921750e-02 1.01379486e-02 5.11137373e+01] [-8.19921542e-02 9.96632887e-01 -4.18376204e-04 -3.45468799e+00] [-1.01381165e-02 -4.14286295e-04 9.99948522e-01 2.45782980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters 0.02579824315485608 Centerline is valid? [True, True] Translation: X:51.17, Y:-3.44, Z:0.25 [[ 9.97041770e-01 7.61470452e-02 1.04564274e-02 5.11739034e+01] [-7.61466877e-02 9.97096532e-01 -4.32886566e-04 -3.44415699e+00] [-1.04590305e-02 -3.64616321e-04 9.99945236e-01 2.46148768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters 0.0249354854200528 Centerline is valid? [True, True] Translation: X:51.23, Y:-3.44, Z:0.24 [[ 9.97636851e-01 6.83889376e-02 6.60806070e-03 5.12341174e+01] [-6.83886258e-02 9.97658720e-01 -2.73391395e-04 -3.43955560e+00] [-6.61128632e-03 -1.79170860e-04 9.99978129e-01 2.41218126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters 0.024216100898003568 Centerline is valid? [True, True] Translation: X:51.29, Y:-3.43, Z:0.25 [[ 9.98006438e-01 6.12271151e-02 1.53097727e-02 5.12932875e+01] [-6.12247391e-02 9.98123811e-01 -6.24283070e-04 -3.42909415e+00] [-1.53192717e-02 -3.14298316e-04 9.99882604e-01 2.50681751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters 0.02354847373449311 Centerline is valid? [True, True] Translation: X:51.36, Y:-3.42, Z:0.25 [[ 9.98379442e-01 5.50803701e-02 1.43053028e-02 5.13559282e+01] [-5.50775967e-02 9.98481904e-01 -5.88069185e-04 -3.42437562e+00] [-1.43159770e-02 -2.00785512e-04 9.99897501e-01 2.47322643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters 0.023484676017434692 Centerline is valid? [True, True] Translation: X:51.42, Y:-3.43, Z:0.24 [[ 9.98797684e-01 4.79343822e-02 1.02703727e-02 5.14182317e+01] [-4.79325588e-02 9.98850484e-01 -4.23762723e-04 -3.43139984e+00] [-1.02788796e-02 -6.90320179e-05 9.99947169e-01 2.40430987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters 0.02296504339008081 Centerline is valid? [True, True] Translation: X:51.48, Y:-3.43, Z:0.25 [[ 9.98851364e-01 4.71360158e-02 8.61101760e-03 5.14792887e+01] [-4.71347015e-02 9.98888479e-01 -3.55625661e-04 -3.42778283e+00] [-8.61820905e-03 -5.06605679e-05 9.99962861e-01 2.49507302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters 0.023095423663857535 Centerline is valid? [True, True] Translation: X:51.54, Y:-3.42, Z:0.25 [[ 9.98716615e-01 5.02559571e-02 6.28186669e-03 5.15399451e+01] [-5.02553209e-02 9.98736369e-01 -2.59194257e-04 -3.41873898e+00] [-6.28695479e-03 -5.68356152e-05 9.99980235e-01 2.49022227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters 0.023259409712019025 Centerline is valid? [True, True] Translation: X:51.60, Y:-3.42, Z:0.24 [[ 9.98777021e-01 4.88871297e-02 7.38317325e-03 5.15976330e+01] [-4.88862614e-02 9.98804307e-01 -2.98127124e-04 -3.41886539e+00] [-7.38891983e-03 -6.31732172e-05 9.99972700e-01 2.43991210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters 0.022967822155876696 Centerline is valid? [True, True] Translation: X:51.66, Y:-3.42, Z:0.25 [[ 9.98974524e-01 4.48029693e-02 6.52640578e-03 5.16567710e+01] [-4.48022234e-02 9.98995842e-01 -2.60514504e-04 -3.41998614e+00] [-6.53152407e-03 -3.21501370e-05 9.99978669e-01 2.46410160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters 0.022948919284476767 Centerline is valid? [True, True] Translation: X:51.72, Y:-3.42, Z:0.25 [[ 9.99241507e-01 3.77671390e-02 9.48962125e-03 5.17160946e+01] [-3.77652757e-02 9.99286567e-01 -3.75528935e-04 -3.41727604e+00] [-9.49703370e-03 1.68659364e-05 9.99954902e-01 2.45107137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters 0.022892101651438273 Centerline is valid? [True, True] Translation: X:51.78, Y:-3.41, Z:0.24 [[ 9.99167493e-01 3.87671820e-02 1.27053424e-02 5.17780908e+01] [-3.87638687e-02 9.99248270e-01 -5.07028788e-04 -3.41206187e+00] [-1.27154475e-02 1.40984587e-05 9.99919155e-01 2.43538160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters 0.02258558953135629 Centerline is valid? [True, True] Translation: X:51.84, Y:-3.42, Z:0.25 [[ 9.99109129e-01 4.07930790e-02 1.08107781e-02 5.18395948e+01] [-4.07907797e-02 9.99167616e-01 -4.33194469e-04 -3.41895181e+00] [-1.08194507e-02 -8.17151665e-06 9.99941468e-01 2.45034509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters 0.02249872552382144 Centerline is valid? [True, True] Translation: X:51.90, Y:-3.42, Z:0.25 [[ 9.99146388e-01 3.99678551e-02 1.04434447e-02 5.19006979e+01] [-3.99656603e-02 9.99200966e-01 -4.18849235e-04 -3.42234346e+00] [-1.04518406e-02 1.11253562e-06 9.99945378e-01 2.45978967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters 0.02263175630633435 Centerline is valid? [True, True] Translation: X:51.96, Y:-3.43, Z:0.24 [[ 9.99144192e-01 3.93486232e-02 1.27503094e-02 5.19623010e+01] [-3.93452840e-02 9.99225543e-01 -5.12725917e-04 -3.42564003e+00] [-1.27606098e-02 1.06225799e-05 9.99918580e-01 2.44285115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters 0.022741106990052565 Centerline is valid? [True, True] Translation: X:52.02, Y:-3.43, Z:0.25 [[ 9.99158732e-01 3.91303301e-02 1.22737701e-02 5.20243292e+01] [-3.91271976e-02 9.99234115e-01 -4.95331981e-04 -3.43020477e+00] [-1.22837523e-02 1.46770454e-05 9.99924552e-01 2.47446893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters 0.022601620459941088 Centerline is valid? [True, True] Translation: X:52.09, Y:-3.43, Z:0.25 [[ 9.99082014e-01 4.17163281e-02 9.74053755e-03 5.20867647e+01] [-4.17144646e-02 9.99129495e-01 -3.94486826e-04 -3.43386067e+00] [-9.74851491e-03 -1.21966170e-05 9.99952482e-01 2.46538718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters 0.02259038616163604 Centerline is valid? [True, True] Translation: X:52.15, Y:-3.44, Z:0.25 [[ 9.98828949e-01 4.81955510e-02 4.23312742e-03 5.21476973e+01] [-4.81952559e-02 9.98837919e-01 -1.71756071e-04 -3.43981108e+00] [-4.23648606e-03 -3.24617238e-05 9.99991026e-01 2.46947673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters 0.022836523413564094 Centerline is valid? [True, True] Translation: X:52.21, Y:-3.44, Z:0.25 [[ 9.98681640e-01 5.09717159e-02 6.07178731e-03 5.22067977e+01] [-5.09711939e-02 9.98700095e-01 -2.40799565e-04 -3.43884128e+00] [-6.07616853e-03 -6.90041440e-05 9.99981538e-01 2.48493470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters 0.02286496840737498 Centerline is valid? [True, True] Translation: X:52.26, Y:-3.45, Z:0.25 [[ 9.98806201e-01 4.82890945e-02 7.37129210e-03 5.22644879e+01] [-4.82882794e-02 9.98833399e-01 -2.88608137e-04 -3.44552111e+00] [-7.37662937e-03 -6.76834158e-05 9.99972790e-01 2.47309433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters 0.022610562967446058 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.44, Z:0.25 [[ 9.99071812e-01 4.20532227e-02 9.32961964e-03 5.23230994e+01] [-4.20516755e-02 9.99115371e-01 -3.62027539e-04 -3.44248663e+00] [-9.33659081e-03 -3.06346286e-05 9.99956413e-01 2.47170267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters 0.022577100395438997 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.44, Z:0.25 [[ 9.99031907e-01 4.25241249e-02 1.12671394e-02 5.23846925e+01] [-4.25218548e-02 9.99095440e-01 -4.41070768e-04 -3.44023259e+00] [-1.12757037e-02 -3.84558936e-05 9.99936426e-01 2.48704426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters 0.022360770262888956 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.44, Z:0.25 [[ 9.99041027e-01 4.33205071e-02 6.35291811e-03 5.24463545e+01] [-4.33197981e-02 9.99061226e-01 -2.49243654e-04 -3.44200739e+00] [-6.35775151e-03 -2.62024933e-05 9.99979789e-01 2.49189989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters 0.02243894819266992 Centerline is valid? [True, True] Translation: X:52.50, Y:-3.45, Z:0.25 [[ 9.99033196e-01 4.28006611e-02 1.00387873e-02 5.25046870e+01] [-4.27989387e-02 9.99083631e-01 -3.86440466e-04 -3.44931384e+00] [-1.00461280e-02 -4.35825882e-05 9.99949535e-01 2.47811226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters 0.022640823118348523 Centerline is valid? [True, True] Translation: X:52.57, Y:-3.45, Z:0.25 [[ 9.99238661e-01 3.73459021e-02 1.12863356e-02 5.25657581e+01] [-3.73433359e-02 9.99302398e-01 -4.38106632e-04 -3.45404474e+00] [-1.12948237e-02 1.63036647e-05 9.99936211e-01 2.48668096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters 0.02260667226454389 Centerline is valid? [True, True] Translation: X:52.63, Y:-3.46, Z:0.25 [[ 9.99302975e-01 3.58980326e-02 1.02418876e-02 5.26274327e+01] [-3.58958262e-02 9.99355457e-01 -3.99234931e-04 -3.46190091e+00] [-1.02496181e-02 3.13156362e-05 9.99947471e-01 2.49224691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters 0.02229216301970176 Centerline is valid? [True, True] Translation: X:52.69, Y:-3.46, Z:0.25 [[ 9.99150335e-01 4.03148423e-02 8.56275331e-03 5.26899795e+01] [-4.03134517e-02 9.99187026e-01 -3.35004722e-04 -3.46481697e+00] [-8.56929768e-03 -1.04740619e-05 9.99963283e-01 2.50840136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters 0.022703698161222946 Centerline is valid? [True, True] Translation: X:52.75, Y:-3.48, Z:0.25 [[ 9.98842667e-01 4.72896616e-02 8.77576977e-03 5.27498753e+01] [-4.72884760e-02 9.98881215e-01 -3.42668773e-04 -3.47824999e+00] [-8.78215626e-03 -7.27205869e-05 9.99961433e-01 2.48907180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters 0.023120314789348825 Centerline is valid? [True, True] Translation: X:52.81, Y:-3.48, Z:0.25 [[ 9.98558726e-01 5.31897318e-02 7.16405396e-03 5.28106126e+01] [-5.31890935e-02 9.98584419e-01 -2.79735869e-04 -3.48292700e+00] [-7.16879174e-03 -1.01716843e-04 9.99974299e-01 2.49826112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters 0.023405691470290153 Centerline is valid? [True, True] Translation: X:52.87, Y:-3.48, Z:0.25 [[ 9.98296739e-01 5.78775810e-02 7.33522577e-03 5.28692156e+01] [-5.78770798e-02 9.98323677e-01 -2.80758344e-04 -3.48083581e+00] [-7.33917918e-03 -1.44261308e-04 9.99973057e-01 2.52190696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters 0.02356548493354967 Centerline is valid? [True, True] Translation: X:52.93, Y:-3.48, Z:0.25 [[ 9.98167499e-01 6.03032509e-02 5.01622199e-03 5.29282332e+01] [-6.03030626e-02 9.98180096e-01 -1.88913589e-04 -3.47995975e+00] [-5.01848505e-03 -1.13926144e-04 9.99987401e-01 2.52144533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters 0.023914320384697967 Centerline is valid? [True, True] Translation: X:52.99, Y:-3.48, Z:0.25 [[ 9.98049838e-01 6.16784148e-02 9.60697111e-03 5.29868709e+01] [-6.16778093e-02 9.98096047e-01 -3.59566076e-04 -3.47568656e+00] [-9.61085735e-03 -2.33672068e-04 9.99953787e-01 2.53080634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters 0.023433978920437942 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.46, Z:0.25 [[ 9.98352084e-01 5.69831042e-02 6.78550206e-03 5.30462858e+01] [-5.69827196e-02 9.98375133e-01 -2.50149376e-04 -3.46299203e+00] [-6.78873082e-03 -1.36919211e-04 9.99976947e-01 2.52378924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters 0.02328985399825654 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.45, Z:0.25 [[ 9.98460658e-01 5.51597386e-02 5.80671115e-03 5.31055107e+01] [-5.51594435e-02 9.98477537e-01 -2.11081641e-04 -3.45396005e+00] [-5.80951385e-03 -1.09538241e-04 9.99983119e-01 2.52602027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters 0.022642394058378677 Centerline is valid? [True, True] Translation: X:53.16, Y:-3.45, Z:0.26 [[ 9.98777338e-01 4.87639820e-02 8.11804485e-03 5.31647274e+01] [-4.87632165e-02 9.98810324e-01 -2.92324943e-04 -3.44667817e+00] [-8.12264193e-03 -1.03894449e-04 9.99967005e-01 2.55717540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters 0.022329811198917335 Centerline is valid? [True, True] Translation: X:53.22, Y:-3.45, Z:0.26 [[ 9.99108709e-01 4.13230312e-02 8.61360596e-03 5.32237672e+01] [-4.13219254e-02 9.99145838e-01 -3.06386716e-04 -3.44621168e+00] [-8.61890937e-03 -4.98171465e-05 9.99962855e-01 2.57422719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters 0.022520164521239446 Centerline is valid? [True, True] Translation: X:53.28, Y:-3.44, Z:0.25 [[ 9.99469436e-01 3.09704287e-02 1.00835598e-02 5.32836514e+01] [-3.09683689e-02 9.99520300e-01 -3.60387671e-04 -3.44177326e+00] [-1.00898841e-02 4.79250618e-05 9.99949095e-01 2.53963229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters 0.022821349049399687 Centerline is valid? [True, True] Translation: X:53.35, Y:-3.44, Z:0.25 [[ 9.99593456e-01 2.63213156e-02 1.09595296e-02 5.33458899e+01] [-2.63185768e-02 9.99653529e-01 -3.94081044e-04 -3.44291487e+00] [-1.09661052e-02 1.05481611e-04 9.99939865e-01 2.54965627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters 0.022859820985885546 Centerline is valid? [True, True] Translation: X:53.41, Y:-3.45, Z:0.26 [[ 9.99671706e-01 2.42462448e-02 8.28245125e-03 5.34080134e+01] [-2.42445995e-02 9.99706012e-01 -2.99004401e-04 -3.44876800e+00] [-8.28726604e-03 9.81015262e-05 9.99965655e-01 2.57275120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters 0.0236755647244082 Centerline is valid? [True, True] Translation: X:53.47, Y:-3.46, Z:0.25 [[ 9.99809707e-01 1.82714449e-02 6.83399347e-03 5.34696197e+01] [-1.82701786e-02 9.99833056e-01 -2.47673833e-04 -3.46265597e+00] [-6.83737793e-03 1.22768421e-04 9.99976617e-01 2.54428626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters 0.02434442171838978 Centerline is valid? [True, True] Translation: X:53.53, Y:-3.47, Z:0.25 [[ 9.99882081e-01 1.43038213e-02 5.58792126e-03 5.35316759e+01] [-1.43029083e-02 9.99897688e-01 -2.03317408e-04 -3.46656866e+00] [-5.59025776e-03 1.23369908e-04 9.99984367e-01 2.53412269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters 0.023794097886291995 Centerline is valid? [True, True] Translation: X:53.59, Y:-3.47, Z:0.26 [[ 9.99870243e-01 1.60258046e-02 1.63418679e-03 5.35928616e+01] [-1.60257284e-02 9.99871578e-01 -5.96842076e-05 -3.47409025e+00] [-1.63493342e-03 3.34874294e-05 9.99998663e-01 2.57741772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters 0.022646892362075875 Centerline is valid? [True, True] Translation: X:53.65, Y:-3.49, Z:0.26 [[ 9.99645455e-01 2.65832364e-02 1.51530836e-03 5.36509572e+01] [-2.65831847e-02 9.99646603e-01 -5.42381522e-05 -3.48623674e+00] [-1.51621468e-03 1.39372004e-05 9.99998850e-01 2.59800784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters 0.022493582961895315 Centerline is valid? [True, True] Translation: X:53.71, Y:-3.50, Z:0.26 [[ 9.99467134e-01 3.23923472e-02 4.02287176e-03 5.37092467e+01] [-3.23920396e-02 9.99475230e-01 -1.41596572e-04 -3.49930813e+00] [-4.02534733e-03 1.12120988e-05 9.99991898e-01 2.58154967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters 0.022316890980145162 Centerline is valid? [True, True] Translation: X:53.77, Y:-3.51, Z:0.26 [[ 9.99310151e-01 3.67910988e-02 5.06323175e-03 5.37673378e+01] [-3.67906769e-02 9.99322978e-01 -1.76473693e-04 -3.50647413e+00] [-5.06629649e-03 -9.92777025e-06 9.99987166e-01 2.60055153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters 0.022471008886573905 Centerline is valid? [True, True] Translation: X:53.83, Y:-3.51, Z:0.26 [[ 9.99087141e-01 4.26733767e-02 1.96682409e-03 5.38262898e+01] [-4.26733290e-02 9.99089076e-01 -6.62469665e-05 -3.51134405e+00] [-1.96785945e-03 -1.77444393e-05 9.99998064e-01 2.59274255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters 0.023771346080308193 Centerline is valid? [True, True] Translation: X:53.89, Y:-3.51, Z:0.26 [[ 9.98366238e-01 5.70802156e-02 2.58911671e-03 5.38860740e+01] [-5.70801747e-02 9.98369594e-01 -8.97390747e-05 -3.51470843e+00] [-2.59001772e-03 -5.81947717e-05 9.99996644e-01 2.58543784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters 0.024414143174831118 Centerline is valid? [True, True] Translation: X:53.95, Y:-3.51, Z:0.26 [[ 9.97968208e-01 6.30859677e-02 8.92275918e-03 5.39457283e+01] [-6.30857202e-02 9.98008064e-01 -3.09471645e-04 -3.51482056e+00] [-8.92450893e-03 -2.54055825e-04 9.99960144e-01 2.60016219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters 0.02501744466234421 Centerline is valid? [True, True] Translation: X:54.00, Y:-3.51, Z:0.26 [[ 9.97757670e-01 6.63381434e-02 8.88161960e-03 5.40049732e+01] [-6.63380809e-02 9.97797158e-01 -3.01962025e-04 -3.51062946e+00] [-8.88208639e-03 -2.87904673e-04 9.99960512e-01 2.61001965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters 0.02506135895588609 Centerline is valid? [True, True] Translation: X:54.06, Y:-3.51, Z:0.26 [[ 9.97720567e-01 6.69651779e-02 8.32674078e-03 5.40635733e+01] [-6.69651772e-02 9.97755274e-01 -2.79203647e-04 -3.50787915e+00] [-8.32674645e-03 -2.79034451e-04 9.99965293e-01 2.58141542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters 0.02490224884298577 Centerline is valid? [True, True] Translation: X:54.12, Y:-3.50, Z:0.26 [[ 9.97847804e-01 6.48358729e-02 9.80154178e-03 5.41224749e+01] [-6.48358094e-02 9.97895893e-01 -3.24565172e-04 -3.50045842e+00] [-9.80196175e-03 -3.11624251e-04 9.99951911e-01 2.62497443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters 0.024284557286151743 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.50, Z:0.26 [[ 9.98100867e-01 6.08294436e-02 9.71795756e-03 5.41812009e+01] [-6.08292343e-02 9.98148137e-01 -3.17388939e-04 -3.49626660e+00] [-9.71926783e-03 -2.74349742e-04 9.99952729e-01 2.63984716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters 0.024336626394968114 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.49, Z:0.26 [[ 9.98128093e-01 6.08786910e-02 5.83906437e-03 5.42398671e+01] [-6.08786371e-02 9.98145158e-01 -1.87136405e-04 -3.49479860e+00] [-5.83962645e-03 -1.68688178e-04 9.99982935e-01 2.61835163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters 0.0250327107912822 Centerline is valid? [True, True] Translation: X:54.30, Y:-3.48, Z:0.26 [[ 9.97693626e-01 6.78091854e-02 3.05647714e-03 5.42996212e+01] [-6.78092018e-02 9.97698302e-01 -9.83763259e-05 -3.48373002e+00] [-3.05611287e-03 -1.09107842e-04 9.99995324e-01 2.61811205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters 0.024610920713468612 Centerline is valid? [True, True] Translation: X:54.36, Y:-3.49, Z:0.26 [[ 9.97970647e-01 6.32235910e-02 7.57397230e-03 5.43583925e+01] [-6.32235949e-02 9.97999359e-01 -2.39156242e-04 -3.48571267e+00] [-7.57393981e-03 -2.40182847e-04 9.99971288e-01 2.62713508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters 0.02381699624879518 Centerline is valid? [True, True] Translation: X:54.42, Y:-3.48, Z:0.26 [[ 9.98449879e-01 5.51468295e-02 7.52764492e-03 5.44177106e+01] [-5.51466270e-02 9.98478239e-01 -2.34624374e-04 -3.48268840e+00] [-7.52912843e-03 -1.80863548e-04 9.99971639e-01 2.59299718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters 0.02279108258430855 Centerline is valid? [True, True] Translation: X:54.48, Y:-3.47, Z:0.26 [[ 9.98901755e-01 4.68318788e-02 1.43524041e-03 5.44780084e+01] [-4.68318629e-02 9.98902785e-01 -4.47255716e-05 -3.46985436e+00] [-1.43576023e-03 -2.25385302e-05 9.99998969e-01 2.58700284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters 0.022386278798610718 Centerline is valid? [True, True] Translation: X:54.54, Y:-3.47, Z:0.26 [[ 9.99088363e-01 4.26894125e-02 -2.39343393e-04 5.45364343e+01] [-4.26894114e-02 9.99088392e-01 9.70847155e-06 -3.46762566e+00] [ 2.39539655e-04 5.17807644e-07 9.99999971e-01 2.63950655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters 0.022152735297967942 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.47, Z:0.27 [[ 9.99266842e-01 3.81174305e-02 3.58321441e-03 5.45937665e+01] [-3.81172942e-02 9.99273266e-01 -1.06339722e-04 -3.47060934e+00] [-3.58466376e-03 -3.03206802e-05 9.99993575e-01 2.67308557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters 0.022281686476226567 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.47, Z:0.26 [[ 9.99499335e-01 3.09664871e-02 6.49283517e-03 5.46516272e+01] [-3.09658968e-02 9.99520423e-01 -1.91446757e-04 -3.46823766e+00] [-6.49564979e-03 -9.70555723e-06 9.99978903e-01 2.63250959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters 0.022085417978032557 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.46, Z:0.27 [[ 9.99576096e-01 2.83520537e-02 6.61735885e-03 5.47103546e+01] [-2.83514003e-02 9.99598000e-01 -1.92553450e-04 -3.45870317e+00] [-6.62015796e-03 4.86043654e-06 9.99978087e-01 2.65865037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters 0.021915817746361962 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.46, Z:0.27 [[ 9.99672614e-01 2.53441295e-02 3.51276231e-03 5.47694658e+01] [-2.53439350e-02 9.99678786e-01 -9.98882505e-05 -3.46325615e+00] [-3.51416554e-03 1.08283290e-05 9.99993825e-01 2.66774759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters 0.022403933851354387 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.47, Z:0.27 [[ 9.99814357e-01 1.89669145e-02 3.39226967e-03 5.48279898e+01] [-1.89667023e-02 9.99820111e-01 -9.47114715e-05 -3.47320155e+00] [-3.39345583e-03 3.03537199e-05 9.99994242e-01 2.66504579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters 0.023423334399923064 Centerline is valid? [True, True] Translation: X:54.89, Y:-3.47, Z:0.27 [[ 9.99927439e-01 1.04975719e-02 5.90920349e-03 5.48872702e+01] [-1.04967631e-02 9.99944893e-01 -1.67875922e-04 -3.47383638e+00] [-5.91064014e-03 1.05836232e-04 9.99982526e-01 2.66625990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters 0.024570210434617042 Centerline is valid? [True, True] Translation: X:54.95, Y:-3.48, Z:0.26 [[ 9.99964232e-01 3.94125550e-03 7.48343795e-03 5.49493144e+01] [-3.93975883e-03 9.99992216e-01 -2.14728731e-04 -3.47719167e+00] [-7.48422600e-03 1.85238110e-04 9.99971976e-01 2.63080016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters 0.02401131938037174 Centerline is valid? [True, True] Translation: X:55.01, Y:-3.48, Z:0.27 [[ 9.99978274e-01 5.70953377e-03 3.29424241e-03 5.50118747e+01] [-5.70925006e-03 9.99983698e-01 -9.55190832e-05 -3.47954465e+00] [-3.29473408e-03 7.67093543e-05 9.99994569e-01 2.65763253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters 0.02346851122422888 Centerline is valid? [True, True] Translation: X:55.07, Y:-3.49, Z:0.27 [[ 9.99961927e-01 8.72468493e-03 -1.55166966e-04 5.50733259e+01] [-8.72468439e-03 9.99961939e-01 4.16376369e-06 -3.49000068e+00] [ 1.55197387e-04 -2.80982236e-06 9.99999988e-01 2.67262209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters 0.023612379339666287 Centerline is valid? [True, True] Translation: X:55.13, Y:-3.50, Z:0.27 [[ 9.99938100e-01 9.19680340e-03 6.26216755e-03 5.51313285e+01] [-9.19588431e-03 9.99957702e-01 -1.75547247e-04 -3.50395025e+00] [-6.26351715e-03 1.17950212e-04 9.99980377e-01 2.68416301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters 0.024152526305272294 Centerline is valid? [True, True] Translation: X:55.19, Y:-3.51, Z:0.27 [[ 9.99971277e-01 5.25398718e-03 5.46258430e-03 5.51937693e+01] [-5.25321144e-03 9.99986190e-01 -1.56349012e-04 -3.50700069e+00] [-5.46333031e-03 1.27648411e-04 9.99985068e-01 2.67736979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters 0.02436619174072012 Centerline is valid? [True, True] Translation: X:55.26, Y:-3.52, Z:0.27 [[ 9.99973715e-01 3.92010537e-03 6.09930693e-03 5.52553049e+01] [-3.91910932e-03 9.99992305e-01 -1.75249881e-04 -3.52274527e+00] [-6.09994700e-03 1.51341424e-04 9.99981384e-01 2.66409595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters 0.02411257701085499 Centerline is valid? [True, True] Translation: X:55.32, Y:-3.53, Z:0.27 [[ 9.99951480e-01 7.06948232e-03 6.86000258e-03 5.53176885e+01] [-7.06828855e-03 9.99975000e-01 -1.98249282e-04 -3.53272742e+00] [-6.86123259e-03 1.49751186e-04 9.99976450e-01 2.69242481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters 0.02326833983122564 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.54, Z:0.27 [[ 9.99918747e-01 1.16846032e-02 5.09595319e-03 5.53797792e+01] [-1.16840010e-02 9.99931729e-01 -1.47944059e-04 -3.53863272e+00] [-5.09733395e-03 8.83909158e-05 9.99987005e-01 2.68283190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters 0.022294970860364947 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.55, Z:0.27 [[ 9.99688471e-01 2.39254145e-02 7.10883876e-03 5.54410303e+01] [-2.39245526e-02 9.99713746e-01 -2.06278849e-04 -3.55139385e+00] [-7.11173913e-03 3.61388003e-05 9.99974711e-01 2.66160556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters 0.022255837183733165 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.56, Z:0.27 [[ 9.99429081e-01 3.26238327e-02 8.78619447e-03 5.55017998e+01] [-3.26228477e-02 9.99467701e-01 -2.55447364e-04 -3.56120856e+00] [-8.78985126e-03 -3.13291598e-05 9.99961368e-01 2.68999064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters 0.02303448103900883 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.56, Z:0.27 [[ 9.98982089e-01 4.42107943e-02 8.95499358e-03 5.55634745e+01] [-4.42102312e-02 9.99022216e-01 -2.60923957e-04 -3.55965318e+00] [-8.95777318e-03 -1.35243976e-04 9.99959869e-01 2.68077358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters 0.02368847143726258 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.56, Z:0.27 [[ 9.98613153e-01 5.24061596e-02 5.03643995e-03 5.56240932e+01] [-5.24060865e-02 9.98625846e-01 -1.46565995e-04 -3.55904797e+00] [-5.03720007e-03 -1.17577378e-04 9.99987306e-01 2.67457747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters 0.024891670889031308 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.56, Z:0.27 [[ 9.98094867e-01 6.16593615e-02 2.18163322e-03 5.56834523e+01] [-6.16593714e-02 9.98097249e-01 -6.27891531e-05 -3.55973069e+00] [-2.18135365e-03 -7.18486016e-05 9.99997618e-01 2.72483572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters 0.025135576223385733 Centerline is valid? [True, True] Translation: X:55.74, Y:-3.55, Z:0.27 [[ 9.97885661e-01 6.49206864e-02 3.08400566e-03 5.57426879e+01] [-6.49207311e-02 9.97890421e-01 -8.57291492e-05 -3.54912777e+00] [-3.08306530e-03 -1.14668013e-04 9.99995241e-01 2.73570053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters 0.025595488010511567 Centerline is valid? [True, True] Translation: X:55.80, Y:-3.54, Z:0.27 [[ 9.97685770e-01 6.79932211e-02 1.63841478e-04 5.58017670e+01] [-6.79932217e-02 9.97685783e-01 -2.29829223e-06 -3.54360503e+00] [-1.63618581e-04 -8.84713646e-06 9.99999987e-01 2.69911093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters 0.025777006372714406 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.53, Z:0.27 [[ 9.97678918e-01 6.80830889e-02 1.21254840e-03 5.58608726e+01] [-6.80831012e-02 9.97679653e-01 -3.11890250e-05 -3.53156212e+00] [-1.21185831e-03 -5.14374225e-05 9.99999264e-01 2.70701885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters 0.025471944288099884 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.52, Z:0.27 [[ 9.97917342e-01 6.45047678e-02 3.38004859e-04 5.59199717e+01] [-6.45047692e-02 9.97917399e-01 -6.87348145e-06 -3.52237208e+00] [-3.37744302e-04 -1.49437591e-05 9.99999943e-01 2.70434899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters 0.023989094038928994 Centerline is valid? [True, True] Translation: X:55.98, Y:-3.52, Z:0.27 [[ 9.98556386e-01 5.35955574e-02 3.55799384e-03 5.59802916e+01] [-5.35955539e-02 9.98562721e-01 -9.63918028e-05 -3.51844272e+00] [-3.55804618e-03 -9.44400003e-05 9.99993666e-01 2.73983899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters 0.02239902809092419 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.51, Z:0.27 [[ 9.99253326e-01 3.77267163e-02 8.33575387e-03 5.60398572e+01] [-3.77261491e-02 9.99288090e-01 -2.25332299e-04 -3.51253816e+00] [-8.33832061e-03 -8.93118439e-05 9.99965232e-01 2.70194321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters 0.022196531141575392 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.51, Z:0.27 [[ 9.99460515e-01 3.17685822e-02 8.33287714e-03 5.60989521e+01] [-3.17678559e-02 9.99495250e-01 -2.19539397e-04 -3.51392142e+00] [-8.33564558e-03 -4.52966817e-05 9.99965257e-01 2.66661083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters 0.021871255242752647 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.51, Z:0.27 [[ 9.99537301e-01 2.99713041e-02 5.18705900e-03 5.61585942e+01] [-2.99709944e-02 9.99550759e-01 -1.37428188e-04 -3.50605686e+00] [-5.18884766e-03 -1.80967163e-05 9.99986538e-01 2.73520904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters 0.021940438452639356 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.51, Z:0.27 [[ 9.99677212e-01 2.53450059e-02 1.76141317e-03 5.62169451e+01] [-2.53449682e-02 9.99678764e-01 -4.37093040e-05 -3.51455963e+00] [-1.76195516e-03 -9.47765655e-07 9.99998448e-01 2.72725748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters 0.022132601868898677 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.52, Z:0.27 [[ 9.99794720e-01 1.98262841e-02 4.17564990e-03 5.62753206e+01] [-1.98260189e-02 9.99803440e-01 -1.04915109e-04 -3.51918722e+00] [-4.17690921e-03 2.21070581e-05 9.99991276e-01 2.69177286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters 0.02265694854731679 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.52, Z:0.27 [[ 9.99910910e-01 1.30501340e-02 2.80469888e-03 5.63352299e+01] [-1.30499848e-02 9.99914843e-01 -7.14791878e-05 -3.52075400e+00] [-2.80539286e-03 3.48715419e-05 9.99996064e-01 2.73305362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters 0.02286958458809776 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.53, Z:0.27 [[ 9.99950817e-01 9.91082142e-03 -3.74386119e-04 5.63951280e+01] [-9.91081842e-03 9.99950887e-01 9.87237034e-06 -3.52752726e+00] [ 3.74465575e-04 -6.16141194e-06 9.99999930e-01 2.73945763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters 0.023160743451582592 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.53, Z:0.27 [[ 9.99965473e-01 8.07069748e-03 1.97922150e-03 5.64540060e+01] [-8.07061929e-03 9.99967431e-01 -4.74896840e-05 -3.53416092e+00] [-1.97954031e-03 3.15145011e-05 9.99998040e-01 2.71617703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters 0.022268609330684856 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.55, Z:0.27 [[ 9.99881485e-01 1.53883541e-02 4.62133792e-04 5.65138450e+01] [-1.53883504e-02 9.99881592e-01 -1.16002137e-05 -3.55293129e+00] [-4.62257580e-04 4.48736218e-06 9.99999893e-01 2.70087511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters 0.02195863903668996 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.56, Z:0.27 [[ 9.99775756e-01 2.11498567e-02 1.05932125e-03 5.65723436e+01] [-2.11498433e-02 9.99776317e-01 -2.38625967e-05 -3.55790730e+00] [-1.05958899e-03 1.45276725e-06 9.99999439e-01 2.70739548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters 0.02194421396820611 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.56, Z:0.27 [[ 9.99589076e-01 2.79224536e-02 6.48192348e-03 5.66307796e+01] [-2.79220382e-02 9.99610092e-01 -1.54588492e-04 -3.56428043e+00] [-6.48371261e-03 -2.64635471e-05 9.99978980e-01 2.70860169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters 0.02221320888411208 Centerline is valid? [True, True] Translation: X:56.69, Y:-3.58, Z:0.27 [[ 9.99378027e-01 3.44636677e-02 7.47088634e-03 5.66909832e+01] [-3.44632790e-02 9.99405948e-01 -1.80804222e-04 -3.57578330e+00] [-7.47267942e-03 -7.67794737e-05 9.99972076e-01 2.71080536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters 0.022884727659254787 Centerline is valid? [True, True] Translation: X:56.75, Y:-3.58, Z:0.27 [[ 9.99144887e-01 4.10859643e-02 4.63010863e-03 5.67516609e+01] [-4.10858860e-02 9.99155612e-01 -1.12054065e-04 -3.58234411e+00] [-4.63080287e-03 -7.82738688e-05 9.99989275e-01 2.69734150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters 0.023632157244210115 Centerline is valid? [True, True] Translation: X:56.81, Y:-3.58, Z:0.27 [[ 9.98721170e-01 4.99510558e-02 7.80491116e-03 5.68107179e+01] [-4.99511137e-02 9.98751646e-01 -1.87647317e-04 -3.58421853e+00] [-7.80454106e-03 -2.02456657e-04 9.99969524e-01 2.72717187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters 0.024181631980682926 Centerline is valid? [True, True] Translation: X:56.87, Y:-3.58, Z:0.27 [[ 9.98544550e-01 5.32446973e-02 8.58979060e-03 5.68691832e+01] [-5.32449035e-02 9.98581463e-01 -2.04848044e-04 -3.58263470e+00] [-8.58851273e-03 -2.52812674e-04 9.99963086e-01 2.73309498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters 0.02431017801332323 Centerline is valid? [True, True] Translation: X:56.93, Y:-3.59, Z:0.27 [[ 9.98504992e-01 5.36353782e-02 1.05369063e-02 5.69281838e+01] [-5.36357746e-02 9.98560536e-01 -2.45167864e-04 -3.58528204e+00] [-1.05348885e-02 -3.20353797e-04 9.99944455e-01 2.69531399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters 0.024323082746879866 Centerline is valid? [True, True] Translation: X:56.99, Y:-3.58, Z:0.27 [[ 9.98524145e-01 5.31083701e-02 1.13592551e-02 5.69878978e+01] [-5.31087806e-02 9.98588698e-01 -2.65715743e-04 -3.58019941e+00] [-1.13573355e-02 -3.37952603e-04 9.99935446e-01 2.73480561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters 0.02374760179589403 Centerline is valid? [True, True] Translation: X:57.05, Y:-3.57, Z:0.27 [[ 9.98785808e-01 4.89763640e-02 5.31283413e-03 5.70476677e+01] [-4.89763981e-02 9.98799928e-01 -1.23758685e-04 -3.57399453e+00] [-5.31251960e-03 -1.36595061e-04 9.99985879e-01 2.74675293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters 0.023111125083090767 Centerline is valid? [True, True] Translation: X:57.11, Y:-3.57, Z:0.27 [[ 9.99010488e-01 4.42722146e-02 4.24439859e-03 5.71064537e+01] [-4.42722108e-02 9.99019500e-01 -9.48878191e-05 -3.56843222e+00] [-4.24443785e-03 -9.31149825e-05 9.99990988e-01 2.73419483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters 0.02271369220192466 Centerline is valid? [True, True] Translation: X:57.17, Y:-3.56, Z:0.28 [[ 9.99217302e-01 3.84374457e-02 9.34595172e-03 5.71655736e+01] [-3.84371875e-02 9.99260997e-01 -2.07317481e-04 -3.56288353e+00] [-9.34701378e-03 -1.52076884e-04 9.99956304e-01 2.75389532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters 0.02244099494057321 Centerline is valid? [True, True] Translation: X:57.23, Y:-3.56, Z:0.28 [[ 9.99317322e-01 3.54104325e-02 1.05352002e-02 5.72265441e+01] [-3.54099083e-02 9.99372845e-01 -2.36340616e-04 -3.55840419e+00] [-1.05369619e-02 -1.36871200e-04 9.99944475e-01 2.76389138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters 0.021781284056654464 Centerline is valid? [True, True] Translation: X:57.29, Y:-3.55, Z:0.27 [[ 9.99701216e-01 2.35277511e-02 6.62754136e-03 5.72881317e+01] [-2.35272774e-02 9.99723184e-01 -1.49437285e-04 -3.55264282e+00] [-6.62922267e-03 -6.53536863e-06 9.99978026e-01 2.73814096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters 0.022094168831356495 Centerline is valid? [True, True] Translation: X:57.35, Y:-3.56, Z:0.27 [[ 9.99886572e-01 1.44290190e-02 4.31809202e-03 5.73483907e+01] [-1.44287340e-02 9.99895896e-01 -9.71504711e-05 -3.55820803e+00] [-4.31904427e-03 3.48348505e-05 9.99990672e-01 2.73244652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters 0.022556009093605202 Centerline is valid? [True, True] Translation: X:57.41, Y:-3.56, Z:0.28 [[ 9.99944148e-01 8.67635421e-03 6.03510328e-03 5.74090419e+01] [-8.67569271e-03 9.99962356e-01 -1.35780600e-04 -3.55856349e+00] [-6.03605417e-03 8.34143151e-05 9.99981779e-01 2.75698051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters 0.023046086848732848 Centerline is valid? [True, True] Translation: X:57.47, Y:-3.56, Z:0.28 [[ 9.99964203e-01 5.50203664e-03 6.42809829e-03 5.74706273e+01] [-5.50121372e-03 9.99984858e-01 -1.45694368e-04 -3.56237760e+00] [-6.42880257e-03 1.10326811e-04 9.99979329e-01 2.76208149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters 0.022991700829631128 Centerline is valid? [True, True] Translation: X:57.53, Y:-3.57, Z:0.28 [[ 9.99953371e-01 5.77641653e-03 7.73875028e-03 5.75329887e+01] [-5.77522411e-03 9.99983308e-01 -1.76422580e-04 -3.56979091e+00] [-7.73964019e-03 1.31721337e-04 9.99970040e-01 2.75248261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters 0.022979759740220967 Centerline is valid? [True, True] Translation: X:57.60, Y:-3.58, Z:0.28 [[ 9.99946635e-01 6.03829810e-03 8.38251341e-03 5.75954749e+01] [-6.03689278e-03 9.99981759e-01 -1.92941688e-04 -3.57721537e+00] [-8.38352554e-03 1.42327057e-04 9.99964848e-01 2.76572308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters 0.023169685833080142 Centerline is valid? [True, True] Translation: X:57.66, Y:-3.59, Z:0.28 [[ 9.99967866e-01 4.29950837e-03 6.76615026e-03 5.76570936e+01] [-4.29854822e-03 9.99990749e-01 -1.56441266e-04 -3.58911319e+00] [-6.76676029e-03 1.27351616e-04 9.99977097e-01 2.79523990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters 0.02376674139912745 Centerline is valid? [True, True] Translation: X:57.72, Y:-3.60, Z:0.28 [[ 9.99991696e-01 1.31798929e-03 3.85616377e-03 5.77190075e+01] [-1.31764189e-03 9.99999128e-01 -9.26291952e-05 -3.59802627e+00] [-3.85628249e-03 8.75473831e-05 9.99992561e-01 2.76420888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters 0.023742111024901785 Centerline is valid? [True, True] Translation: X:57.78, Y:-3.61, Z:0.28 [[ 9.99980281e-01 1.13554179e-03 6.17649526e-03 5.77812237e+01] [-1.13466000e-03 9.99999346e-01 -1.46267505e-04 -3.60745739e+00] [-6.17665731e-03 1.39256399e-04 9.99980915e-01 2.76493594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters 0.02289889617336653 Centerline is valid? [True, True] Translation: X:57.84, Y:-3.62, Z:0.28 [[ 9.99920422e-01 7.08247786e-03 1.04397452e-02 5.78436514e+01] [-7.08026666e-03 9.99974904e-01 -2.48750680e-04 -3.61684041e+00] [-1.04412449e-02 1.74814705e-04 9.99945473e-01 2.82472493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters 0.02243800168503193 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.63, Z:0.28 [[ 9.99872510e-01 1.35463324e-02 8.45343650e-03 5.79059521e+01] [-1.35450929e-02 9.99908240e-01 -2.03858517e-04 -3.63018217e+00] [-8.45542235e-03 8.93299444e-05 9.99964248e-01 2.79288478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters 0.02202675986980011 Centerline is valid? [True, True] Translation: X:57.97, Y:-3.65, Z:0.27 [[ 9.99749854e-01 2.18117323e-02 4.94749810e-03 5.79680141e+01] [-2.18114059e-02 9.99762096e-01 -1.19912423e-04 -3.64545809e+00] [-4.94893657e-03 1.19705384e-05 9.99987754e-01 2.74785749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters 0.021797383516381615 Centerline is valid? [True, True] Translation: X:58.03, Y:-3.65, Z:0.28 [[ 9.99645024e-01 2.56709278e-02 7.12954197e-03 5.80290578e+01] [-2.56703493e-02 9.99670447e-01 -1.72658811e-04 -3.64507591e+00] [-7.13162472e-03 -1.04203109e-05 9.99974570e-01 2.80283432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters 0.02191891655258427 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.66, Z:0.28 [[ 9.99541649e-01 3.00565220e-02 3.61895046e-03 5.80909500e+01] [-3.00563982e-02 9.99548200e-01 -8.86146164e-05 -3.65783327e+00] [-3.61997887e-03 -2.01986162e-05 9.99993448e-01 2.78871594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters 0.022059643850623537 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.66, Z:0.28 [[ 9.99499400e-01 3.06653412e-02 7.78365769e-03 5.81507170e+01] [-3.06648045e-02 9.99529707e-01 -1.88319896e-04 -3.66468847e+00] [-7.78577198e-03 -5.04587178e-05 9.99969689e-01 2.77641629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters 0.02203819339963839 Centerline is valid? [True, True] Translation: X:58.21, Y:-3.67, Z:0.28 [[ 9.99423226e-01 3.29784678e-02 8.10162341e-03 5.82123179e+01] [-3.29779489e-02 9.99456060e-01 -1.97665233e-04 -3.66782750e+00] [-8.10373531e-03 -6.96236986e-05 9.99967162e-01 2.80702184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters 0.022218642095839628 Centerline is valid? [True, True] Translation: X:58.27, Y:-3.67, Z:0.28 [[ 9.99342218e-01 3.62531707e-02 9.16407686e-04 5.82737144e+01] [-3.62531650e-02 9.99342638e-01 -2.28935897e-05 -3.66672447e+00] [-9.16635239e-04 -1.03441484e-05 9.99999580e-01 2.78211890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters 0.022336953097536402 Centerline is valid? [True, True] Translation: X:58.33, Y:-3.68, Z:0.28 [[ 9.99345533e-01 3.61277162e-02 -1.81511435e-03 5.83315942e+01] [-3.61276920e-02 9.99347181e-01 4.61229610e-05 -3.68056525e+00] [ 1.81559572e-03 1.94831171e-05 9.99998352e-01 2.75393254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters 0.022243025511809303 Centerline is valid? [True, True] Translation: X:58.39, Y:-3.69, Z:0.28 [[ 9.99360965e-01 3.57165097e-02 1.41179346e-03 5.83896452e+01] [-3.57165020e-02 9.99361962e-01 -3.07014846e-05 -3.69079345e+00] [-1.41198923e-03 -1.97424587e-05 9.99999003e-01 2.81080199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters 0.02262176669550091 Centerline is valid? [True, True] Translation: X:58.45, Y:-3.68, Z:0.28 [[ 9.99231900e-01 3.82787170e-02 8.38745280e-03 5.84485384e+01] [-3.82784693e-02 9.99267093e-01 -1.90130940e-04 -3.68299631e+00] [-8.38858354e-03 -1.31073954e-04 9.99964807e-01 2.81466630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters 0.02246567020721022 Centerline is valid? [True, True] Translation: X:58.51, Y:-3.69, Z:0.28 [[ 9.99318645e-01 3.59083039e-02 8.53457847e-03 5.85104125e+01] [-3.59079250e-02 9.99355083e-01 -1.97670940e-04 -3.68811982e+00] [-8.53617240e-03 -1.08922748e-04 9.99963560e-01 2.78098706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters 0.02213976940807005 Centerline is valid? [True, True] Translation: X:58.57, Y:-3.70, Z:0.28 [[ 9.99487765e-01 3.10320504e-02 7.82432383e-03 5.85720983e+01] [-3.10315738e-02 9.99518388e-01 -1.82340896e-04 -3.69642946e+00] [-7.82621395e-03 -6.05535882e-05 9.99969373e-01 2.80790530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters 0.022116595124330857 Centerline is valid? [True, True] Translation: X:58.63, Y:-3.70, Z:0.28 [[ 9.99666036e-01 2.43707397e-02 8.59557039e-03 5.86339123e+01] [-2.43699089e-02 9.99702989e-01 -2.01398120e-04 -3.70338172e+00] [-8.59792564e-03 -8.14240638e-06 9.99963037e-01 2.83412351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters 0.022146284162792934 Centerline is valid? [True, True] Translation: X:58.70, Y:-3.71, Z:0.28 [[ 9.99794108e-01 1.83826399e-02 8.59187338e-03 5.86957690e+01] [-1.83815789e-02 9.99831024e-01 -2.02447861e-04 -3.70769129e+00] [-8.59414309e-03 4.44739803e-05 9.99963069e-01 2.84006911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters 0.02210489505840966 Centerline is valid? [True, True] Translation: X:58.76, Y:-3.71, Z:0.28 [[ 9.99753315e-01 2.00013353e-02 9.65689685e-03 5.87584716e+01] [-2.00000495e-02 9.99799953e-01 -2.29708826e-04 -3.70836640e+00] [-9.65955950e-03 3.65137444e-05 9.99953345e-01 2.83332763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters 0.022139003993093553 Centerline is valid? [True, True] Translation: X:58.82, Y:-3.72, Z:0.28 [[ 9.99544881e-01 2.89589979e-02 8.45026605e-03 5.88203423e+01] [-2.89583259e-02 9.99580599e-01 -2.01900616e-04 -3.72043244e+00] [-8.45256884e-03 -4.28968310e-05 9.99964275e-01 2.82673046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters 0.022204254702306064 Centerline is valid? [True, True] Translation: X:58.88, Y:-3.72, Z:0.28 [[ 9.99399353e-01 3.40329783e-02 6.53365402e-03 5.88823040e+01] [-3.40326783e-02 9.99420708e-01 -1.57127197e-04 -3.71869876e+00] [-6.53521664e-03 -6.53249268e-05 9.99978643e-01 2.84907789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters 0.02232237581905768 Centerline is valid? [True, True] Translation: X:58.94, Y:-3.72, Z:0.28 [[ 9.99318994e-01 3.58599779e-02 8.69543542e-03 5.89438753e+01] [-3.58595154e-02 9.99356819e-01 -2.09147622e-04 -3.71712332e+00] [-8.69734270e-03 -1.02808908e-04 9.99962172e-01 2.84543585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters 0.022415513358058636 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.73, Z:0.28 [[ 9.99408820e-01 3.37590754e-02 6.50658255e-03 5.90061120e+01] [-3.37587634e-02 9.99429998e-01 -1.57805740e-04 -3.72592741e+00] [-6.50820116e-03 -6.19417327e-05 9.99978820e-01 2.84058281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters 0.022598688431815193 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.72, Z:0.28 [[ 9.99387122e-01 3.47793445e-02 3.97221299e-03 5.90680215e+01] [-3.47792355e-02 9.99395015e-01 -9.65194724e-05 -3.71978269e+00] [-3.97316675e-03 -4.16902135e-05 9.99992106e-01 2.82464449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters 0.023000538825898056 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.72, Z:0.29 [[ 9.99119089e-01 4.18134410e-02 3.56112069e-03 5.91285415e+01] [-4.18133992e-02 9.99125434e-01 -8.62319661e-05 -3.71973830e+00] [-3.56161191e-03 -6.27465577e-05 9.99993655e-01 2.85228419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters 0.023338452288397135 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.72, Z:0.29 [[ 9.98887608e-01 4.71538898e-02 2.40941327e-04 5.91884567e+01] [-4.71538898e-02 9.98887637e-01 -5.48637138e-06 -3.71834342e+00] [-2.40932017e-04 -5.88105241e-06 9.99999971e-01 2.89348638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters 0.023465504404131657 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.72, Z:0.29 [[ 9.98882742e-01 4.72461401e-02 1.03460874e-03 5.92468593e+01] [-4.72461425e-02 9.98883277e-01 -2.21480110e-05 -3.72124331e+00] [-1.03449977e-03 -2.67580058e-05 9.99999465e-01 2.87480052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters 0.023600632625135513 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.71, Z:0.29 [[ 9.98851523e-01 4.73454553e-02 7.35137060e-03 5.93055298e+01] [-4.73454982e-02 9.98878559e-01 -1.68284707e-04 -3.71462198e+00] [-7.35109399e-03 -1.79962868e-04 9.99972964e-01 2.86125410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters 0.023955075323816365 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.71, Z:0.29 [[ 9.98703240e-01 5.05056284e-02 6.40467024e-03 5.93665305e+01] [-5.05057128e-02 9.98723761e-01 -1.48671304e-04 -3.70953112e+00] [-6.40400508e-03 -1.74993923e-04 9.99979479e-01 2.85717072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters 0.024169287180315108 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.71, Z:0.29 [[ 9.98581423e-01 5.30899566e-02 4.07397441e-03 5.94263788e+01] [-5.30900147e-02 9.98589726e-01 -9.39689472e-05 -3.71085342e+00] [-4.07321780e-03 -1.22451716e-04 9.99991697e-01 2.87195317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters 0.023910381554369937 Centerline is valid? [True, True] Translation: X:59.48, Y:-3.71, Z:0.29 [[ 9.98665601e-01 5.05374219e-02 1.06294884e-02 5.94848898e+01] [-5.05377417e-02 9.98722123e-01 -2.38686558e-04 -3.71093453e+00] [-1.06279679e-02 -2.98822287e-04 9.99943477e-01 2.89201606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters 0.02427349951613453 Centerline is valid? [True, True] Translation: X:59.55, Y:-3.70, Z:0.29 [[ 9.98498088e-01 5.27768936e-02 1.47026627e-02 5.95462985e+01] [-5.27776810e-02 9.98606231e-01 -3.34722695e-04 -3.70256984e+00] [-1.46998363e-02 -4.41752472e-04 9.99891854e-01 2.89477682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters 0.02500823826375885 Centerline is valid? [True, True] Translation: X:59.61, Y:-3.69, Z:0.29 [[ 9.98208378e-01 5.95192293e-02 6.12336589e-03 5.96091365e+01] [-5.95194843e-02 9.98227134e-01 -1.40736520e-04 -3.69224935e+00] [-6.12088651e-03 -2.23975206e-04 9.99981242e-01 2.86878412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters 0.025039890936556466 Centerline is valid? [True, True] Translation: X:59.67, Y:-3.69, Z:0.29 [[ 9.98112512e-01 6.13843380e-02 1.83745222e-03 5.96675970e+01] [-6.13843703e-02 9.98114201e-01 -3.88768000e-05 -3.69267493e+00] [-1.83637358e-03 -7.39874271e-05 9.99998311e-01 2.88478405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters 0.02528640017445413 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.69, Z:0.29 [[ 9.98029174e-01 6.26747142e-02 3.10617855e-03 5.97264908e+01] [-6.26748123e-02 9.98033999e-01 -6.58443082e-05 -3.68590036e+00] [-3.10419857e-03 -1.28964617e-04 9.99995174e-01 2.90871787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters 0.025032531049272305 Centerline is valid? [True, True] Translation: X:59.79, Y:-3.67, Z:0.29 [[ 9.98177203e-01 5.96256386e-02 9.33035252e-03 5.97854511e+01] [-5.96263878e-02 9.98220744e-01 -1.98108420e-04 -3.67229438e+00] [-9.32556378e-03 -3.58587909e-04 9.99956452e-01 2.90925875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters 0.02484378723474401 Centerline is valid? [True, True] Translation: X:59.84, Y:-3.66, Z:0.29 [[ 9.98347025e-01 5.65777128e-02 1.01084574e-02 5.98448349e+01] [-5.65784760e-02 9.98398133e-01 -2.10682134e-04 -3.66270084e+00] [-1.01041849e-02 -3.61587233e-04 9.99948886e-01 2.91574870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters 0.02390739569534884 Centerline is valid? [True, True] Translation: X:59.90, Y:-3.65, Z:0.29 [[ 9.98776148e-01 4.90544681e-02 6.31386816e-03 5.99047755e+01] [-4.90546118e-02 9.98796089e-01 -1.32194943e-04 -3.64752155e+00] [-6.31275158e-03 -1.77691196e-04 9.99980059e-01 2.87806832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters 0.023080743821907928 Centerline is valid? [True, True] Translation: X:59.96, Y:-3.64, Z:0.29 [[ 9.99119322e-01 4.13935527e-02 6.86693042e-03 5.99642901e+01] [-4.13935742e-02 9.99142909e-01 -1.39054219e-04 -3.63878417e+00] [-6.86680078e-03 -1.45315037e-04 9.99976413e-01 2.88316112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters 0.022325223368388124 Centerline is valid? [True, True] Translation: X:60.02, Y:-3.63, Z:0.29 [[ 9.99461614e-01 3.15940468e-02 8.84866001e-03 6.00236465e+01] [-3.15937043e-02 9.99500778e-01 -1.78525523e-04 -3.62886372e+00] [-8.84988291e-03 -1.01132541e-04 9.99960834e-01 2.87843158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters 0.022061261872986713 Centerline is valid? [True, True] Translation: X:60.09, Y:-3.63, Z:0.29 [[ 9.99636172e-01 2.55423866e-02 8.66665723e-03 6.00851040e+01] [-2.55418124e-02 9.99673739e-01 -1.76958502e-04 -3.62763801e+00] [-8.66834958e-03 -4.44680127e-05 9.99962428e-01 2.86817064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters 0.021990155734683353 Centerline is valid? [True, True] Translation: X:60.15, Y:-3.62, Z:0.29 [[ 9.99778884e-01 1.96419510e-02 7.50842993e-03 6.01469309e+01] [-1.96413433e-02 9.99807078e-01 -1.54674740e-04 -3.62350768e+00] [-7.51001951e-03 7.16488929e-06 9.99971799e-01 2.89137421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters 0.022365276887401548 Centerline is valid? [True, True] Translation: X:60.21, Y:-3.62, Z:0.29 [[ 9.99924294e-01 1.07212134e-02 6.03837674e-03 6.02092585e+01] [-1.07206313e-02 9.99942524e-01 -1.28751423e-04 -3.61991278e+00] [-6.03941005e-03 6.40064646e-05 9.99981761e-01 2.91965325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters 0.022952540602146874 Centerline is valid? [True, True] Translation: X:60.27, Y:-3.62, Z:0.29 [[ 9.99972570e-01 5.50230752e-03 4.95811145e-03 6.02718938e+01] [-5.50183838e-03 9.99984859e-01 -1.08254866e-04 -3.62444366e+00] [-4.95863203e-03 8.09731690e-05 9.99987703e-01 2.90213932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters 0.022910378746854344 Centerline is valid? [True, True] Translation: X:60.33, Y:-3.63, Z:0.29 [[ 9.99977382e-01 6.04028734e-03 2.95815246e-03 6.03336825e+01] [-6.04012359e-03 9.99981756e-01 -6.42842371e-05 -3.63077101e+00] [-2.95848678e-03 4.64151766e-05 9.99995623e-01 2.92258727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters 0.022712281921604044 Centerline is valid? [True, True] Translation: X:60.40, Y:-3.63, Z:0.29 [[ 9.99960502e-01 8.73370163e-03 -1.64806970e-03 6.03951871e+01] [-8.73365539e-03 9.99961860e-01 3.52498645e-05 -3.63367786e+00] [ 1.64831470e-03 -2.08547994e-05 9.99998641e-01 2.92196927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters 0.02256269712814199 Centerline is valid? [True, True] Translation: X:60.45, Y:-3.64, Z:0.29 [[ 9.99939150e-01 1.04906217e-02 3.41223886e-03 6.04525034e+01] [-1.04904462e-02 9.99944971e-01 -6.93515443e-05 -3.64107052e+00] [-3.41277863e-03 3.35514162e-05 9.99994176e-01 2.92100532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters 0.02242523373479467 Centerline is valid? [True, True] Translation: X:60.51, Y:-3.65, Z:0.29 [[ 9.99924924e-01 1.05095172e-02 6.30052075e-03 6.05138678e+01] [-1.05088847e-02 9.99944771e-01 -1.33479526e-04 -3.64612206e+00] [-6.30157559e-03 6.72580581e-05 9.99980143e-01 2.93948582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters 0.022700397012621783 Centerline is valid? [True, True] Translation: X:60.58, Y:-3.65, Z:0.29 [[ 9.99944420e-01 8.90910825e-03 5.63773384e-03 6.05759169e+01] [-8.90857045e-03 9.99960311e-01 -1.20498677e-04 -3.65195959e+00] [-5.63858362e-03 7.02678304e-05 9.99984101e-01 2.94919590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters 0.023248453476133756 Centerline is valid? [True, True] Translation: X:60.64, Y:-3.66, Z:0.29 [[ 9.99970368e-01 6.16047907e-03 4.61650650e-03 6.06382751e+01] [-6.16008599e-03 9.99981022e-01 -9.93619407e-05 -3.66239113e+00] [-4.61703101e-03 7.09209194e-05 9.99989339e-01 2.85581692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters 0.02268821785239107 Centerline is valid? [True, True] Translation: X:60.70, Y:-3.66, Z:0.29 [[ 9.99950890e-01 9.62674929e-03 2.35458189e-03 6.07006143e+01] [-9.62665520e-03 9.99953661e-01 -5.12892102e-05 -3.66309777e+00] [-2.35496653e-03 2.86199433e-05 9.99997227e-01 2.91747916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters 0.021804196048670614 Centerline is valid? [True, True] Translation: X:60.76, Y:-3.67, Z:0.29 [[ 9.99753797e-01 2.18751920e-02 3.71778426e-03 6.07615324e+01] [-2.18750448e-02 9.99760709e-01 -8.02577493e-05 -3.66853796e+00] [-3.71865028e-03 -1.08870785e-06 9.99993086e-01 2.93661862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters 0.022218367689934973 Centerline is valid? [True, True] Translation: X:60.82, Y:-3.68, Z:0.29 [[ 9.99504090e-01 3.00033056e-02 9.55910840e-03 6.08212777e+01] [-3.00027170e-02 9.99549796e-01 -2.05006969e-04 -3.67555091e+00] [-9.56095574e-03 -8.18939202e-05 9.99954290e-01 2.92067813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters 0.022585920067084923 Centerline is valid? [True, True] Translation: X:60.88, Y:-3.68, Z:0.29 [[ 9.99264606e-01 3.62264523e-02 1.25654823e-02 6.08826303e+01] [-3.62259075e-02 9.99343590e-01 -2.71038930e-04 -3.67639794e+00] [-1.25670530e-02 -1.84356391e-04 9.99921014e-01 2.94139952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters 0.022486206631474156 Centerline is valid? [True, True] Translation: X:60.94, Y:-3.67, Z:0.30 [[ 9.99310151e-01 3.65913587e-02 6.34781183e-03 6.09448393e+01] [-3.65912187e-02 9.99330308e-01 -1.38233711e-04 -3.66949134e+00] [-6.34861891e-03 -9.41358204e-05 9.99979843e-01 2.96874542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters 0.02252280855749022 Centerline is valid? [True, True] Translation: X:61.00, Y:-3.67, Z:0.30 [[ 9.99369957e-01 3.45185835e-02 8.25570356e-03 6.10035457e+01] [-3.45183331e-02 9.99404050e-01 -1.72855369e-04 -3.66896937e+00] [-8.25675029e-03 -1.12226663e-04 9.99965906e-01 2.95404677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters 0.022209266705542713 Centerline is valid? [True, True] Translation: X:61.06, Y:-3.67, Z:0.30 [[ 9.99412429e-01 3.36357686e-02 6.59025354e-03 6.10643547e+01] [-3.36355778e-02 9.99434154e-01 -1.39823317e-04 -3.67088109e+00] [-6.59122754e-03 -8.19258251e-05 9.99978274e-01 2.99711908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters 0.022399235606370846 Centerline is valid? [True, True] Translation: X:61.12, Y:-3.67, Z:0.30 [[ 9.99399596e-01 3.37278266e-02 7.92975152e-03 6.11243562e+01] [-3.37275599e-02 9.99431050e-01 -1.67398484e-04 -3.66649072e+00] [-7.93088588e-03 -1.00153192e-04 9.99968545e-01 3.00269969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters 0.022339342892569964 Centerline is valid? [True, True] Translation: X:61.19, Y:-3.67, Z:0.30 [[ 9.99331229e-01 3.56700016e-02 8.04649507e-03 6.11852799e+01] [-3.56697872e-02 9.99363616e-01 -1.70195913e-04 -3.67005630e+00] [-8.04744530e-03 -1.16934676e-04 9.99967612e-01 2.98174315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters 0.022264213610079953 Centerline is valid? [True, True] Translation: X:61.25, Y:-3.66, Z:0.30 [[ 9.99311990e-01 3.68431394e-02 4.25778991e-03 6.12463136e+01] [-3.68430900e-02 9.99321059e-01 -9.00588932e-05 -3.66359681e+00] [-4.25821717e-03 -6.68732049e-05 9.99990932e-01 2.99194198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters 0.022008161998629535 Centerline is valid? [True, True] Translation: X:61.30, Y:-3.67, Z:0.30 [[ 9.99457879e-01 3.28045884e-02 2.79397035e-03 6.13046481e+01] [-3.28045614e-02 9.99461784e-01 -5.55207154e-05 -3.67469069e+00] [-2.79428792e-03 -3.61643552e-05 9.99996095e-01 2.98946315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters 0.021605361248439356 Centerline is valid? [True, True] Translation: X:61.36, Y:-3.67, Z:0.30 [[ 9.99603187e-01 2.74421771e-02 6.35575161e-03 6.13628469e+01] [-2.74419333e-02 9.99623391e-01 -1.25583539e-04 -3.67120340e+00] [-6.35680426e-03 -4.88804064e-05 9.99979794e-01 3.01645430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters 0.021513969333139937 Centerline is valid? [True, True] Translation: X:61.42, Y:-3.67, Z:0.30 [[ 9.99714124e-01 2.24526351e-02 8.21890400e-03 6.14233869e+01] [-2.24520307e-02 9.99747908e-01 -1.65799284e-04 -3.66604006e+00] [-8.22055470e-03 -1.87791993e-05 9.99966210e-01 2.97018039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters 0.02142772942116311 Centerline is valid? [True, True] Translation: X:61.49, Y:-3.67, Z:0.30 [[ 9.99701448e-01 2.32316802e-02 7.56999495e-03 6.14860447e+01] [-2.32311776e-02 9.99730108e-01 -1.54331609e-04 -3.66533125e+00] [-7.57153725e-03 -2.15743641e-05 9.99971335e-01 2.98564112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters 0.02135465566563292 Centerline is valid? [True, True] Translation: X:61.55, Y:-3.67, Z:0.30 [[ 9.99652491e-01 2.55230996e-02 6.59300354e-03 6.15472998e+01] [-2.55227670e-02 9.99674232e-01 -1.34595899e-04 -3.66879964e+00] [-6.59429105e-03 -3.37225674e-05 9.99978257e-01 2.99276469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters 0.021575771109558394 Centerline is valid? [True, True] Translation: X:61.61, Y:-3.67, Z:0.30 [[ 9.99608038e-01 2.72892478e-02 6.25043064e-03 6.16073997e+01] [-2.72889853e-02 9.99627578e-01 -1.27295408e-04 -3.66931667e+00] [-6.25157664e-03 -4.33223970e-05 9.99980458e-01 2.99424156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters 0.021633378655757672 Centerline is valid? [True, True] Translation: X:61.67, Y:-3.67, Z:0.30 [[ 9.99651674e-01 2.47467182e-02 9.17224384e-03 6.16678467e+01] [-2.47460459e-02 9.99693752e-01 -1.86800653e-04 -3.67015596e+00] [-9.17405756e-03 -4.02411817e-05 9.99957917e-01 2.96870405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters 0.021502726577531238 Centerline is valid? [True, True] Translation: X:61.73, Y:-3.67, Z:0.30 [[ 9.99757205e-01 2.07198146e-02 7.49796841e-03 6.17304389e+01] [-2.07192398e-02 9.99785322e-01 -1.54330826e-04 -3.67141899e+00] [-7.49955646e-03 -1.05884983e-06 9.99971878e-01 3.00573794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters 0.021459825827926896 Centerline is valid? [True, True] Translation: X:61.79, Y:-3.66, Z:0.30 [[ 9.99827350e-01 1.71809847e-02 7.07706502e-03 6.17926785e+01] [-1.71803774e-02 9.99852396e-01 -1.46601366e-04 -3.66482915e+00] [-7.07853917e-03 2.49894073e-05 9.99974947e-01 3.02333047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters 0.02186074586987872 Centerline is valid? [True, True] Translation: X:61.85, Y:-3.67, Z:0.30 [[ 9.99899123e-01 1.35360841e-02 4.30333670e-03 6.18544480e+01] [-1.35358223e-02 9.99908383e-01 -8.99458869e-05 -3.67248606e+00] [-4.30415996e-03 3.16876124e-05 9.99990737e-01 2.98226808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters 0.021993038695012918 Centerline is valid? [True, True] Translation: X:61.92, Y:-3.68, Z:0.30 [[ 9.99923241e-01 1.08644340e-02 5.95625764e-03 6.19155557e+01] [-1.08638864e-02 9.99940979e-01 -1.24294059e-04 -3.67686886e+00] [-5.95725647e-03 5.95764117e-05 9.99982254e-01 3.01147872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters 0.022237685416323063 Centerline is valid? [True, True] Translation: X:61.98, Y:-3.68, Z:0.30 [[ 9.99861971e-01 9.01269260e-03 1.39574402e-02 6.19771089e+01] [-9.00948997e-03 9.99959371e-01 -2.92318628e-04 -3.68138161e+00] [-1.39595077e-02 1.66528863e-04 9.99902547e-01 3.03197267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters 0.022712450190325646 Centerline is valid? [True, True] Translation: X:62.04, Y:-3.69, Z:0.30 [[ 9.99829730e-01 8.18534410e-03 1.65381916e-02 6.20396255e+01] [-8.18069895e-03 9.99966477e-01 -3.48506890e-04 -3.68544121e+00] [-1.65404898e-02 2.13153583e-04 9.99863174e-01 3.00511516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters 0.02303735679936685 Centerline is valid? [True, True] Translation: X:62.10, Y:-3.69, Z:0.30 [[ 9.99930299e-01 4.46843693e-03 1.09284540e-02 6.21022902e+01] [-4.46615032e-03 9.99989999e-01 -2.33630364e-04 -3.68736937e+00] [-1.09293886e-02 1.84805961e-04 9.99940255e-01 2.97011165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters 0.023920720101162016 Centerline is valid? [True, True] Translation: X:62.16, Y:-3.70, Z:0.30 [[ 9.99984062e-01 -2.15762163e-03 5.21737487e-03 6.21638565e+01] [ 2.15825286e-03 9.99997664e-01 -1.15359333e-04 -3.70109440e+00] [-5.21711378e-03 1.26617909e-04 9.99986383e-01 3.00913549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters 0.02350613260646956 Centerline is valid? [True, True] Translation: X:62.23, Y:-3.71, Z:0.30 [[ 9.99959582e-01 1.23129443e-03 8.90613050e-03 6.22263739e+01] [-1.22960298e-03 9.99999225e-01 -1.95392882e-04 -3.70857001e+00] [-8.90636418e-03 1.84433979e-04 9.99960321e-01 3.03691856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters 0.022410519303458654 Centerline is valid? [True, True] Translation: X:62.29, Y:-3.71, Z:0.30 [[ 9.99875652e-01 1.15447920e-02 1.07423505e-02 6.22885499e+01] [-1.15429150e-02 9.99933350e-01 -2.36711651e-04 -3.71188920e+00] [-1.07443673e-02 1.12684178e-04 9.99942271e-01 3.03589645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters 0.021967321128964778 Centerline is valid? [True, True] Translation: X:62.35, Y:-3.72, Z:0.30 [[ 9.99822640e-01 1.80520640e-02 5.36756923e-03 6.23508218e+01] [-1.80516838e-02 9.99837048e-01 -1.19280790e-04 -3.71638184e+00] [-5.36884784e-03 2.23659716e-05 9.99985587e-01 3.01093482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters 0.021727206490353538 Centerline is valid? [True, True] Translation: X:62.41, Y:-3.73, Z:0.30 [[ 9.99765929e-01 2.16293103e-02 -5.10519274e-04 6.24123895e+01] [-2.16293076e-02 9.99766059e-01 1.08502962e-05 -3.72954465e+00] [ 5.10634527e-04 1.94421947e-07 9.99999870e-01 3.02938567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters 0.021880962719753747 Centerline is valid? [True, True] Translation: X:62.47, Y:-3.73, Z:0.31 [[ 9.99801291e-01 1.99194357e-02 -7.70578294e-04 6.24699163e+01] [-1.99194267e-02 9.99801588e-01 1.93515547e-05 -3.73085976e+00] [ 7.70810875e-04 -3.99823153e-06 9.99999703e-01 3.06093517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters 0.0220491493040265 Centerline is valid? [True, True] Translation: X:62.53, Y:-3.73, Z:0.31 [[ 9.99873473e-01 1.50698535e-02 5.09279404e-03 6.25290939e+01] [-1.50695102e-02 9.99886443e-01 -1.05767328e-04 -3.72920655e+00] [-5.09380962e-03 2.90080337e-05 9.99987026e-01 3.07550689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters 0.022629076389805772 Centerline is valid? [True, True] Translation: X:62.59, Y:-3.74, Z:0.31 [[ 9.99844377e-01 1.08703111e-02 1.38945530e-02 6.25909153e+01] [-1.08672297e-02 9.99940906e-01 -2.97249381e-04 -3.73714224e+00] [-1.38969631e-02 1.46207823e-04 9.99903422e-01 3.06097147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters 0.022724755718005783 Centerline is valid? [True, True] Translation: X:62.65, Y:-3.74, Z:0.30 [[ 9.99908891e-01 9.59633774e-03 9.49310543e-03 6.26532726e+01] [-9.59482867e-03 9.99953948e-01 -2.04496882e-04 -3.74245513e+00] [-9.49463067e-03 1.13393531e-04 9.99954919e-01 3.03570443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters 0.022392243798105626 Centerline is valid? [True, True] Translation: X:62.72, Y:-3.75, Z:0.31 [[ 9.99888584e-01 1.28267848e-02 7.63493677e-03 6.27156410e+01] [-1.28258944e-02 9.99917731e-01 -1.65568114e-04 -3.75232421e+00] [-7.63643236e-03 6.76247735e-05 9.99970840e-01 3.05011782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters 0.02217781095253858 Centerline is valid? [True, True] Translation: X:62.78, Y:-3.76, Z:0.31 [[ 9.99851028e-01 1.63095307e-02 5.64993381e-03 6.27775198e+01] [-1.63090935e-02 9.99866990e-01 -1.23436277e-04 -3.75535543e+00] [-5.65119550e-03 3.12725898e-05 9.99984031e-01 3.07169369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters 0.022470325384393496 Centerline is valid? [True, True] Translation: X:62.84, Y:-3.77, Z:0.30 [[ 9.99765769e-01 1.89149101e-02 1.05182405e-02 6.28394680e+01] [-1.89135308e-02 9.99821097e-01 -2.30594313e-04 -3.76894399e+00] [-1.05207204e-02 3.16032349e-05 9.99944655e-01 3.01792563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters 0.02248695957032919 Centerline is valid? [True, True] Translation: X:62.90, Y:-3.77, Z:0.30 [[ 9.99737770e-01 2.05379438e-02 1.01284132e-02 6.29020405e+01] [-2.05367345e-02 9.99789074e-01 -2.23395598e-04 -3.77168246e+00] [-1.01308649e-02 1.53324846e-05 9.99948681e-01 3.02868643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters 0.0224306849597789 Centerline is valid? [True, True] Translation: X:62.96, Y:-3.77, Z:0.31 [[ 9.99769868e-01 2.02977707e-02 6.94340077e-03 6.29644023e+01] [-2.02971888e-02 9.99793979e-01 -1.54267643e-04 -3.77247770e+00] [-6.94510157e-03 1.33006251e-05 9.99975882e-01 3.05079611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters 0.02228620736246673 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.77, Z:0.31 [[ 9.99722771e-01 2.24371074e-02 7.13843765e-03 6.30268489e+01] [-2.24365401e-02 9.99748256e-01 -1.59543593e-04 -3.77382378e+00] [-7.14022029e-03 -6.62479802e-07 9.99974508e-01 3.09101188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters 0.022334074482584235 Centerline is valid? [True, True] Translation: X:63.09, Y:-3.77, Z:0.31 [[ 9.99648982e-01 2.55091067e-02 7.15525762e-03 6.30889083e+01] [-2.55086087e-02 9.99674590e-01 -1.60868305e-04 -3.77351233e+00] [-7.15703283e-03 -2.17088300e-05 9.99974388e-01 3.07202024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters 0.02246230765476308 Centerline is valid? [True, True] Translation: X:63.15, Y:-3.78, Z:0.31 [[ 9.99677610e-01 2.42976515e-02 7.36888532e-03 6.31510056e+01] [-2.42970833e-02 9.99704768e-01 -1.66624088e-04 -3.77886743e+00] [-7.37075836e-03 -1.24720501e-05 9.99972836e-01 3.05911848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters 0.022464062527734092 Centerline is valid? [True, True] Translation: X:63.21, Y:-3.78, Z:0.31 [[ 9.99726335e-01 2.17389724e-02 8.64128054e-03 6.32133130e+01] [-2.17380867e-02 9.99763681e-01 -1.96416617e-04 -3.77608458e+00] [-8.64350833e-03 8.51795845e-06 9.99962644e-01 3.07439259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters 0.02256533937828763 Centerline is valid? [True, True] Translation: X:63.28, Y:-3.78, Z:0.31 [[ 9.99831333e-01 1.78687791e-02 4.24407262e-03 6.32756918e+01] [-1.78685268e-02 9.99840340e-01 -9.73597210e-05 -3.78203055e+00] [-4.24513471e-03 2.15079742e-05 9.99990989e-01 3.06840388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters 0.022452510367826733 Centerline is valid? [True, True] Translation: X:63.34, Y:-3.79, Z:0.31 [[ 9.99839007e-01 1.75101357e-02 3.91857949e-03 6.33374390e+01] [-1.75099179e-02 9.99846686e-01 -8.98682998e-05 -3.78688042e+00] [-3.91955232e-03 2.12398263e-05 9.99992318e-01 3.06166100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters 0.02236877001056014 Centerline is valid? [True, True] Translation: X:63.40, Y:-3.79, Z:0.31 [[ 9.99798026e-01 1.92571862e-02 5.75039947e-03 6.33985872e+01] [-1.92567449e-02 9.99814563e-01 -1.32095488e-04 -3.79243581e+00] [-5.75187692e-03 2.13348326e-05 9.99983458e-01 3.10058151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters 0.022544532362588784 Centerline is valid? [True, True] Translation: X:63.46, Y:-3.80, Z:0.31 [[ 9.99837096e-01 1.74468513e-02 4.62488057e-03 6.34605413e+01] [-1.74465419e-02 9.99847792e-01 -1.07247644e-04 -3.79681325e+00] [-4.62604776e-03 2.65420002e-05 9.99989299e-01 3.09057252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters 0.022562287746175053 Centerline is valid? [True, True] Translation: X:63.52, Y:-3.80, Z:0.31 [[ 9.99809296e-01 1.80039441e-02 7.56509105e-03 6.35226005e+01] [-1.80031277e-02 9.99837915e-01 -1.76006423e-04 -3.80036102e+00] [-7.56703367e-03 3.97775575e-05 9.99971369e-01 3.07349243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters 0.022693119701563805 Centerline is valid? [True, True] Translation: X:63.59, Y:-3.81, Z:0.31 [[ 9.99870955e-01 1.44079003e-02 7.10528037e-03 6.35850802e+01] [-1.44070824e-02 9.99896199e-01 -1.66273183e-04 -3.80780141e+00] [-7.10693849e-03 6.38853661e-05 9.99974743e-01 3.10769156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters 0.023019406080129763 Centerline is valid? [True, True] Translation: X:63.65, Y:-3.81, Z:0.31 [[ 9.99916873e-01 1.07217338e-02 7.16186293e-03 6.36472273e+01] [-1.07208018e-02 9.99942516e-01 -1.68511312e-04 -3.81351354e+00] [-7.16325797e-03 9.17163911e-05 9.99974339e-01 3.09757568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters 0.022960203553331827 Centerline is valid? [True, True] Translation: X:63.71, Y:-3.82, Z:0.31 [[ 9.99924993e-01 1.07191811e-02 5.92509218e-03 6.37089114e+01] [-1.07185380e-02 9.99942545e-01 -1.40284729e-04 -3.82371310e+00] [-5.92625549e-03 7.67658808e-05 9.99982437e-01 3.09909999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters 0.022493508806090256 Centerline is valid? [True, True] Translation: X:63.77, Y:-3.83, Z:0.31 [[ 9.99863377e-01 1.63403974e-02 2.49391287e-03 6.37709125e+01] [-1.63402992e-02 9.99866487e-01 -5.97457424e-05 -3.83006898e+00] [-2.49455617e-03 1.89862973e-05 9.99996888e-01 3.10935972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters 0.022262900560415834 Centerline is valid? [True, True] Translation: X:63.83, Y:-3.84, Z:0.31 [[ 9.99581200e-01 2.73767731e-02 9.37746429e-03 6.38320154e+01] [-2.73758843e-02 9.99625185e-01 -2.23151183e-04 -3.83817971e+00] [-9.38005863e-03 -3.36586493e-05 9.99956006e-01 3.12435924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters 0.022560995534162798 Centerline is valid? [True, True] Translation: X:63.89, Y:-3.85, Z:0.31 [[ 9.99417182e-01 3.23355491e-02 1.09411166e-02 6.38941283e+01] [-3.23346174e-02 9.99477065e-01 -2.62090216e-04 -3.84833508e+00] [-1.09438699e-02 -9.18393538e-05 9.99940110e-01 3.14507251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters 0.022680538241384336 Centerline is valid? [True, True] Translation: X:63.96, Y:-3.85, Z:0.31 [[ 9.99308871e-01 3.68202457e-02 5.10385101e-03 6.39557844e+01] [-3.68200962e-02 9.99321903e-01 -1.23282781e-04 -3.85282329e+00] [-5.10492941e-03 -6.47267085e-05 9.99986968e-01 3.13529400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters 0.0231563964661227 Centerline is valid? [True, True] Translation: X:64.02, Y:-3.85, Z:0.31 [[ 9.99177889e-01 4.03943829e-02 3.44099227e-03 6.40170671e+01] [-4.03943357e-02 9.99183812e-01 -8.32319204e-05 -3.85164517e+00] [-3.44154588e-03 -5.58331025e-05 9.99994076e-01 3.11359260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters 0.023125063214359885 Centerline is valid? [True, True] Translation: X:64.08, Y:-3.86, Z:0.32 [[ 9.99030627e-01 4.39207401e-02 2.96207950e-03 6.40777035e+01] [-4.39207214e-02 9.99035017e-01 -7.13605114e-05 -3.85821868e+00] [-2.96235535e-03 -5.88053323e-05 9.99995610e-01 3.15116360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters 0.02372672648589891 Centerline is valid? [True, True] Translation: X:64.14, Y:-3.86, Z:0.32 [[ 9.98841011e-01 4.80223893e-02 3.23815098e-03 6.41373486e+01] [-4.80223904e-02 9.98846256e-01 -7.74604732e-05 -3.85705342e+00] [-3.23813483e-03 -7.81330535e-05 9.99994754e-01 3.15081777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters 0.02414390175446655 Centerline is valid? [True, True] Translation: X:64.20, Y:-3.85, Z:0.31 [[ 9.98604486e-01 5.27065291e-02 3.33186992e-03 6.41970281e+01] [-5.27065570e-02 9.98610040e-01 -7.94925266e-05 -3.85218411e+00] [-3.33142853e-03 -9.62297980e-05 9.99994446e-01 3.14553771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters 0.023872591689922812 Centerline is valid? [True, True] Translation: X:64.26, Y:-3.85, Z:0.32 [[ 9.98728073e-01 5.01939817e-02 4.77504209e-03 6.42559527e+01] [-5.01940301e-02 9.98739479e-01 -1.09783777e-04 -3.84543043e+00] [-4.77453354e-03 -1.30034467e-04 9.99988593e-01 3.15786240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters 0.023183217634789068 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.85, Z:0.32 [[ 9.99047998e-01 4.32158926e-02 5.95694732e-03 6.43152080e+01] [-4.32158306e-02 9.99065750e-01 -1.39182932e-04 -3.84812673e+00] [-5.95739696e-03 -1.18383997e-04 9.99982248e-01 3.16435504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters 0.022356170345780968 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.85, Z:0.32 [[ 9.99417816e-01 3.28817099e-02 9.10062339e-03 6.43761919e+01] [-3.28811333e-02 9.99459247e-01 -2.13011567e-04 -3.85074845e+00] [-9.10270638e-03 -8.63512558e-05 9.99958566e-01 3.16918537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters 0.022026831859492245 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.85, Z:0.32 [[ 9.99668735e-01 2.42792810e-02 8.54027872e-03 6.44387034e+01] [-2.42784433e-02 9.99705215e-01 -2.01768573e-04 -3.84638418e+00] [-8.54265997e-03 -5.64293792e-06 9.99963511e-01 3.16550350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters 0.022295614429179635 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.85, Z:0.31 [[ 9.99800459e-01 1.92520440e-02 5.32924156e-03 6.45008625e+01] [-1.92516413e-02 9.99814662e-01 -1.26857337e-04 -3.84789340e+00] [-5.33069611e-03 2.42353768e-05 9.99985791e-01 3.12099314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters 0.0218887446922888 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.85, Z:0.31 [[ 9.99792724e-01 1.97925095e-02 4.77135523e-03 6.45632156e+01] [-1.97921896e-02 9.99804109e-01 -1.14266493e-04 -3.84936561e+00] [-4.77268218e-03 1.98072408e-05 9.99988610e-01 3.14325451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters 0.022073386494617115 Centerline is valid? [True, True] Translation: X:64.62, Y:-3.85, Z:0.32 [[ 9.99698465e-01 2.33100234e-02 7.72147558e-03 6.46241439e+01] [-2.33092922e-02 9.99728284e-01 -1.84690605e-04 -3.85156538e+00] [-7.72368268e-03 4.65278351e-06 9.99970172e-01 3.16277974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters 0.022081167390830204 Centerline is valid? [True, True] Translation: X:64.69, Y:-3.85, Z:0.32 [[ 9.99635322e-01 2.56184389e-02 8.53922731e-03 6.46859800e+01] [-2.56176167e-02 9.99671794e-01 -2.05674407e-04 -3.85398158e+00] [-8.54169374e-03 -1.31552497e-05 9.99963519e-01 3.16831124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters 0.02211461561372193 Centerline is valid? [True, True] Translation: X:64.75, Y:-3.85, Z:0.32 [[ 9.99616125e-01 2.70679780e-02 5.90989093e-03 6.47479680e+01] [-2.70676036e-02 9.99633595e-01 -1.43341619e-04 -3.85374668e+00] [-5.91160548e-03 -1.66799909e-05 9.99982526e-01 3.16143753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters 0.02199109757049311 Centerline is valid? [True, True] Translation: X:64.81, Y:-3.85, Z:0.32 [[ 9.99603368e-01 2.80273683e-02 2.75195118e-03 6.48091392e+01] [-2.80272902e-02 9.99607156e-01 -6.69523770e-05 -3.85388450e+00] [-2.75274660e-03 -1.02039128e-05 9.99996211e-01 3.18051790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters 0.02197208087879187 Centerline is valid? [True, True] Translation: X:64.87, Y:-3.85, Z:0.32 [[ 9.99602535e-01 2.78596361e-02 4.31420631e-03 6.48693189e+01] [-2.78594475e-02 9.99611845e-01 -1.03813296e-04 -3.85269020e+00] [-4.31542393e-03 -1.64193703e-05 9.99990688e-01 3.18915982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters 0.022039115271439612 Centerline is valid? [True, True] Translation: X:64.93, Y:-3.85, Z:0.32 [[ 9.99755484e-01 2.10232038e-02 6.85549262e-03 6.49311166e+01] [-2.10225578e-02 9.99778988e-01 -1.66285684e-04 -3.84863255e+00] [-6.85747333e-03 2.21250348e-05 9.99976487e-01 3.17618522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters 0.022677679812094446 Centerline is valid? [True, True] Translation: X:64.99, Y:-3.85, Z:0.32 [[ 9.99877006e-01 1.35795026e-02 7.84666144e-03 6.49929562e+01] [-1.35784168e-02 9.99907791e-01 -1.91640007e-04 -3.85497879e+00] [-7.84854028e-03 8.50711973e-05 9.99969196e-01 3.15294379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters 0.02356932179311071 Centerline is valid? [True, True] Translation: X:65.05, Y:-3.85, Z:0.32 [[ 9.99977957e-01 3.51523887e-03 5.63279489e-03 6.50546603e+01] [-3.51449742e-03 9.99993814e-01 -1.41523535e-04 -3.85247434e+00] [-5.63325753e-03 1.21723972e-04 9.99984126e-01 3.17854060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters 0.023885090064010933 Centerline is valid? [True, True] Translation: X:65.12, Y:-3.86, Z:0.32 [[ 9.99990096e-01 9.43050064e-04 4.34961019e-03 6.51165264e+01] [-9.42572656e-04 9.99999550e-01 -1.11807498e-04 -3.85815407e+00] [-4.34971367e-03 1.07706567e-04 9.99990534e-01 3.17795863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters 0.02415780065766857 Centerline is valid? [True, True] Translation: X:65.18, Y:-3.86, Z:0.32 [[ 9.99987516e-01 2.85295108e-04 4.98865512e-03 6.51782692e+01] [-2.84665263e-04 9.99999951e-01 -1.26965067e-04 -3.86094472e+00] [-4.98869110e-03 1.25543385e-04 9.99987549e-01 3.19721607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters 0.023919494968315264 Centerline is valid? [True, True] Translation: X:65.24, Y:-3.87, Z:0.32 [[ 9.99988445e-01 1.52304807e-03 4.55969998e-03 6.52407427e+01] [-1.52253188e-03 9.99998834e-01 -1.16674557e-04 -3.86719631e+00] [-4.55987236e-03 1.09730920e-04 9.99989598e-01 3.20319560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters 0.024412902315221963 Centerline is valid? [True, True] Translation: X:65.30, Y:-3.87, Z:0.32 [[ 9.99976663e-01 -7.00922627e-04 6.79579616e-03 6.53024464e+01] [ 7.02149410e-04 9.99999738e-01 -1.78136780e-04 -3.87369862e+00] [-6.79566951e-03 1.82904287e-04 9.99976892e-01 3.20975318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters 0.024726137723312495 Centerline is valid? [True, True] Translation: X:65.36, Y:-3.88, Z:0.32 [[ 9.99974300e-01 -2.50527907e-03 6.71740217e-03 6.53647162e+01] [ 2.50653806e-03 9.99996843e-01 -1.79008937e-04 -3.87748491e+00] [-6.71693249e-03 1.95841761e-04 9.99977422e-01 3.18859801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters 0.02532193799703747 Centerline is valid? [True, True] Translation: X:65.43, Y:-3.89, Z:0.32 [[ 9.99961943e-01 -5.13554131e-03 7.05261442e-03 6.54266741e+01] [ 5.13701525e-03 9.99986787e-01 -1.90893860e-04 -3.88542110e+00] [-7.05154089e-03 2.27115983e-04 9.99975112e-01 3.17605517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters 0.024115534983786106 Centerline is valid? [True, True] Translation: X:65.49, Y:-3.90, Z:0.32 [[ 9.99985325e-01 9.89340045e-04 5.32641536e-03 6.54883033e+01] [-9.88589767e-04 9.99999501e-01 -1.43490889e-04 -3.89737124e+00] [-5.32655466e-03 1.38223144e-04 9.99985804e-01 3.18766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters 0.02324367164300865 Centerline is valid? [True, True] Translation: X:65.55, Y:-3.91, Z:0.32 [[ 9.99945607e-01 7.61519993e-03 7.12684960e-03 6.55507824e+01] [-7.61401563e-03 9.99970994e-01 -1.93293065e-04 -3.90622321e+00] [-7.12811484e-03 1.39018607e-04 9.99974585e-01 3.19570475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters 0.02223661052514293 Centerline is valid? [True, True] Translation: X:65.61, Y:-3.92, Z:0.32 [[ 9.99792722e-01 1.80739874e-02 9.37255949e-03 6.56130504e+01] [-1.80723864e-02 9.99836648e-01 -2.55496604e-04 -3.91736092e+00] [-9.37564631e-03 8.60591282e-05 9.99956044e-01 3.21324570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters 0.02194984124376253 Centerline is valid? [True, True] Translation: X:65.67, Y:-3.93, Z:0.32 [[ 9.99715965e-01 2.30873668e-02 5.91299596e-03 6.56747952e+01] [-2.30868117e-02 9.99733451e-01 -1.62122616e-04 -3.92602530e+00] [-5.91516284e-03 2.55643431e-05 9.99982505e-01 3.20003288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters 0.021950426517750653 Centerline is valid? [True, True] Translation: X:65.74, Y:-3.93, Z:0.32 [[ 9.99813863e-01 1.88598416e-02 4.06761925e-03 6.57366579e+01] [-1.88595409e-02 9.99822137e-01 -1.12277795e-04 -3.93288445e+00] [-4.06901331e-03 3.55434648e-05 9.99991721e-01 3.24372002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters 0.02187643440595854 Centerline is valid? [True, True] Translation: X:65.80, Y:-3.94, Z:0.33 [[ 9.99820286e-01 1.85114240e-02 4.08937138e-03 6.57989625e+01] [-1.85111150e-02 9.99828648e-01 -1.13408501e-04 -3.94369949e+00] [-4.09077001e-03 3.76892960e-05 9.99991632e-01 3.25278722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters 0.021875814983931423 Centerline is valid? [True, True] Translation: X:65.86, Y:-3.94, Z:0.32 [[ 9.99665609e-01 2.52094323e-02 5.75808552e-03 6.58607922e+01] [-2.52089278e-02 9.99682192e-01 -1.60196344e-04 -3.94466872e+00] [-5.76029401e-03 1.49876139e-05 9.99983409e-01 3.21497489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters 0.0219497411712411 Centerline is valid? [True, True] Translation: X:65.92, Y:-3.95, Z:0.32 [[ 9.99436060e-01 3.17852662e-02 1.08286540e-02 6.59223724e+01] [-3.17838640e-02 9.99494720e-01 -3.01600966e-04 -3.95171844e+00] [-1.08327689e-02 -4.27455831e-05 9.99941323e-01 3.21331192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters 0.022033333924095958 Centerline is valid? [True, True] Translation: X:65.98, Y:-3.96, Z:0.32 [[ 9.99478418e-01 3.12114844e-02 8.29064954e-03 6.59842744e+01] [-3.12106311e-02 9.99512803e-01 -2.32322476e-04 -3.96406877e+00] [-8.29386148e-03 -2.65551028e-05 9.99965605e-01 3.21832045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters 0.021919221657634012 Centerline is valid? [True, True] Translation: X:66.05, Y:-3.97, Z:0.32 [[ 9.99626565e-01 2.67158896e-02 5.74388536e-03 6.60459623e+01] [-2.67154001e-02 9.99643067e-01 -1.61951285e-04 -3.96556629e+00] [-5.74616185e-03 8.44061154e-06 9.99983491e-01 3.21973069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters 0.021759190568028747 Centerline is valid? [True, True] Translation: X:66.11, Y:-3.96, Z:0.33 [[ 9.99615820e-01 2.69768748e-02 6.36092306e-03 6.61079416e+01] [-2.69762747e-02 9.99636058e-01 -1.80140735e-04 -3.96340515e+00] [-6.36346769e-03 8.47752081e-06 9.99979753e-01 3.27117773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters 0.02176665106344885 Centerline is valid? [True, True] Translation: X:66.17, Y:-3.97, Z:0.33 [[ 9.99457143e-01 3.18777214e-02 8.32043973e-03 6.61700120e+01] [-3.18768567e-02 9.99491776e-01 -2.36559495e-04 -3.96975187e+00] [-8.32375206e-03 -2.87983881e-05 9.99965357e-01 3.28561290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters 0.022194777199776607 Centerline is valid? [True, True] Translation: X:66.23, Y:-3.98, Z:0.33 [[ 9.99255560e-01 3.75356265e-02 8.91079034e-03 6.62317007e+01] [-3.75348492e-02 9.99295287e-01 -2.54506933e-04 -3.97691409e+00] [-8.91406386e-03 -8.01477032e-05 9.99960266e-01 3.25252496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters 0.02215220958916864 Centerline is valid? [True, True] Translation: X:66.29, Y:-3.98, Z:0.33 [[ 9.99217282e-01 3.93005513e-02 4.50442792e-03 6.62938036e+01] [-3.93003663e-02 9.99227434e-01 -1.29609405e-04 -3.97560967e+00] [-4.50604167e-03 -4.75177099e-05 9.99989847e-01 3.26178419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters 0.021939193622390926 Centerline is valid? [True, True] Translation: X:66.36, Y:-3.98, Z:0.33 [[ 9.99242092e-01 3.88365108e-02 2.63953599e-03 6.63556600e+01] [-3.88364440e-02 9.99245578e-01 -7.65909338e-05 -3.97588485e+00] [-2.64051919e-03 -2.59773066e-05 9.99996513e-01 3.27300760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters 0.02208686171890876 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.98, Z:0.33 [[ 9.99155969e-01 4.09782611e-02 2.85146392e-03 6.64173871e+01] [-4.09781924e-02 9.99160038e-01 -8.25318166e-05 -3.97861549e+00] [-2.85245081e-03 -3.43856798e-05 9.99995931e-01 3.27804855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters 0.022157510951134652 Centerline is valid? [True, True] Translation: X:66.48, Y:-3.98, Z:0.33 [[ 9.99135182e-01 4.14237081e-02 3.60056326e-03 6.64785595e+01] [-4.14236009e-02 9.99141669e-01 -1.04368474e-04 -3.97977651e+00] [-3.60179611e-03 -4.48700811e-05 9.99993513e-01 3.28676809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters 0.022054983878169943 Centerline is valid? [True, True] Translation: X:66.54, Y:-3.98, Z:0.33 [[ 9.99209135e-01 3.96640320e-02 2.80520302e-03 6.65401738e+01] [-3.96639593e-02 9.99213072e-01 -8.15783575e-05 -3.97748178e+00] [-2.80623125e-03 -2.97516182e-05 9.99996062e-01 3.29340813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters 0.022002191628509055 Centerline is valid? [True, True] Translation: X:66.60, Y:-3.98, Z:0.33 [[ 9.99321421e-01 3.66965939e-02 3.17130800e-03 6.66012016e+01] [-3.66964854e-02 9.99326453e-01 -9.24011918e-05 -3.97813854e+00] [-3.17256278e-03 -2.40373673e-05 9.99994967e-01 3.28433833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters 0.021814235225598437 Centerline is valid? [True, True] Translation: X:66.66, Y:-3.97, Z:0.33 [[ 9.99413909e-01 3.41733577e-02 2.00502279e-03 6.66623469e+01] [-3.41733088e-02 9.99415920e-01 -5.86832915e-05 -3.97441200e+00] [-2.00585710e-03 -9.86936511e-06 9.99997988e-01 3.31087447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters 0.0218325839648654 Centerline is valid? [True, True] Translation: X:66.72, Y:-3.97, Z:0.33 [[ 9.99632435e-01 2.70959355e-02 -8.97751315e-04 6.67228467e+01] [-2.70959229e-02 9.99632838e-01 2.61213463e-05 -3.96929800e+00] [ 8.98129477e-04 -1.78634452e-06 9.99999597e-01 3.30379922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters 0.022329081811038532 Centerline is valid? [True, True] Translation: X:66.78, Y:-3.97, Z:0.33 [[ 9.99838138e-01 1.78085592e-02 2.55997108e-03 6.67819375e+01] [-1.78084360e-02 9.99841415e-01 -7.09347391e-05 -3.97100332e+00] [-2.56082835e-03 2.53341763e-05 9.99996721e-01 3.28709713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters 0.02280522534344878 Centerline is valid? [True, True] Translation: X:66.84, Y:-3.97, Z:0.33 [[ 9.99935807e-01 1.12138235e-02 1.62239015e-03 6.68433008e+01] [-1.12137622e-02 9.99937123e-01 -4.68828615e-05 -3.97474953e+00] [-1.62281388e-03 2.86867545e-05 9.99998683e-01 3.31425480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters 0.023485724649836275 Centerline is valid? [True, True] Translation: X:66.90, Y:-3.98, Z:0.33 [[ 9.99982953e-01 5.74522612e-03 -1.04248727e-03 6.69044905e+01] [-5.74519832e-03 9.99983496e-01 2.96555291e-05 -3.97804657e+00] [ 1.04264044e-03 -2.36657274e-05 9.99999456e-01 3.31845541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters 0.023690287977274 Centerline is valid? [True, True] Translation: X:66.96, Y:-3.99, Z:0.33 [[ 9.99987617e-01 4.66076213e-03 1.74427968e-03 6.69643383e+01] [-4.66068247e-03 9.99989138e-01 -4.97275862e-05 -3.98675159e+00] [-1.74449250e-03 4.15974367e-05 9.99998478e-01 3.32917971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters 0.02286411182722932 Centerline is valid? [True, True] Translation: X:67.03, Y:-3.99, Z:0.33 [[ 9.99955065e-01 9.17688730e-03 2.37763810e-03 6.70257099e+01] [-9.17674987e-03 9.99957890e-01 -6.87043680e-05 -3.98817240e+00] [-2.37816848e-03 4.68822906e-05 9.99997171e-01 3.34547045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters 0.022827641338201782 Centerline is valid? [True, True] Translation: X:67.09, Y:-4.01, Z:0.33 [[ 9.99940054e-01 1.08969998e-02 -1.06918181e-03 6.70869057e+01] [-1.08969735e-02 9.99940626e-01 3.03613894e-05 -4.01033997e+00] [ 1.06944918e-03 -1.87087235e-05 9.99999428e-01 3.33032569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters 0.022870602987777558 Centerline is valid? [True, True] Translation: X:67.15, Y:-4.02, Z:0.34 [[ 9.99953049e-01 9.68801329e-03 -2.05231528e-04 6.71462166e+01] [-9.68801222e-03 9.99953070e-01 6.23850501e-06 -4.01916583e+00] [ 2.05282335e-04 -4.24992656e-06 9.99999979e-01 3.36239664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters 0.02178029514572067 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.02, Z:0.34 [[ 9.99769060e-01 2.14555847e-02 1.21830507e-03 6.72062801e+01] [-2.14555579e-02 9.99769802e-01 -3.50767593e-05 -4.02462084e+00] [-1.21877721e-03 8.92924376e-06 9.99999257e-01 3.36206665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters 0.021916416880084312 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.03, Z:0.33 [[ 9.99530135e-01 3.06354408e-02 9.89668692e-04 6.72679365e+01] [-3.06354272e-02 9.99530625e-01 -2.89344784e-05 -4.03267768e+00] [-9.90090586e-04 -1.39804002e-06 9.99999510e-01 3.34929131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters 0.022036196436109677 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.04, Z:0.34 [[ 9.99252782e-01 3.86419083e-02 -8.25493352e-04 6.73293144e+01] [-3.86419020e-02 9.99253123e-01 2.35420921e-05 -4.04366222e+00] [ 8.25786521e-04 8.37413222e-06 9.99999659e-01 3.35018349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters 0.022199106821732675 Centerline is valid? [True, True] Translation: X:67.39, Y:-4.05, Z:0.34 [[ 9.99099025e-01 4.24396851e-02 -1.03458663e-04 6.73902226e+01] [-4.24396850e-02 9.99099031e-01 2.99329401e-06 -4.04515237e+00] [ 1.03492484e-04 1.40015593e-06 9.99999995e-01 3.40644236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters 0.022342522114313566 Centerline is valid? [True, True] Translation: X:67.45, Y:-4.04, Z:0.34 [[ 9.98858353e-01 4.75427278e-02 4.65613369e-03 6.74506912e+01] [-4.75426162e-02 9.98869201e-01 -1.34712519e-04 -4.03739485e+00] [-4.65727314e-03 -8.68060516e-05 9.99989151e-01 3.42028034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters 0.023238415140941115 Centerline is valid? [True, True] Translation: X:67.51, Y:-4.04, Z:0.34 [[ 9.98550206e-01 5.36430472e-02 4.46210223e-03 6.75126766e+01] [-5.36429998e-02 9.98560169e-01 -1.30384084e-04 -4.03850407e+00] [-4.46267175e-03 -1.09165495e-04 9.99990036e-01 3.36018669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters 0.023112827934813698 Centerline is valid? [True, True] Translation: X:67.57, Y:-4.04, Z:0.34 [[ 9.98636209e-01 5.21626592e-02 2.18630129e-03 6.75747701e+01] [-5.21626429e-02 9.98638601e-01 -6.45288886e-05 -4.03537336e+00] [-2.18669086e-03 -4.96023690e-05 9.99997608e-01 3.35471718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters 0.021952988964074164 Centerline is valid? [True, True] Translation: X:67.64, Y:-4.03, Z:0.34 [[ 9.99056111e-01 4.28402504e-02 7.18334386e-03 6.76367927e+01] [-4.28398403e-02 9.99081930e-01 -2.11019209e-04 -4.02558854e+00] [-7.18578917e-03 -9.69132731e-05 9.99974177e-01 3.43361163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters 0.02159294204246408 Centerline is valid? [True, True] Translation: X:67.70, Y:-4.02, Z:0.34 [[ 9.99291381e-01 3.61999549e-02 1.03101142e-02 6.76989880e+01] [-3.61987425e-02 9.99344564e-01 -3.04243396e-04 -4.01991203e+00] [-1.03143701e-02 -6.91853641e-05 9.99946803e-01 3.40011808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters 0.021602278066475657 Centerline is valid? [True, True] Translation: X:67.76, Y:-4.03, Z:0.34 [[ 9.99483772e-01 3.12676840e-02 7.38382978e-03 6.77611442e+01] [-3.12669186e-02 9.99511046e-01 -2.19096927e-04 -4.02521120e+00] [-7.38707008e-03 -1.18857815e-05 9.99972715e-01 3.35124194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters 0.021451926205788008 Centerline is valid? [True, True] Translation: X:67.82, Y:-4.03, Z:0.34 [[ 9.99636350e-01 2.66942306e-02 3.81901511e-03 6.78233005e+01] [-2.66939892e-02 9.99643645e-01 -1.14170711e-04 -4.02534099e+00] [-3.82070188e-03 1.21844445e-05 9.99992701e-01 3.38672447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters 0.021348647958132353 Centerline is valid? [True, True] Translation: X:67.89, Y:-4.02, Z:0.34 [[ 9.99751580e-01 2.22530302e-02 1.25764705e-03 6.78850304e+01] [-2.22529998e-02 9.99752371e-01 -3.82211668e-05 -4.02443227e+00] [-1.25818616e-03 1.02252523e-05 9.99999208e-01 3.44042269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters 0.021667080113655222 Centerline is valid? [True, True] Translation: X:67.95, Y:-4.04, Z:0.34 [[ 9.99811483e-01 1.93631868e-02 1.43708131e-03 6.79464948e+01] [-1.93631446e-02 9.99812516e-01 -4.33306317e-05 -4.03720035e+00] [-1.43765090e-03 1.54960500e-05 9.99998966e-01 3.42040884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters 0.021535289852784915 Centerline is valid? [True, True] Translation: X:68.01, Y:-4.04, Z:0.34 [[ 9.99833466e-01 1.80578062e-02 -2.63741165e-03 6.80081693e+01] [-1.80576613e-02 9.99836944e-01 7.87452222e-05 -4.03976510e+00] [ 2.63840357e-03 -3.11066222e-05 9.99996519e-01 3.40214557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters 0.021202116051495648 Centerline is valid? [True, True] Translation: X:68.07, Y:-4.05, Z:0.34 [[ 9.99724539e-01 2.33302529e-02 -2.55851897e-03 6.80664678e+01] [-2.33301300e-02 9.99727812e-01 7.78838483e-05 -4.04779770e+00] [ 2.55963963e-03 -1.81718140e-05 9.99996724e-01 3.44800349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters 0.021075699539526486 Centerline is valid? [True, True] Translation: X:68.13, Y:-4.06, Z:0.35 [[ 9.99515382e-01 3.10607496e-02 2.05677553e-03 6.81254182e+01] [-3.10606975e-02 9.99517498e-01 -5.72688546e-05 -4.05629768e+00] [-2.05756195e-03 -6.64378150e-06 9.99997883e-01 3.47765952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters 0.021651137611430615 Centerline is valid? [True, True] Translation: X:68.19, Y:-4.06, Z:0.34 [[ 9.99183703e-01 4.01613024e-02 4.35858760e-03 6.81865848e+01] [-4.01611297e-02 9.99193208e-01 -1.27161356e-04 -4.06264387e+00] [-4.36017809e-03 -4.79882475e-05 9.99990493e-01 3.39141107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters 0.022084288430156897 Centerline is valid? [True, True] Translation: X:68.25, Y:-4.07, Z:0.34 [[ 9.98997718e-01 4.47435177e-02 1.25549092e-03 6.82488080e+01] [-4.47435060e-02 9.98998507e-01 -3.73905719e-05 -4.06786865e+00] [-1.25590654e-03 -1.88219697e-05 9.99999211e-01 3.44036174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters 0.02225495533049916 Centerline is valid? [True, True] Translation: X:68.31, Y:-4.06, Z:0.35 [[ 9.98756792e-01 4.98381277e-02 -1.01537983e-03 6.83098512e+01] [-4.98381234e-02 9.98757308e-01 2.95464479e-05 -4.06185768e+00] [ 1.01559056e-03 2.10949096e-05 9.99999484e-01 3.50129005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters 0.022759641462434813 Centerline is valid? [True, True] Translation: X:68.37, Y:-4.06, Z:0.35 [[ 9.98565636e-01 5.34672126e-02 2.81573452e-03 6.83699154e+01] [-5.34671929e-02 9.98569603e-01 -8.23124940e-05 -4.06035793e+00] [-2.81610792e-03 -6.83549927e-05 9.99996032e-01 3.47636594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters 0.023826926020627325 Centerline is valid? [True, True] Translation: X:68.43, Y:-4.06, Z:0.35 [[ 9.98217622e-01 5.96561037e-02 1.65209554e-03 6.84314461e+01] [-5.96561046e-02 9.98218987e-01 -4.87734108e-05 -4.05844594e+00] [-1.65206277e-03 -4.98711060e-05 9.99998634e-01 3.45090785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters 0.024329463245691043 Centerline is valid? [True, True] Translation: X:68.49, Y:-4.05, Z:0.35 [[ 9.97993495e-01 6.31740328e-02 4.24567739e-03 6.84922181e+01] [-6.31740742e-02 9.98002515e-01 -1.24486361e-04 -4.05105088e+00] [-4.24506102e-03 -1.43980160e-04 9.99990979e-01 3.49750410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters 0.02422669546248033 Centerline is valid? [True, True] Translation: X:68.55, Y:-4.04, Z:0.35 [[ 9.97935184e-01 6.38462628e-02 7.00171015e-03 6.85543321e+01] [-6.38463810e-02 9.97959717e-01 -2.06864998e-04 -4.04101963e+00] [-7.00063223e-03 -2.40595994e-04 9.99975466e-01 3.52022719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters 0.02364412902630329 Centerline is valid? [True, True] Translation: X:68.62, Y:-4.03, Z:0.35 [[ 9.98216452e-01 5.91654193e-02 7.96042528e-03 6.86165675e+01] [-5.91654156e-02 9.98248164e-01 -2.36167836e-04 -4.03466891e+00] [-7.96045290e-03 -2.35235250e-04 9.99968287e-01 3.46312369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters 0.022542719075408335 Centerline is valid? [True, True] Translation: X:68.68, Y:-4.03, Z:0.35 [[ 9.98629773e-01 5.11913770e-02 1.08636936e-02 6.86777952e+01] [-5.11908967e-02 9.98688834e-01 -3.22460436e-04 -4.03021219e+00] [-1.08659567e-02 -2.34103624e-04 9.99940936e-01 3.49384216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters 0.022321771028680423 Centerline is valid? [True, True] Translation: X:68.74, Y:-4.03, Z:0.35 [[ 9.98852118e-01 4.74141788e-02 6.80750938e-03 6.87404343e+01] [-4.74138856e-02 9.98875308e-01 -2.04541813e-04 -4.02879374e+00] [-6.80955121e-03 -1.18463448e-04 9.99976808e-01 3.50487158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters 0.02233310445700734 Centerline is valid? [True, True] Translation: X:68.80, Y:-4.02, Z:0.34 [[ 9.98895689e-01 4.68742524e-02 3.19486080e-03 6.88030214e+01] [-4.68741832e-02 9.98900797e-01 -9.65789538e-05 -4.01812839e+00] [-3.19587606e-03 -5.32841897e-05 9.99994892e-01 3.43849932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters 0.022688258261571757 Centerline is valid? [True, True] Translation: X:68.86, Y:-4.02, Z:0.35 [[ 9.98678321e-01 5.08954383e-02 7.15997074e-03 6.88637868e+01] [-5.08952050e-02 9.98703976e-01 -2.14903835e-04 -4.01764469e+00] [-7.16162887e-03 -1.49788377e-04 9.99974344e-01 3.47159008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters 0.022729234314505985 Centerline is valid? [True, True] Translation: X:68.93, Y:-4.01, Z:0.35 [[ 9.98621367e-01 5.22264628e-02 5.26887546e-03 6.89257900e+01] [-5.22263476e-02 9.98635260e-01 -1.59537875e-04 -4.00869781e+00] [-5.27001692e-03 -1.15856190e-04 9.99986107e-01 3.52933400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters 0.022592644174632373 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.00, Z:0.35 [[ 9.98830673e-01 4.72666958e-02 1.01560399e-02 6.89871775e+01] [-4.72660145e-02 9.98882290e-01 -3.07229867e-04 -3.99834915e+00] [-1.01592102e-02 -1.73164917e-04 9.99948379e-01 3.46803647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters 0.022331617722597463 Centerline is valid? [True, True] Translation: X:69.05, Y:-4.00, Z:0.35 [[ 9.99054791e-01 4.19193942e-02 1.15017013e-02 6.90495531e+01] [-4.19181447e-02 9.99120987e-01 -3.49799932e-04 -3.99605030e+00] [-1.15062546e-02 -1.32660682e-04 9.99933792e-01 3.50513464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters 0.021853081125015262 Centerline is valid? [True, True] Translation: X:69.11, Y:-3.99, Z:0.35 [[ 9.99496309e-01 3.10453572e-02 6.58128377e-03 6.91123187e+01] [-3.10447020e-02 9.99517977e-01 -2.01727713e-04 -3.99073724e+00] [-6.58437415e-03 -2.68788897e-06 9.99978323e-01 3.48012028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters 0.022198702331629166 Centerline is valid? [True, True] Translation: X:69.18, Y:-3.98, Z:0.35 [[ 9.99664585e-01 2.34474662e-02 1.09970216e-02 6.91751241e+01] [-2.34451690e-02 9.99725067e-01 -3.37783006e-04 -3.98456195e+00] [-1.10019183e-02 7.98426790e-05 9.99939474e-01 3.48044603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters 0.022846649869234507 Centerline is valid? [True, True] Translation: X:69.24, Y:-3.99, Z:0.35 [[ 9.99829802e-01 1.49622801e-02 1.07933462e-02 6.92373916e+01] [-1.49595575e-02 9.99888044e-01 -3.32939818e-04 -3.98895460e+00] [-1.07971193e-02 1.71419470e-04 9.99941695e-01 3.50636069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters 0.023367921355934823 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.99, Z:0.35 [[ 9.99908868e-01 1.02407979e-02 8.79671005e-03 6.92993084e+01] [-1.02387960e-02 9.99947545e-01 -2.72576248e-04 -3.98974206e+00] [-8.79904002e-03 1.82483688e-04 9.99961271e-01 3.46993030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters 0.02420975636995777 Centerline is valid? [True, True] Translation: X:69.36, Y:-4.00, Z:0.35 [[ 9.99962039e-01 5.20602379e-03 6.98701616e-03 6.93609632e+01] [-5.20460734e-03 9.99986432e-01 -2.20894015e-04 -3.99665497e+00] [-6.98807133e-03 1.84520954e-04 9.99975566e-01 3.47331091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters 0.02581040236110058 Centerline is valid? [True, True] Translation: X:69.42, Y:-4.01, Z:0.35 [[ 9.99969317e-01 -4.24673880e-03 6.58259756e-03 6.94214947e+01] [ 4.24819026e-03 9.99990955e-01 -2.06533303e-04 -4.01163684e+00] [-6.58166092e-03 2.34491092e-04 9.99978313e-01 3.48837340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters 0.026473624703053655 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.02, Z:0.35 [[ 9.99907632e-01 -7.16328182e-03 1.15505052e-02 6.94829671e+01] [ 7.16801876e-03 9.99974241e-01 -3.68759187e-04 -4.01639610e+00] [-1.15475661e-02 4.51519363e-04 9.99933223e-01 3.50105821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters 0.026726036819656077 Centerline is valid? [True, True] Translation: X:69.55, Y:-4.03, Z:0.35 [[ 9.99922944e-01 -7.82459345e-03 9.63756521e-03 6.95453525e+01] [ 7.82797489e-03 9.99969312e-01 -3.13187800e-04 -4.03021699e+00] [-9.63481889e-03 3.88606285e-04 9.99953509e-01 3.48624510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters 0.026023716199262956 Centerline is valid? [True, True] Translation: X:69.61, Y:-4.05, Z:0.35 [[ 9.99944584e-01 -3.91864432e-03 9.77108356e-03 6.96071260e+01] [ 3.92197170e-03 9.99992257e-01 -3.21395412e-04 -4.04782344e+00] [-9.76974848e-03 3.59699515e-04 9.99952210e-01 3.47789581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters 0.0255780302974923 Centerline is valid? [True, True] Translation: X:69.67, Y:-4.06, Z:0.35 [[ 9.99942854e-01 -1.97172976e-03 1.05071522e-02 6.96689241e+01] [ 1.97551575e-03 9.99997987e-01 -3.49959022e-04 -4.06013387e+00] [-1.05064410e-02 3.70696068e-04 9.99944737e-01 3.48966196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters 0.0241865695347531 Centerline is valid? [True, True] Translation: X:69.73, Y:-4.08, Z:0.35 [[ 9.99949770e-01 4.57765514e-03 8.91646011e-03 6.97301713e+01] [-4.57519349e-03 9.99989490e-01 -2.96457977e-04 -4.07655680e+00] [-8.91772348e-03 2.55648555e-04 9.99960204e-01 3.48821051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters 0.022903534560203952 Centerline is valid? [True, True] Translation: X:69.79, Y:-4.09, Z:0.35 [[ 9.99890247e-01 1.32277008e-02 6.67254155e-03 6.97911125e+01] [-1.32265121e-02 9.99912501e-01 -2.22255849e-04 -4.08994887e+00] [-6.67489764e-03 1.33977005e-04 9.99977714e-01 3.49568210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters 0.02210762514781432 Centerline is valid? [True, True] Translation: X:69.85, Y:-4.10, Z:0.35 [[ 9.99651076e-01 2.50078520e-02 8.50490621e-03 6.98531674e+01] [-2.50063351e-02 9.99687252e-01 -2.84658470e-04 -4.09764352e+00] [-8.50936502e-03 7.18826112e-05 9.99963792e-01 3.50348521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters 0.02181651250616971 Centerline is valid? [True, True] Translation: X:69.91, Y:-4.10, Z:0.35 [[ 9.99452230e-01 3.05813819e-02 1.26498837e-02 6.99148345e+01] [-3.05784550e-02 9.99532279e-01 -4.24772598e-04 -4.10152694e+00] [-1.26569572e-02 3.77260209e-05 9.99919897e-01 3.50792397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters 0.021684486487723975 Centerline is valid? [True, True] Translation: X:69.98, Y:-4.11, Z:0.35 [[ 9.99326260e-01 3.59790368e-02 7.24812419e-03 6.99768761e+01] [-3.59782087e-02 9.99352545e-01 -2.44655114e-04 -4.10956326e+00] [-7.25223381e-03 -1.62842447e-05 9.99973702e-01 3.50704210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters 0.021857951921599852 Centerline is valid? [True, True] Translation: X:70.04, Y:-4.11, Z:0.35 [[ 9.99276443e-01 3.74114826e-02 6.85357767e-03 7.00400062e+01] [-3.74107634e-02 9.99299945e-01 -2.33148127e-04 -4.11350978e+00] [-6.85750221e-03 -2.34181420e-05 9.99976487e-01 3.47353184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters 0.021870085295633106 Centerline is valid? [True, True] Translation: X:70.10, Y:-4.11, Z:0.35 [[ 9.99198036e-01 3.93900302e-02 7.19097209e-03 7.01025529e+01] [-3.93892855e-02 9.99223911e-01 -2.45218423e-04 -4.11414522e+00] [-7.19505041e-03 -3.82254854e-05 9.99974115e-01 3.47933106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters 0.022342475601636165 Centerline is valid? [True, True] Translation: X:70.16, Y:-4.11, Z:0.35 [[ 9.98733416e-01 4.88622760e-02 1.20017601e-02 7.01642877e+01] [-4.88608779e-02 9.98805510e-01 -4.09854124e-04 -4.11134125e+00] [-1.20074505e-02 -1.77081524e-04 9.99927892e-01 3.51151986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters 0.02266555205602551 Centerline is valid? [True, True] Translation: X:70.23, Y:-4.11, Z:0.35 [[ 9.98454409e-01 5.49138185e-02 8.55954219e-03 7.02267755e+01] [-5.49133171e-02 9.98491082e-01 -2.93774476e-04 -4.11183720e+00] [-8.56275882e-03 -1.76712433e-04 9.99963323e-01 3.50326368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters 0.023124935840897747 Centerline is valid? [True, True] Translation: X:70.29, Y:-4.11, Z:0.35 [[ 9.98270690e-01 5.86108334e-02 4.51649734e-03 7.02889168e+01] [-5.86107274e-02 9.98280902e-01 -1.55940519e-04 -4.11463473e+00] [-4.51787284e-03 -1.09044345e-04 9.99989788e-01 3.48390214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters 0.0228109148412144 Centerline is valid? [True, True] Translation: X:70.35, Y:-4.11, Z:0.35 [[ 9.98375297e-01 5.64786807e-02 7.54482680e-03 7.03506407e+01] [-5.64783197e-02 9.98403792e-01 -2.61066702e-04 -4.11497548e+00] [-7.54752839e-03 -1.65476594e-04 9.99971503e-01 3.47963929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters 0.022838497105415172 Centerline is valid? [True, True] Translation: X:70.41, Y:-4.11, Z:0.35 [[ 9.98377568e-01 5.56493829e-02 1.20573031e-02 7.04132360e+01] [-5.56483857e-02 9.98450340e-01 -4.18445342e-04 -4.11148954e+00] [-1.20619046e-02 -2.53203008e-04 9.99927221e-01 3.46337610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters 0.022952600034414027 Centerline is valid? [True, True] Translation: X:70.48, Y:-4.11, Z:0.35 [[ 9.98283420e-01 5.74787571e-02 1.12430515e-02 7.04754657e+01] [-5.74779885e-02 9.98346697e-01 -3.91741737e-04 -4.10920332e+00] [-1.12469801e-02 -2.55158702e-04 9.99936718e-01 3.47706638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters 0.023940752145004306 Centerline is valid? [True, True] Translation: X:70.54, Y:-4.10, Z:0.35 [[ 9.97787288e-01 6.64652215e-02 1.70350493e-03 7.05372489e+01] [-6.64652160e-02 9.97788741e-01 -5.99228684e-05 -4.10401192e+00] [-1.70372083e-03 -5.34335470e-05 9.99998547e-01 3.48380315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters 0.024110887886706518 Centerline is valid? [True, True] Translation: X:70.60, Y:-4.09, Z:0.35 [[ 9.97616162e-01 6.85448051e-02 7.97516432e-03 7.05980560e+01] [-6.85447689e-02 9.97648003e-01 -2.78190586e-04 -4.09018996e+00] [-7.97547527e-03 -2.69128371e-04 9.99968159e-01 3.46918794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters 0.023629568291121995 Centerline is valid? [True, True] Translation: X:70.66, Y:-4.09, Z:0.35 [[ 9.97778702e-01 6.55873175e-02 1.16604227e-02 7.06603948e+01] [-6.55870128e-02 9.97846770e-01 -4.08944947e-04 -4.09454040e+00] [-1.16621367e-02 -3.56735734e-04 9.99931931e-01 3.48538322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters 0.022695000241807036 Centerline is valid? [True, True] Translation: X:70.72, Y:-4.09, Z:0.35 [[ 9.98301160e-01 5.76461598e-02 8.46846528e-03 7.07223624e+01] [-5.76457060e-02 9.98337059e-01 -2.97873784e-04 -4.08911983e+00] [-8.47155401e-03 -1.90802915e-04 9.99964098e-01 3.48222215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters 0.0220191092156375 Centerline is valid? [True, True] Translation: X:70.78, Y:-4.08, Z:0.35 [[ 9.98606316e-01 5.22464145e-02 7.46572349e-03 7.07846773e+01] [-5.22459015e-02 9.98634215e-01 -2.63858913e-04 -4.08051911e+00] [-7.46931260e-03 -1.26562277e-04 9.99972096e-01 3.49174004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters 0.021439515083649753 Centerline is valid? [True, True] Translation: X:70.85, Y:-4.08, Z:0.35 [[ 9.98912579e-01 4.65112252e-02 3.21947751e-03 7.08470631e+01] [-4.65110973e-02 9.98917767e-01 -1.14616721e-04 -4.07984667e+00] [-3.22132424e-03 -3.52493476e-05 9.99994811e-01 3.49190284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters 0.02130880474247476 Centerline is valid? [True, True] Translation: X:70.91, Y:-4.08, Z:0.35 [[ 9.99061427e-01 4.31100174e-02 4.21790631e-03 7.09072136e+01] [-4.31097715e-02 9.99070331e-01 -1.49260756e-04 -4.08186204e+00] [-4.22041969e-03 -3.27123128e-05 9.99991093e-01 3.47541788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters 0.021368130962185296 Centerline is valid? [True, True] Translation: X:70.97, Y:-4.08, Z:0.35 [[ 9.99160411e-01 3.94678435e-02 1.09891902e-02 7.09687960e+01] [-3.94659415e-02 9.99220840e-01 -3.89966141e-04 -4.07567500e+00] [-1.09960190e-02 -4.40600077e-05 9.99939541e-01 3.48696556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters 0.021208859240715063 Centerline is valid? [True, True] Translation: X:71.03, Y:-4.08, Z:0.35 [[ 9.99401585e-01 3.40624444e-02 6.01850222e-03 7.10313956e+01] [-3.40617658e-02 9.99419707e-01 -2.15246862e-04 -4.07797848e+00] [-6.02234156e-03 1.01172412e-05 9.99981865e-01 3.48474642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters 0.021156645510607277 Centerline is valid? [True, True] Translation: X:71.09, Y:-4.08, Z:0.35 [[ 9.99538543e-01 3.01683604e-02 3.54566032e-03 7.10938099e+01] [-3.01680981e-02 9.99544831e-01 -1.27452599e-04 -4.08495515e+00] [-3.54789148e-03 2.04279565e-05 9.99993706e-01 3.50838601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters 0.021369151794899514 Centerline is valid? [True, True] Translation: X:71.15, Y:-4.08, Z:0.35 [[ 9.99485112e-01 3.00755846e-02 1.11790041e-02 7.11549455e+01] [-3.00729888e-02 9.99547625e-01 -4.00265248e-04 -4.08031835e+00] [-1.11859852e-02 6.38730916e-05 9.99937433e-01 3.50135849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters 0.021356871973137487 Centerline is valid? [True, True] Translation: X:71.22, Y:-4.08, Z:0.35 [[ 9.99452681e-01 3.14602259e-02 1.02270902e-02 7.12166361e+01] [-3.14581069e-02 9.99505004e-01 -3.68042365e-04 -4.08399554e+00] [-1.02336065e-02 4.61160335e-05 9.99947634e-01 3.47715266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters 0.021052006204222314 Centerline is valid? [True, True] Translation: X:71.28, Y:-4.09, Z:0.35 [[ 9.99399792e-01 3.41937513e-02 5.55369926e-03 7.12786184e+01] [-3.41931628e-02 9.99415223e-01 -2.00896505e-04 -4.09286760e+00] [-5.55732098e-03 1.08773821e-05 9.99984558e-01 3.47852294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters 0.021154918843396937 Centerline is valid? [True, True] Translation: X:71.34, Y:-4.10, Z:0.35 [[ 9.99293930e-01 3.66446280e-02 8.29538809e-03 7.13400791e+01] [-3.66433854e-02 9.99328360e-01 -3.01789993e-04 -4.10033139e+00] [-8.30087556e-03 -2.39419480e-06 9.99965547e-01 3.50807324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters 0.021082422941773184 Centerline is valid? [True, True] Translation: X:71.40, Y:-4.10, Z:0.35 [[ 9.99122437e-01 4.13764000e-02 6.50768357e-03 7.14021922e+01] [-4.13757308e-02 9.99143630e-01 -2.37493942e-04 -4.10107753e+00] [-6.51193723e-03 -3.19746374e-05 9.99978797e-01 3.50029664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters 0.021311231185030793 Centerline is valid? [True, True] Translation: X:71.46, Y:-4.10, Z:0.35 [[ 9.98949590e-01 4.54639127e-02 5.72261551e-03 7.14643678e+01] [-4.54634574e-02 9.98965980e-01 -2.09703577e-04 -4.10439654e+00] [-5.72623216e-03 -5.06865834e-05 9.99983604e-01 3.48266501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters 0.021185177946130715 Centerline is valid? [True, True] Translation: X:71.53, Y:-4.11, Z:0.35 [[ 9.98947714e-01 4.48801924e-02 9.44631998e-03 7.15265890e+01] [-4.48789176e-02 9.98992374e-01 -3.46985562e-04 -4.10958226e+00] [-9.45237440e-03 -7.73201820e-05 9.99955322e-01 3.53582610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters 0.021265486200827684 Centerline is valid? [True, True] Translation: X:71.59, Y:-4.12, Z:0.35 [[ 9.99107183e-01 4.01732005e-02 1.30748267e-02 7.15880698e+01] [-4.01703354e-02 9.99192730e-01 -4.81782047e-04 -4.12006151e+00] [-1.30836265e-02 -4.38682695e-05 9.99914405e-01 3.52481969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters 0.021043354018047616 Centerline is valid? [True, True] Translation: X:71.65, Y:-4.12, Z:0.35 [[ 9.99148209e-01 4.03817608e-02 8.49528589e-03 7.16507138e+01] [-4.03805471e-02 9.99184324e-01 -3.14411418e-04 -4.12063044e+00] [-8.50105297e-03 -2.89006865e-05 9.99963865e-01 3.46693956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters 0.021034166001376368 Centerline is valid? [True, True] Translation: X:71.71, Y:-4.13, Z:0.35 [[ 9.98969116e-01 4.51029843e-02 5.14072276e-03 7.17126549e+01] [-4.51025974e-02 9.98982342e-01 -1.91220896e-04 -4.13337711e+00] [-5.14411589e-03 -4.08361800e-05 9.99986768e-01 3.52861699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters 0.021419021903351605 Centerline is valid? [True, True] Translation: X:71.77, Y:-4.14, Z:0.36 [[ 9.98640142e-01 5.19967821e-02 3.76851567e-03 7.17741269e+01] [-5.19966217e-02 9.98647251e-01 -1.40577181e-04 -4.13836150e+00] [-3.77072737e-03 -5.55640674e-05 9.99992889e-01 3.57804534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters 0.022628427383110057 Centerline is valid? [True, True] Translation: X:71.84, Y:-4.14, Z:0.35 [[ 9.98026354e-01 6.21212032e-02 9.18432718e-03 7.18355809e+01] [-6.21206818e-02 9.98068587e-01 -3.42308040e-04 -4.14157447e+00] [-9.18785303e-03 -2.28904221e-04 9.99957765e-01 3.52067229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters 0.023375779101368066 Centerline is valid? [True, True] Translation: X:71.90, Y:-4.14, Z:0.35 [[ 9.97647315e-01 6.74748154e-02 1.21237164e-02 7.18970468e+01] [-6.74742862e-02 9.97720911e-01 -4.53142031e-04 -4.14439115e+00] [-1.21266610e-02 -3.65963180e-04 9.99926402e-01 3.53412422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters 0.02413151968154915 Centerline is valid? [True, True] Translation: X:71.96, Y:-4.15, Z:0.35 [[ 9.97381626e-01 7.21132752e-02 5.43769101e-03 7.19594827e+01] [-7.21132313e-02 9.97396431e-01 -2.04400624e-04 -4.14605799e+00] [-5.43827360e-03 -1.88264043e-04 9.99985195e-01 3.51327047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters 0.024443155133899042 Centerline is valid? [True, True] Translation: X:72.02, Y:-4.14, Z:0.35 [[ 9.97144934e-01 7.53969128e-02 4.15763821e-03 7.20205254e+01] [-7.53969165e-02 9.97153589e-01 -1.56073540e-04 -4.14192165e+00] [-4.15757133e-03 -1.57845161e-04 9.99991345e-01 3.54910253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters 0.025823589333296534 Centerline is valid? [True, True] Translation: X:72.08, Y:-4.13, Z:0.36 [[ 9.96639369e-01 8.15599748e-02 7.61175791e-03 7.20815198e+01] [-8.15601688e-02 9.96668379e-01 -2.85437698e-04 -4.13412997e+00] [-7.60967871e-03 -3.36337813e-04 9.99970989e-01 3.60771654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters 0.026480195085713278 Centerline is valid? [True, True] Translation: X:72.14, Y:-4.13, Z:0.36 [[ 9.96417298e-01 8.42864588e-02 6.95417826e-03 7.21434324e+01] [-8.42866790e-02 9.96441512e-01 -2.61929139e-04 -4.13022081e+00] [-6.95150898e-03 -3.25153866e-04 9.99975785e-01 3.55168270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters 0.02664783438248035 Centerline is valid? [True, True] Translation: X:72.21, Y:-4.12, Z:0.35 [[ 9.96235684e-01 8.65415483e-02 5.00214907e-03 7.22055550e+01] [-8.65416892e-02 9.96248212e-01 -1.88694941e-04 -4.11769533e+00] [-4.99971202e-03 -2.44909797e-04 9.99987471e-01 3.52363333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters 0.02690087417835989 Centerline is valid? [True, True] Translation: X:72.27, Y:-4.11, Z:0.35 [[ 9.96240412e-01 8.64957444e-02 4.85043946e-03 7.22656322e+01] [-8.64958808e-02 9.96252192e-01 -1.82030941e-04 -4.11280165e+00] [-4.84800584e-03 -2.38196454e-04 9.99988220e-01 3.54498804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters 0.026233097830067643 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.09, Z:0.36 [[ 9.96423569e-01 8.43549907e-02 4.93012897e-03 7.23249614e+01] [-8.43551258e-02 9.96435738e-01 -1.80904584e-04 -4.09090194e+00] [-4.92781690e-03 -2.35624058e-04 9.99987830e-01 3.56217530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters 0.025159819372685494 Centerline is valid? [True, True] Translation: X:72.38, Y:-4.09, Z:0.36 [[ 9.96891078e-01 7.85663532e-02 5.95872575e-03 7.23848386e+01] [-7.85664353e-02 9.96908856e-01 -2.20651939e-04 -4.08553550e+00] [-5.95764229e-03 -2.48189892e-04 9.99982222e-01 3.56168369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters 0.023288166111949372 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.07, Z:0.36 [[ 9.97757236e-01 6.60713285e-02 1.07274206e-02 7.24453717e+01] [-6.60708723e-02 9.97814854e-01 -3.97299965e-04 -4.06896005e+00] [-1.07302298e-02 -3.12361122e-04 9.99942381e-01 3.56990970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters 0.02212853149766189 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.06, Z:0.36 [[ 9.98307402e-01 5.67627423e-02 1.26618351e-02 7.25065996e+01] [-5.67613482e-02 9.98387665e-01 -4.69728333e-04 -4.06141971e+00] [-1.26680831e-02 -2.49769560e-04 9.99919725e-01 3.55108202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters 0.021103324863022837 Centerline is valid? [True, True] Translation: X:72.57, Y:-4.06, Z:0.36 [[ 9.99039465e-01 4.21317427e-02 1.20442648e-02 7.25682969e+01] [-4.21293967e-02 9.99112062e-01 -4.48539623e-04 -4.06230056e+00] [-1.20524680e-02 -5.93088257e-05 9.99927365e-01 3.56360020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters 0.021121662836919543 Centerline is valid? [True, True] Translation: X:72.63, Y:-4.06, Z:0.36 [[ 9.99434296e-01 3.20930059e-02 1.00562098e-02 7.26302625e+01] [-3.20908469e-02 9.99484885e-01 -3.76026621e-04 -4.06458884e+00] [-1.00630975e-02 5.31016133e-05 9.99949364e-01 3.55374979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters 0.02247313089219292 Centerline is valid? [True, True] Translation: X:72.69, Y:-4.07, Z:0.35 [[ 9.99820461e-01 1.73174431e-02 7.69097853e-03 7.26923889e+01] [-1.73157343e-02 9.99850030e-01 -2.88717575e-04 -4.06900646e+00] [-7.69482497e-03 1.55490798e-04 9.99970382e-01 3.53355664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters 0.022834703538593515 Centerline is valid? [True, True] Translation: X:72.75, Y:-4.08, Z:0.35 [[ 9.99860873e-01 1.39454662e-02 9.15199437e-03 7.27542650e+01] [-1.39428962e-02 9.99902734e-01 -3.44558613e-04 -4.07829055e+00] [-9.15590922e-03 2.16905368e-04 9.99958060e-01 3.54388355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters 0.022102563298096463 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.10, Z:0.35 [[ 9.99776718e-01 1.83589903e-02 1.04624165e-02 7.28158288e+01] [-1.83558603e-02 9.99831439e-01 -3.95126142e-04 -4.09592137e+00] [-1.04679071e-02 2.02991261e-04 9.99945189e-01 3.53945945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters 0.02114878842310341 Centerline is valid? [True, True] Translation: X:72.88, Y:-4.11, Z:0.36 [[ 9.99606603e-01 2.63846597e-02 9.51257705e-03 7.28775415e+01] [-2.63824230e-02 9.99651858e-01 -3.60560560e-04 -4.10585998e+00] [-9.51877859e-03 1.09453885e-04 9.99954689e-01 3.55131013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters 0.020732032468520317 Centerline is valid? [True, True] Translation: X:72.94, Y:-4.11, Z:0.36 [[ 9.99024738e-01 4.29350006e-02 1.03033662e-02 7.29394967e+01] [-4.29332375e-02 9.99077866e-01 -3.92336257e-04 -4.11214035e+00] [-1.03107101e-02 -5.04032416e-05 9.99946842e-01 3.55891787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters 0.021360447370424755 Centerline is valid? [True, True] Translation: X:73.00, Y:-4.12, Z:0.36 [[ 9.98564425e-01 5.31674273e-02 6.50490442e-03 7.30009067e+01] [-5.31669374e-02 9.98585607e-01 -2.48336954e-04 -4.12056319e+00] [-6.50890737e-03 -9.78653984e-05 9.99978812e-01 3.58062513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters 0.0226501201020894 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.12, Z:0.36 [[ 9.97731001e-01 6.69783673e-02 6.83727620e-03 7.30611025e+01] [-6.69781562e-02 9.97754408e-01 -2.60104161e-04 -4.11530466e+00] [-6.83934382e-03 -1.98434169e-04 9.99976592e-01 3.56411616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters 0.02330642318511077 Centerline is valid? [True, True] Translation: X:73.12, Y:-4.11, Z:0.35 [[ 9.97345269e-01 7.21258978e-02 1.00134448e-02 7.31209374e+01] [-7.21257118e-02 9.97395477e-01 -3.80174869e-04 -4.11319989e+00] [-1.00147850e-02 -3.43061227e-04 9.99949792e-01 3.54393801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters 0.02360772058221031 Centerline is valid? [True, True] Translation: X:73.18, Y:-4.11, Z:0.35 [[ 9.97258293e-01 7.33579906e-02 9.72122421e-03 7.31823676e+01] [-7.33578611e-02 9.97305614e-01 -3.70381047e-04 -4.10866343e+00] [-9.72220189e-03 -3.43762644e-04 9.99952679e-01 3.54530933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters 0.022818531915935393 Centerline is valid? [True, True] Translation: X:73.24, Y:-4.11, Z:0.36 [[ 9.97635914e-01 6.84473757e-02 6.12703140e-03 7.32434386e+01] [-6.84472306e-02 9.97654711e-01 -2.33603056e-04 -4.10785075e+00] [-6.12865126e-03 -1.86327533e-04 9.99981202e-01 3.55397793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters 0.02196241444835592 Centerline is valid? [True, True] Translation: X:73.30, Y:-4.10, Z:0.36 [[ 9.98029071e-01 6.25689961e-02 4.80565878e-03 7.33022851e+01] [-6.25688457e-02 9.98040634e-01 -1.81775876e-04 -4.09885954e+00] [-4.80761627e-03 -1.19266914e-04 9.99988436e-01 3.55347270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters 0.022298261870046063 Centerline is valid? [True, True] Translation: X:73.36, Y:-4.10, Z:0.35 [[ 9.98001938e-01 6.29061809e-02 5.91135428e-03 7.33615601e+01] [-6.29059847e-02 9.98019433e-01 -2.19290212e-04 -4.09890780e+00] [-5.91344116e-03 -1.53007505e-04 9.99982504e-01 3.54334593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters 0.02198026894876282 Centerline is valid? [True, True] Translation: X:73.42, Y:-4.10, Z:0.36 [[ 9.98097497e-01 6.05124371e-02 1.18165952e-02 7.34207956e+01] [-6.05115230e-02 9.98167404e-01 -4.35206514e-04 -4.09615396e+00] [-1.18212755e-02 -2.80661638e-04 9.99930087e-01 3.57095328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters 0.021567284977671446 Centerline is valid? [True, True] Translation: X:73.48, Y:-4.09, Z:0.36 [[ 9.98337173e-01 5.63251949e-02 1.22622042e-02 7.34827547e+01] [-5.63238437e-02 9.98412448e-01 -4.55774420e-04 -4.09404360e+00] [-1.22684089e-02 -2.35637927e-04 9.99924712e-01 3.56191251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters 0.020825458508909243 Centerline is valid? [True, True] Translation: X:73.54, Y:-4.09, Z:0.35 [[ 9.98747785e-01 4.98849684e-02 3.78841570e-03 7.35446171e+01] [-4.98847914e-02 9.98754969e-01 -1.41251733e-04 -4.08737532e+00] [-3.79074534e-03 -4.79094712e-05 9.99992814e-01 3.52837589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters 0.020371288646138568 Centerline is valid? [True, True] Translation: X:73.60, Y:-4.08, Z:0.36 [[ 9.98925719e-01 4.61024506e-02 4.68735989e-03 7.36035561e+01] [-4.61021611e-02 9.98936716e-01 -1.69838465e-04 -4.07728529e+00] [-4.69020586e-03 -4.64414097e-05 9.99989000e-01 3.56963298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters 0.02030872960822726 Centerline is valid? [True, True] Translation: X:73.66, Y:-4.08, Z:0.35 [[ 9.99317310e-01 3.63940948e-02 6.35481016e-03 7.36617979e+01] [-3.63933802e-02 9.99337515e-01 -2.28098492e-04 -4.08205674e+00] [-6.35890163e-03 -3.33025091e-06 9.99979782e-01 3.53789247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters 0.02035387275038639 Centerline is valid? [True, True] Translation: X:73.72, Y:-4.08, Z:0.35 [[ 9.99494621e-01 3.09607074e-02 7.20669586e-03 7.37227831e+01] [-3.09596278e-02 9.99520602e-01 -2.61345707e-04 -4.08026125e+00] [-7.21133243e-03 3.80970066e-05 9.99973997e-01 3.50136768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters 0.02039488442961596 Centerline is valid? [True, True] Translation: X:73.78, Y:-4.07, Z:0.36 [[ 9.99644241e-01 2.60540017e-02 5.70796491e-03 7.37844193e+01] [-2.60532405e-02 9.99660535e-01 -2.07689978e-04 -4.06676581e+00] [-5.71143841e-03 5.89051082e-05 9.99983688e-01 3.56464248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters 0.020616600281545522 Centerline is valid? [True, True] Translation: X:73.84, Y:-4.07, Z:0.36 [[ 9.99695216e-01 2.39671368e-02 5.92045602e-03 7.38448422e+01] [-2.39662833e-02 9.99712744e-01 -2.15083925e-04 -4.06734103e+00] [-5.92391028e-03 7.31270451e-05 9.99982451e-01 3.57238254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters 0.02178681274754321 Centerline is valid? [True, True] Translation: X:73.91, Y:-4.07, Z:0.35 [[ 9.99828441e-01 1.70105951e-02 7.32990620e-03 7.39062925e+01] [-1.70090941e-02 9.99855299e-01 -2.67062612e-04 -4.06814882e+00] [-7.33338845e-03 1.42341730e-04 9.99973100e-01 3.50102913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters 0.022823629678709996 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.07, Z:0.35 [[ 9.99916412e-01 1.11176531e-02 6.60058419e-03 7.39681119e+01] [-1.11163024e-02 9.99938183e-01 -2.41285380e-04 -4.06928192e+00] [-6.60285869e-03 1.67891121e-04 9.99978187e-01 3.50057361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters 0.02351172231525408 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.06, Z:0.36 [[ 9.99970256e-01 6.86928175e-03 3.50711588e-03 7.40304547e+01] [-6.86887153e-03 9.99976401e-01 -1.29001695e-04 -4.06445283e+00] [-3.50791926e-03 1.04907930e-04 9.99993842e-01 3.55997401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters 0.02343742876595722 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.07, Z:0.35 [[ 9.99959709e-01 7.30058356e-03 5.22327957e-03 7.40922410e+01] [-7.29967774e-03 9.99973338e-01 -1.92461910e-04 -4.07020298e+00] [-5.22454539e-03 1.54325898e-04 9.99986340e-01 3.52864403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters 0.02397414636616911 Centerline is valid? [True, True] Translation: X:74.15, Y:-4.08, Z:0.35 [[ 9.99960306e-01 6.08129598e-03 6.51191762e-03 7.41541239e+01] [-6.07985803e-03 9.99981489e-01 -2.40591581e-04 -4.07917622e+00] [-6.51326018e-03 2.00990496e-04 9.99978768e-01 3.51417202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters 0.023923174749859662 Centerline is valid? [True, True] Translation: X:74.22, Y:-4.08, Z:0.35 [[ 9.99973056e-01 5.00024132e-03 5.37449099e-03 7.42164565e+01] [-4.99924214e-03 9.99987484e-01 -1.99329192e-04 -4.08144779e+00] [-5.37542042e-03 1.72455439e-04 9.99985537e-01 3.53276089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters 0.024134553015322174 Centerline is valid? [True, True] Translation: X:74.28, Y:-4.09, Z:0.36 [[ 9.99965464e-01 5.01978656e-03 6.62367734e-03 7.42786787e+01] [-5.01826490e-03 9.99987378e-01 -2.46331197e-04 -4.08723004e+00] [-6.62483027e-03 2.13083322e-04 9.99978033e-01 3.56333033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters 0.02376162551255878 Centerline is valid? [True, True] Translation: X:74.34, Y:-4.09, Z:0.35 [[ 9.99914944e-01 7.99062636e-03 1.03080249e-02 7.43412352e+01] [-7.98708446e-03 9.99968029e-01 -3.84727844e-04 -4.09195058e+00] [-1.03107696e-02 3.02364055e-04 9.99946797e-01 3.52324361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters 0.02352288995583108 Centerline is valid? [True, True] Translation: X:74.40, Y:-4.10, Z:0.35 [[ 9.99924645e-01 9.48929244e-03 7.78834952e-03 7.44036378e+01] [-9.48730826e-03 9.99954952e-01 -2.91669778e-04 -4.09714608e+00] [-7.79076641e-03 2.17757326e-04 9.99969628e-01 3.50368781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters 0.023724490489236104 Centerline is valid? [True, True] Translation: X:74.47, Y:-4.10, Z:0.35 [[ 9.99946895e-01 8.05924005e-03 6.42306154e-03 7.44656258e+01] [-8.05785544e-03 9.99967506e-01 -2.41418583e-04 -4.10270981e+00] [-6.42479848e-03 1.89649661e-04 9.99979343e-01 3.51372610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters 0.023821467034485493 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.11, Z:0.35 [[ 9.99974910e-01 5.97859998e-03 3.79944592e-03 7.45272830e+01] [-5.97809779e-03 9.99982121e-01 -1.43518480e-04 -4.10981249e+00] [-3.80023603e-03 1.20801420e-04 9.99992772e-01 3.51970048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters 0.02420456677298973 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.11, Z:0.35 [[ 9.99971038e-01 5.39567029e-03 5.36743102e-03 7.45898329e+01] [-5.39465748e-03 9.99985428e-01 -2.03155698e-04 -4.11311217e+00] [-5.36844897e-03 1.74194362e-04 9.99985575e-01 3.51846444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters 0.02402113010442141 Centerline is valid? [True, True] Translation: X:74.65, Y:-4.13, Z:0.35 [[ 9.99957720e-01 5.41755937e-03 7.43020920e-03 7.46510666e+01] [-5.41561409e-03 9.99985296e-01 -2.81901876e-04 -4.12766987e+00] [-7.43162717e-03 2.41650812e-04 9.99972356e-01 3.50462961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters 0.023470667314354335 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.13, Z:0.35 [[ 9.99927057e-01 8.63604351e-03 8.44393316e-03 7.47129716e+01] [-8.63363769e-03 9.99962678e-01 -3.21327999e-04 -4.13496368e+00] [-8.44639302e-03 2.48402701e-04 9.99964298e-01 3.52070544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters 0.022238485582187793 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.15, Z:0.35 [[ 9.99846756e-01 1.52731296e-02 8.55546842e-03 7.47744228e+01] [-1.52708972e-02 9.99883340e-01 -3.26198672e-04 -4.14581399e+00] [-8.55945241e-03 1.95499006e-04 9.99963348e-01 3.51473254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters 0.022189791090245724 Centerline is valid? [True, True] Translation: X:74.84, Y:-4.15, Z:0.35 [[ 9.99785585e-01 1.69211564e-02 1.19356261e-02 7.48362316e+01] [-1.69169111e-02 9.99856795e-01 -4.56562258e-04 -4.15387524e+00] [-1.19416424e-02 2.54550439e-04 9.99928664e-01 3.51489594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters 0.021711858426232553 Centerline is valid? [True, True] Translation: X:74.90, Y:-4.17, Z:0.35 [[ 9.99683235e-01 2.10267569e-02 1.38313404e-02 7.48974975e+01] [-2.10214260e-02 9.99778885e-01 -5.30713452e-04 -4.16786552e+00] [-1.38394413e-02 2.39790842e-04 9.99904202e-01 3.50038831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters 0.021048307623275885 Centerline is valid? [True, True] Translation: X:74.96, Y:-4.17, Z:0.35 [[ 9.99586401e-01 2.58087877e-02 1.26859567e-02 7.49595303e+01] [-2.58046669e-02 9.99666885e-01 -4.88434804e-04 -4.17300431e+00] [-1.26943367e-02 1.60875900e-04 9.99919411e-01 3.52185225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters 0.020444232531723592 Centerline is valid? [True, True] Translation: X:75.02, Y:-4.17, Z:0.35 [[ 9.99449951e-01 3.23989826e-02 7.07827521e-03 7.50220248e+01] [-3.23978564e-02 9.99475014e-01 -2.73740990e-04 -4.17283297e+00] [-7.08342815e-03 4.42694756e-05 9.99974911e-01 3.53371545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters 0.020405468638189116 Centerline is valid? [True, True] Translation: X:75.08, Y:-4.18, Z:0.35 [[ 9.99311995e-01 3.60952251e-02 8.52469970e-03 7.50840466e+01] [-3.60937175e-02 9.99348355e-01 -3.30689167e-04 -4.18069379e+00] [-8.53108092e-03 2.27735490e-05 9.99963609e-01 3.54291306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters 0.020369201129313473 Centerline is valid? [True, True] Translation: X:75.15, Y:-4.18, Z:0.36 [[ 9.99243554e-01 3.82904134e-02 6.79439465e-03 7.51462659e+01] [-3.82894994e-02 9.99266653e-01 -2.64594792e-04 -4.17583023e+00] [-6.79954345e-03 4.24067055e-06 9.99976883e-01 3.56034141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters 0.0204547400277355 Centerline is valid? [True, True] Translation: X:75.21, Y:-4.18, Z:0.36 [[ 9.99122886e-01 4.07363515e-02 9.69577122e-03 7.52071544e+01] [-4.07346098e-02 9.99169930e-01 -3.77121775e-04 -4.17647589e+00] [-9.70308562e-03 -1.81624611e-05 9.99952924e-01 3.55378138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters 0.020631397441233584 Centerline is valid? [True, True] Translation: X:75.27, Y:-4.17, Z:0.36 [[ 9.99001511e-01 4.23052851e-02 1.43612125e-02 7.52695656e+01] [-4.23015927e-02 9.99104730e-01 -5.60914188e-04 -4.17405596e+00] [-1.43720850e-02 -4.71480420e-05 9.99896715e-01 3.57437185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters 0.020778980772094693 Centerline is valid? [True, True] Translation: X:75.33, Y:-4.17, Z:0.36 [[ 9.98878151e-01 4.59470851e-02 1.14588364e-02 7.53319142e+01] [-4.59449553e-02 9.98943872e-01 -4.49185815e-04 -4.17171312e+00] [-1.14673732e-02 -7.77938283e-05 9.99934244e-01 3.57661525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters 0.02042169079228688 Centerline is valid? [True, True] Translation: X:75.39, Y:-4.16, Z:0.36 [[ 9.99049904e-01 4.27435439e-02 8.50170593e-03 7.53946766e+01] [-4.27422445e-02 9.99086077e-01 -3.34558858e-04 -4.16332731e+00] [-8.50823626e-03 -2.91409990e-05 9.99963804e-01 3.60252090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters 0.020552751378710113 Centerline is valid? [True, True] Translation: X:75.46, Y:-4.17, Z:0.36 [[ 9.99192723e-01 3.88544684e-02 1.02094813e-02 7.54561649e+01] [-3.88523893e-02 9.99244880e-01 -4.01973576e-04 -4.16828773e+00] [-1.02173904e-02 4.98633067e-06 9.99947801e-01 3.56534608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters 0.020955820842014538 Centerline is valid? [True, True] Translation: X:75.52, Y:-4.18, Z:0.36 [[ 9.99213053e-01 3.65920613e-02 1.53066923e-02 7.55177577e+01] [-3.65870892e-02 9.99330285e-01 -6.04830714e-04 -4.17759426e+00] [-1.53185732e-02 4.43274271e-05 9.99882663e-01 3.56617472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters 0.02073970028705021 Centerline is valid? [True, True] Translation: X:75.58, Y:-4.17, Z:0.36 [[ 9.99248626e-01 3.68498260e-02 1.20113781e-02 7.55806592e+01] [-3.68467556e-02 9.99320814e-01 -4.76902032e-04 -4.17303235e+00] [-1.20207939e-02 3.39633862e-05 9.99927747e-01 3.61178884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters 0.020673840050339492 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.18, Z:0.36 [[ 9.99275020e-01 3.75773910e-02 6.11350249e-03 7.56430650e+01] [-3.75766006e-02 9.99293720e-01 -2.44133528e-04 -4.18343367e+00] [-6.11835855e-03 1.42318942e-05 9.99981283e-01 3.57171835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters 0.02096978380841222 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.19, Z:0.36 [[ 9.99299714e-01 3.61887604e-02 9.51082359e-03 7.57043461e+01] [-3.61867878e-02 9.99344972e-01 -3.79469865e-04 -4.18707632e+00] [-9.51832627e-03 3.50379726e-05 9.99954699e-01 3.59508100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters 0.02124278872853385 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.20, Z:0.36 [[ 9.99523176e-01 2.89161796e-02 1.08293243e-02 7.57661373e+01] [-2.89131768e-02 9.99581833e-01 -4.33775441e-04 -4.19638672e+00] [-1.08373390e-02 1.20458439e-04 9.99941267e-01 3.59341050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters 0.02210388875417951 Centerline is valid? [True, True] Translation: X:75.83, Y:-4.21, Z:0.36 [[ 9.99672337e-01 2.26892219e-02 1.18498123e-02 7.58276281e+01] [-2.26851716e-02 9.99742545e-01 -4.76125518e-04 -4.21239700e+00] [-1.18575644e-02 2.07154485e-04 9.99929675e-01 3.57736389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters 0.021430478592429764 Centerline is valid? [True, True] Translation: X:75.89, Y:-4.22, Z:0.36 [[ 9.99582119e-01 2.77674866e-02 8.03459477e-03 7.58900913e+01] [-2.77657754e-02 9.99614404e-01 -3.24476169e-04 -4.22089544e+00] [-8.04050655e-03 1.01253823e-04 9.99967669e-01 3.55829609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters 0.020908112034164587 Centerline is valid? [True, True] Translation: X:75.95, Y:-4.23, Z:0.36 [[ 9.99268994e-01 3.74167090e-02 7.84008729e-03 7.59523777e+01] [-3.74153695e-02 9.99299749e-01 -3.17510959e-04 -4.22698997e+00] [-7.84647748e-03 2.39390943e-05 9.99969216e-01 3.56468119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters 0.02137524322454468 Centerline is valid? [True, True] Translation: X:76.01, Y:-4.24, Z:0.36 [[ 9.98665169e-01 4.98021812e-02 1.36975786e-02 7.60136328e+01] [-4.97992468e-02 9.98759093e-01 -5.55436999e-04 -4.23657081e+00] [-1.37082431e-02 -1.27433511e-04 9.99906030e-01 3.57109607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters 0.021923434631134144 Centerline is valid? [True, True] Translation: X:76.08, Y:-4.24, Z:0.36 [[ 9.98354001e-01 5.49094654e-02 1.65601912e-02 7.60755358e+01] [-5.49058410e-02 9.98491309e-01 -6.73781415e-04 -4.24192341e+00] [-1.65722040e-02 -2.36578856e-04 9.99862644e-01 3.57145717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters 0.02212867569141063 Centerline is valid? [True, True] Translation: X:76.14, Y:-4.24, Z:0.36 [[ 9.98287400e-01 5.64164517e-02 1.54741952e-02 7.61389299e+01] [-5.64134146e-02 9.98407295e-01 -6.33047367e-04 -4.24323564e+00] [-1.54852636e-02 -2.40988979e-04 9.99880067e-01 3.56195398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters 0.022246087870897453 Centerline is valid? [True, True] Translation: X:76.20, Y:-4.24, Z:0.36 [[ 9.98120136e-01 6.01880702e-02 1.15580999e-02 7.62013531e+01] [-6.01866117e-02 9.98187030e-01 -4.74296621e-04 -4.24259829e+00] [-1.15656925e-02 -2.22237866e-04 9.99933090e-01 3.55054973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters 0.022468290681925497 Centerline is valid? [True, True] Translation: X:76.26, Y:-4.24, Z:0.36 [[ 9.97938422e-01 6.32711228e-02 1.07550011e-02 7.62636879e+01] [-6.32700228e-02 9.97996347e-01 -4.42840805e-04 -4.24418658e+00] [-1.07614709e-02 -2.38541312e-04 9.99942065e-01 3.58932383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters 0.022957449839857376 Centerline is valid? [True, True] Translation: X:76.33, Y:-4.24, Z:0.36 [[ 9.97726603e-01 6.61599219e-02 1.28253515e-02 7.63262562e+01] [-6.61585757e-02 9.97808981e-01 -5.29675554e-04 -4.23878490e+00] [-1.28322942e-02 -3.20035597e-04 9.99917612e-01 3.57834593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters 0.023267854710917333 Centerline is valid? [True, True] Translation: X:76.39, Y:-4.24, Z:0.36 [[ 9.97616168e-01 6.79776706e-02 1.18751050e-02 7.63887393e+01] [-6.79766257e-02 9.97686793e-01 -4.92065249e-04 -4.23937114e+00] [-1.18810849e-02 -3.16337322e-04 9.99929367e-01 3.56665033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters 0.022750742621121787 Centerline is valid? [True, True] Translation: X:76.45, Y:-4.23, Z:0.36 [[ 9.97853345e-01 6.39404957e-02 1.41532706e-02 7.64502121e+01] [-6.39385988e-02 9.97953662e-01 -5.86940238e-04 -4.22873659e+00] [-1.41618375e-02 -3.19260010e-04 9.99899665e-01 3.59983106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters 0.022302134367054093 Centerline is valid? [True, True] Translation: X:76.51, Y:-4.23, Z:0.36 [[ 9.98306549e-01 5.56039739e-02 1.70948239e-02 7.65127257e+01] [-5.55999403e-02 9.98452873e-01 -7.11498674e-04 -4.22921759e+00] [-1.71079382e-02 -2.40177405e-04 9.99853620e-01 3.60187612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters 0.021669397298017017 Centerline is valid? [True, True] Translation: X:76.58, Y:-4.22, Z:0.36 [[ 9.98823038e-01 4.58797984e-02 1.57347630e-02 7.65754734e+01] [-4.58751400e-02 9.98946965e-01 -6.57061990e-04 -4.22241292e+00] [-1.57483397e-02 -6.55458037e-05 9.99875985e-01 3.60109951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters 0.02145147488316813 Centerline is valid? [True, True] Translation: X:76.64, Y:-4.22, Z:0.36 [[ 9.99033127e-01 4.21425098e-02 1.25227798e-02 7.66373237e+01] [-4.21392435e-02 9.99111610e-01 -5.24697888e-04 -4.22266804e+00] [-1.25337668e-02 -3.50989466e-06 9.99921449e-01 3.58799406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters 0.0215062145390607 Centerline is valid? [True, True] Translation: X:76.70, Y:-4.23, Z:0.36 [[ 9.99128217e-01 3.99821944e-02 1.20096177e-02 7.66989256e+01] [-3.99790148e-02 9.99200392e-01 -5.04814027e-04 -4.22902949e+00] [-1.20201983e-02 2.42412563e-05 9.99927755e-01 3.60676260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters 0.021424144234507357 Centerline is valid? [True, True] Translation: X:76.76, Y:-4.23, Z:0.36 [[ 9.99231745e-01 3.81929361e-02 8.78742915e-03 7.67613074e+01] [-3.81911531e-02 9.99270383e-01 -3.70689525e-04 -4.23328788e+00] [-8.79517541e-03 3.48026893e-05 9.99961321e-01 3.63068373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters 0.02215900786944111 Centerline is valid? [True, True] Translation: X:76.82, Y:-4.24, Z:0.36 [[ 9.99549319e-01 2.89424039e-02 7.96848195e-03 7.68231960e+01] [-2.89406349e-02 9.99581075e-01 -3.37248057e-04 -4.23718046e+00] [-7.97490452e-03 1.06483139e-04 9.99968194e-01 3.60642265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters 0.023123553799003493 Centerline is valid? [True, True] Translation: X:76.88, Y:-4.24, Z:0.36 [[ 9.99714443e-01 2.22945340e-02 8.60146635e-03 7.68848240e+01] [-2.22922179e-02 9.99751431e-01 -3.65070398e-04 -4.24445024e+00] [-8.60746737e-03 1.73220388e-04 9.99962940e-01 3.60582029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters 0.02398869781309434 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.25, Z:0.36 [[ 9.99862947e-01 1.61256122e-02 3.74853349e-03 7.69462828e+01] [-1.61251270e-02 9.99869969e-01 -1.59644497e-04 -4.25308745e+00] [-3.75062043e-03 9.91770384e-05 9.99992961e-01 3.62531035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters 0.023780465744818763 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.27, Z:0.36 [[ 9.99834471e-01 1.74453677e-02 5.16619547e-03 7.70079315e+01] [-1.74444604e-02 9.99847809e-01 -2.20652799e-04 -4.26613289e+00] [-5.16925859e-03 1.30494782e-04 9.99986631e-01 3.62124429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters 0.02342146144382753 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.28, Z:0.36 [[ 9.99791196e-01 1.93447904e-02 6.58350221e-03 7.70694948e+01] [-1.93433537e-02 9.99812860e-01 -2.81839187e-04 -4.27510019e+00] [-6.58772229e-03 1.54433326e-04 9.99978289e-01 3.64735867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters 0.023396633015009945 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.28, Z:0.36 [[ 9.99747502e-01 2.11683712e-02 7.53867037e-03 7.71316375e+01] [-2.11665325e-02 9.99775911e-01 -3.23602436e-04 -4.28465050e+00] [-7.54383117e-03 1.63953216e-04 9.99971531e-01 3.62544964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters 0.023543003620582727 Centerline is valid? [True, True] Translation: X:77.19, Y:-4.30, Z:0.36 [[ 9.99723830e-01 2.02598820e-02 1.19080285e-02 7.71931844e+01] [-2.02552162e-02 9.99794711e-01 -5.12308869e-04 -4.29500902e+00] [-1.19159633e-02 2.70967692e-04 9.99928966e-01 3.64031614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters 0.022819176703336875 Centerline is valid? [True, True] Translation: X:77.25, Y:-4.31, Z:0.36 [[ 9.99693561e-01 2.43025335e-02 4.70864320e-03 7.72540335e+01] [-2.43018471e-02 9.99704646e-01 -2.02947604e-04 -4.31281515e+00] [-4.71218462e-03 8.84566856e-05 9.99988894e-01 3.61923997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters 0.022520866400693413 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.32, Z:0.36 [[ 9.99579154e-01 2.81288153e-02 7.09114983e-03 7.73156022e+01] [-2.81273470e-02 9.99604301e-01 -3.06723995e-04 -4.32496520e+00] [-7.09697165e-03 1.07139679e-04 9.99974810e-01 3.61447090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters 0.022367249557396857 Centerline is valid? [True, True] Translation: X:77.38, Y:-4.33, Z:0.37 [[ 9.99527455e-01 2.91863859e-02 9.64476970e-03 7.73776551e+01] [-2.91837090e-02 9.99573977e-01 -4.18199652e-04 -4.33370606e+00] [-9.65286654e-03 1.36531881e-04 9.99953401e-01 3.66625384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters 0.02224267225446463 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.34, Z:0.36 [[ 9.99493989e-01 3.06939079e-02 8.34564733e-03 7.74398426e+01] [-3.06919463e-02 9.99528825e-01 -3.63041797e-04 -4.34246511e+00] [-8.35285825e-03 1.06713934e-04 9.99965109e-01 3.63244819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters 0.022436848963041135 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.36, Z:0.36 [[ 9.99426445e-01 3.19336660e-02 1.12704264e-02 7.75012303e+01] [-3.19301534e-02 9.99489982e-01 -4.91508931e-04 -4.35777087e+00] [-1.12803739e-02 1.31360581e-04 9.99936366e-01 3.60055772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters 0.022151165597035543 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.37, Z:0.37 [[ 9.99400872e-01 3.33048073e-02 9.41737218e-03 7.75632569e+01] [-3.33023894e-02 9.99445236e-01 -4.13485266e-04 -4.37263294e+00] [-9.42591881e-03 9.96165399e-05 9.99955570e-01 3.65138806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters 0.021855478747539788 Centerline is valid? [True, True] Translation: X:77.63, Y:-4.38, Z:0.37 [[ 9.99254690e-01 3.74011657e-02 9.55074231e-03 7.76254944e+01] [-3.73988587e-02 9.99300330e-01 -4.20098424e-04 -4.38125866e+00] [-9.55977211e-03 6.25984588e-05 9.99954302e-01 3.66058271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters 0.02210876138106604 Centerline is valid? [True, True] Translation: X:77.69, Y:-4.40, Z:0.36 [[ 9.99055633e-01 4.11332049e-02 1.39965070e-02 7.76869094e+01] [-4.11285942e-02 9.99153671e-01 -6.17219610e-04 -4.39534223e+00] [-1.40100495e-02 4.09800731e-05 9.99901854e-01 3.62572886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters 0.022152526994553823 Centerline is valid? [True, True] Translation: X:77.75, Y:-4.41, Z:0.36 [[ 9.98904207e-01 4.37045558e-02 1.67420789e-02 7.77483660e+01] [-4.36982841e-02 9.99044499e-01 -7.40421928e-04 -4.40605460e+00] [-1.67584417e-02 8.01045627e-06 9.99859567e-01 3.64024789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters 0.02181986919779302 Centerline is valid? [True, True] Translation: X:77.81, Y:-4.42, Z:0.37 [[ 9.98825896e-01 4.73772041e-02 1.01108874e-02 7.78103544e+01] [-4.73750885e-02 9.98877069e-01 -4.48777386e-04 -4.41588391e+00] [-1.01207953e-02 -3.07537088e-05 9.99948783e-01 3.65746607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters 0.022174891064669792 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.42, Z:0.36 [[ 9.98605792e-01 5.13589274e-02 1.21956090e-02 7.78717428e+01] [-5.13561348e-02 9.98680256e-01 -5.42254297e-04 -4.42384542e+00] [-1.22073636e-02 -8.48210603e-05 9.99925484e-01 3.64403913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters 0.022971724335190784 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.43, Z:0.37 [[ 9.97975789e-01 6.12076314e-02 1.72612233e-02 7.79337709e+01] [-6.12034695e-02 9.98125014e-01 -7.69772427e-04 -4.42985259e+00] [-1.72759747e-02 -2.88232509e-04 9.99850718e-01 3.66429210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters 0.02407194091378733 Centerline is valid? [True, True] Translation: X:78.00, Y:-4.43, Z:0.37 [[ 9.97457851e-01 6.91382067e-02 1.72552385e-02 7.79955252e+01] [-6.91351931e-02 9.97607001e-01 -7.71813830e-04 -4.43442538e+00] [-1.72673086e-02 -4.23092481e-04 9.99850819e-01 3.68564224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters 0.02497417895484742 Centerline is valid? [True, True] Translation: X:78.06, Y:-4.42, Z:0.37 [[ 9.96792722e-01 7.85585727e-02 1.52584293e-02 7.80576442e+01] [-7.85571982e-02 9.96909369e-01 -6.90357162e-04 -4.42420058e+00] [-1.52655046e-02 -5.10516459e-04 9.99883345e-01 3.66758342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters 0.0255019358017633 Centerline is valid? [True, True] Translation: X:78.12, Y:-4.43, Z:0.37 [[ 9.96660374e-01 8.02185056e-02 1.52672823e-02 7.81198357e+01] [-8.02173155e-02 9.96777159e-01 -6.91304376e-04 -4.42607513e+00] [-1.52735336e-02 -5.35704720e-04 9.99883209e-01 3.65389281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters 0.025557675981260828 Centerline is valid? [True, True] Translation: X:78.18, Y:-4.43, Z:0.37 [[ 9.96531202e-01 8.14572769e-02 1.70374650e-02 7.81819629e+01] [-8.14559398e-02 9.96676643e-01 -7.73576488e-04 -4.43206937e+00] [-1.70438568e-02 -6.16909614e-04 9.99854553e-01 3.67944635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters 0.024635105079454607 Centerline is valid? [True, True] Translation: X:78.24, Y:-4.43, Z:0.37 [[ 9.97128766e-01 7.37571169e-02 1.71496876e-02 7.82434890e+01] [-7.37546100e-02 9.97276115e-01 -7.79478923e-04 -4.42951962e+00] [-1.71604660e-02 -4.87627665e-04 9.99852629e-01 3.68388646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters 0.023796919496680908 Centerline is valid? [True, True] Translation: X:78.31, Y:-4.43, Z:0.37 [[ 9.97600062e-01 6.75931459e-02 1.50094507e-02 7.83055734e+01] [-6.75905028e-02 9.97712913e-01 -6.83882923e-04 -4.42802869e+00] [-1.50213486e-02 -3.32254674e-04 9.99887118e-01 3.66744265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters 0.023130540918362363 Centerline is valid? [True, True] Translation: X:78.37, Y:-4.43, Z:0.37 [[ 9.97840335e-01 6.47083122e-02 1.12915571e-02 7.83674863e+01] [-6.47066112e-02 9.97904198e-01 -5.16295910e-04 -4.42945254e+00] [-1.13013009e-02 -2.15457514e-04 9.99936115e-01 3.70917710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters 0.02331866729684522 Centerline is valid? [True, True] Translation: X:78.43, Y:-4.43, Z:0.37 [[ 9.97753791e-01 6.54423713e-02 1.43062458e-02 7.84293611e+01] [-6.54396911e-02 9.97856311e-01 -6.55892418e-04 -4.42845110e+00] [-1.43185009e-02 -2.81777162e-04 9.99897445e-01 3.71686291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters 0.02329266553095829 Centerline is valid? [True, True] Translation: X:78.49, Y:-4.44, Z:0.37 [[ 9.97834285e-01 6.42580374e-02 1.40586288e-02 7.84916516e+01] [-6.42553048e-02 9.97933283e-01 -6.46447106e-04 -4.43555139e+00] [-1.40711130e-02 -2.58294390e-04 9.99900964e-01 3.70993165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters 0.022958393810762496 Centerline is valid? [True, True] Translation: X:78.55, Y:-4.44, Z:0.37 [[ 9.98130067e-01 5.94044868e-02 1.44040637e-02 7.85537506e+01] [-5.94010850e-02 9.98233976e-01 -6.64260197e-04 -4.44165007e+00] [-1.44180858e-02 -1.92598937e-04 9.99896035e-01 3.72168192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters 0.022905385862033556 Centerline is valid? [True, True] Translation: X:78.62, Y:-4.44, Z:0.37 [[ 9.98326611e-01 5.53951982e-02 1.65936911e-02 7.86171530e+01] [-5.53900684e-02 9.98464496e-01 -7.68935070e-04 -4.43975857e+00] [-1.66108068e-02 -1.51477345e-04 9.99862020e-01 3.72182183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters 0.022610109872794232 Centerline is valid? [True, True] Translation: X:78.68, Y:-4.44, Z:0.37 [[ 9.98644923e-01 5.01520223e-02 1.38957695e-02 7.86788723e+01] [-5.01478042e-02 9.98741594e-01 -6.52038463e-04 -4.44285171e+00] [-1.39109840e-02 -4.56874287e-05 9.99903237e-01 3.72530645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters 0.02259631223417434 Centerline is valid? [True, True] Translation: X:78.74, Y:-4.45, Z:0.37 [[ 9.98658473e-01 5.04551426e-02 1.16418431e-02 7.87411621e+01] [-5.04521996e-02 9.98726327e-01 -5.46537337e-04 -4.44783389e+00] [-1.16545908e-02 -4.15524481e-05 9.99932082e-01 3.72116326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters 0.022909473384348112 Centerline is valid? [True, True] Translation: X:78.80, Y:-4.45, Z:0.37 [[ 9.98528309e-01 5.27620641e-02 1.25451739e-02 7.88036787e+01] [-5.27588078e-02 9.98607110e-01 -5.90602292e-04 -4.44976453e+00] [-1.25588612e-02 -7.21353092e-05 9.99921132e-01 3.73469647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters 0.022882660627805234 Centerline is valid? [True, True] Translation: X:78.87, Y:-4.46, Z:0.37 [[ 9.98535356e-01 5.32426482e-02 9.61058803e-03 7.88660007e+01] [-5.32407452e-02 9.98581603e-01 -4.53920602e-04 -4.45642649e+00] [-9.62112433e-03 -5.84190995e-05 9.99953714e-01 3.73363505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters 0.02285494720460622 Centerline is valid? [True, True] Translation: X:78.93, Y:-4.46, Z:0.37 [[ 9.98681656e-01 5.07632307e-02 7.61874670e-03 7.89276487e+01] [-5.07619536e-02 9.98710716e-01 -3.61031462e-04 -4.46108114e+00] [-7.62725109e-03 -2.61869684e-05 9.99970912e-01 3.73451972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters 0.02268655237841485 Centerline is valid? [True, True] Translation: X:78.99, Y:-4.46, Z:0.37 [[ 9.98769687e-01 4.92184956e-02 6.05401893e-03 7.89899348e+01] [-4.92176550e-02 9.98788035e-01 -2.87849631e-04 -4.46139390e+00] [-6.06084920e-03 -1.04691291e-05 9.99981633e-01 3.74732957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters 0.02257651270716679 Centerline is valid? [True, True] Translation: X:79.05, Y:-4.47, Z:0.38 [[ 9.98750443e-01 4.99093926e-02 2.57010740e-03 7.90520316e+01] [-4.99092414e-02 9.98753750e-01 -1.22951707e-04 -4.47082614e+00] [-2.57304085e-03 -5.47403950e-06 9.99996690e-01 3.77727622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters 0.022589950606661486 Centerline is valid? [True, True] Translation: X:79.11, Y:-4.48, Z:0.38 [[ 9.98730308e-01 5.01205770e-02 5.06956778e-03 7.91136608e+01] [-5.01199915e-02 9.98743174e-01 -2.42545347e-04 -4.47776580e+00] [-5.07535273e-03 -1.18493050e-05 9.99987120e-01 3.76610258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters 0.022751542170724025 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.48, Z:0.38 [[ 9.98590463e-01 5.25072096e-02 7.75117672e-03 7.91757388e+01] [-5.25059073e-02 9.98620544e-01 -3.71550022e-04 -4.48318024e+00] [-7.75999338e-03 -3.59562583e-05 9.99969890e-01 3.75278568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters 0.022811046225954278 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.48, Z:0.38 [[ 9.98321694e-01 5.73309662e-02 8.18269339e-03 7.92378112e+01] [-5.73296681e-02 9.98355225e-01 -3.93313452e-04 -4.47912387e+00] [-8.19178374e-03 -7.64577448e-05 9.99966444e-01 3.78398218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters 0.02293977488258393 Centerline is valid? [True, True] Translation: X:79.30, Y:-4.48, Z:0.38 [[ 9.98143771e-01 6.01394165e-02 9.60541468e-03 7.93002511e+01] [-6.01377460e-02 9.98189981e-01 -4.62902229e-04 -4.48267475e+00] [-9.61586737e-03 -1.15605012e-04 9.99953760e-01 3.82002597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters 0.023289196023569225 Centerline is valid? [True, True] Translation: X:79.36, Y:-4.48, Z:0.38 [[ 9.97847571e-01 6.55164521e-02 2.79647581e-03 7.93629054e+01] [-6.55163278e-02 9.97851488e-01 -1.36159296e-04 -4.48157064e+00] [-2.79938822e-03 -4.73486031e-05 9.99996081e-01 3.80448781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters 0.023353131553148804 Centerline is valid? [True, True] Translation: X:79.43, Y:-4.48, Z:0.38 [[ 9.97747428e-01 6.70824524e-02 1.19658085e-04 7.94255510e+01] [-6.70824522e-02 9.97747435e-01 -6.48132004e-06 -4.47524505e+00] [-1.19823330e-04 -1.56023733e-06 9.99999993e-01 3.76911127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters 0.023480696216356747 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.47, Z:0.38 [[ 9.97804499e-01 6.61337716e-02 3.53648675e-03 7.94858373e+01] [-6.61335795e-02 9.97810764e-01 -1.71374225e-04 -4.47320812e+00] [-3.54007817e-03 -6.28825545e-05 9.99993732e-01 3.78236940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters 0.023117003512504532 Centerline is valid? [True, True] Translation: X:79.55, Y:-4.47, Z:0.38 [[ 9.98004107e-01 6.24139440e-02 9.60735674e-03 7.95483129e+01] [-6.24123343e-02 9.98050340e-01 -4.67566933e-04 -4.46801725e+00] [-9.61780836e-03 -1.32983841e-04 9.99953739e-01 3.83172226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters 0.022969057375950504 Centerline is valid? [True, True] Translation: X:79.61, Y:-4.47, Z:0.38 [[ 9.98368377e-01 5.62055068e-02 1.00759984e-02 7.96108201e+01] [-5.62034064e-02 9.98419218e-01 -4.91722096e-04 -4.46881957e+00] [-1.00877079e-02 -7.53856402e-05 9.99949115e-01 3.81773442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters 0.022654757667689002 Centerline is valid? [True, True] Translation: X:79.67, Y:-4.46, Z:0.38 [[ 9.98778688e-01 4.91701700e-02 4.84017026e-03 7.96731241e+01] [-4.91695978e-02 9.98790416e-01 -2.37218241e-04 -4.46319688e+00] [-4.84597973e-03 -1.06070163e-06 9.99988258e-01 3.78292696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters 0.02278953454437717 Centerline is valid? [True, True] Translation: X:79.74, Y:-4.47, Z:0.38 [[ 9.99058159e-01 4.31326801e-02 4.72943463e-03 7.97356690e+01] [-4.31320630e-02 9.99069353e-01 -2.32439396e-04 -4.46549124e+00] [-4.73505893e-03 2.82302029e-05 9.99988789e-01 3.80341813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters 0.023545014658573053 Centerline is valid? [True, True] Translation: X:79.80, Y:-4.47, Z:0.38 [[ 9.99414843e-01 3.36031050e-02 6.38766064e-03 7.97982218e+01] [-3.36017809e-02 9.99435251e-01 -3.14531031e-04 -4.46582186e+00] [-6.39462244e-03 9.97102081e-05 9.99979549e-01 3.83104080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters 0.024111523650190956 Centerline is valid? [True, True] Translation: X:79.86, Y:-4.47, Z:0.38 [[ 9.99467587e-01 2.94874470e-02 1.39654565e-02 7.98604549e+01] [-2.94807015e-02 9.99565112e-01 -6.88677174e-04 -4.46979117e+00] [-1.39796905e-02 2.76599058e-04 9.99902241e-01 3.82876483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters 0.024155049412833397 Centerline is valid? [True, True] Translation: X:79.92, Y:-4.48, Z:0.38 [[ 9.99600689e-01 2.73207165e-02 7.21400082e-03 7.99226249e+01] [-2.73188513e-02 9.99626707e-01 -3.56976015e-04 -4.47673431e+00] [-7.22106072e-03 1.59755255e-04 9.99973915e-01 3.78150972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters 0.024874905778764472 Centerline is valid? [True, True] Translation: X:79.98, Y:-4.49, Z:0.38 [[ 9.99722546e-01 2.34273825e-02 2.44705323e-03 7.99849149e+01] [-2.34271544e-02 9.99725539e-01 -1.21835419e-04 -4.48513689e+00] [-2.44923590e-03 6.44741214e-05 9.99996999e-01 3.77326697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters 0.025102854414706634 Centerline is valid? [True, True] Translation: X:80.05, Y:-4.49, Z:0.38 [[ 9.99751403e-01 2.18143656e-02 4.61144422e-03 8.00469221e+01] [-2.18135384e-02 9.99762030e-01 -2.29608651e-04 -4.49315060e+00] [-4.61535561e-03 1.28959656e-04 9.99989341e-01 3.78668848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters 0.02492122136245602 Centerline is valid? [True, True] Translation: X:80.11, Y:-4.51, Z:0.38 [[ 9.99749163e-01 2.16545115e-02 5.71772064e-03 8.01081225e+01] [-2.16532340e-02 9.99765501e-01 -2.85261017e-04 -4.50804758e+00] [-5.72255702e-03 1.61382320e-04 9.99983613e-01 3.82175321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters 0.024001911614037294 Centerline is valid? [True, True] Translation: X:80.17, Y:-4.52, Z:0.38 [[ 9.99566241e-01 2.81864327e-02 8.53545583e-03 8.01702253e+01] [-2.81838130e-02 9.99602666e-01 -4.27075909e-04 -4.52181762e+00] [-8.54410215e-03 1.86328971e-04 9.99963481e-01 3.83558593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters 0.023074706761173073 Centerline is valid? [True, True] Translation: X:80.23, Y:-4.54, Z:0.38 [[ 9.99221886e-01 3.81061384e-02 1.01757052e-02 8.02316891e+01] [-3.81029185e-02 9.99273690e-01 -5.10182754e-04 -4.54258326e+00] [-1.01877556e-02 1.22061706e-04 9.99948096e-01 3.79017975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters 0.02252116190395273 Centerline is valid? [True, True] Translation: X:80.29, Y:-4.56, Z:0.38 [[ 9.98691027e-01 5.01233011e-02 1.01924685e-02 8.02932406e+01] [-5.01206819e-02 9.98743037e-01 -5.12404366e-04 -4.55572326e+00] [-1.02053403e-02 8.80172552e-07 9.99947924e-01 3.80936909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters 0.023106446937400132 Centerline is valid? [True, True] Translation: X:80.36, Y:-4.56, Z:0.38 [[ 9.97761506e-01 6.48980141e-02 1.61314682e-02 8.03550124e+01] [-6.48933646e-02 9.97891874e-01 -8.12059095e-04 -4.55883751e+00] [-1.61501621e-02 -2.36583942e-04 9.99869550e-01 3.82673018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters 0.02589528866968349 Centerline is valid? [True, True] Translation: X:80.42, Y:-4.56, Z:0.38 [[ 9.96097865e-01 8.66480920e-02 1.67675498e-02 8.04152343e+01] [-8.66461501e-02 9.96238793e-01 -8.43621804e-04 -4.55969906e+00] [-1.67775818e-02 -6.12513762e-04 9.99859059e-01 3.81242300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters 0.028561547091865903 Centerline is valid? [True, True] Translation: X:80.48, Y:-4.56, Z:0.38 [[ 9.94916775e-01 9.96825834e-02 1.42826478e-02 8.04760652e+01] [-9.96825117e-02 9.95019035e-01 -7.18702579e-04 -4.56288594e+00] [-1.42831486e-02 -7.08680953e-04 9.99897739e-01 3.81563138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters 0.031377703864545956 Centerline is valid? [True, True] Translation: X:80.54, Y:-4.55, Z:0.38 [[ 9.93611277e-01 1.11484989e-01 1.75421368e-02 8.05381087e+01] [-1.11486693e-01 9.93765534e-01 -8.83844393e-04 -4.54907914e+00] [-1.75313063e-02 -1.07751706e-03 9.99845734e-01 3.79205581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters 0.03148135503010356 Centerline is valid? [True, True] Translation: X:80.60, Y:-4.54, Z:0.38 [[ 9.93601617e-01 1.11054237e-01 2.05616756e-02 8.06008849e+01] [-1.11056429e-01 9.93813559e-01 -1.03877140e-03 -4.53567757e+00] [-2.05498320e-02 -1.25138133e-03 9.99788047e-01 3.81629514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters 0.02915753283119432 Centerline is valid? [True, True] Translation: X:80.66, Y:-4.52, Z:0.39 [[ 9.94438241e-01 1.04258570e-01 1.49243310e-02 8.06617272e+01] [-1.04258965e-01 9.94549898e-01 -7.53683155e-04 -4.52208570e+00] [-1.49215698e-02 -8.06503958e-04 9.99888342e-01 3.86466399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters 0.02819480420105875 Centerline is valid? [True, True] Translation: X:80.73, Y:-4.51, Z:0.39 [[ 9.94597007e-01 1.02532248e-01 1.62459837e-02 8.07251640e+01] [-1.02532434e-01 9.94729321e-01 -8.23671387e-04 -4.50973541e+00] [-1.62448092e-02 -8.46519156e-04 9.99867686e-01 3.86951235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters 0.02698527371451656 Centerline is valid? [True, True] Translation: X:80.79, Y:-4.48, Z:0.38 [[ 9.95278487e-01 9.61266732e-02 1.34311506e-02 8.07872482e+01] [-9.61262188e-02 9.95368920e-01 -6.80900600e-04 -4.48140139e+00] [-1.34344026e-02 -6.13400003e-04 9.99909566e-01 3.84148067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters 0.02575062590137548 Centerline is valid? [True, True] Translation: X:80.85, Y:-4.47, Z:0.39 [[ 9.95936512e-01 8.93054854e-02 1.16186762e-02 8.08481503e+01] [-8.93046832e-02 9.96004180e-01 -5.88878446e-04 -4.47407746e+00] [-1.16248402e-02 -4.51116655e-04 9.99932328e-01 3.87494770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters 0.024157837781462126 Centerline is valid? [True, True] Translation: X:80.91, Y:-4.47, Z:0.39 [[ 9.96764350e-01 7.95658008e-02 1.14067586e-02 8.09095160e+01] [-7.95643840e-02 9.96829561e-01 -5.78675925e-04 -4.46965945e+00] [-1.14166370e-02 -3.30768190e-04 9.99934773e-01 3.88516912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters 0.023125438107663064 Centerline is valid? [True, True] Translation: X:80.97, Y:-4.46, Z:0.38 [[ 9.97880503e-01 6.32511075e-02 1.52905078e-02 8.09719391e+01] [-6.32466167e-02 9.97997626e-01 -7.77571476e-04 -4.45789646e+00] [-1.53090727e-02 -1.91149470e-04 9.99882791e-01 3.84535233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters 0.0224467041267595 Centerline is valid? [True, True] Translation: X:81.03, Y:-4.45, Z:0.38 [[ 9.98686396e-01 5.11445820e-02 3.11673488e-03 8.10333261e+01] [-5.11443350e-02 9.98691259e-01 -1.58944204e-04 -4.45440844e+00] [-3.12078502e-03 -6.67918904e-07 9.99995130e-01 3.84007547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters 0.022685210347831657 Centerline is valid? [True, True] Translation: X:81.09, Y:-4.46, Z:0.39 [[ 9.99020654e-01 4.36658988e-02 7.14293932e-03 8.10914360e+01] [-4.36644566e-02 9.99046189e-01 -3.57803136e-04 -4.46304328e+00] [-7.15175010e-03 4.55601590e-05 9.99974425e-01 3.86422616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters 0.023143866858663355 Centerline is valid? [True, True] Translation: X:81.15, Y:-4.47, Z:0.39 [[ 9.99248124e-01 3.67735564e-02 1.22838108e-02 8.11529937e+01] [-3.67686995e-02 9.99323610e-01 -6.21065451e-04 -4.46545423e+00] [-1.22983409e-02 1.68938739e-04 9.99924358e-01 3.89841209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters 0.023701736411982328 Centerline is valid? [True, True] Translation: X:81.21, Y:-4.47, Z:0.39 [[ 9.99426958e-01 3.22950636e-02 1.01382852e-02 8.12146360e+01] [-3.22915093e-02 9.99478361e-01 -5.14129665e-04 -4.46930455e+00] [-1.01496005e-02 1.86454517e-04 9.99948474e-01 3.85938019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters 0.023389643663205107 Centerline is valid? [True, True] Translation: X:81.28, Y:-4.48, Z:0.39 [[ 9.99405507e-01 3.39608457e-02 5.94082630e-03 8.12766920e+01] [-3.39596485e-02 9.99423159e-01 -3.02309047e-04 -4.48031820e+00] [-5.94766606e-03 1.00380953e-04 9.99982307e-01 3.85212364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters 0.02329684944240815 Centerline is valid? [True, True] Translation: X:81.34, Y:-4.49, Z:0.39 [[ 9.99366090e-01 3.53687451e-02 4.05831959e-03 8.13388772e+01] [-3.53681951e-02 9.99374328e-01 -2.07233353e-04 -4.48582274e+00] [-4.06310999e-03 6.35665471e-05 9.99991744e-01 3.87910333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters 0.02323684096951841 Centerline is valid? [True, True] Translation: X:81.40, Y:-4.49, Z:0.39 [[ 9.99360516e-01 3.50080383e-02 7.27979073e-03 8.13994082e+01] [-3.50062645e-02 9.99387024e-01 -3.70973577e-04 -4.49298592e+00] [-7.28831545e-03 1.15898066e-04 9.99973433e-01 3.87969786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters 0.023100568488668878 Centerline is valid? [True, True] Translation: X:81.46, Y:-4.50, Z:0.39 [[ 9.99283833e-01 3.69468759e-02 8.16998511e-03 8.14611760e+01] [-3.69446941e-02 9.99317224e-01 -4.17858167e-04 -4.50273182e+00] [-8.17984540e-03 1.15721310e-04 9.99966538e-01 3.89417167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters 0.022258470860584193 Centerline is valid? [True, True] Translation: X:81.52, Y:-4.51, Z:0.39 [[ 9.98834269e-01 4.78338655e-02 6.48268053e-03 8.15229555e+01] [-4.78327146e-02 9.98855305e-01 -3.32540823e-04 -4.50812115e+00] [-6.49116655e-03 2.20689619e-05 9.99978932e-01 3.88746489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters 0.022174422524254646 Centerline is valid? [True, True] Translation: X:81.58, Y:-4.51, Z:0.39 [[ 9.98483227e-01 5.50040919e-02 2.40752423e-03 8.15836876e+01] [-5.50039534e-02 9.98486129e-01 -1.23746595e-04 -4.51411771e+00] [-2.41068612e-03 -8.86445168e-06 9.99997094e-01 3.86041763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters 0.022662334715204596 Centerline is valid? [True, True] Translation: X:81.64, Y:-4.53, Z:0.39 [[ 9.97844756e-01 6.54967058e-02 4.00304913e-03 8.16423506e+01] [-6.54964132e-02 9.97852784e-01 -2.04294545e-04 -4.52712952e+00] [-4.00783434e-03 -5.83311194e-05 9.99991967e-01 3.91055845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters 0.02303335395826449 Centerline is valid? [True, True] Translation: X:81.70, Y:-4.53, Z:0.39 [[ 9.97561191e-01 6.96468762e-02 4.58075368e-03 8.17023413e+01] [-6.96465355e-02 9.97571704e-01 -2.34035497e-04 -4.53013023e+00] [-4.58593010e-03 -8.55688955e-05 9.99989481e-01 3.91182355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters 0.023323227609667912 Centerline is valid? [True, True] Translation: X:81.76, Y:-4.53, Z:0.39 [[ 9.97350327e-01 7.24241307e-02 6.86083687e-03 8.17628552e+01] [-7.24234305e-02 9.97373914e-01 -3.50779690e-04 -4.52703193e+00] [-6.86822464e-03 -1.47035103e-04 9.99976403e-01 3.91946973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters 0.02371032855483355 Centerline is valid? [True, True] Translation: X:81.82, Y:-4.53, Z:0.39 [[ 9.97022767e-01 7.66962290e-02 7.95552286e-03 8.18241203e+01] [-7.66954165e-02 9.97054485e-01 -4.07616655e-04 -4.52847574e+00] [-7.96335241e-03 -2.03749053e-04 9.99968271e-01 3.92901581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters 0.024599695564479843 Centerline is valid? [True, True] Translation: X:81.89, Y:-4.53, Z:0.39 [[ 9.96538877e-01 8.24326768e-02 1.07294539e-02 8.18857281e+01] [-8.24315245e-02 9.96596579e-01 -5.50344380e-04 -4.52779883e+00] [-1.07383034e-02 -3.36005675e-04 9.99942286e-01 3.90598647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters 0.024711029054532648 Centerline is valid? [True, True] Translation: X:81.95, Y:-4.53, Z:0.39 [[ 9.96446412e-01 8.37863957e-02 8.62480974e-03 8.19478479e+01] [-8.37856885e-02 9.96483698e-01 -4.43931315e-04 -4.52769907e+00] [-8.63167772e-03 -2.80281856e-04 9.99962707e-01 3.90503339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters 0.024456756897354784 Centerline is valid? [True, True] Translation: X:82.01, Y:-4.53, Z:0.39 [[ 9.96559943e-01 8.25570216e-02 7.25381731e-03 8.20093348e+01] [-8.25564869e-02 9.96586317e-01 -3.73612667e-04 -4.52811001e+00] [-7.25989943e-03 -2.26522256e-04 9.99973621e-01 3.92416387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters 0.024097667360826282 Centerline is valid? [True, True] Translation: X:82.07, Y:-4.52, Z:0.39 [[ 9.96815716e-01 7.94936420e-02 6.26013547e-03 8.20690332e+01] [-7.94931900e-02 9.96835357e-01 -3.21392792e-04 -4.52268182e+00] [-6.26587306e-03 -1.77268752e-04 9.99980354e-01 3.92118650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters 0.023832523438416388 Centerline is valid? [True, True] Translation: X:82.13, Y:-4.52, Z:0.39 [[ 9.96931709e-01 7.76093346e-02 1.01959750e-02 8.21289788e+01] [-7.76080418e-02 9.96983810e-01 -5.22983853e-04 -4.52435857e+00] [-1.02058105e-02 -2.69910471e-04 9.99947883e-01 3.93508916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters 0.023908969231338104 Centerline is valid? [True, True] Translation: X:82.19, Y:-4.52, Z:0.39 [[ 9.96906368e-01 7.76651166e-02 1.20756978e-02 8.21908628e+01] [-7.76632887e-02 9.96979452e-01 -6.20944644e-04 -4.52298928e+00] [-1.20874483e-02 -3.18814735e-04 9.99926893e-01 3.92076187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters 0.024194689031010835 Centerline is valid? [True, True] Translation: X:82.25, Y:-4.53, Z:0.39 [[ 9.96814261e-01 7.88214748e-02 1.21861947e-02 8.22533707e+01] [-7.88196757e-02 9.96888692e-01 -6.28592741e-04 -4.52765498e+00] [-1.21978263e-02 -3.33921704e-04 9.99925548e-01 3.90982512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters 0.023873905076948507 Centerline is valid? [True, True] Translation: X:82.32, Y:-4.53, Z:0.39 [[ 9.96906913e-01 7.80386105e-02 9.30492308e-03 8.23157454e+01] [-7.80375143e-02 9.96950307e-01 -4.81375488e-04 -4.52534725e+00] [-9.31411180e-03 -2.46246517e-04 9.99956592e-01 3.92381694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters 0.023716284148576006 Centerline is valid? [True, True] Translation: X:82.38, Y:-4.53, Z:0.39 [[ 9.97027339e-01 7.61131171e-02 1.19699425e-02 8.23761174e+01] [-7.61111749e-02 9.97099146e-01 -6.18379000e-04 -4.52653789e+00] [-1.19822862e-02 -2.94505621e-04 9.99928166e-01 3.91623814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters 0.02334789354164622 Centerline is valid? [True, True] Translation: X:82.44, Y:-4.53, Z:0.39 [[ 9.97371897e-01 7.05811754e-02 1.63583839e-02 8.24386732e+01] [-7.05767565e-02 9.97505991e-01 -8.47991966e-04 -4.52728731e+00] [-1.63774382e-02 -3.08758323e-04 9.99865833e-01 3.91714615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters 0.023174485538780255 Centerline is valid? [True, True] Translation: X:82.50, Y:-4.53, Z:0.39 [[ 9.97456476e-01 6.96971251e-02 1.49294945e-02 8.25009162e+01] [-6.96933151e-02 9.97568163e-01 -7.75955470e-04 -4.52997699e+00] [-1.49472702e-02 -2.66504155e-04 9.99888248e-01 3.90757346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters 0.022982741282854328 Centerline is valid? [True, True] Translation: X:82.56, Y:-4.52, Z:0.39 [[ 9.97482943e-01 6.99231511e-02 1.17699213e-02 8.25634045e+01] [-6.99207788e-02 9.97552359e-01 -6.13442754e-04 -4.52229906e+00] [-1.17840066e-02 -2.11063378e-04 9.99930544e-01 3.93458369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters 0.02294216894035033 Centerline is valid? [True, True] Translation: X:82.62, Y:-4.52, Z:0.39 [[ 9.97583862e-01 6.89760394e-02 8.29116816e-03 8.26247129e+01] [-6.89748260e-02 9.97618307e-01 -4.32544557e-04 -4.52179909e+00] [-8.30125635e-03 -1.40382411e-04 9.99965534e-01 3.91725445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters 0.022794858588074077 Centerline is valid? [True, True] Translation: X:82.69, Y:-4.52, Z:0.39 [[ 9.97800069e-01 6.49841944e-02 1.31178074e-02 8.26851715e+01] [-6.49808190e-02 9.97886279e-01 -6.83818755e-04 -4.52294084e+00] [-1.31345175e-02 -1.70091469e-04 9.99913724e-01 3.91395859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters 0.022489779537119885 Centerline is valid? [True, True] Translation: X:82.75, Y:-4.52, Z:0.39 [[ 9.98313236e-01 5.56745415e-02 1.64629110e-02 8.27475666e+01] [-5.56679113e-02 9.98448968e-01 -8.61072444e-04 -4.52308054e+00] [-1.64853163e-02 -5.68358508e-05 9.99864106e-01 3.91638365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters 0.022465249492350486 Centerline is valid? [True, True] Translation: X:82.81, Y:-4.52, Z:0.39 [[ 9.98587753e-01 5.16652763e-02 1.23773126e-02 8.28107831e+01] [-5.16611915e-02 9.98664458e-01 -6.49735214e-04 -4.51588246e+00] [-1.23943509e-02 9.39091271e-06 9.99923187e-01 3.90187948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters 0.022588876057731397 Centerline is valid? [True, True] Translation: X:82.87, Y:-4.53, Z:0.39 [[ 9.98635590e-01 5.02066186e-02 1.43615418e-02 8.28722812e+01] [-5.02009455e-02 9.98738852e-01 -7.55475012e-04 -4.52535235e+00] [-1.43813596e-02 3.34812561e-05 9.99896582e-01 3.88660168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters 0.02250454489180339 Centerline is valid? [True, True] Translation: X:82.93, Y:-4.53, Z:0.39 [[ 9.98593063e-01 5.19831544e-02 1.04711907e-02 8.29339637e+01] [-5.19802201e-02 9.98647962e-01 -5.52368286e-04 -4.53114806e+00] [-1.04857471e-02 7.29634338e-06 9.99945023e-01 3.90513207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters 0.022646580626603487 Centerline is valid? [True, True] Translation: X:83.00, Y:-4.53, Z:0.39 [[ 9.98378111e-01 5.50066458e-02 1.46770692e-02 8.29958958e+01] [-5.50011920e-02 9.98485988e-01 -7.75283768e-04 -4.52878574e+00] [-1.46974937e-02 -3.32299597e-05 9.99891985e-01 3.91542073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters 0.02277028239734345 Centerline is valid? [True, True] Translation: X:83.06, Y:-4.53, Z:0.39 [[ 9.98230992e-01 5.76141729e-02 1.46796704e-02 8.30574801e+01] [-5.76089684e-02 9.98338922e-01 -7.77505522e-04 -4.53465607e+00] [-1.47000816e-02 -6.95505578e-05 9.99891946e-01 3.89835250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters 0.02289771072037399 Centerline is valid? [True, True] Translation: X:83.12, Y:-4.54, Z:0.39 [[ 9.98085857e-01 6.05966457e-02 1.23558942e-02 8.31196636e+01] [-6.05931657e-02 9.98162330e-01 -6.56152459e-04 -4.53561637e+00] [-1.23729488e-02 -9.37862554e-05 9.99923448e-01 3.88432394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters 0.0227651403903062 Centerline is valid? [True, True] Translation: X:83.18, Y:-4.54, Z:0.39 [[ 9.98089050e-01 6.03876330e-02 1.30989145e-02 8.31823747e+01] [-6.03836814e-02 9.98174997e-01 -6.97325124e-04 -4.53582604e+00] [-1.31171188e-02 -9.49681113e-05 9.99913962e-01 3.94922283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters 0.022694427659400714 Centerline is valid? [True, True] Translation: X:83.24, Y:-4.54, Z:0.40 [[ 9.98301969e-01 5.71466253e-02 1.12889898e-02 8.32448464e+01] [-5.71434649e-02 9.98365795e-01 -6.02570644e-04 -4.53857625e+00] [-1.13049762e-02 -4.35445321e-05 9.99936096e-01 3.96201121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters 0.022946577407987497 Centerline is valid? [True, True] Translation: X:83.31, Y:-4.54, Z:0.39 [[ 9.98405620e-01 5.50270294e-02 1.25795285e-02 8.33073853e+01] [-5.50229168e-02 9.98484865e-01 -6.73048074e-04 -4.53931728e+00] [-1.25975046e-02 -2.01873705e-05 9.99920648e-01 3.92615750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters 0.0227769043893356 Centerline is valid? [True, True] Translation: X:83.37, Y:-4.54, Z:0.39 [[ 9.98478261e-01 5.37578159e-02 1.22987283e-02 8.33696596e+01] [-5.37537686e-02 9.98554003e-01 -6.59646209e-04 -4.53611921e+00] [-1.23164055e-02 -2.46059420e-06 9.99924150e-01 3.94162015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters 0.022779900191186746 Centerline is valid? [True, True] Translation: X:83.43, Y:-4.54, Z:0.39 [[ 9.98598083e-01 5.20669477e-02 9.53419700e-03 8.34316029e+01] [-5.20644247e-02 9.98643596e-01 -5.12803762e-04 -4.54117613e+00] [-9.54796491e-03 1.56923718e-05 9.99954417e-01 3.94759563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters 0.022847602802900803 Centerline is valid? [True, True] Translation: X:83.49, Y:-4.54, Z:0.40 [[ 9.98577117e-01 5.21627149e-02 1.10812012e-02 8.34923791e+01] [-5.21593154e-02 9.98638599e-01 -5.95754922e-04 -4.54400905e+00] [-1.10971915e-02 1.69193614e-05 9.99938424e-01 3.95527639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters 0.02296466613907468 Centerline is valid? [True, True] Translation: X:83.55, Y:-4.54, Z:0.40 [[ 9.98310910e-01 5.62437539e-02 1.45591102e-02 8.35534795e+01] [-5.62383133e-02 9.98417067e-01 -7.83158709e-04 -4.54089382e+00] [-1.45801118e-02 -3.69439156e-05 9.99893704e-01 3.95636905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters 0.022895981913162358 Centerline is valid? [True, True] Translation: X:83.62, Y:-4.54, Z:0.40 [[ 9.97995078e-01 6.18255312e-02 1.35435342e-02 8.36158990e+01] [-6.18213064e-02 9.98086966e-01 -7.30781579e-04 -4.54190343e+00] [-1.35628059e-02 -1.07962559e-04 9.99908015e-01 3.96895628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters 0.02303223659247989 Centerline is valid? [True, True] Translation: X:83.68, Y:-4.55, Z:0.40 [[ 9.97788859e-01 6.55055172e-02 1.12436500e-02 8.36781587e+01] [-6.55028210e-02 9.97852199e-01 -6.08278720e-04 -4.54527740e+00] [-1.12593464e-02 -1.29557061e-04 9.99936603e-01 3.96421909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters 0.022961787905974217 Centerline is valid? [True, True] Translation: X:83.74, Y:-4.54, Z:0.40 [[ 9.97807581e-01 6.48996504e-02 1.29640483e-02 8.37385507e+01] [-6.48960248e-02 9.97891785e-01 -7.00590757e-04 -4.54338461e+00] [-1.29821854e-02 -1.42260431e-04 9.99915718e-01 3.98850102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters 0.023071708941429306 Centerline is valid? [True, True] Translation: X:83.80, Y:-4.54, Z:0.40 [[ 9.97857821e-01 6.28566103e-02 1.81332958e-02 8.37999342e+01] [-6.28491518e-02 9.98022555e-01 -9.81468798e-04 -4.54293657e+00] [-1.81591300e-02 -1.60295946e-04 9.99835097e-01 3.98163242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters 0.022491046917520678 Centerline is valid? [True, True] Translation: X:83.86, Y:-4.55, Z:0.39 [[ 9.98296130e-01 5.79054533e-02 7.19691723e-03 8.38611303e+01] [-5.79041448e-02 9.98322071e-01 -3.90213372e-04 -4.55001018e+00] [-7.20743679e-03 -2.71828383e-05 9.99974026e-01 3.93694719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters 0.02247596008500108 Centerline is valid? [True, True] Translation: X:83.92, Y:-4.56, Z:0.40 [[ 9.98336801e-01 5.73782240e-02 5.60102118e-03 8.39195929e+01] [-5.73774519e-02 9.98352512e-01 -2.98576492e-04 -4.55691678e+00] [-5.60892536e-03 -2.32924238e-05 9.99984270e-01 3.95666819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters 0.02254071220397816 Centerline is valid? [True, True] Translation: X:83.98, Y:-4.56, Z:0.40 [[ 9.98233844e-01 5.79073632e-02 1.32638633e-02 8.39785821e+01] [-5.79031196e-02 9.98321959e-01 -7.04068190e-04 -4.55849333e+00] [-1.32823767e-02 -6.51943659e-05 9.99911783e-01 4.00679759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters 0.022604143918362095 Centerline is valid? [True, True] Translation: X:84.04, Y:-4.56, Z:0.40 [[ 9.98126148e-01 5.92477503e-02 1.52936848e-02 8.40409664e+01] [-5.92421842e-02 9.98243305e-01 -8.17131917e-04 -4.55834635e+00] [-1.53152317e-02 -9.04305584e-05 9.99882711e-01 4.01188443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters 0.022536766908757926 Centerline is valid? [True, True] Translation: X:84.10, Y:-4.56, Z:0.39 [[ 9.98067021e-01 6.06275470e-02 1.36572784e-02 8.41029703e+01] [-6.06232120e-02 9.98160454e-01 -7.31562437e-04 -4.56336648e+00] [-1.36765081e-02 -9.77997424e-05 9.99906467e-01 3.93031013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters 0.02248578262990314 Centerline is valid? [True, True] Translation: X:84.17, Y:-4.57, Z:0.40 [[ 9.98046094e-01 6.12296962e-02 1.24466117e-02 8.41652549e+01] [-6.12261218e-02 9.98123697e-01 -6.68376116e-04 -4.56644388e+00] [-1.24641825e-02 -9.49875913e-05 9.99922315e-01 3.96256663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters 0.022110832621240643 Centerline is valid? [True, True] Translation: X:84.23, Y:-4.56, Z:0.40 [[ 9.98117492e-01 6.03488619e-02 1.09310209e-02 8.42274716e+01] [-6.03460471e-02 9.98177344e-01 -5.87458817e-04 -4.55895984e+00] [-1.09465499e-02 -7.32909806e-05 9.99940082e-01 4.02420610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters 0.022397409470099557 Centerline is valid? [True, True] Translation: X:84.29, Y:-4.56, Z:0.40 [[ 9.98067570e-01 6.05490948e-02 1.39618177e-02 8.42882876e+01] [-6.05445281e-02 9.98165216e-01 -7.49921588e-04 -4.55822611e+00] [-1.39816079e-02 -9.68392501e-05 9.99902248e-01 4.00510935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters 0.022468838724539433 Centerline is valid? [True, True] Translation: X:84.35, Y:-4.56, Z:0.40 [[ 9.98254767e-01 5.68960481e-02 1.58196255e-02 8.43502579e+01] [-5.68896830e-02 9.98380107e-01 -8.52446602e-04 -4.55616926e+00] [-1.58425002e-02 -4.90145950e-05 9.99874499e-01 3.98604539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters 0.02229297325067717 Centerline is valid? [True, True] Translation: X:84.41, Y:-4.55, Z:0.40 [[ 9.98574571e-01 5.15823791e-02 1.37143523e-02 8.44132352e+01] [-5.15770683e-02 9.98668742e-01 -7.40883357e-04 -4.55122934e+00] [-1.37343115e-02 3.24811957e-05 9.99905679e-01 3.97846360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters 0.022119065087737342 Centerline is valid? [True, True] Translation: X:84.48, Y:-4.55, Z:0.40 [[ 9.98781475e-01 4.80655964e-02 1.11921426e-02 8.44752313e+01] [-4.80618213e-02 9.98844179e-01 -6.06171911e-04 -4.55437241e+00] [-1.12083425e-02 6.75185181e-05 9.99937182e-01 4.00903924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters 0.02237791694300715 Centerline is valid? [True, True] Translation: X:84.54, Y:-4.56, Z:0.40 [[ 9.98854457e-01 4.63429599e-02 1.19207546e-02 8.45361174e+01] [-4.63385500e-02 9.98925584e-01 -6.46021155e-04 -4.55622390e+00] [-1.19378853e-02 9.28906239e-05 9.99928737e-01 4.02191338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters 0.023109331478430754 Centerline is valid? [True, True] Translation: X:84.60, Y:-4.57, Z:0.40 [[ 9.98972305e-01 4.25436222e-02 1.56324813e-02 8.45973449e+01] [-4.25355242e-02 9.99094593e-01 -8.50297098e-04 -4.56544780e+00] [-1.56545022e-02 1.84487467e-04 9.99877444e-01 3.98646813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters 0.02380809375645061 Centerline is valid? [True, True] Translation: X:84.66, Y:-4.57, Z:0.40 [[ 9.99349135e-01 3.37066792e-02 1.28516995e-02 8.46594773e+01] [-3.37004558e-02 9.99431733e-01 -7.00565301e-04 -4.56897694e+00] [-1.28680101e-02 2.67001195e-04 9.99917168e-01 4.00814244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters 0.024973803522618028 Centerline is valid? [True, True] Translation: X:84.72, Y:-4.58, Z:0.40 [[ 9.99572156e-01 2.69742270e-02 1.13090809e-02 8.47208547e+01] [-2.69689665e-02 9.99636081e-01 -6.17436563e-04 -4.57780773e+00] [-1.13216202e-02 3.12178174e-04 9.99935860e-01 4.02771241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters 0.025610829578732786 Centerline is valid? [True, True] Translation: X:84.78, Y:-4.59, Z:0.40 [[ 9.99639934e-01 2.34540027e-02 1.30350052e-02 8.47823469e+01] [-2.34466929e-02 9.99724834e-01 -7.13334966e-04 -4.59422416e+00] [-1.30481490e-02 4.07450354e-04 9.99914786e-01 4.01573405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters 0.02571175850104858 Centerline is valid? [True, True] Translation: X:84.84, Y:-4.61, Z:0.40 [[ 9.99660724e-01 2.31555770e-02 1.19270792e-02 8.48446266e+01] [-2.31494053e-02 9.99731802e-01 -6.55271316e-04 -4.60945547e+00] [-1.19390536e-02 3.78944208e-04 9.99928655e-01 4.00995136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters 0.02544165032648138 Centerline is valid? [True, True] Translation: X:84.91, Y:-4.62, Z:0.40 [[ 9.99664392e-01 2.38087251e-02 1.02102295e-02 8.49063952e+01] [-2.38042255e-02 9.99716481e-01 -5.62004728e-04 -4.62403261e+00] [-1.02207154e-02 3.18769507e-04 9.99947716e-01 4.03107499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters 0.024432284516883812 Centerline is valid? [True, True] Translation: X:84.97, Y:-4.64, Z:0.40 [[ 9.99465893e-01 2.99327137e-02 1.31133922e-02 8.49680309e+01] [-2.99257918e-02 9.99551861e-01 -7.23802330e-04 -4.64291000e+00] [-1.31291810e-02 3.30987097e-04 9.99913754e-01 4.03553491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters 0.02288430329988188 Centerline is valid? [True, True] Translation: X:85.03, Y:-4.66, Z:0.40 [[ 9.99248337e-01 3.76298930e-02 9.31405278e-03 8.50289292e+01] [-3.76267234e-02 9.99291731e-01 -5.15358851e-04 -4.66414447e+00] [-9.32684882e-03 1.64514187e-04 9.99956490e-01 4.01905987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters 0.022438801021017623 Centerline is valid? [True, True] Translation: X:85.09, Y:-4.68, Z:0.40 [[ 9.99036673e-01 4.31719770e-02 7.86808192e-03 8.50909852e+01] [-4.31698746e-02 9.99067651e-01 -4.36917965e-04 -4.67773089e+00] [-7.87960873e-03 9.68329606e-05 9.99968951e-01 4.01515787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters 0.0221349675629688 Centerline is valid? [True, True] Translation: X:85.15, Y:-4.69, Z:0.40 [[ 9.98714261e-01 4.91600330e-02 1.23739884e-02 8.51524648e+01] [-4.91552803e-02 9.98790912e-01 -6.88114811e-04 -4.69000394e+00] [-1.23928549e-02 7.89832084e-05 9.99923203e-01 4.03314819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters 0.022068387151075137 Centerline is valid? [True, True] Translation: X:85.21, Y:-4.70, Z:0.41 [[ 9.98006750e-01 6.23086536e-02 1.00078824e-02 8.52146496e+01] [-6.23061909e-02 9.98056926e-01 -5.57979655e-04 -4.69730950e+00] [-1.00232033e-02 -6.66855711e-05 9.99949764e-01 4.05785421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters 0.02281283358595879 Centerline is valid? [True, True] Translation: X:85.28, Y:-4.71, Z:0.41 [[ 9.97342674e-01 7.20676317e-02 1.06699583e-02 8.52766097e+01] [-7.20653757e-02 9.97399732e-01 -5.96264777e-04 -4.70535230e+00] [-1.06851850e-02 -1.74254248e-04 9.99942897e-01 4.05961989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters 0.023576467142212065 Centerline is valid? [True, True] Translation: X:85.34, Y:-4.71, Z:0.41 [[ 9.96630760e-01 8.10711210e-02 1.24338822e-02 8.53376558e+01] [-8.10687525e-02 9.96708269e-01 -6.95217271e-04 -4.70992944e+00] [-1.24493152e-02 -3.15124402e-04 9.99922455e-01 4.07526091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters 0.02354557698037708 Centerline is valid? [True, True] Translation: X:85.40, Y:-4.71, Z:0.41 [[ 9.96696087e-01 8.07383451e-02 8.84475559e-03 8.53996180e+01] [-8.07371191e-02 9.96735307e-01 -4.96164216e-04 -4.71081069e+00] [-8.85593965e-03 -2.19575153e-04 9.99960761e-01 4.06792593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters 0.022927772306592608 Centerline is valid? [True, True] Translation: X:85.46, Y:-4.72, Z:0.41 [[ 9.97120595e-01 7.51877258e-02 9.86537340e-03 8.54603730e+01] [-7.51859265e-02 9.97169379e-01 -5.53665743e-04 -4.71690577e+00] [-9.87907714e-03 -1.89665725e-04 9.99951183e-01 4.06916890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters 0.02272498984704387 Centerline is valid? [True, True] Translation: X:85.52, Y:-4.72, Z:0.41 [[ 9.97227675e-01 7.35752212e-02 1.11198094e-02 8.55227478e+01] [-7.35728150e-02 9.97289652e-01 -6.25865214e-04 -4.71542683e+00] [-1.11357191e-02 -1.93985570e-04 9.99937977e-01 4.10265163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters 0.022833875941623255 Centerline is valid? [True, True] Translation: X:85.58, Y:-4.72, Z:0.41 [[ 9.97233281e-01 7.35876733e-02 1.05184135e-02 8.55846416e+01] [-7.35855055e-02 9.97288735e-01 -5.93486854e-04 -4.72115940e+00] [-1.05335686e-02 -1.82157931e-04 9.99944504e-01 4.10351283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters 0.02253167215054302 Centerline is valid? [True, True] Translation: X:85.65, Y:-4.72, Z:0.41 [[ 9.97376178e-01 7.20794797e-02 6.73108081e-03 8.56468972e+01] [-7.20785499e-02 9.97398886e-01 -3.80938658e-04 -4.72409116e+00] [-6.74103037e-03 -1.05227401e-04 9.99977273e-01 4.06722541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters 0.022606147456578834 Centerline is valid? [True, True] Translation: X:85.71, Y:-4.72, Z:0.41 [[ 9.97518948e-01 7.00433819e-02 7.06203080e-03 8.57077319e+01] [-7.00423124e-02 9.97543942e-01 -3.98957448e-04 -4.72432875e+00] [-7.07263037e-03 -9.66733538e-05 9.99974984e-01 4.07444734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters 0.02257220902053205 Centerline is valid? [True, True] Translation: X:85.77, Y:-4.72, Z:0.41 [[ 9.97591963e-01 6.80794026e-02 1.32464843e-02 8.57682425e+01] [-6.80754665e-02 9.97679894e-01 -7.48337658e-04 -4.72370617e+00] [-1.32666975e-02 -1.55224968e-04 9.99911981e-01 4.13898237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters 0.022702645549739005 Centerline is valid? [True, True] Translation: X:85.83, Y:-4.72, Z:0.41 [[ 9.97530056e-01 6.89501348e-02 1.34039512e-02 8.58310915e+01] [-6.89461502e-02 9.97620094e-01 -7.59689796e-04 -4.72109241e+00] [-1.34244318e-02 -1.66337429e-04 9.99909874e-01 4.08457596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters 0.022558449335979606 Centerline is valid? [True, True] Translation: X:85.89, Y:-4.72, Z:0.41 [[ 9.97649317e-01 6.74557325e-02 1.20650109e-02 8.58936655e+01] [-6.74523747e-02 9.97722260e-01 -6.85479607e-04 -4.71801488e+00] [-1.20837695e-02 -1.29945375e-04 9.99926980e-01 4.08650012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters 0.022474147018669 Centerline is valid? [True, True] Translation: X:85.96, Y:-4.72, Z:0.41 [[ 9.97767118e-01 6.59600927e-02 1.04901969e-02 8.59557689e+01] [-6.59574559e-02 9.97822257e-01 -5.97499098e-04 -4.71789206e+00] [-1.05067631e-02 -9.57417496e-05 9.99944798e-01 4.09905840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters 0.022092787857125276 Centerline is valid? [True, True] Translation: X:86.02, Y:-4.72, Z:0.41 [[ 9.98332798e-01 5.73644883e-02 6.39837220e-03 8.60172487e+01] [-5.73633285e-02 9.98353302e-01 -3.64785674e-04 -4.72228512e+00] [-6.40876175e-03 -2.85442377e-06 9.99979464e-01 4.11122641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters 0.022331296780838384 Centerline is valid? [True, True] Translation: X:86.08, Y:-4.72, Z:0.41 [[ 9.98575539e-01 5.25284788e-02 9.36226768e-03 8.60777008e+01] [-5.25257876e-02 9.98619426e-01 -5.33275363e-04 -4.72187489e+00] [-9.37735452e-03 4.07552490e-05 9.99956031e-01 4.10732987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters 0.022456999699340424 Centerline is valid? [True, True] Translation: X:86.14, Y:-4.72, Z:0.41 [[ 9.98745624e-01 4.87074622e-02 1.16087118e-02 8.61405598e+01] [-4.87030412e-02 9.98813082e-01 -6.63396977e-04 -4.71693577e+00] [-1.16272456e-02 9.71852614e-05 9.99932397e-01 4.11369898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters 0.022559030826598245 Centerline is valid? [True, True] Translation: X:86.20, Y:-4.72, Z:0.41 [[ 9.98950469e-01 4.52175220e-02 7.30318863e-03 8.62027435e+01] [-4.52156703e-02 9.98977161e-01 -4.18538516e-04 -4.72202851e+00] [-7.31464392e-03 8.78806772e-05 9.99973244e-01 4.11803366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters 0.024072170074734986 Centerline is valid? [True, True] Translation: X:86.26, Y:-4.73, Z:0.41 [[ 9.99434189e-01 3.29482208e-02 6.76142231e-03 8.62630890e+01] [-3.29463544e-02 9.99457046e-01 -3.87261187e-04 -4.73195932e+00] [-6.77051074e-03 1.64277855e-04 9.99977066e-01 4.10141637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters 0.02550677521889656 Centerline is valid? [True, True] Translation: X:86.32, Y:-4.74, Z:0.41 [[ 9.99610454e-01 2.59501860e-02 1.02726775e-02 8.63243354e+01] [-2.59455010e-02 9.99663185e-01 -5.89089761e-04 -4.73936609e+00] [-1.02845045e-02 3.22330520e-04 9.99947061e-01 4.12643679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters 0.025748408744217962 Centerline is valid? [True, True] Translation: X:86.39, Y:-4.74, Z:0.41 [[ 9.99631054e-01 2.45499251e-02 1.16213652e-02 8.63862486e+01] [-2.45438149e-02 9.99698532e-01 -6.68126078e-04 -4.74444954e+00] [-1.16342641e-02 3.82646940e-04 9.99932246e-01 4.13705758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters 0.024608243777492208 Centerline is valid? [True, True] Translation: X:86.45, Y:-4.76, Z:0.41 [[ 9.99477636e-01 2.98714831e-02 1.23349007e-02 8.64466899e+01] [-2.98649992e-02 9.99553690e-01 -7.09566963e-04 -4.75735331e+00] [-1.23505913e-02 3.40814513e-04 9.99923670e-01 4.12303384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters 0.0241996353889154 Centerline is valid? [True, True] Translation: X:86.51, Y:-4.77, Z:0.41 [[ 9.99384544e-01 3.26910932e-02 1.27210882e-02 8.65082389e+01] [-3.26844006e-02 9.99465453e-01 -7.33697333e-04 -4.76960535e+00] [-1.27382735e-02 3.17464632e-04 9.99918815e-01 4.14225415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters 0.023498130109552328 Centerline is valid? [True, True] Translation: X:86.57, Y:-4.78, Z:0.41 [[ 9.99139233e-01 3.91149740e-02 1.38134569e-02 8.65703560e+01] [-3.91076726e-02 9.99234683e-01 -7.98401518e-04 -4.77727421e+00] [-1.38341146e-02 2.57502133e-04 9.99904271e-01 4.14223690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters 0.022895279772552388 Centerline is valid? [True, True] Translation: X:86.63, Y:-4.78, Z:0.41 [[ 9.98992610e-01 4.32014796e-02 1.21407519e-02 8.66325846e+01] [-4.31961212e-02 9.99066364e-01 -7.03360733e-04 -4.78171584e+00] [-1.21598031e-02 1.78218785e-04 9.99926051e-01 4.12175075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters 0.02216520890327433 Centerline is valid? [True, True] Translation: X:86.69, Y:-4.80, Z:0.42 [[ 9.98489391e-01 5.28933421e-02 1.48738466e-02 8.66935538e+01] [-5.28863470e-02 9.98600165e-01 -8.63511489e-04 -4.79899543e+00] [-1.48986996e-02 7.55836503e-05 9.99889005e-01 4.17172738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters 0.022256964265788555 Centerline is valid? [True, True] Translation: X:86.76, Y:-4.81, Z:0.42 [[ 9.98384855e-01 5.56017619e-02 1.16673112e-02 8.67558827e+01] [-5.55976163e-02 9.98453025e-01 -6.79618977e-04 -4.80784171e+00] [-1.16870502e-02 2.98466042e-05 9.99931704e-01 4.15764507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters 0.02198388450299586 Centerline is valid? [True, True] Translation: X:86.82, Y:-4.81, Z:0.41 [[ 9.98258949e-01 5.80723100e-02 1.03284361e-02 8.68176247e+01] [-5.80691800e-02 9.98312379e-01 -6.02929750e-04 -4.80988412e+00] [-1.03460192e-02 2.11620059e-06 9.99946479e-01 4.12320041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters 0.022267996961666793 Centerline is valid? [True, True] Translation: X:86.88, Y:-4.82, Z:0.42 [[ 9.97845268e-01 6.40586216e-02 1.41885063e-02 8.68794131e+01] [-6.40532964e-02 9.97946134e-01 -8.29897689e-04 -4.82070238e+00] [-1.42125271e-02 -8.07111150e-05 9.99898994e-01 4.17412961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters 0.022327394463253037 Centerline is valid? [True, True] Translation: X:86.94, Y:-4.83, Z:0.42 [[ 9.97565393e-01 6.88493260e-02 1.10931176e-02 8.69409351e+01] [-6.88463489e-02 9.97627063e-01 -6.50473543e-04 -4.83179687e+00] [-1.11115790e-02 -1.14830752e-04 9.99938258e-01 4.18839074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters 0.022573228092329298 Centerline is valid? [True, True] Translation: X:87.00, Y:-4.83, Z:0.42 [[ 9.97306865e-01 7.22933555e-02 1.23566871e-02 8.70033290e+01] [-7.22899059e-02 9.97383398e-01 -7.26172033e-04 -4.83450874e+00] [-1.23768520e-02 -1.69047394e-04 9.99923390e-01 4.16125056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters 0.022809705971546575 Centerline is valid? [True, True] Translation: X:87.06, Y:-4.84, Z:0.42 [[ 9.97129388e-01 7.37160580e-02 1.72894707e-02 8.70649863e+01] [-7.37094826e-02 9.97279237e-01 -1.01812155e-03 -4.83971534e+00] [-1.73174820e-02 -2.59199017e-04 9.99850008e-01 4.15914786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters 0.022494599312637836 Centerline is valid? [True, True] Translation: X:87.13, Y:-4.85, Z:0.42 [[ 9.97437175e-01 7.03152782e-02 1.32228283e-02 8.71265936e+01] [-7.03111077e-02 9.97524806e-01 -7.80594431e-04 -4.84643600e+00] [-1.32449870e-02 -1.51117803e-04 9.99912270e-01 4.16008673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters 0.022526469603104473 Centerline is valid? [True, True] Translation: X:87.19, Y:-4.85, Z:0.42 [[ 9.97441170e-01 6.95695699e-02 1.64677441e-02 8.71885288e+01] [-6.95629655e-02 9.97577087e-01 -9.74217471e-04 -4.85113030e+00] [-1.64956201e-02 -1.73820498e-04 9.99863923e-01 4.16833842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters 0.02238496138104553 Centerline is valid? [True, True] Translation: X:87.25, Y:-4.86, Z:0.42 [[ 9.97279673e-01 7.21907714e-02 1.48911695e-02 8.72514739e+01] [-7.21856119e-02 9.97390824e-01 -8.84385018e-04 -4.86180282e+00] [-1.49161602e-02 -1.92948981e-04 9.99888729e-01 4.19062152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters 0.02259738604192915 Centerline is valid? [True, True] Translation: X:87.31, Y:-4.86, Z:0.42 [[ 9.97207708e-01 7.33614216e-02 1.39602334e-02 8.73145959e+01] [-7.33569605e-02 9.97305402e-01 -8.32049764e-04 -4.86447765e+00] [-1.39836565e-02 -1.94353852e-04 9.99902205e-01 4.16775064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters 0.0226720075829928 Centerline is valid? [True, True] Translation: X:87.38, Y:-4.87, Z:0.42 [[ 9.97104540e-01 7.47132979e-02 1.41583852e-02 8.73762247e+01] [-7.47088236e-02 9.97205033e-01 -8.45400885e-04 -4.87328002e+00] [-1.41819756e-02 -2.14803240e-04 9.99899408e-01 4.17058652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters 0.02236718880672114 Centerline is valid? [True, True] Translation: X:87.44, Y:-4.88, Z:0.42 [[ 9.97123529e-01 7.45259758e-02 1.38038707e-02 8.74383625e+01] [-7.45216787e-02 9.97219052e-01 -8.26120935e-04 -4.87737887e+00] [-1.38270503e-02 -2.04942995e-04 9.99904381e-01 4.21046082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters 0.022491426852205478 Centerline is valid? [True, True] Translation: X:87.50, Y:-4.88, Z:0.42 [[ 9.97077902e-01 7.56043604e-02 1.09379159e-02 8.75008267e+01] [-7.56017094e-02 9.97137880e-01 -6.56235998e-04 -4.87897948e+00] [-1.09562246e-02 -1.72606730e-04 9.99939964e-01 4.21902726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters 0.0224741913809197 Centerline is valid? [True, True] Translation: X:87.56, Y:-4.88, Z:0.42 [[ 9.97132144e-01 7.49721482e-02 1.03278032e-02 8.75632738e+01] [-7.49697357e-02 9.97185616e-01 -6.21084801e-04 -4.88184619e+00] [-1.03453009e-02 -1.54969057e-04 9.99946474e-01 4.16022318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters 0.022357247469925456 Centerline is valid? [True, True] Translation: X:87.63, Y:-4.88, Z:0.42 [[ 9.97289190e-01 7.23466327e-02 1.34251882e-02 8.76259206e+01] [-7.23422966e-02 9.97379535e-01 -8.08967106e-04 -4.88352253e+00] [-1.34485340e-02 -1.64434795e-04 9.99909551e-01 4.18534270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters 0.022044951277374426 Centerline is valid? [True, True] Translation: X:87.69, Y:-4.89, Z:0.42 [[ 9.97613260e-01 6.81577272e-02 1.10592364e-02 8.76884712e+01] [-6.81545031e-02 9.97674555e-01 -6.68582803e-04 -4.88656722e+00] [-1.10790879e-02 -8.67496936e-05 9.99938621e-01 4.21344222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters 0.021906730713663804 Centerline is valid? [True, True] Translation: X:87.75, Y:-4.88, Z:0.42 [[ 9.97680400e-01 6.70324545e-02 1.18519644e-02 8.77517205e+01] [-6.70286423e-02 9.97750793e-01 -7.19024038e-04 -4.88239023e+00] [-1.18735049e-02 -7.70648950e-05 9.99929504e-01 4.18118564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters 0.021957259512395022 Centerline is valid? [True, True] Translation: X:87.81, Y:-4.89, Z:0.42 [[ 9.97550870e-01 6.93495023e-02 9.10544190e-03 8.78133368e+01] [-6.93473387e-02 9.97592422e-01 -5.53512231e-04 -4.89373843e+00] [-9.12190563e-03 -7.92815555e-05 9.99958391e-01 4.17283939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters 0.02182771883880655 Centerline is valid? [True, True] Translation: X:87.88, Y:-4.90, Z:0.42 [[ 9.97551767e-01 6.94778900e-02 7.95581514e-03 8.78751819e+01] [-6.94762329e-02 9.97583489e-01 -4.84805517e-04 -4.89751249e+00] [-7.97027309e-03 -6.91214654e-05 9.99968234e-01 4.19412925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters 0.021707764394811303 Centerline is valid? [True, True] Translation: X:87.94, Y:-4.90, Z:0.42 [[ 9.97484067e-01 7.01751773e-02 1.00489274e-02 8.79378520e+01] [-7.01725567e-02 9.97534679e-01 -6.13569196e-04 -4.89761299e+00] [-1.00672109e-02 -9.31334287e-05 9.99949320e-01 4.22958912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters 0.022171881716869554 Centerline is valid? [True, True] Translation: X:88.00, Y:-4.90, Z:0.42 [[ 9.97127859e-01 7.45846021e-02 1.31593692e-02 8.79996936e+01] [-7.45804712e-02 9.97214674e-01 -8.05053373e-04 -4.90332693e+00] [-1.31827606e-02 -1.78690806e-04 9.99913088e-01 4.22457549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters 0.022483690155181767 Centerline is valid? [True, True] Translation: X:88.06, Y:-4.90, Z:0.42 [[ 9.96709320e-01 8.06786878e-02 7.84101150e-03 8.80619986e+01] [-8.06773994e-02 9.96740150e-01 -4.80995851e-04 -4.90285783e+00] [-7.85425709e-03 -1.53179368e-04 9.99969143e-01 4.21516005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters 0.022660854958489796 Centerline is valid? [True, True] Translation: X:88.12, Y:-4.91, Z:0.42 [[ 9.96479230e-01 8.34497386e-02 8.07997800e-03 8.81243326e+01] [-8.34484528e-02 9.96511971e-01 -4.96733721e-04 -4.90800840e+00] [-8.09324710e-03 -1.79276826e-04 9.99967233e-01 4.22376652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters 0.022722168490831276 Centerline is valid? [True, True] Translation: X:88.19, Y:-4.91, Z:0.43 [[ 9.96420456e-01 8.36023136e-02 1.25270608e-02 8.81864992e+01] [-8.35992184e-02 9.96499160e-01 -7.71437834e-04 -4.90558223e+00] [-1.25476996e-02 -2.78576056e-04 9.99921236e-01 4.26306063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters 0.022645076546294055 Centerline is valid? [True, True] Translation: X:88.25, Y:-4.91, Z:0.42 [[ 9.96513876e-01 8.24939978e-02 1.24432579e-02 8.82486608e+01] [-8.24908365e-02 9.96591527e-01 -7.67971734e-04 -4.90589330e+00] [-1.24641984e-02 -2.61160261e-04 9.99922285e-01 4.23230124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters 0.022410007520138057 Centerline is valid? [True, True] Translation: X:88.31, Y:-4.90, Z:0.42 [[ 9.96748237e-01 7.96628768e-02 1.21151852e-02 8.83107548e+01] [-7.96596508e-02 9.96821839e-01 -7.49376908e-04 -4.90387151e+00] [-1.21363787e-02 -2.18151307e-04 9.99926328e-01 4.22853624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters 0.022031490364164966 Centerline is valid? [True, True] Translation: X:88.37, Y:-4.90, Z:0.42 [[ 9.97107824e-01 7.51257654e-02 1.14937445e-02 8.83729191e+01] [-7.51225419e-02 9.97174055e-01 -7.12545571e-04 -4.90263467e+00] [-1.15147944e-02 -1.52954542e-04 9.99933691e-01 4.22509537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters 0.021538252578538586 Centerline is valid? [True, True] Translation: X:88.43, Y:-4.90, Z:0.42 [[ 9.97667278e-01 6.69674582e-02 1.32424655e-02 8.84349693e+01] [-6.69624377e-02 9.97755158e-01 -8.22652351e-04 -4.90464333e+00] [-1.32678292e-02 -6.60144415e-05 9.99911976e-01 4.23737301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters 0.021571859003328454 Centerline is valid? [True, True] Translation: X:88.50, Y:-4.90, Z:0.42 [[ 9.97950149e-01 6.27254757e-02 1.26891995e-02 8.84975529e+01] [-6.27205010e-02 9.98030818e-01 -7.90004653e-04 -4.90483486e+00] [-1.27137656e-02 -7.48768930e-06 9.99919177e-01 4.24495599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters 0.02162196516256553 Centerline is valid? [True, True] Translation: X:88.56, Y:-4.90, Z:0.42 [[ 9.98059935e-01 6.18138323e-02 7.44419832e-03 8.85602390e+01] [-6.18120855e-02 9.98087697e-01 -4.64722499e-04 -4.90114207e+00] [-7.45868903e-03 3.67948441e-06 9.99972184e-01 4.22391355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters 0.02133852561314765 Centerline is valid? [True, True] Translation: X:88.62, Y:-4.91, Z:0.42 [[ 9.98077555e-01 6.14805846e-02 7.83144129e-03 8.86223719e+01] [-6.14786331e-02 9.98108280e-01 -4.89901551e-04 -4.90663752e+00] [-7.84674582e-03 7.49343697e-06 9.99969214e-01 4.22825317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters 0.021505336779674616 Centerline is valid? [True, True] Translation: X:88.68, Y:-4.91, Z:0.43 [[ 9.98239183e-01 5.82752189e-02 1.10694624e-02 8.86848625e+01] [-5.82711095e-02 9.98300554e-01 -6.93669850e-04 -4.90680642e+00] [-1.10910742e-02 4.74185671e-05 9.99938491e-01 4.25613098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters 0.0215474443566351 Centerline is valid? [True, True] Translation: X:88.75, Y:-4.91, Z:0.42 [[ 9.98378090e-01 5.56085747e-02 1.22014959e-02 8.87467835e+01] [-5.56033639e-02 9.98452642e-01 -7.66146406e-04 -4.91283119e+00] [-1.22252201e-02 8.64595680e-05 9.99925265e-01 4.24819587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters 0.021682723848849686 Centerline is valid? [True, True] Translation: X:88.81, Y:-4.92, Z:0.42 [[ 9.98502864e-01 5.40281781e-02 8.54318631e-03 8.88083793e+01] [-5.40255544e-02 9.98539408e-01 -5.37757670e-04 -4.91715537e+00] [-8.55976227e-03 7.54021973e-05 9.99963362e-01 4.22842600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters 0.021405720657309148 Centerline is valid? [True, True] Translation: X:88.87, Y:-4.92, Z:0.43 [[ 9.98317608e-01 5.73709750e-02 8.39793303e-03 8.88703379e+01] [-5.73685484e-02 9.98352928e-01 -5.29750664e-04 -4.91838807e+00] [-8.41449334e-03 4.70821878e-05 9.99964596e-01 4.25439894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters 0.02132722107235761 Centerline is valid? [True, True] Translation: X:88.93, Y:-4.93, Z:0.43 [[ 9.97860606e-01 6.41196317e-02 1.27626207e-02 8.89320936e+01] [-6.41145614e-02 9.97942219e-01 -8.06450919e-04 -4.92687220e+00] [-1.27880673e-02 -1.35442246e-05 9.99918229e-01 4.27989770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters 0.02126532544089275 Centerline is valid? [True, True] Translation: X:88.99, Y:-4.93, Z:0.43 [[ 9.97807808e-01 6.48547997e-02 1.31693968e-02 8.89936867e+01] [-6.48494421e-02 9.97894711e-01 -8.33896463e-04 -4.93072237e+00] [-1.31957536e-02 -2.19596320e-05 9.99912932e-01 4.25681972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters 0.0213312185312438 Centerline is valid? [True, True] Translation: X:89.06, Y:-4.94, Z:0.42 [[ 9.98184994e-01 5.94740397e-02 9.46337604e-03 8.90550644e+01] [-5.94710177e-02 9.98229852e-01 -6.00673294e-04 -4.94006991e+00] [-9.48234893e-03 3.67864646e-05 9.99955041e-01 4.24732473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters 0.02122765509504545 Centerline is valid? [True, True] Translation: X:89.12, Y:-4.94, Z:0.43 [[ 9.98342852e-01 5.70990156e-02 7.15909605e-03 8.91168522e+01] [-5.70972170e-02 9.98368519e-01 -4.55524596e-04 -4.94124302e+00] [-7.17342613e-03 4.60052632e-05 9.99974270e-01 4.25760686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters 0.021251464778328982 Centerline is valid? [True, True] Translation: X:89.18, Y:-4.95, Z:0.43 [[ 9.98089697e-01 6.08600921e-02 1.06304361e-02 8.91781329e+01] [-6.08563281e-02 9.98146306e-01 -6.77494272e-04 -4.95485519e+00] [-1.06519629e-02 2.92707472e-05 9.99943266e-01 4.25317069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters 0.02127645285040501 Centerline is valid? [True, True] Translation: X:89.24, Y:-4.96, Z:0.43 [[ 9.97784250e-01 6.56174060e-02 1.09975705e-02 8.92400249e+01] [-6.56136505e-02 9.97844855e-01 -7.02338785e-04 -4.96129440e+00] [-1.10199548e-02 -2.08081712e-05 9.99939278e-01 4.25878539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters 0.021453155361287495 Centerline is valid? [True, True] Translation: X:89.30, Y:-4.97, Z:0.43 [[ 9.97191700e-01 7.44880199e-02 7.76200837e-03 8.93013461e+01] [-7.44864079e-02 9.97221905e-01 -4.96962547e-04 -4.96948559e+00] [-7.77746254e-03 -8.25971950e-05 9.99969752e-01 4.27065903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters 0.021842521454490116 Centerline is valid? [True, True] Translation: X:89.36, Y:-4.97, Z:0.43 [[ 9.96834964e-01 7.88661536e-02 1.00091738e-02 8.93635256e+01] [-7.88636821e-02 9.96885203e-01 -6.41987162e-04 -4.97252459e+00] [-1.00286283e-02 -1.49405048e-04 9.99949701e-01 4.30069987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters 0.02192282163356365 Centerline is valid? [True, True] Translation: X:89.43, Y:-4.98, Z:0.42 [[ 9.96895194e-01 7.80494319e-02 1.04047145e-02 8.94255073e+01] [-7.80467024e-02 9.96949480e-01 -6.68731749e-04 -4.98075316e+00] [-1.04251688e-02 -1.45398185e-04 9.99945646e-01 4.24578827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters 0.021784194325154427 Centerline is valid? [True, True] Translation: X:89.49, Y:-4.98, Z:0.43 [[ 9.97081583e-01 7.54180801e-02 1.18502799e-02 8.94880369e+01] [-7.54143241e-02 9.97151992e-01 -7.64127718e-04 -4.98498735e+00] [-1.18741592e-02 -1.31783171e-04 9.99929491e-01 4.25814444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters 0.021742375855135384 Centerline is valid? [True, True] Translation: X:89.55, Y:-4.99, Z:0.43 [[ 9.96968347e-01 7.70661689e-02 1.07200626e-02 8.95496677e+01] [-7.70631771e-02 9.97025971e-01 -6.92493020e-04 -4.99295975e+00] [-1.07415486e-02 -1.35728458e-04 9.99942299e-01 4.30977401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters 0.02199321449680384 Centerline is valid? [True, True] Translation: X:89.61, Y:-5.00, Z:0.43 [[ 9.96647002e-01 8.09433876e-02 1.19549410e-02 8.96113379e+01] [-8.09399272e-02 9.96718681e-01 -7.73801625e-04 -4.99870505e+00] [-1.19783471e-02 -1.96424982e-04 9.99928238e-01 4.29529056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters 0.023003373736002197 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.00, Z:0.43 [[ 9.96006909e-01 8.77384365e-02 1.64986075e-02 8.96729494e+01] [-8.77327188e-02 9.96143475e-01 -1.07142039e-03 -4.99953773e+00] [-1.65289849e-02 -3.80325579e-04 9.99863315e-01 4.25806642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters 0.022850971121073697 Centerline is valid? [True, True] Translation: X:89.73, Y:-5.00, Z:0.43 [[ 9.95900500e-01 8.89304848e-02 1.65397284e-02 8.97348504e+01] [-8.89248721e-02 9.96037755e-01 -1.07594670e-03 -4.99992880e+00] [-1.65698784e-02 -3.99257382e-04 9.99862630e-01 4.29266193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters 0.022711654401872252 Centerline is valid? [True, True] Translation: X:89.80, Y:-5.00, Z:0.43 [[ 9.95992152e-01 8.78559234e-02 1.67621593e-02 8.97969649e+01] [-8.78499686e-02 9.96133118e-01 -1.09267708e-03 -4.99956571e+00] [-1.67933402e-02 -3.84257367e-04 9.99858908e-01 4.30853873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters 0.022629451841852923 Centerline is valid? [True, True] Translation: X:89.86, Y:-5.00, Z:0.43 [[ 9.96101500e-01 8.66394943e-02 1.65951579e-02 8.98592586e+01] [-8.66334515e-02 9.96239665e-01 -1.08403829e-03 -5.00300178e+00] [-1.66266751e-02 -3.57883646e-04 9.99861703e-01 4.30180632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters 0.022746972982509977 Centerline is valid? [True, True] Translation: X:89.92, Y:-5.00, Z:0.43 [[ 9.96143969e-01 8.56961050e-02 1.87981575e-02 8.99221338e+01] [-8.56881372e-02 9.96321248e-01 -1.23039524e-03 -4.99951268e+00] [-1.88344438e-02 -3.85128295e-04 9.99822542e-01 4.28592077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters 0.02268969145689989 Centerline is valid? [True, True] Translation: X:89.99, Y:-5.00, Z:0.43 [[ 9.96116662e-01 8.60849785e-02 1.84654249e-02 8.99854848e+01] [-8.60772815e-02 9.96287725e-01 -1.21270309e-03 -4.99623634e+00] [-1.85012717e-02 -3.81459828e-04 9.99828764e-01 4.29709366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters 0.022821264005246148 Centerline is valid? [True, True] Translation: X:90.05, Y:-4.99, Z:0.43 [[ 9.96093306e-01 8.67390468e-02 1.65669398e-02 9.00479039e+01] [-8.67329087e-02 9.96231005e-01 -1.08999659e-03 -4.99278842e+00] [-1.65990443e-02 -3.51160572e-04 9.99862165e-01 4.29701592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters 0.02281392787710252 Centerline is valid? [True, True] Translation: X:90.11, Y:-4.99, Z:0.43 [[ 9.96141270e-01 8.65247575e-02 1.46981689e-02 9.01099340e+01] [-8.65198727e-02 9.96249654e-01 -9.69086619e-04 -4.99247123e+00] [-1.47268956e-02 -3.06336525e-04 9.99891506e-01 4.27997759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters 0.022772107543662084 Centerline is valid? [True, True] Translation: X:90.17, Y:-4.99, Z:0.43 [[ 9.96452591e-01 8.18635471e-02 1.95088047e-02 9.01722635e+01] [-8.18540010e-02 9.96643498e-01 -1.28867659e-03 -4.99092840e+00] [-1.95488190e-02 -3.12768594e-04 9.99808855e-01 4.28805124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters 0.022229764616695413 Centerline is valid? [True, True] Translation: X:90.24, Y:-4.98, Z:0.43 [[ 9.97166783e-01 7.28776585e-02 1.86347477e-02 9.02351966e+01] [-7.28673317e-02 9.97340880e-01 -1.23346530e-03 -4.98275104e+00] [-1.86750877e-02 -1.27893717e-04 9.99825597e-01 4.28263339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters 0.02224224620194298 Centerline is valid? [True, True] Translation: X:90.30, Y:-4.98, Z:0.42 [[ 9.97702749e-01 6.51738044e-02 1.84823936e-02 9.02973458e+01] [-6.51622771e-02 9.97873927e-01 -1.22587736e-03 -4.98456894e+00] [-1.85229938e-02 1.87063532e-05 9.99828434e-01 4.24392832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters 0.02226345683908191 Centerline is valid? [True, True] Translation: X:90.36, Y:-4.99, Z:0.43 [[ 9.97971019e-01 6.12126620e-02 1.75172800e-02 9.03598188e+01] [-6.12016563e-02 9.98124743e-01 -1.16417516e-03 -4.98778490e+00] [-1.75556928e-02 8.97265182e-05 9.99845883e-01 4.25596522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters 0.02246044199175977 Centerline is valid? [True, True] Translation: X:90.42, Y:-4.99, Z:0.43 [[ 9.98385514e-01 5.42879414e-02 1.67088417e-02 9.04219245e+01] [-5.42769210e-02 9.98525302e-01 -1.11267077e-03 -4.98801401e+00] [-1.67446058e-02 2.03969896e-04 9.99859778e-01 4.26677791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters 0.02279815802976339 Centerline is valid? [True, True] Translation: X:90.48, Y:-4.99, Z:0.43 [[ 9.98326023e-01 5.40465954e-02 2.05941271e-02 9.04838097e+01] [-5.40297501e-02 9.98538381e-01 -1.37390287e-03 -4.99216596e+00] [-2.06382811e-02 2.58907444e-04 9.99786974e-01 4.26470394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters 0.02219767125833575 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.00, Z:0.42 [[ 9.98153698e-01 5.87920483e-02 1.52542165e-02 9.05450488e+01] [-5.87833271e-02 9.98270244e-01 -1.01985428e-03 -5.00138881e+00] [-1.52877897e-02 1.21277726e-04 9.99883128e-01 4.24334620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162320588 meters 0.022146855934339738 Centerline is valid? [True, True] Translation: X:90.61, Y:-5.00, Z:0.43 [[ 9.97743677e-01 6.49146064e-02 1.71361966e-02 9.06075757e+01] [-6.49044659e-02 9.97890822e-01 -1.14783247e-03 -5.00392839e+00] [-1.71745644e-02 3.30269009e-05 9.99852506e-01 4.27183820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters 0.021980170493955797 Centerline is valid? [True, True] Translation: X:90.67, Y:-5.01, Z:0.43 [[ 9.97396186e-01 7.02588718e-02 1.62646513e-02 9.06692539e+01] [-7.02504114e-02 9.97528791e-01 -1.09163676e-03 -5.00811760e+00] [-1.63011551e-02 -5.38041018e-05 9.99867126e-01 4.29615771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters 0.02229220072043834 Centerline is valid? [True, True] Translation: X:90.73, Y:-5.01, Z:0.43 [[ 9.97048586e-01 7.41630046e-02 1.98485747e-02 9.07315541e+01] [-7.41511281e-02 9.97246123e-01 -1.33467187e-03 -5.01200072e+00] [-1.98928974e-02 -1.41061508e-04 9.99802107e-01 4.27695469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters 0.022550043488537095 Centerline is valid? [True, True] Translation: X:90.79, Y:-5.01, Z:0.43 [[ 9.96696475e-01 7.95864621e-02 1.61904978e-02 9.07943562e+01] [-7.95792389e-02 9.96827946e-01 -1.09093014e-03 -5.00876349e+00] [-1.62259640e-02 -2.01101268e-04 9.99868330e-01 4.28464934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters 0.022841576101522154 Centerline is valid? [True, True] Translation: X:90.86, Y:-5.01, Z:0.43 [[ 9.96400008e-01 8.28920613e-02 1.77744082e-02 9.08568331e+01] [-8.28838401e-02 9.96558493e-01 -1.19996811e-03 -5.00958828e+00] [-1.78127052e-02 -2.77562972e-04 9.99841303e-01 4.30528562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters 0.02300024357248453 Centerline is valid? [True, True] Translation: X:90.92, Y:-5.02, Z:0.43 [[ 9.96169833e-01 8.55863285e-02 1.79065370e-02 9.09181697e+01] [-8.55783910e-02 9.96330705e-01 -1.21048549e-03 -5.01708584e+00] [-1.79444336e-02 -3.26563497e-04 9.99838932e-01 4.29273158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters 0.02284786929969653 Centerline is valid? [True, True] Translation: X:90.98, Y:-5.02, Z:0.43 [[ 9.96360772e-01 8.39336482e-02 1.48443418e-02 9.09805051e+01] [-8.39279769e-02 9.96471316e-01 -1.00570310e-03 -5.01642742e+00] [-1.48763731e-02 -2.43812460e-04 9.99889311e-01 4.27833268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582320588 meters 0.022832804541235874 Centerline is valid? [True, True] Translation: X:91.04, Y:-5.02, Z:0.43 [[ 9.96613791e-01 8.05172713e-02 1.66709505e-02 9.10430532e+01] [-8.05096044e-02 9.96753191e-01 -1.13161391e-03 -5.01574364e+00] [-1.67079376e-02 -2.14389594e-04 9.99860390e-01 4.27524754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters 0.022688020339863373 Centerline is valid? [True, True] Translation: X:91.11, Y:-5.01, Z:0.43 [[ 9.96666713e-01 7.97778981e-02 1.70572845e-02 9.11057297e+01] [-7.97697254e-02 9.96812643e-01 -1.16005870e-03 -5.01495641e+00] [-1.70954638e-02 -2.04463003e-04 9.99853841e-01 4.29365906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters 0.022604123126505105 Centerline is valid? [True, True] Translation: X:91.17, Y:-5.02, Z:0.43 [[ 9.96800348e-01 7.81630738e-02 1.67212407e-02 9.11682302e+01] [-7.81549552e-02 9.96940572e-01 -1.13944916e-03 -5.01809639e+00] [-1.67591462e-02 -1.71044502e-04 9.99859541e-01 4.28375200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters 0.022656198196707212 Centerline is valid? [True, True] Translation: X:91.23, Y:-5.02, Z:0.43 [[ 9.97223361e-01 7.18394963e-02 1.96126448e-02 9.12305918e+01] [-7.18270542e-02 9.97416203e-01 -1.33899381e-03 -5.02468586e+00] [-1.96581624e-02 -7.34425994e-05 9.99806757e-01 4.25972704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters 0.02271935237665179 Centerline is valid? [True, True] Translation: X:91.29, Y:-5.02, Z:0.43 [[ 9.97708926e-01 6.53359544e-02 1.75531065e-02 9.12928227e+01] [-6.53249395e-02 9.97863323e-01 -1.20077252e-03 -5.02294701e+00] [-1.75940548e-02 5.13658445e-05 9.99845211e-01 4.27242089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters 0.0229350180479784 Centerline is valid? [True, True] Translation: X:91.35, Y:-5.03, Z:0.43 [[ 9.98234334e-01 5.71414409e-02 1.62194244e-02 9.13545617e+01] [-5.71309193e-02 9.98366076e-01 -1.11168325e-03 -5.03096598e+00] [-1.62564462e-02 1.83089762e-04 9.99867838e-01 4.25786047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters 0.023494132817667282 Centerline is valid? [True, True] Translation: X:91.42, Y:-5.04, Z:0.43 [[ 9.98444480e-01 5.22397028e-02 1.94842138e-02 9.14163408e+01] [-5.22235395e-02 9.98634524e-01 -1.33779841e-03 -5.04287133e+00] [-1.95274948e-02 3.18182828e-04 9.99809270e-01 4.27366790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters 0.0241855637709227 Centerline is valid? [True, True] Translation: X:91.48, Y:-5.06, Z:0.43 [[ 9.98688012e-01 4.72897031e-02 1.96452979e-02 9.14777640e+01] [-4.72722650e-02 9.98881127e-01 -1.35134463e-03 -5.05504143e+00] [-1.96872220e-02 4.20893954e-04 9.99806099e-01 4.27641587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters 0.02431751520416258 Centerline is valid? [True, True] Translation: X:91.54, Y:-5.07, Z:0.43 [[ 9.98772044e-01 4.61152465e-02 1.81049115e-02 9.15396816e+01] [-4.61002014e-02 9.98936041e-01 -1.24769273e-03 -5.06681706e+00] [-1.81431863e-02 4.11520550e-04 9.99835314e-01 4.26128597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters 0.024433224675554574 Centerline is valid? [True, True] Translation: X:91.60, Y:-5.08, Z:0.42 [[ 9.98723036e-01 4.61830144e-02 2.04799267e-02 9.16006994e+01] [-4.61637423e-02 9.98932887e-01 -1.41304543e-03 -5.07834809e+00] [-2.05233310e-02 4.65810966e-04 9.99789266e-01 4.24892948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters 0.024668746469245863 Centerline is valid? [True, True] Translation: X:91.66, Y:-5.10, Z:0.42 [[ 9.98813967e-01 4.52053886e-02 1.80868152e-02 9.16619902e+01] [-4.51900214e-02 9.98977618e-01 -1.25765101e-03 -5.09544978e+00] [-1.81251761e-02 4.38815828e-04 9.99835629e-01 4.24335020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters 0.024972760267202306 Centerline is valid? [True, True] Translation: X:91.72, Y:-5.11, Z:0.42 [[ 9.98891298e-01 4.35750527e-02 1.78154479e-02 9.17228910e+01] [-4.35598719e-02 9.99050049e-01 -1.23946299e-03 -5.11280931e+00] [-1.78525338e-02 4.62050165e-04 9.99840524e-01 4.24118130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters 0.02458058270075079 Centerline is valid? [True, True] Translation: X:91.78, Y:-5.12, Z:0.42 [[ 9.98712776e-01 4.59461480e-02 2.14881951e-02 9.17841266e+01] [-4.59245547e-02 9.98943789e-01 -1.49754953e-03 -5.12468692e+00] [-2.15343057e-02 5.08786062e-04 9.99767980e-01 4.22606849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters 0.024067995052564208 Centerline is valid? [True, True] Translation: X:91.85, Y:-5.14, Z:0.42 [[ 9.98529666e-01 4.94630957e-02 2.21790238e-02 9.18454671e+01] [-4.94408967e-02 9.98775851e-01 -1.54846709e-03 -5.13528549e+00] [-2.22284654e-02 4.49639497e-04 9.99752816e-01 4.21914019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters 0.022870577388310987 Centerline is valid? [True, True] Translation: X:91.91, Y:-5.15, Z:0.42 [[ 9.97997513e-01 6.06653997e-02 1.79073618e-02 9.19059826e+01] [-6.06527133e-02 9.98158145e-01 -1.25120713e-03 -5.15148177e+00] [-1.79502840e-02 1.62571522e-04 9.99838867e-01 4.21140243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters 0.022810742080268728 Centerline is valid? [True, True] Translation: X:91.97, Y:-5.16, Z:0.42 [[ 9.97667725e-01 6.48577444e-02 2.12740091e-02 9.19676224e+01] [-6.48407261e-02 9.97894514e-01 -1.48950362e-03 -5.16221841e+00] [-2.13258228e-02 1.06607494e-04 9.99772573e-01 4.22791728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters 0.02273107470513 Centerline is valid? [True, True] Translation: X:92.03, Y:-5.17, Z:0.42 [[ 9.97389086e-01 6.88856117e-02 2.16744863e-02 9.20300574e+01] [-6.88687957e-02 9.97624565e-01 -1.52221279e-03 -5.17244963e+00] [-2.17278585e-02 2.55426496e-05 9.99763922e-01 4.21204869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters 0.02289054264270924 Centerline is valid? [True, True] Translation: X:92.09, Y:-5.18, Z:0.42 [[ 9.97245890e-01 7.02623176e-02 2.37453573e-02 9.20916864e+01] [-7.02422294e-02 9.97528549e-01 -1.68003943e-03 -5.18144919e+00] [-2.38047153e-02 7.48557741e-06 9.99716628e-01 4.18521982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters 0.022825273613720456 Centerline is valid? [True, True] Translation: X:92.15, Y:-5.19, Z:0.42 [[ 9.97084525e-01 7.19130123e-02 2.55140826e-02 9.21533681e+01] [-7.18900600e-02 9.97410907e-01 -1.81689618e-03 -5.19091527e+00] [-2.55786827e-02 -2.26098628e-05 9.99672812e-01 4.20505615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters 0.02285696752856969 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.20, Z:0.42 [[ 9.96959004e-01 7.46491884e-02 2.23660955e-02 9.22154442e+01] [-7.46319985e-02 9.97209854e-01 -1.60346941e-03 -5.19742495e+00] [-2.24233885e-02 -7.06331332e-05 9.99748562e-01 4.18244311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters 0.02309560884443234 Centerline is valid? [True, True] Translation: X:92.28, Y:-5.21, Z:0.42 [[ 9.96809298e-01 7.55086920e-02 2.58777994e-02 9.22768573e+01] [-7.54856662e-02 9.97145139e-01 -1.86690117e-03 -5.21196023e+00] [-2.59448891e-02 -9.24584802e-05 9.99663370e-01 4.18748099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters 0.02312422128703035 Centerline is valid? [True, True] Translation: X:92.34, Y:-5.22, Z:0.42 [[ 9.96791517e-01 7.53963203e-02 2.68713038e-02 9.23390799e+01] [-7.53711156e-02 9.97153643e-01 -1.95103538e-03 -5.21837295e+00] [-2.69419193e-02 -8.05446282e-05 9.99636997e-01 4.17136685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters 0.022948693889433235 Centerline is valid? [True, True] Translation: X:92.40, Y:-5.23, Z:0.41 [[ 9.96760192e-01 7.74567756e-02 2.16695133e-02 9.24008289e+01] [-7.74406449e-02 9.96995706e-01 -1.58381712e-03 -5.23074305e+00] [-2.17270891e-02 -9.94152281e-05 9.99763934e-01 4.14190086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962320588 meters 0.022858128229575135 Centerline is valid? [True, True] Translation: X:92.46, Y:-5.24, Z:0.42 [[ 9.96557595e-01 7.96988508e-02 2.28265704e-02 9.24621794e+01] [-7.96812956e-02 9.96818977e-01 -1.67903259e-03 -5.23865033e+00] [-2.28877755e-02 -1.45598025e-04 9.99738030e-01 4.17521674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022320588 meters 0.022625888846697927 Centerline is valid? [True, True] Translation: X:92.52, Y:-5.25, Z:0.42 [[ 9.96328099e-01 8.28625196e-02 2.15434839e-02 9.25247077e+01] [-8.28473594e-02 9.96560969e-01 -1.59680495e-03 -5.24657916e+00] [-2.16017105e-02 -1.93879116e-04 9.99766637e-01 4.18344543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters 0.023060037129192763 Centerline is valid? [True, True] Translation: X:92.59, Y:-5.25, Z:0.42 [[ 9.96034360e-01 8.60478643e-02 2.26123506e-02 9.25868899e+01] [-8.60317519e-02 9.96290969e-01 -1.68620598e-03 -5.25431120e+00] [-2.26735751e-02 -2.65861041e-04 9.99742886e-01 4.16502870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters 0.023210103830376493 Centerline is valid? [True, True] Translation: X:92.65, Y:-5.26, Z:0.42 [[ 9.95894102e-01 8.81706874e-02 2.05150377e-02 9.26489043e+01] [-8.81576736e-02 9.96105343e-01 -1.53963158e-03 -5.26094353e+00] [-2.05708890e-02 -2.75247989e-04 9.99788359e-01 4.15300522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters 0.023343400889889728 Centerline is valid? [True, True] Translation: X:92.71, Y:-5.27, Z:0.42 [[ 9.95589881e-01 9.11909560e-02 2.20226934e-02 9.27107802e+01] [-9.11764731e-02 9.95833362e-01 -1.66294116e-03 -5.26630143e+00] [-2.20825781e-02 -3.52344120e-04 9.99756088e-01 4.15202678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters 0.023620838727602875 Centerline is valid? [True, True] Translation: X:92.77, Y:-5.27, Z:0.42 [[ 9.95182831e-01 9.59680439e-02 2.00316770e-02 9.27730786e+01] [-9.59568381e-02 9.95384332e-01 -1.52206361e-03 -5.26600667e+00] [-2.00852869e-02 -4.07444814e-04 9.99798187e-01 4.16371103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters 0.0236414954516592 Centerline is valid? [True, True] Translation: X:92.84, Y:-5.27, Z:0.41 [[ 9.95091548e-01 9.71034645e-02 1.90716857e-02 9.28362582e+01] [-9.70933123e-02 9.95274212e-01 -1.45974513e-03 -5.26934700e+00] [-1.91233032e-02 -3.99153086e-04 9.99817053e-01 4.14773802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters 0.02393514069554714 Centerline is valid? [True, True] Translation: X:92.90, Y:-5.27, Z:0.41 [[ 9.95059222e-01 9.64183125e-02 2.36781284e-02 9.28986034e+01] [-9.64022338e-02 9.95340790e-01 -1.82225348e-03 -5.27300031e+00] [-2.37435057e-02 -4.69374341e-04 9.99717973e-01 4.14443274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters 0.023032117370759126 Centerline is valid? [True, True] Translation: X:92.96, Y:-5.27, Z:0.41 [[ 9.95454561e-01 9.38466533e-02 1.62179762e-02 9.29599418e+01] [-9.38387720e-02 9.95586625e-01 -1.24794666e-03 -5.27366777e+00] [-1.62635158e-02 -2.79600781e-04 9.99867701e-01 4.14792017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters 0.023038315877175287 Centerline is valid? [True, True] Translation: X:93.02, Y:-5.27, Z:0.41 [[ 9.95542903e-01 9.29861187e-02 1.57451585e-02 9.30224958e+01] [-9.29785435e-02 9.95667372e-01 -1.21405008e-03 -5.27182016e+00] [-1.57898304e-02 -2.55322966e-04 9.99875300e-01 4.13361794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562320588 meters 0.02307252275297947 Centerline is valid? [True, True] Translation: X:93.08, Y:-5.27, Z:0.41 [[ 9.95516944e-01 9.28069158e-02 1.82453000e-02 9.30849122e+01] [-9.27966699e-02 9.95684083e-01 -1.40921981e-03 -5.27000110e+00] [-1.82973402e-02 -2.90200884e-04 9.99832548e-01 4.14843181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters 0.022744563775778538 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.27, Z:0.41 [[ 9.95995034e-01 8.75055561e-02 1.83485860e-02 9.31470723e+01] [-8.74942482e-02 9.96164013e-01 -1.41968594e-03 -5.27390569e+00] [-1.84024315e-02 -1.91395590e-04 9.99830643e-01 4.13721275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters 0.02257770866497218 Centerline is valid? [True, True] Translation: X:93.21, Y:-5.27, Z:0.42 [[ 9.96156293e-01 8.61529484e-02 1.58211846e-02 9.32094082e+01] [-8.61443354e-02 9.96281913e-01 -1.22635270e-03 -5.27211038e+00] [-1.58680140e-02 -1.41266475e-04 9.99874085e-01 4.15007348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters 0.022693824004717984 Centerline is valid? [True, True] Translation: X:93.27, Y:-5.27, Z:0.41 [[ 9.95901457e-01 8.92177205e-02 1.48487577e-02 9.32711370e+01] [-8.92104436e-02 9.96012132e-01 -1.15304404e-03 -5.27426773e+00] [-1.48924148e-02 -1.76346022e-04 9.99889086e-01 4.13746491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters 0.023080300508692912 Centerline is valid? [True, True] Translation: X:93.33, Y:-5.28, Z:0.41 [[ 9.95626745e-01 9.24667788e-02 1.33145963e-02 9.33330592e+01] [-9.24611934e-02 9.95715750e-01 -1.03577477e-03 -5.27521804e+00] [-1.33533280e-02 -1.99838400e-04 9.99910820e-01 4.14567417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters 0.023251342999949475 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.27, Z:0.42 [[ 9.95372595e-01 9.55142919e-02 1.05079943e-02 9.33958994e+01] [-9.55109552e-02 9.95428041e-01 -8.20060582e-04 -5.27430811e+00] [-1.05382797e-02 -1.87362746e-04 9.99944453e-01 4.16027856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters 0.023274918570908083 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.27, Z:0.42 [[ 9.95321883e-01 9.58942706e-02 1.17744360e-02 9.34581590e+01] [-9.58900942e-02 9.95391503e-01 -9.20043467e-04 -5.27429867e+00] [-1.18084005e-02 -2.13312382e-04 9.99930256e-01 4.15750237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters 0.023146759846938997 Centerline is valid? [True, True] Translation: X:93.52, Y:-5.27, Z:0.42 [[ 9.95473062e-01 9.34642984e-02 1.72571054e-02 9.35206788e+01] [-9.34549266e-02 9.95622596e-01 -1.35048051e-03 -5.27226067e+00] [-1.73077858e-02 -2.68394544e-04 9.99850173e-01 4.16884870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters 0.02317580700369345 Centerline is valid? [True, True] Translation: X:93.58, Y:-5.27, Z:0.42 [[ 9.95372420e-01 9.48133551e-02 1.56260280e-02 9.35830214e+01] [-9.48058031e-02 9.95495032e-01 -1.22502311e-03 -5.27395569e+00] [-1.56717818e-02 -2.62083921e-04 9.99877156e-01 4.16968416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters 0.023178401408857442 Centerline is valid? [True, True] Translation: X:93.65, Y:-5.27, Z:0.42 [[ 9.95459691e-01 9.38147106e-02 1.60873924e-02 9.36457233e+01] [-9.38065408e-02 9.95589643e-01 -1.26335489e-03 -5.26807699e+00] [-1.61349625e-02 -2.51483760e-04 9.99869791e-01 4.15912536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters 0.02302705866944393 Centerline is valid? [True, True] Translation: X:93.71, Y:-5.27, Z:0.42 [[ 9.95727947e-01 9.10150608e-02 1.55599968e-02 9.37081945e+01] [-9.10070322e-02 9.95849497e-01 -1.22475157e-03 -5.27342961e+00] [-1.56068858e-02 -1.96549760e-04 9.99878186e-01 4.16638567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters 0.022841483323665947 Centerline is valid? [True, True] Translation: X:93.77, Y:-5.28, Z:0.42 [[ 9.96031852e-01 8.80038084e-02 1.32619619e-02 9.37709272e+01] [-8.79976779e-02 9.96120130e-01 -1.04622459e-03 -5.27518300e+00] [-1.33025790e-02 -1.24948842e-04 9.99911509e-01 4.16507821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters 0.022800932027011545 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.28, Z:0.42 [[ 9.96254295e-01 8.56457010e-02 1.19245217e-02 9.38335599e+01] [-8.56405576e-02 9.96325653e-01 -9.42232775e-04 -5.27577555e+00] [-1.19614050e-02 -8.25192355e-05 9.99928456e-01 4.15533766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters 0.022538349640007622 Centerline is valid? [True, True] Translation: X:93.90, Y:-5.29, Z:0.42 [[ 9.97004469e-01 7.65383798e-02 1.11339855e-02 9.38954671e+01] [-7.65333103e-02 9.97066636e-01 -8.81309148e-04 -5.28628016e+00] [-1.11687795e-02 2.65483889e-05 9.99937627e-01 4.16139836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters 0.022787593423462777 Centerline is valid? [True, True] Translation: X:93.96, Y:-5.29, Z:0.42 [[ 9.97301491e-01 7.25327527e-02 1.13461581e-02 9.39571621e+01] [-7.25272119e-02 9.97366028e-01 -8.99593863e-04 -5.29377584e+00] [-1.13815226e-02 7.42610905e-05 9.99935226e-01 4.19952030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462320588 meters 0.022849528945227664 Centerline is valid? [True, True] Translation: X:94.02, Y:-5.30, Z:0.42 [[ 9.97480279e-01 7.04313782e-02 8.51556084e-03 9.40189011e+01] [-7.04281696e-02 9.97516624e-01 -6.76452677e-04 -5.29760787e+00] [-8.54205700e-03 7.50128415e-05 9.99963513e-01 4.16079531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522320588 meters 0.022864589993419587 Centerline is valid? [True, True] Translation: X:94.08, Y:-5.31, Z:0.42 [[ 9.97365501e-01 7.16191121e-02 1.15221971e-02 9.40803294e+01] [-7.16133021e-02 9.97432050e-01 -9.16568433e-04 -5.30762675e+00] [-1.15582525e-02 8.90111510e-05 9.99933197e-01 4.16877857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters 0.02277962631336435 Centerline is valid? [True, True] Translation: X:94.14, Y:-5.32, Z:0.42 [[ 9.97336515e-01 7.25139472e-02 7.84872382e-03 9.41415472e+01] [-7.25112693e-02 9.97367397e-01 -6.25597036e-04 -5.31734656e+00] [-7.87342576e-03 5.48098413e-05 9.99969003e-01 4.18588380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters 0.022941687380815843 Centerline is valid? [True, True] Translation: X:94.20, Y:-5.33, Z:0.42 [[ 9.97419697e-01 7.13599803e-02 7.85500421e-03 9.42030395e+01] [-7.13572540e-02 9.97450625e-01 -6.27141894e-04 -5.32621827e+00] [-7.87973169e-03 6.50121466e-05 9.99968952e-01 4.18040760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters 0.0231339794190538 Centerline is valid? [True, True] Translation: X:94.27, Y:-5.34, Z:0.42 [[ 9.97447486e-01 7.06911756e-02 1.00633466e-02 9.42650176e+01] [-7.06866554e-02 9.97498245e-01 -8.04595400e-04 -5.33672362e+00] [-1.00950484e-02 9.11973462e-05 9.99949040e-01 4.20092875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters 0.02323375902989327 Centerline is valid? [True, True] Translation: X:94.33, Y:-5.34, Z:0.42 [[ 9.97497533e-01 6.97619124e-02 1.14868178e-02 9.43271963e+01] [-6.97559449e-02 9.97563663e-01 -9.19836901e-04 -5.34480279e+00] [-1.15230016e-02 1.16261214e-04 9.99933601e-01 4.19192871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters 0.022872199485523288 Centerline is valid? [True, True] Translation: X:94.39, Y:-5.35, Z:0.42 [[ 9.97367925e-01 7.20566040e-02 8.06651183e-03 9.43886601e+01] [-7.20537261e-02 9.97400542e-01 -6.47201302e-04 -5.35455343e+00] [-8.09217840e-03 6.42755851e-05 9.99967256e-01 4.19249259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882320588 meters 0.0229505609211098 Centerline is valid? [True, True] Translation: X:94.45, Y:-5.36, Z:0.42 [[ 9.97010384e-01 7.70251394e-02 6.11744021e-03 9.44503096e+01] [-7.70235715e-02 9.97029151e-01 -4.91824615e-04 -5.36227470e+00] [-6.13714908e-03 1.91671541e-05 9.99981167e-01 4.20144240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters 0.02308708376517226 Centerline is valid? [True, True] Translation: X:94.51, Y:-5.37, Z:0.42 [[ 9.96538580e-01 8.22580854e-02 1.20193828e-02 9.45122438e+01] [-8.22524017e-02 9.96611061e-01 -9.67286084e-04 -5.36985177e+00] [-1.20582170e-02 -2.46852047e-05 9.99927297e-01 4.20669082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters 0.02309663939342792 Centerline is valid? [True, True] Translation: X:94.57, Y:-5.38, Z:0.42 [[ 9.96395880e-01 8.38972749e-02 1.25098607e-02 9.45740614e+01] [-8.38912260e-02 9.96474408e-01 -1.00843374e-03 -5.37808023e+00] [-1.25503609e-02 -4.46683209e-05 9.99921240e-01 4.21364954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters 0.022998834568919567 Centerline is valid? [True, True] Translation: X:94.64, Y:-5.38, Z:0.42 [[ 9.96436326e-01 8.38884401e-02 8.79647290e-03 9.46365292e+01] [-8.38854366e-02 9.96475152e-01 -7.10493024e-04 -5.38078609e+00] [-8.82506883e-03 -2.99349115e-05 9.99961058e-01 4.20877539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122320588 meters 0.023143167850817457 Centerline is valid? [True, True] Translation: X:94.70, Y:-5.38, Z:0.42 [[ 9.96160944e-01 8.71644047e-02 8.10803310e-03 9.46988068e+01] [-8.71619520e-02 9.96193939e-01 -6.56051289e-04 -5.38305756e+00] [-8.13435775e-03 -5.31793203e-05 9.99966914e-01 4.21636923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters 0.0233172405583297 Centerline is valid? [True, True] Translation: X:94.76, Y:-5.39, Z:0.42 [[ 9.95780177e-01 9.09080397e-02 1.25526023e-02 9.47610039e+01] [-9.09024415e-02 9.95859283e-01 -1.01699714e-03 -5.38603277e+00] [-1.25930788e-02 -1.28356608e-04 9.99920696e-01 4.22017442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters 0.023659278812583028 Centerline is valid? [True, True] Translation: X:94.82, Y:-5.39, Z:0.42 [[ 9.95300818e-01 9.60775094e-02 1.20579435e-02 9.48225984e+01] [-9.60727029e-02 9.95373838e-01 -9.78569106e-04 -5.39167087e+00] [-1.20961800e-02 -1.84468597e-04 9.99926822e-01 4.20639894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters 0.023846435520162215 Centerline is valid? [True, True] Translation: X:94.89, Y:-5.39, Z:0.42 [[ 9.94882513e-01 1.00810346e-01 6.78676822e-03 9.48856031e+01] [-1.00808920e-01 9.94905652e-01 -5.52810399e-04 -5.39094696e+00] [-6.80792307e-03 -1.34185373e-04 9.99976817e-01 4.21875497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters 0.02392285941751275 Centerline is valid? [True, True] Translation: X:94.95, Y:-5.39, Z:0.42 [[ 9.95009925e-01 9.96542730e-02 4.92700594e-03 9.49479607e+01] [-9.96535040e-02 9.95022119e-01 -4.01938148e-04 -5.38862562e+00] [-4.94253475e-03 -9.10609602e-05 9.99987781e-01 4.24321050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters 0.023655579560948357 Centerline is valid? [True, True] Translation: X:95.01, Y:-5.38, Z:0.43 [[ 9.95619868e-01 9.29683851e-02 9.89732276e-03 9.50096469e+01] [-9.29649552e-02 9.95669054e-01 -8.07048174e-04 -5.38381782e+00] [-9.92948796e-03 -1.16590970e-04 9.99950695e-01 4.25411263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters 0.023532680170049648 Centerline is valid? [True, True] Translation: X:95.07, Y:-5.39, Z:0.43 [[ 9.96350131e-01 8.46854971e-02 1.07136965e-02 9.50713435e+01] [-8.46809796e-02 9.96407730e-01 -8.75407814e-04 -5.38923988e+00] [-1.07493444e-02 -3.50336255e-05 9.99942224e-01 4.25100059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters 0.02395674401466522 Centerline is valid? [True, True] Translation: X:95.13, Y:-5.39, Z:0.42 [[ 9.97230440e-01 7.39142183e-02 8.25457670e-03 9.51338488e+01] [-7.39111569e-02 9.97264601e-01 -6.75732606e-04 -5.39004764e+00] [-8.28194338e-03 6.37558105e-05 9.99965702e-01 4.21979957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602320588 meters 0.02436035825338675 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.39, Z:0.42 [[ 9.97689248e-01 6.75361737e-02 7.41825264e-03 9.51963053e+01] [-6.75335171e-02 9.97716821e-01 -6.08316355e-04 -5.39267258e+00] [-7.44239880e-03 1.05929995e-04 9.99972299e-01 4.22633445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters 0.02420654298697189 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.40, Z:0.43 [[ 9.97656590e-01 6.79369712e-02 8.11769173e-03 9.52581425e+01] [-6.79337954e-02 9.97689609e-01 -6.66647549e-04 -5.40383114e+00] [-8.14422670e-03 1.13619711e-04 9.99966829e-01 4.27643739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters 0.02426913138134881 Centerline is valid? [True, True] Translation: X:95.32, Y:-5.41, Z:0.42 [[ 9.97310907e-01 7.22974461e-02 1.20013983e-02 9.53197382e+01] [-7.22908044e-02 9.97383109e-01 -9.86873609e-04 -5.41101504e+00] [-1.20413403e-02 1.16629081e-04 9.99927494e-01 4.24637897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters 0.023951980131359366 Centerline is valid? [True, True] Translation: X:95.38, Y:-5.42, Z:0.42 [[ 9.96999216e-01 7.68630734e-02 9.19953265e-03 9.53806385e+01] [-7.68593525e-02 9.97041657e-01 -7.57847133e-04 -5.42449933e+00] [-9.23056774e-03 4.85028737e-05 9.99957396e-01 4.21301446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters 0.023737031207267584 Centerline is valid? [True, True] Translation: X:95.44, Y:-5.43, Z:0.43 [[ 9.96939394e-01 7.78020373e-02 7.66076872e-03 9.54421890e+01] [-7.77994761e-02 9.96968827e-01 -6.32228452e-04 -5.43259016e+00] [-7.68673627e-03 3.42896566e-05 9.99970456e-01 4.26321868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters 0.023643968341327856 Centerline is valid? [True, True] Translation: X:95.50, Y:-5.44, Z:0.43 [[ 9.96675591e-01 8.05140235e-02 1.24602840e-02 9.55037031e+01] [-8.05074432e-02 9.96753476e-01 -1.02960629e-03 -5.44023068e+00] [-1.25027291e-02 2.30378514e-05 9.99921838e-01 4.28869390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters 0.023933534534704346 Centerline is valid? [True, True] Translation: X:95.57, Y:-5.46, Z:0.43 [[ 9.96406344e-01 8.37221661e-02 1.28450722e-02 9.55650081e+01] [-8.37154018e-02 9.96489136e-01 -1.06433499e-03 -5.45824248e+00] [-1.28890833e-02 -1.48202426e-05 9.99916932e-01 4.25134003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters 0.023736286363952613 Centerline is valid? [True, True] Translation: X:95.63, Y:-5.47, Z:0.42 [[ 9.96045094e-01 8.83695184e-02 9.21948031e-03 9.56264454e+01] [-8.83662218e-02 9.96087760e-01 -7.65110586e-04 -5.46789393e+00] [-9.25102394e-03 -5.26059956e-05 9.99957207e-01 4.24727939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters 0.023877555311585447 Centerline is valid? [True, True] Translation: X:95.69, Y:-5.48, Z:0.43 [[ 9.95566382e-01 9.36610594e-02 8.67096599e-03 9.56880407e+01] [-9.36583334e-02 9.95604137e-01 -7.20806558e-04 -5.47712333e+00] [-8.70036112e-03 -9.44974468e-05 9.99962147e-01 4.28024992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters 0.024408676981546022 Centerline is valid? [True, True] Translation: X:95.75, Y:-5.49, Z:0.43 [[ 9.94850845e-01 1.00912969e-01 9.40046091e-03 9.57494084e+01] [-1.00910077e-01 9.94895243e-01 -7.82674466e-04 -5.48562710e+00] [-9.43145584e-03 -1.69956875e-04 9.99955508e-01 4.25150901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters 0.02463197332293779 Centerline is valid? [True, True] Translation: X:95.81, Y:-5.49, Z:0.43 [[ 9.94649001e-01 1.02722001e-01 1.10252329e-02 9.58115790e+01] [-1.02718118e-01 9.94710080e-01 -9.19321337e-04 -5.49354291e+00] [-1.10613448e-02 -2.18089125e-04 9.99938798e-01 4.25613592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters 0.02470524864620917 Centerline is valid? [True, True] Translation: X:95.87, Y:-5.50, Z:0.43 [[ 9.94720117e-01 1.02089934e-01 1.04658914e-02 9.58733296e+01] [-1.02086386e-01 9.94775153e-01 -8.74123240e-04 -5.49823421e+00] [-1.05004480e-02 -1.98917058e-04 9.99944849e-01 4.28710772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters 0.024489522305148986 Centerline is valid? [True, True] Translation: X:95.94, Y:-5.50, Z:0.43 [[ 9.94945662e-01 1.00142308e-01 7.39243217e-03 9.59363077e+01] [-1.00140472e-01 9.94973117e-01 -6.19044329e-04 -5.49792315e+00] [-7.41726380e-03 -1.24366179e-04 9.99972484e-01 4.26797800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters 0.024620219147119565 Centerline is valid? [True, True] Translation: X:96.00, Y:-5.50, Z:0.43 [[ 9.94858490e-01 1.00682001e-01 1.09416416e-02 9.59978186e+01] [-1.00678001e-01 9.94918639e-01 -9.17162027e-04 -5.50436633e+00] [-1.09783849e-02 -1.89136173e-04 9.99939718e-01 4.26588114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters 0.02450383325920004 Centerline is valid? [True, True] Translation: X:96.06, Y:-5.51, Z:0.43 [[ 9.94830279e-01 1.00714845e-01 1.30090985e-02 9.60604464e+01] [-1.00709172e-01 9.94915308e-01 -1.09210040e-03 -5.50581958e+00] [-1.30529420e-02 -2.23680999e-04 9.99914782e-01 4.32983459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters 0.024500901951039582 Centerline is valid? [True, True] Translation: X:96.12, Y:-5.51, Z:0.43 [[ 9.94936753e-01 9.96581784e-02 1.30040091e-02 9.61226483e+01] [-9.96523966e-02 9.95021710e-01 -1.09344417e-03 -5.50631455e+00] [-1.30482420e-02 -2.07972878e-04 9.99914846e-01 4.30789910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters 0.02461826973483871 Centerline is valid? [True, True] Translation: X:96.19, Y:-5.52, Z:0.43 [[ 9.94881299e-01 1.00286963e-01 1.23986266e-02 9.61851837e+01] [-1.00281719e-01 9.94958534e-01 -1.04546893e-03 -5.51837762e+00] [-1.24409663e-02 -2.03238109e-04 9.99922588e-01 4.25367031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters 0.024606408023997182 Centerline is valid? [True, True] Translation: X:96.25, Y:-5.52, Z:0.43 [[ 9.94852750e-01 1.00804989e-01 1.03131056e-02 9.62468513e+01] [-1.00801377e-01 9.94906189e-01 -8.70839092e-04 -5.52253729e+00] [-1.03483575e-02 -1.73218575e-04 9.99946439e-01 4.29088449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters 0.024797925617022154 Centerline is valid? [True, True] Translation: X:96.31, Y:-5.52, Z:0.43 [[ 9.94559278e-01 1.02949579e-01 1.59130959e-02 9.63090843e+01] [-1.02941224e-01 9.94686531e-01 -1.34548368e-03 -5.52192933e+00] [-1.59670592e-02 -2.99950286e-04 9.99872473e-01 4.33468779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters 0.02525430218061749 Centerline is valid? [True, True] Translation: X:96.37, Y:-5.53, Z:0.43 [[ 9.94110155e-01 1.07150046e-01 1.62440095e-02 9.63712106e+01] [-1.07141864e-01 9.94242792e-01 -1.37561391e-03 -5.52893983e+00] [-1.62978864e-02 -3.72901705e-04 9.99867111e-01 4.30439006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters 0.0256923626630512 Centerline is valid? [True, True] Translation: X:96.43, Y:-5.53, Z:0.43 [[ 9.93835073e-01 1.10018648e-01 1.37019796e-02 9.64329136e+01] [-1.10013072e-01 9.93929461e-01 -1.16230040e-03 -5.53315968e+00] [-1.37466759e-02 -3.52261963e-04 9.99905448e-01 4.27909339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters 0.02544586594742585 Centerline is valid? [True, True] Translation: X:96.50, Y:-5.53, Z:0.43 [[ 9.93847434e-01 1.10175280e-01 1.13440125e-02 9.64950509e+01] [-1.10171450e-01 9.93912130e-01 -9.63880158e-04 -5.53318556e+00] [-1.13811474e-02 -2.91836479e-04 9.99935190e-01 4.32750905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters 0.025379174923213 Centerline is valid? [True, True] Translation: X:96.56, Y:-5.54, Z:0.43 [[ 9.93896657e-01 1.09995780e-01 8.38830954e-03 9.65566548e+01] [-1.09993668e-01 9.93932031e-01 -7.14029797e-04 -5.53728907e+00] [-8.41594981e-03 -2.12989109e-04 9.99964563e-01 4.32089243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters 0.025307070888178358 Centerline is valid? [True, True] Translation: X:96.62, Y:-5.54, Z:0.43 [[ 9.94082540e-01 1.08133865e-01 1.03426428e-02 9.66185113e+01] [-1.08130541e-01 9.94136313e-01 -8.81632032e-04 -5.53858876e+00] [-1.03773310e-02 -2.41940548e-04 9.99946125e-01 4.30165668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters 0.0248244335782668 Centerline is valid? [True, True] Translation: X:96.68, Y:-5.54, Z:0.43 [[ 9.94484477e-01 1.04709017e-01 6.05368571e-03 9.66809903e+01] [-1.04707808e-01 9.94502895e-01 -5.17129593e-04 -5.53793452e+00] [-6.07455610e-03 -1.19590808e-04 9.99981543e-01 4.32541026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters 0.02477164543745752 Centerline is valid? [True, True] Translation: X:96.74, Y:-5.54, Z:0.43 [[ 9.94810240e-01 1.01373220e-01 8.72106527e-03 9.67436971e+01] [-1.01370569e-01 9.94848456e-01 -7.46620942e-04 -5.54042327e+00] [-8.75182568e-03 -1.41313189e-04 9.99961692e-01 4.32614025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters 0.02450496395193365 Centerline is valid? [True, True] Translation: X:96.81, Y:-5.55, Z:0.44 [[ 9.95335585e-01 9.54433576e-02 1.40583692e-02 9.68052843e+01] [-9.54358617e-02 9.95434852e-01 -1.20464238e-03 -5.54694316e+00] [-1.41091658e-02 -1.42649144e-04 9.99900451e-01 4.35938922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters 0.024263493443499633 Centerline is valid? [True, True] Translation: X:96.87, Y:-5.56, Z:0.44 [[ 9.95848013e-01 9.04197876e-02 1.05355569e-02 9.68673496e+01] [-9.04152742e-02 9.95903740e-01 -9.04894165e-04 -5.55559985e+00] [-1.05742209e-02 -5.14382141e-05 9.99944090e-01 4.36333015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters 0.024298819747588966 Centerline is valid? [True, True] Translation: X:96.93, Y:-5.56, Z:0.44 [[ 9.96193417e-01 8.60322134e-02 1.40404674e-02 9.69294238e+01] [-8.60237406e-02 9.96292356e-01 -1.20739929e-03 -5.56109363e+00] [-1.40922856e-02 -5.01030547e-06 9.99900699e-01 4.36051181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters 0.02423612943539209 Centerline is valid? [True, True] Translation: X:96.99, Y:-5.57, Z:0.44 [[ 9.96011463e-01 8.80160145e-02 1.46405909e-02 9.69907700e+01] [-8.80069876e-02 9.96119059e-01 -1.26095593e-03 -5.56943708e+00] [-1.46947560e-02 -3.25477459e-05 9.99892026e-01 4.38335289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters 0.023993428386527037 Centerline is valid? [True, True] Translation: X:97.05, Y:-5.58, Z:0.44 [[ 9.95815091e-01 9.09919229e-02 8.53080928e-03 9.70525134e+01] [-9.09889551e-02 9.95851630e-01 -7.36167086e-04 -5.57692479e+00] [-8.56240558e-03 -4.31231287e-05 9.99963341e-01 4.35541439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters 0.02415988533464737 Centerline is valid? [True, True] Translation: X:97.11, Y:-5.59, Z:0.44 [[ 9.95941584e-01 8.93062607e-02 1.11693324e-02 9.71135051e+01] [-8.93010521e-02 9.96004212e-01 -9.65194586e-04 -5.59028453e+00] [-1.12109001e-02 -3.61557152e-05 9.99937155e-01 4.35686309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters 0.02417795619480714 Centerline is valid? [True, True] Translation: X:97.18, Y:-5.60, Z:0.44 [[ 9.96595684e-01 8.21065407e-02 7.45371514e-03 9.71753665e+01] [-8.21040104e-02 9.96623557e-01 -6.45346698e-04 -5.59717694e+00] [-7.48153528e-03 3.11698294e-05 9.99972012e-01 4.41969833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters 0.02445289678012176 Centerline is valid? [True, True] Translation: X:97.24, Y:-5.61, Z:0.44 [[ 9.96966706e-01 7.74573389e-02 7.59920020e-03 9.72374516e+01] [-7.74545660e-02 9.96995665e-01 -6.58956973e-04 -5.60521311e+00] [-7.62741072e-03 6.83654089e-05 9.99970909e-01 4.39339934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters 0.024958364461879063 Centerline is valid? [True, True] Translation: X:97.30, Y:-5.62, Z:0.44 [[ 9.97370924e-01 7.19657902e-02 8.49498661e-03 9.72979309e+01] [-7.19621170e-02 9.97407093e-01 -7.37673134e-04 -5.62358830e+00] [-8.52604713e-03 1.24416515e-04 9.99963645e-01 4.37656673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters 0.024826585577229783 Centerline is valid? [True, True] Translation: X:97.36, Y:-5.63, Z:0.44 [[ 9.97317442e-01 7.30186630e-02 5.11803028e-03 9.73593182e+01] [-7.30173388e-02 9.97330572e-01 -4.45368555e-04 -5.63427245e+00] [-5.13688828e-03 7.04688777e-05 9.99986804e-01 4.40134777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters 0.02433732370702179 Centerline is valid? [True, True] Translation: X:97.42, Y:-5.65, Z:0.44 [[ 9.97050742e-01 7.65427891e-02 5.56943828e-03 9.74204312e+01] [-7.65412721e-02 9.97066296e-01 -4.85341880e-04 -5.64934678e+00] [-5.59024861e-03 5.76185916e-05 9.99984373e-01 4.42878740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters 0.024374967844912734 Centerline is valid? [True, True] Translation: X:97.48, Y:-5.66, Z:0.44 [[ 9.96730333e-01 8.03704589e-02 8.32062318e-03 9.74820984e+01] [-8.03671919e-02 9.96765061e-01 -7.26798574e-04 -5.66359359e+00] [-8.35211961e-03 5.57170645e-05 9.99965119e-01 4.42024132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters 0.024207103993764703 Centerline is valid? [True, True] Translation: X:97.54, Y:-5.67, Z:0.44 [[ 9.95803535e-01 9.11808075e-02 7.83451106e-03 9.75439657e+01] [-9.11782392e-02 9.95834353e-01 -6.85119041e-04 -5.67356364e+00] [-7.86434496e-03 -3.20929606e-05 9.99969075e-01 4.40171646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters 0.02410506270748589 Centerline is valid? [True, True] Translation: X:97.61, Y:-5.67, Z:0.44 [[ 9.95162092e-01 9.80510347e-02 6.19717684e-03 9.76063498e+01] [-9.80495545e-02 9.95181386e-01 -5.42944700e-04 -5.67452358e+00] [-6.22055132e-03 -6.73124449e-05 9.99980650e-01 4.42271908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters 0.024870364693958903 Centerline is valid? [True, True] Translation: X:97.67, Y:-5.68, Z:0.44 [[ 9.94173641e-01 1.07318936e-01 1.00706019e-02 9.76675946e+01] [-1.07315498e-01 9.94224625e-01 -8.82723926e-04 -5.68201683e+00] [-1.01071734e-02 -2.03150795e-04 9.99948901e-01 4.42990500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters 0.025547083292373356 Centerline is valid? [True, True] Translation: X:97.73, Y:-5.68, Z:0.44 [[ 9.93759986e-01 1.10948658e-01 1.14666722e-02 9.77296502e+01] [-1.10944424e-01 9.93826102e-01 -1.00670379e-03 -5.68215248e+00] [-1.15075706e-02 -2.71741395e-04 9.99933749e-01 4.42305453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters 0.02526475867867113 Centerline is valid? [True, True] Translation: X:97.79, Y:-5.68, Z:0.44 [[ 9.93678698e-01 1.11696406e-01 1.12498407e-02 9.77917072e+01] [-1.11692361e-01 9.93742340e-01 -9.89145726e-04 -5.68288383e+00] [-1.12899270e-02 -2.73628229e-04 9.99936229e-01 4.42559280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters 0.025248071945107232 Centerline is valid? [True, True] Translation: X:97.85, Y:-5.68, Z:0.44 [[ 9.93716693e-01 1.11165109e-01 1.30174111e-02 9.78549226e+01] [-1.11159627e-01 9.93801904e-01 -1.14618734e-03 -5.67719244e+00] [-1.30641440e-02 -3.08025075e-04 9.99914613e-01 4.42253941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters 0.025228194533667505 Centerline is valid? [True, True] Translation: X:97.92, Y:-5.67, Z:0.44 [[ 9.93641839e-01 1.11993903e-01 1.15438919e-02 9.79182263e+01] [-1.11989629e-01 9.93708854e-01 -1.01804638e-03 -5.67163678e+00] [-1.15852826e-02 -2.81222698e-04 9.99932849e-01 4.44776025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters 0.024874519892085844 Centerline is valid? [True, True] Translation: X:97.98, Y:-5.67, Z:0.44 [[ 9.93724958e-01 1.11795247e-01 3.53990014e-03 9.79812969e+01] [-1.11794839e-01 9.93731259e-01 -3.13392460e-04 -5.66854211e+00] [-3.55274521e-03 -8.43166571e-05 9.99993685e-01 4.43518963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters 0.024697874454559805 Centerline is valid? [True, True] Translation: X:98.04, Y:-5.67, Z:0.45 [[ 9.93948649e-01 1.09532823e-01 8.28510332e-03 9.80427507e+01] [-1.09530521e-01 9.93983163e-01 -7.32444796e-04 -5.66600087e+00] [-8.31547995e-03 -1.79459167e-04 9.99965410e-01 4.45902601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters 0.024192128862480955 Centerline is valid? [True, True] Translation: X:98.10, Y:-5.67, Z:0.44 [[ 9.94945914e-01 1.00160540e-01 7.10590699e-03 9.81036191e+01] [-1.00158604e-01 9.94971285e-01 -6.28740152e-04 -5.67274622e+00] [-7.13314837e-03 -8.61552772e-05 9.99974555e-01 4.44677759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters 0.024013759638336758 Centerline is valid? [True, True] Translation: X:98.17, Y:-5.67, Z:0.44 [[ 9.95895963e-01 9.02437737e-02 6.87696297e-03 9.81667121e+01] [-9.02417115e-02 9.95919706e-01 -6.10209628e-04 -5.67027394e+00] [-6.90397056e-03 -1.28836028e-05 9.99976167e-01 4.43737728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters 0.023862740166904293 Centerline is valid? [True, True] Translation: X:98.23, Y:-5.68, Z:0.45 [[ 9.96003813e-01 8.90137720e-02 7.27681440e-03 9.82285529e+01] [-8.90114247e-02 9.96030395e-01 -6.46441101e-04 -5.67609299e+00] [-7.30547049e-03 -3.86181546e-06 9.99973315e-01 4.46980587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters 0.023826769088192003 Centerline is valid? [True, True] Translation: X:98.29, Y:-5.68, Z:0.45 [[ 9.95852221e-01 9.07413598e-02 6.66025607e-03 9.82906548e+01] [-9.07394255e-02 9.95874493e-01 -5.92645154e-04 -5.68326559e+00] [-6.68655656e-03 -1.41608160e-05 9.99977645e-01 4.47828109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters 0.023804059610374663 Centerline is valid? [True, True] Translation: X:98.35, Y:-5.69, Z:0.45 [[ 9.95697005e-01 9.23947633e-02 7.11915283e-03 9.83525452e+01] [-9.23925891e-02 9.95722455e-01 -6.34396101e-04 -5.69052409e+00] [-7.14731521e-03 -2.60906643e-05 9.99974457e-01 4.45886680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters 0.024000301157636336 Centerline is valid? [True, True] Translation: X:98.41, Y:-5.70, Z:0.45 [[ 9.96144283e-01 8.74204026e-02 7.36483083e-03 9.84135609e+01] [-8.74179324e-02 9.96171508e-01 -6.57281082e-04 -5.70195651e+00] [-7.39409441e-03 1.09285084e-05 9.99972663e-01 4.47311366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters 0.024085213002320194 Centerline is valid? [True, True] Translation: X:98.48, Y:-5.71, Z:0.45 [[ 9.96565528e-01 8.25254728e-02 6.83338837e-03 9.84750969e+01] [-8.25232245e-02 9.96588955e-01 -6.10812821e-04 -5.70694142e+00] [-6.86048699e-03 4.48017584e-05 9.99976466e-01 4.49545583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters 0.023818245038242664 Centerline is valid? [True, True] Translation: X:98.54, Y:-5.71, Z:0.45 [[ 9.96302015e-01 8.56495590e-02 6.81531539e-03 9.85366301e+01] [-8.56473894e-02 9.96325325e-01 -6.10107248e-04 -5.71376270e+00] [-6.84252674e-03 2.41371098e-05 9.99976589e-01 4.49918755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters 0.0238928723107917 Centerline is valid? [True, True] Translation: X:98.60, Y:-5.72, Z:0.45 [[ 9.95678134e-01 9.23371652e-02 9.94491606e-03 9.85988484e+01] [-9.23328683e-02 9.95727798e-01 -8.91322223e-04 -5.71990185e+00] [-9.98473154e-03 -3.07725775e-05 9.99950151e-01 4.51929606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters 0.023962958166053087 Centerline is valid? [True, True] Translation: X:98.66, Y:-5.73, Z:0.45 [[ 9.95682488e-01 9.23497859e-02 9.37554360e-03 9.86604036e+01] [-9.23459549e-02 9.95726627e-01 -8.41625349e-04 -5.72853979e+00] [-9.41320233e-03 -2.78019060e-05 9.99955694e-01 4.52478801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters 0.023769823760154404 Centerline is valid? [True, True] Translation: X:98.72, Y:-5.74, Z:0.45 [[ 9.95781432e-01 9.14548158e-02 7.44016090e-03 9.87218423e+01] [-9.14523697e-02 9.95809227e-01 -6.69033112e-04 -5.73600415e+00] [-7.47016717e-03 -1.42095954e-05 9.99972098e-01 4.53560015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters 0.02384194003873183 Centerline is valid? [True, True] Translation: X:98.78, Y:-5.74, Z:0.46 [[ 9.95657958e-01 9.26977701e-02 8.50615693e-03 9.87843297e+01] [-9.26946091e-02 9.95694292e-01 -7.65963654e-04 -5.73812815e+00] [-8.54053503e-03 -2.58370837e-05 9.99963529e-01 4.55237158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters 0.023873290598695827 Centerline is valid? [True, True] Translation: X:98.85, Y:-5.75, Z:0.46 [[ 9.95274403e-01 9.68461297e-02 7.04912260e-03 9.88470336e+01] [-9.68440492e-02 9.95299364e-01 -6.36692645e-04 -5.74788149e+00] [-7.07764846e-03 -4.89816836e-05 9.99974952e-01 4.57167573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters 0.023928279381397213 Centerline is valid? [True, True] Translation: X:98.91, Y:-5.76, Z:0.46 [[ 9.95265389e-01 9.70268772e-02 5.70878177e-03 9.89091284e+01] [-9.70255120e-02 9.95281761e-01 -5.16270053e-04 -5.75581305e+00] [-5.73193844e-03 -4.00717584e-05 9.99983572e-01 4.56254689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters 0.02398282626146993 Centerline is valid? [True, True] Translation: X:98.97, Y:-5.76, Z:0.46 [[ 9.95201804e-01 9.76215756e-02 6.58759222e-03 9.89707852e+01] [-9.76197680e-02 9.95223606e-01 -5.96142196e-04 -5.75879096e+00] [-6.61432362e-03 -4.97974350e-05 9.99978124e-01 4.56380119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters 0.02397529976767072 Centerline is valid? [True, True] Translation: X:99.03, Y:-5.76, Z:0.46 [[ 9.95170700e-01 9.79455925e-02 6.47603132e-03 9.90328245e+01] [-9.79438455e-02 9.95191770e-01 -5.87121939e-04 -5.76484940e+00] [-6.50239908e-03 -5.00008603e-05 9.99978858e-01 4.57602804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters 0.024145146118990674 Centerline is valid? [True, True] Translation: X:99.09, Y:-5.77, Z:0.46 [[ 9.94776326e-01 1.01875421e-01 6.43896480e-03 9.90945212e+01] [-1.01873770e-01 9.94797162e-01 -5.84636782e-04 -5.77073693e+00] [-6.46502403e-03 -7.43787906e-05 9.99979099e-01 4.56560744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters 0.02416755135972277 Centerline is valid? [True, True] Translation: X:99.16, Y:-5.77, Z:0.46 [[ 9.94771966e-01 1.01773856e-01 8.41531491e-03 9.91567080e+01] [-1.01771025e-01 9.94807556e-01 -7.65044841e-04 -5.77458337e+00] [-8.44948042e-03 -9.53900640e-05 9.99964298e-01 4.56597986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters 0.02401728386512226 Centerline is valid? [True, True] Translation: X:99.22, Y:-5.78, Z:0.46 [[ 9.95507970e-01 9.44532090e-02 6.51710631e-03 9.92181913e+01] [-9.44513473e-02 9.95529302e-01 -5.93549346e-04 -5.78145866e+00] [-6.54403294e-03 -2.46663670e-05 9.99978587e-01 4.57376368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters 0.024126558597758457 Centerline is valid? [True, True] Translation: X:99.28, Y:-5.78, Z:0.45 [[ 9.96278707e-01 8.57817268e-02 8.38052711e-03 9.92803230e+01] [-8.57783333e-02 9.96313953e-01 -7.64198240e-04 -5.78443151e+00] [-8.41519034e-03 4.24867874e-05 9.99964591e-01 4.54541571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters 0.02412087539369831 Centerline is valid? [True, True] Translation: X:99.34, Y:-5.79, Z:0.46 [[ 9.96520134e-01 8.30756037e-02 6.78730725e-03 9.93421945e+01] [-8.30733080e-02 9.96543246e-01 -6.19950970e-04 -5.79115676e+00] [-6.81534800e-03 5.39495569e-05 9.99976774e-01 4.57210246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters 0.02440339671812273 Centerline is valid? [True, True] Translation: X:99.40, Y:-5.80, Z:0.46 [[ 9.96811199e-01 7.95582475e-02 6.15788786e-03 9.94039805e+01] [-7.95562853e-02 9.96830216e-01 -5.63339973e-04 -5.80173997e+00] [-6.18318703e-03 7.16449100e-05 9.99980881e-01 4.55396059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters 0.025305256784057914 Centerline is valid? [True, True] Translation: X:99.46, Y:-5.82, Z:0.45 [[ 9.97362969e-01 7.18188176e-02 1.04482197e-02 9.94648478e+01] [-7.18127341e-02 9.97417674e-01 -9.56743376e-04 -5.81943107e+00] [-1.04899512e-02 2.03905188e-04 9.99944958e-01 4.54999343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters 0.025306448988574915 Centerline is valid? [True, True] Translation: X:99.53, Y:-5.83, Z:0.46 [[ 9.97407523e-01 7.12767947e-02 9.89202370e-03 9.95268300e+01] [-7.12712921e-02 9.97456555e-01 -9.08116410e-04 -5.82930499e+00] [-9.93159150e-03 2.00744829e-04 9.99950660e-01 4.58449605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters 0.02487430343748869 Centerline is valid? [True, True] Translation: X:99.59, Y:-5.84, Z:0.45 [[ 9.97066494e-01 7.61351147e-02 7.86455199e-03 9.95883043e+01] [-7.61317807e-02 9.97097502e-01 -7.22883501e-04 -5.83950279e+00] [-7.89676197e-03 1.22020570e-04 9.99968813e-01 4.53106220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters 0.024712698327698557 Centerline is valid? [True, True] Translation: X:99.65, Y:-5.86, Z:0.45 [[ 9.96856910e-01 7.85496770e-02 1.03076941e-02 9.96501943e+01] [-7.85440557e-02 9.96910191e-01 -9.49665157e-04 -5.85815385e+00] [-1.03504412e-02 1.37072176e-04 9.99946423e-01 4.54473701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters 0.02456152791561143 Centerline is valid? [True, True] Translation: X:99.71, Y:-5.87, Z:0.46 [[ 9.96661446e-01 8.12404913e-02 8.12068370e-03 9.97117701e+01] [-8.12370838e-02 9.96694524e-01 -7.49140156e-04 -5.86914866e+00] [-8.15470149e-03 8.69384486e-05 9.99966746e-01 4.56740554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters 0.024115475890463367 Centerline is valid? [True, True] Translation: X:99.77, Y:-5.87, Z:0.46 [[ 9.96282376e-01 8.58070722e-02 7.65329905e-03 9.97737587e+01] [-8.58041719e-02 9.96311771e-01 -7.07104021e-04 -5.87253605e+00] [-7.68574645e-03 4.77902871e-05 9.99970463e-01 4.56285276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters 0.023846163525026005 Centerline is valid? [True, True] Translation: X:99.84, Y:-5.88, Z:0.46 [[ 9.95672270e-01 9.24385974e-02 9.58312437e-03 9.98354765e+01] [-9.24343410e-02 9.95718387e-01 -8.87075422e-04 -5.88383937e+00] [-9.62409314e-03 -2.57338710e-06 9.99953687e-01 4.58585738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters 0.023947430739988652 Centerline is valid? [True, True] Translation: X:99.90, Y:-5.89, Z:0.46 [[ 9.95371427e-01 9.55509138e-02 1.02832590e-02 9.98969937e+01] [-9.55461666e-02 9.95424543e-01 -9.53064845e-04 -5.89371440e+00] [-1.03272746e-02 -3.38724612e-05 9.99946672e-01 4.57993491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters 0.024215932973167424 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.91, Z:0.45 [[ 9.95285249e-01 9.66145526e-02 8.53825544e-03 9.99578855e+01] [-9.66113078e-02 9.95321871e-01 -7.92643636e-04 -5.90676589e+00] [-8.57489329e-03 -3.59855054e-05 9.99963234e-01 4.53230312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters 0.024085658922448277 Centerline is valid? [True, True] Translation: X:100.02, Y:-5.92, Z:0.46 [[ 9.94976716e-01 9.96383566e-02 9.67117287e-03 1.00019325e+02] [-9.96343243e-02 9.95023715e-01 -8.99053926e-04 -5.91646184e+00] [-9.71262661e-03 -6.90430514e-05 9.99952829e-01 4.59834347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters 0.024526005980748382 Centerline is valid? [True, True] Translation: X:100.08, Y:-5.92, Z:0.46 [[ 9.93974041e-01 1.09317804e-01 8.07612769e-03 1.00081333e+02] [-1.09315302e-01 9.94006841e-01 -7.51978287e-04 -5.91951965e+00] [-8.10993078e-03 -1.35397439e-04 9.99967105e-01 4.62560080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters 0.02535140591348163 Centerline is valid? [True, True] Translation: X:100.14, Y:-5.93, Z:0.46 [[ 9.93099922e-01 1.16787281e-01 1.06430774e-02 1.00143265e+02] [-1.16783351e-01 9.93156918e-01 -9.92172344e-04 -5.92691688e+00] [-1.06861191e-02 -2.57607970e-04 9.99942869e-01 4.60385287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters 0.025981076229601555 Centerline is valid? [True, True] Translation: X:100.20, Y:-5.93, Z:0.46 [[ 9.92642425e-01 1.20703638e-01 9.57331007e-03 1.00204855e+02] [-1.20700627e-01 9.92688551e-01 -8.93761697e-04 -5.93186489e+00] [-9.61119559e-03 -2.68318752e-04 9.99953775e-01 4.59494880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters 0.025157158806685422 Centerline is valid? [True, True] Translation: X:100.27, Y:-5.93, Z:0.46 [[ 9.93310443e-01 1.14717896e-01 1.31972466e-02 1.00268045e+02] [-1.14711618e-01 9.93398068e-01 -1.23417525e-03 -5.92897416e+00] [-1.32517012e-02 -2.87958351e-04 9.99912151e-01 4.60189648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters 0.02380885794467307 Centerline is valid? [True, True] Translation: X:100.33, Y:-5.91, Z:0.46 [[ 9.94370045e-01 1.05334297e-01 1.15281936e-02 1.00331495e+02] [-1.05328865e-01 9.94436859e-01 -1.07903078e-03 -5.91348030e+00] [-1.15777196e-02 -1.41295659e-04 9.99932966e-01 4.57400837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters 0.023787202071738563 Centerline is valid? [True, True] Translation: X:100.39, Y:-5.92, Z:0.46 [[ 9.94035399e-01 1.08480219e-01 1.12101167e-02 1.00393030e+02] [-1.08475263e-01 9.94098593e-01 -1.05097247e-03 -5.91879644e+00] [-1.12579709e-02 -1.71316518e-04 9.99936612e-01 4.61687249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters 0.023894506005186732 Centerline is valid? [True, True] Translation: X:100.46, Y:-5.92, Z:0.46 [[ 9.93812368e-01 1.10668022e-01 9.46397990e-03 1.00456194e+02] [-1.10664566e-01 9.93857416e-01 -8.89631416e-04 -5.92294646e+00] [-9.50430035e-03 -1.63200524e-04 9.99954820e-01 4.63440052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters 0.024184969235331293 Centerline is valid? [True, True] Translation: X:100.52, Y:-5.93, Z:0.46 [[ 9.93528675e-01 1.13154388e-01 9.84151912e-03 1.00518035e+02] [-1.13150764e-01 9.93577399e-01 -9.26083449e-04 -5.92925040e+00] [-9.88310137e-03 -1.93484942e-04 9.99951142e-01 4.62719295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters 0.02427690811679335 Centerline is valid? [True, True] Translation: X:100.58, Y:-5.94, Z:0.46 [[ 9.93339824e-01 1.14869556e-01 8.99880009e-03 1.00580338e+02] [-1.14866585e-01 9.93380566e-01 -8.48034577e-04 -5.93543566e+00] [-9.03664648e-03 -1.91274914e-04 9.99959150e-01 4.63537914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters 0.024425681525639016 Centerline is valid? [True, True] Translation: X:100.64, Y:-5.94, Z:0.46 [[ 9.93128716e-01 1.16558093e-01 1.04673201e-02 1.00642949e+02] [-1.16554153e-01 9.93183847e-01 -9.87731884e-04 -5.93842825e+00] [-1.05111014e-02 -2.39064728e-04 9.99944728e-01 4.62405465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters 0.02453705125339529 Centerline is valid? [True, True] Translation: X:100.70, Y:-5.94, Z:0.46 [[ 9.93073259e-01 1.17006291e-01 1.07252389e-02 1.00704503e+02] [-1.17002171e-01 9.93131142e-01 -1.01294842e-03 -5.94264607e+00] [-1.07700901e-02 -2.48944249e-04 9.99941970e-01 4.62758048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters 0.024357389050490546 Centerline is valid? [True, True] Translation: X:100.77, Y:-5.95, Z:0.46 [[ 9.93099957e-01 1.16853839e-01 9.88212025e-03 1.00766850e+02] [-1.16850319e-01 9.93149097e-01 -9.34839475e-04 -5.94797498e+00] [-9.92365838e-03 -2.26339856e-04 9.99950734e-01 4.64425653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters 0.024422949925792435 Centerline is valid? [True, True] Translation: X:100.83, Y:-5.95, Z:0.46 [[ 9.93083876e-01 1.16944478e-01 1.04117201e-02 1.00829655e+02] [-1.16940549e-01 9.93138426e-01 -9.87367142e-04 -5.95240454e+00] [-1.04557465e-02 -2.37013884e-04 9.99945309e-01 4.64799504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters 0.024133471699087986 Centerline is valid? [True, True] Translation: X:100.89, Y:-5.95, Z:0.47 [[ 9.93108370e-01 1.16756244e-01 1.01855007e-02 1.00892573e+02] [-1.16752465e-01 9.93160575e-01 -9.66951559e-04 -5.95006222e+00] [-1.02287353e-02 -2.28894620e-04 9.99947659e-01 4.67103735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters 0.024232770117805086 Centerline is valid? [True, True] Translation: X:100.96, Y:-5.95, Z:0.47 [[ 9.93116724e-01 1.16682172e-01 1.02197145e-02 1.00955828e+02] [-1.16678338e-01 9.93169280e-01 -9.72658517e-04 -5.95274999e+00] [-1.02633984e-02 -2.26455867e-04 9.99947304e-01 4.68630695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters 0.02413029148697644 Centerline is valid? [True, True] Translation: X:101.02, Y:-5.96, Z:0.47 [[ 9.93150861e-01 1.16393963e-01 1.01888904e-02 1.01017856e+02] [-1.16390126e-01 9.93203099e-01 -9.70756552e-04 -5.95706950e+00] [-1.02326277e-02 -2.21778534e-04 9.99947621e-01 4.69102200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters 0.024010436983018635 Centerline is valid? [True, True] Translation: X:101.08, Y:-5.96, Z:0.47 [[ 9.93437012e-01 1.13996167e-01 9.36895922e-03 1.01080065e+02] [-1.13992804e-01 9.93481173e-01 -8.93969681e-04 -5.96045132e+00] [-9.40979372e-03 -1.79891362e-04 9.99955711e-01 4.65885917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters 0.023757777071886154 Centerline is valid? [True, True] Translation: X:101.14, Y:-5.96, Z:0.46 [[ 9.93720921e-01 1.11278831e-01 1.16513106e-02 1.01142519e+02] [-1.11273426e-01 9.93789206e-01 -1.11320213e-03 -5.95884314e+00] [-1.17028225e-02 -1.90268998e-04 9.99931502e-01 4.63815213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters 0.02355664944849671 Centerline is valid? [True, True] Translation: X:101.21, Y:-5.95, Z:0.47 [[ 9.93899389e-01 1.09785123e-01 1.05466135e-02 1.01205028e+02] [-1.09780594e-01 9.93955332e-01 -1.00914112e-03 -5.95377317e+00] [-1.05936514e-02 -1.54828758e-04 9.99943874e-01 4.68370304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters 0.023456962106659294 Centerline is valid? [True, True] Translation: X:101.27, Y:-5.96, Z:0.47 [[ 9.94196360e-01 1.07222608e-01 8.76984824e-03 1.01267771e+02] [-1.07219361e-01 9.94235033e-01 -8.40934459e-04 -5.95654223e+00] [-8.80945755e-03 -1.04243543e-04 9.99961191e-01 4.65177882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters 0.023593794945976642 Centerline is valid? [True, True] Translation: X:101.33, Y:-5.96, Z:0.47 [[ 9.94446038e-01 1.04533142e-01 1.22433863e-02 1.01330034e+02] [-1.04526594e-01 9.94521397e-01 -1.17521180e-03 -5.95615221e+00] [-1.22991582e-02 -1.11074751e-04 9.99924356e-01 4.65037368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters 0.023372171452638195 Centerline is valid? [True, True] Translation: X:101.39, Y:-5.96, Z:0.47 [[ 9.94716783e-01 1.02321924e-01 8.29126520e-03 1.01391816e+02] [-1.02318833e-01 9.94751336e-01 -7.97198523e-04 -5.95984773e+00] [-8.32931802e-03 -5.53658314e-05 9.99965309e-01 4.67699287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters 0.023172654297854922 Centerline is valid? [True, True] Translation: X:101.45, Y:-5.95, Z:0.47 [[ 9.95169892e-01 9.76764926e-02 9.80757890e-03 1.01454443e+02] [-9.76719304e-02 9.95218219e-01 -9.44222321e-04 -5.95353146e+00] [-9.85290953e-03 -1.82635389e-05 9.99951459e-01 4.66796605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters 0.02331935998518922 Centerline is valid? [True, True] Translation: X:101.52, Y:-5.97, Z:0.47 [[ 9.95286122e-01 9.64741163e-02 9.91363388e-03 1.01516214e+02] [-9.64693820e-02 9.95335494e-01 -9.55766621e-04 -5.96586892e+00] [-9.95959841e-03 -5.10087908e-06 9.99950402e-01 4.65763080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters 0.02333253074898464 Centerline is valid? [True, True] Translation: X:101.58, Y:-5.97, Z:0.47 [[ 9.95467209e-01 9.46518386e-02 9.27710208e-03 1.01578036e+02] [-9.46476013e-02 9.95510437e-01 -8.95715501e-04 -5.97067508e+00] [-9.32023306e-03 1.35999515e-05 9.99956566e-01 4.69657601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters 0.023172530300907695 Centerline is valid? [True, True] Translation: X:101.64, Y:-5.98, Z:0.47 [[ 9.95332840e-01 9.61782954e-02 7.89134131e-03 1.01639998e+02] [-9.61752682e-02 9.95364122e-01 -7.63085705e-04 -5.97857176e+00] [-7.92815030e-03 5.72394918e-07 9.99968572e-01 4.71000018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters 0.023237234366266887 Centerline is valid? [True, True] Translation: X:101.70, Y:-5.99, Z:0.47 [[ 9.95292657e-01 9.67373609e-02 5.86599018e-03 1.01701105e+02] [-9.67356922e-02 9.95309943e-01 -5.68203765e-04 -5.98814066e+00] [-5.89344489e-03 -1.92158525e-06 9.99982634e-01 4.70979019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters 0.0232364142513106 Centerline is valid? [True, True] Translation: X:101.76, Y:-6.00, Z:0.47 [[ 9.95132844e-01 9.83081235e-02 6.79232809e-03 1.01762209e+02] [-9.83059197e-02 9.95156024e-01 -6.58368371e-04 -5.99721097e+00] [-6.82414918e-03 -1.25620706e-05 9.99976715e-01 4.69639121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters 0.02337311124158876 Centerline is valid? [True, True] Translation: X:101.82, Y:-6.01, Z:0.47 [[ 9.95260335e-01 9.68561946e-02 8.70302801e-03 1.01823579e+02] [-9.68525106e-02 9.95298386e-01 -8.44767822e-04 -6.00627772e+00] [-8.74393073e-03 -2.14620678e-06 9.99961771e-01 4.72011228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters 0.023300865635443934 Centerline is valid? [True, True] Translation: X:101.88, Y:-6.02, Z:0.47 [[ 9.95516993e-01 9.41793422e-02 8.72739343e-03 1.01884652e+02] [-9.41755242e-02 9.95555248e-01 -8.48318617e-04 -6.01549235e+00] [-8.76849642e-03 2.26087473e-05 9.99961556e-01 4.73185767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters 0.023444101972554712 Centerline is valid? [True, True] Translation: X:101.95, Y:-6.03, Z:0.47 [[ 9.95375732e-01 9.53122771e-02 1.19466544e-02 1.01946131e+02] [-9.53051880e-02 9.95447422e-01 -1.16259982e-03 -6.03043216e+00] [-1.20030763e-02 1.86455096e-05 9.99927960e-01 4.70048244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters 0.023439961359317564 Centerline is valid? [True, True] Translation: X:102.01, Y:-6.04, Z:0.47 [[ 9.95228437e-01 9.70314657e-02 1.02592403e-02 1.02007861e+02] [-9.70263138e-02 9.95281314e-01 -9.99887194e-04 -6.04064863e+00] [-1.03078506e-02 -3.00094743e-07 9.99946873e-01 4.70544846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters 0.02331669061212318 Centerline is valid? [True, True] Translation: X:102.07, Y:-6.05, Z:0.47 [[ 9.94713521e-01 1.02575998e-01 4.81409683e-03 1.02070293e+02] [-1.02574923e-01 9.94725170e-01 -4.70211570e-04 -6.04508933e+00] [-4.83693571e-03 -2.60798063e-05 9.99988302e-01 4.70454725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters 0.023614066530494134 Centerline is valid? [True, True] Translation: X:102.13, Y:-6.05, Z:0.47 [[ 9.94093098e-01 1.08023527e-01 1.04799845e-02 1.02131545e+02] [-1.08018743e-01 9.94148331e-01 -1.02317804e-03 -6.04898543e+00] [-1.05291864e-02 -1.14900514e-04 9.99944560e-01 4.72911816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters 0.02387320181229566 Centerline is valid? [True, True] Translation: X:102.19, Y:-6.05, Z:0.47 [[ 9.93551700e-01 1.12772104e-01 1.17248316e-02 1.02193539e+02] [-1.12766430e-01 9.93620863e-01 -1.14604225e-03 -6.04809793e+00] [-1.17792788e-02 -1.83515169e-04 9.99930605e-01 4.74017162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters 0.023846236853609027 Centerline is valid? [True, True] Translation: X:102.26, Y:-6.05, Z:0.47 [[ 9.93764492e-01 1.11162496e-01 8.66219711e-03 1.02255722e+02] [-1.11159325e-01 9.93802236e-01 -8.48182627e-04 -6.05062711e+00] [-8.70279696e-03 -1.19990208e-04 9.99962123e-01 4.72696047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters 0.023415529045120096 Centerline is valid? [True, True] Translation: X:102.32, Y:-6.05, Z:0.47 [[ 9.94601782e-01 1.03465069e-01 7.89137302e-03 1.02317555e+02] [-1.03462186e-01 9.94633087e-01 -7.73862140e-04 -6.05461800e+00] [-7.92908841e-03 -4.67740375e-05 9.99968563e-01 4.73351131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters 0.0232848664914636 Centerline is valid? [True, True] Translation: X:102.38, Y:-6.06, Z:0.48 [[ 9.94998671e-01 9.97383208e-02 5.46918325e-03 1.02379396e+02] [-9.97368741e-02 9.95013702e-01 -5.37302418e-04 -6.06105670e+00] [-5.49550191e-03 -1.08640491e-05 9.99984900e-01 4.76163573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters 0.023233087438392416 Centerline is valid? [True, True] Translation: X:102.44, Y:-6.06, Z:0.48 [[ 9.95074465e-01 9.87304926e-02 8.89372665e-03 1.02441741e+02] [-9.87266198e-02 9.95114209e-01 -8.74507021e-04 -6.06074807e+00] [-8.93661427e-03 -7.84796290e-06 9.99960068e-01 4.76754310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters 0.023355066084547575 Centerline is valid? [True, True] Translation: X:102.50, Y:-6.07, Z:0.48 [[ 9.94724484e-01 1.01930998e-01 1.15443965e-02 1.02504016e+02] [-1.01924673e-01 9.94791470e-01 -1.13649888e-03 -6.06717454e+00] [-1.16001117e-02 -4.61555811e-05 9.99932715e-01 4.77162608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters 0.023319560545035128 Centerline is valid? [True, True] Translation: X:102.56, Y:-6.08, Z:0.48 [[ 9.94453415e-01 1.04963145e-01 6.71891989e-03 1.02564946e+02] [-1.04961063e-01 9.94476111e-01 -6.62644428e-04 -6.07858807e+00] [-6.75135857e-03 -4.62559607e-05 9.99977208e-01 4.77165542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters 0.023454242920654955 Centerline is valid? [True, True] Translation: X:102.63, Y:-6.08, Z:0.47 [[ 9.94373991e-01 1.05646516e-01 7.69278067e-03 1.02627256e+02] [-1.05643800e-01 9.94403746e-01 -7.59648596e-04 -6.08171684e+00] [-7.72998414e-03 -5.73197753e-05 9.99970122e-01 4.72762967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters 0.023206424621409198 Centerline is valid? [True, True] Translation: X:102.69, Y:-6.08, Z:0.48 [[ 9.94526386e-01 1.04307737e-01 6.09615177e-03 1.02689066e+02] [-1.04306000e-01 9.94545069e-01 -6.02958018e-04 -6.08356125e+00] [-6.12579087e-03 -3.62075493e-05 9.99981237e-01 4.78697634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters 0.0230725875058642 Centerline is valid? [True, True] Translation: X:102.75, Y:-6.09, Z:0.48 [[ 9.94669909e-01 1.02929467e-01 6.10709562e-03 1.02750963e+02] [-1.02927693e-01 9.94688657e-01 -6.04871716e-04 -6.08994684e+00] [-6.13691787e-03 -2.69415693e-05 9.99981169e-01 4.78695798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters 0.023210170205652796 Centerline is valid? [True, True] Translation: X:102.81, Y:-6.10, Z:0.47 [[ 9.94854440e-01 1.00883648e-01 9.33448051e-03 1.02812753e+02] [-1.00879406e-01 9.94898231e-01 -9.25458837e-04 -6.10024420e+00] [-9.38022181e-03 -2.09600123e-05 9.99956005e-01 4.72927536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters 0.023054255931228305 Centerline is valid? [True, True] Translation: X:102.88, Y:-6.10, Z:0.48 [[ 9.95040775e-01 9.86942575e-02 1.23814557e-02 1.02875429e+02] [-9.86866049e-02 9.95117804e-01 -1.22901196e-03 -6.10080929e+00] [-1.24423034e-02 1.03318809e-06 9.99922592e-01 4.75817037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters 0.022994110794822935 Centerline is valid? [True, True] Translation: X:102.94, Y:-6.11, Z:0.48 [[ 9.95278998e-01 9.65866590e-02 9.52540309e-03 1.02937068e+02] [-9.65820194e-02 9.95324579e-01 -9.46951816e-04 -6.10979007e+00] [-9.57233073e-03 2.24985880e-05 9.99954184e-01 4.76732260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters 0.02301009639051201 Centerline is valid? [True, True] Translation: X:103.00, Y:-6.12, Z:0.48 [[ 9.94583465e-01 1.03345277e-01 1.11124082e-02 1.02998281e+02] [-1.03339369e-01 9.94645541e-01 -1.10609488e-03 -6.12305649e+00] [-1.11672169e-02 -4.82455649e-05 9.99937644e-01 4.76994343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters 0.022990080725462603 Centerline is valid? [True, True] Translation: X:103.06, Y:-6.13, Z:0.48 [[ 9.93884233e-01 1.09975851e-01 9.97214918e-03 1.03059436e+02] [-1.09971399e-01 9.93934254e-01 -9.95342262e-04 -6.13109898e+00] [-1.00211243e-02 -1.07396220e-04 9.99949782e-01 4.81439468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters 0.0232178858493029 Centerline is valid? [True, True] Translation: X:103.12, Y:-6.14, Z:0.48 [[ 9.93295353e-01 1.15307294e-01 8.28069750e-03 1.03121246e+02] [-1.15304402e-01 9.93329860e-01 -8.27404491e-04 -6.13909378e+00] [-8.32086986e-03 -1.32943841e-04 9.99965372e-01 4.81855932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters 0.024203474833931437 Centerline is valid? [True, True] Translation: X:103.18, Y:-6.15, Z:0.48 [[ 9.92339708e-01 1.23266830e-01 8.19706234e-03 1.03181813e+02] [-1.23264261e-01 9.92373544e-01 -8.19725980e-04 -6.15387393e+00] [-8.23559283e-03 -1.96958195e-04 9.99966068e-01 4.76338874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters 0.02435744514422552 Centerline is valid? [True, True] Translation: X:103.24, Y:-6.16, Z:0.48 [[ 9.91966295e-01 1.26339844e-01 6.41194123e-03 1.03243332e+02] [-1.26338329e-01 9.91987003e-01 -6.42341595e-04 -6.16445207e+00] [-6.44171570e-03 -1.72892729e-04 9.99979237e-01 4.79015398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters 0.025262262305586397 Centerline is valid? [True, True] Translation: X:103.30, Y:-6.17, Z:0.48 [[ 9.91286439e-01 1.31429073e-01 8.80872347e-03 1.03304943e+02] [-1.31426411e-01 9.91325536e-01 -8.82903289e-04 -6.16847804e+00] [-8.84835168e-03 -2.82488858e-04 9.99960813e-01 4.83536773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters 0.02592520232546156 Centerline is valid? [True, True] Translation: X:103.37, Y:-6.18, Z:0.48 [[ 9.90619295e-01 1.36495149e-01 6.51813117e-03 1.03366224e+02] [-1.36493789e-01 9.90640710e-01 -6.55094483e-04 -6.17522031e+00] [-6.54654331e-03 -2.40735186e-04 9.99978542e-01 4.78092635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters 0.02652396573327892 Centerline is valid? [True, True] Translation: X:103.43, Y:-6.18, Z:0.48 [[ 9.90083856e-01 1.40353264e-01 5.90921145e-03 1.03428236e+02] [-1.40352212e-01 9.90101461e-01 -5.94467254e-04 -6.17743687e+00] [-5.93415431e-03 -2.40798465e-04 9.99982364e-01 4.80493185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters 0.026762895856024024 Centerline is valid? [True, True] Translation: X:103.49, Y:-6.17, Z:0.48 [[ 9.89896560e-01 1.41617254e-01 7.02520352e-03 1.03491163e+02] [-1.41615799e-01 9.89921444e-01 -7.06735318e-04 -6.16734113e+00] [-7.05448554e-03 -2.95284948e-04 9.99975073e-01 4.81009239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters 0.02641089563725237 Centerline is valid? [True, True] Translation: X:103.55, Y:-6.17, Z:0.48 [[ 9.90107540e-01 1.40075106e-01 8.12557209e-03 1.03552682e+02] [-1.40073103e-01 9.90140827e-01 -8.17908549e-04 -6.16931144e+00] [-8.16002930e-03 -3.28356673e-04 9.99966652e-01 4.79196014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters 0.0253336552778606 Centerline is valid? [True, True] Translation: X:103.61, Y:-6.17, Z:0.48 [[ 9.90910916e-01 1.34314053e-01 7.43589096e-03 1.03614127e+02] [-1.34312210e-01 9.90938782e-01 -7.49010427e-04 -6.16951374e+00] [-7.46911536e-03 -2.56528339e-04 9.99972073e-01 4.80015354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters 0.024277442592652805 Centerline is valid? [True, True] Translation: X:103.68, Y:-6.17, Z:0.48 [[ 9.91885836e-01 1.26871917e-01 8.12434712e-03 1.03675679e+02] [-1.26869463e-01 9.91919084e-01 -8.18877550e-04 -6.17104074e+00] [-8.16258752e-03 -2.18498511e-04 9.99966662e-01 4.81312198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters 0.023560100363655384 Centerline is valid? [True, True] Translation: X:103.74, Y:-6.17, Z:0.48 [[ 9.92599724e-01 1.21015937e-01 1.00464523e-02 1.03736855e+02] [-1.21011878e-01 9.92650542e-01 -1.01321163e-03 -6.17379713e+00] [-1.00952310e-02 -2.10026465e-04 9.99949020e-01 4.82880147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters 0.023145690813830447 Centerline is valid? [True, True] Translation: X:103.80, Y:-6.17, Z:0.48 [[ 9.92864549e-01 1.18998095e-01 7.70982351e-03 1.03799325e+02] [-1.18995632e-01 9.92894472e-01 -7.79033334e-04 -6.17372128e+00] [-7.74774462e-03 -1.43960743e-04 9.99969975e-01 4.82808683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters 0.023371826649808202 Centerline is valid? [True, True] Translation: X:103.86, Y:-6.18, Z:0.48 [[ 9.92588079e-01 1.21367904e-01 6.22394272e-03 1.03860547e+02] [-1.21366344e-01 9.92607583e-01 -6.29098617e-04 -6.17821285e+00] [-6.25428512e-03 -1.30941386e-04 9.99980433e-01 4.82809155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters 0.023057694538300793 Centerline is valid? [True, True] Translation: X:103.92, Y:-6.18, Z:0.49 [[ 9.92723759e-01 1.20362094e-01 3.53625723e-03 1.03921296e+02] [-1.20361585e-01 9.92730055e-01 -3.57242943e-04 -6.18269010e+00] [-3.55354734e-03 -7.09859664e-05 9.99993684e-01 4.85090809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters 0.022643639131397778 Centerline is valid? [True, True] Translation: X:103.98, Y:-6.19, Z:0.49 [[ 9.93215799e-01 1.16141706e-01 5.78626346e-03 1.03979259e+02] [-1.16140301e-01 9.93232649e-01 -5.79339190e-04 -6.19000759e+00] [-5.81439123e-03 -9.66095429e-05 9.99983092e-01 4.85321682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters 0.02241347999081174 Centerline is valid? [True, True] Translation: X:104.04, Y:-6.19, Z:0.48 [[ 9.94008329e-01 1.08920363e-01 9.15398560e-03 1.04040078e+02] [-1.08916510e-01 9.94050475e-01 -9.19863612e-04 -6.18698277e+00] [-9.19971562e-03 -8.26680716e-05 9.99957678e-01 4.82239558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters 0.0221178084895622 Centerline is valid? [True, True] Translation: X:104.10, Y:-6.20, Z:0.48 [[ 9.94279287e-01 1.06630134e-01 6.22200626e-03 1.04101490e+02] [-1.06628299e-01 9.94298754e-01 -6.26875095e-04 -6.19756016e+00] [-6.25337684e-03 -4.01530234e-05 9.99980447e-01 4.82048227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters 0.022125236365840243 Centerline is valid? [True, True] Translation: X:104.16, Y:-6.20, Z:0.48 [[ 9.94312505e-01 1.06225548e-01 7.66654913e-03 1.04162251e+02] [-1.06222756e-01 9.94342059e-01 -7.71577410e-04 -6.19948803e+00] [-7.70513348e-03 -4.71729124e-05 9.99970314e-01 4.84598266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters 0.02217342851288031 Centerline is valid? [True, True] Translation: X:104.22, Y:-6.21, Z:0.49 [[ 9.94559488e-01 1.03739348e-01 9.46428072e-03 1.04222988e+02] [-1.03734972e-01 9.94604518e-01 -9.53493079e-04 -6.20589221e+00] [-9.51213111e-03 -3.34713052e-05 9.99954758e-01 4.85019248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters 0.022318169755382207 Centerline is valid? [True, True] Translation: X:104.28, Y:-6.22, Z:0.49 [[ 9.94820380e-01 1.00896379e-01 1.23422935e-02 1.04284313e+02] [-1.00888693e-01 9.94896940e-01 -1.24536290e-03 -6.21784609e+00] [-1.24049626e-02 -6.28546113e-06 9.99923055e-01 4.86057199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters 0.022246252206128168 Centerline is valid? [True, True] Translation: X:104.35, Y:-6.23, Z:0.49 [[ 9.94926251e-01 1.00024426e-01 1.08106091e-02 1.04346307e+02] [-1.00018461e-01 9.94984982e-01 -1.09235512e-03 -6.22505019e+00] [-1.08656559e-02 5.55229792e-06 9.99940967e-01 4.86535259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters 0.022154289600810787 Centerline is valid? [True, True] Translation: X:104.41, Y:-6.24, Z:0.49 [[ 9.95241633e-01 9.71898749e-02 6.94400522e-03 1.04407679e+02] [-9.71873339e-02 9.95265858e-01 -7.03226044e-04 -6.24054648e+00] [-6.97947776e-03 2.50104833e-05 9.99975643e-01 4.88857865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters 0.02205144757344244 Centerline is valid? [True, True] Translation: X:104.47, Y:-6.25, Z:0.49 [[ 9.95342067e-01 9.61875754e-02 6.48993218e-03 1.04468997e+02] [-9.61853296e-02 9.95363225e-01 -6.58013099e-04 -6.24887444e+00] [-6.52313251e-03 3.07118534e-05 9.99978724e-01 4.91285529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters 0.022018086674559654 Centerline is valid? [True, True] Translation: X:104.53, Y:-6.27, Z:0.49 [[ 9.95480645e-01 9.48277685e-02 5.09695018e-03 1.04529819e+02] [-9.48263612e-02 9.95493693e-01 -5.17613523e-04 -6.26899840e+00] [-5.12306589e-03 3.19490056e-05 9.99986877e-01 4.87772235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters 0.022121182751669216 Centerline is valid? [True, True] Translation: X:104.59, Y:-6.28, Z:0.49 [[ 9.95707975e-01 9.24290498e-02 4.74335960e-03 1.04591397e+02] [-9.24278005e-02 9.95719272e-01 -4.82389825e-04 -6.27909453e+00] [-4.76764140e-03 4.19011013e-05 9.99988634e-01 4.89124941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters 0.02216478906558159 Centerline is valid? [True, True] Translation: X:104.65, Y:-6.30, Z:0.49 [[ 9.95952598e-01 8.98536399e-02 2.17864995e-03 1.04652128e+02] [-8.98533687e-02 9.95954980e-01 -2.22219502e-04 -6.29571531e+00] [-2.18980449e-03 2.55610535e-05 9.99997602e-01 4.91390247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters 0.022535901739395063 Centerline is valid? [True, True] Translation: X:104.71, Y:-6.31, Z:0.49 [[ 9.96326400e-01 8.55981034e-02 2.58235712e-03 1.04712490e+02] [-8.55977089e-02 9.96329746e-01 -2.63103768e-04 -6.30975176e+00] [-2.59540040e-03 4.10933766e-05 9.99996631e-01 4.89298884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters 0.023166596694222528 Centerline is valid? [True, True] Translation: X:104.77, Y:-6.32, Z:0.49 [[ 9.96657654e-01 8.15977071e-02 3.91597852e-03 1.04773543e+02] [-8.15967664e-02 9.96665344e-01 -3.99653927e-04 -6.32469933e+00] [-3.93553092e-03 7.87869607e-05 9.99992253e-01 4.89474598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters 0.023284719283583267 Centerline is valid? [True, True] Translation: X:104.83, Y:-6.35, Z:0.49 [[ 9.96604041e-01 8.18822770e-02 8.69933355e-03 1.04833919e+02] [-8.18776423e-02 9.96641993e-01 -8.88174464e-04 -6.34582621e+00] [-8.74284688e-03 1.72877339e-04 9.99961766e-01 4.92622892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters 0.022480044748716607 Centerline is valid? [True, True] Translation: X:104.89, Y:-6.36, Z:0.49 [[ 9.96049736e-01 8.87592098e-02 2.59330896e-03 1.04894573e+02] [-8.87588198e-02 9.96053112e-01 -2.65333938e-04 -6.35912672e+00] [-2.60662429e-03 3.41067558e-05 9.99996602e-01 4.89803024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters 0.02254874057981865 Centerline is valid? [True, True] Translation: X:104.96, Y:-6.38, Z:0.49 [[ 9.95892454e-01 9.05428869e-02 4.53667585e-04 1.04955758e+02] [-9.05428748e-02 9.95892557e-01 -4.70700402e-05 -6.37609343e+00] [-4.56066028e-04 5.80033054e-06 9.99999896e-01 4.90816954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters 0.02282684292504732 Centerline is valid? [True, True] Translation: X:105.02, Y:-6.39, Z:0.50 [[ 9.95976376e-01 8.91533680e-02 9.09584965e-03 1.05016096e+02] [-8.91485734e-02 9.96017903e-01 -9.32015149e-04 -6.39323608e+00] [-9.14272138e-03 1.17383050e-04 9.99958198e-01 4.97575016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters 0.022669401297240738 Centerline is valid? [True, True] Translation: X:105.08, Y:-6.40, Z:0.50 [[ 9.95675170e-01 9.23159024e-02 1.04273327e-02 1.05077516e+02] [-9.23097609e-02 9.95729764e-01 -1.06976932e-03 -6.39917810e+00] [-1.04815623e-02 1.02598156e-04 9.99945062e-01 4.95419794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters 0.022556632573710846 Centerline is valid? [True, True] Translation: X:105.14, Y:-6.41, Z:0.49 [[ 9.95188021e-01 9.76284967e-02 8.33541953e-03 1.05139545e+02] [-9.76247438e-02 9.95222927e-01 -8.56904703e-04 -6.40880966e+00] [-8.37925894e-03 3.90380994e-05 9.99964893e-01 4.90458337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters 0.022564294766911335 Centerline is valid? [True, True] Translation: X:105.20, Y:-6.43, Z:0.49 [[ 9.94808898e-01 1.01551037e-01 6.53020667e-03 1.05199719e+02] [-1.01548812e-01 9.94830331e-01 -6.72250195e-04 -6.42880849e+00] [-6.56471536e-03 5.62574712e-06 9.99978452e-01 4.93010845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters 0.022582129675957525 Centerline is valid? [True, True] Translation: X:105.26, Y:-6.44, Z:0.50 [[ 9.94603406e-01 1.03510350e-01 7.04784203e-03 1.05261376e+02] [-1.03507795e-01 9.94628377e-01 -7.27334497e-04 -6.44255593e+00] [-7.08527032e-03 -6.09721962e-06 9.99974899e-01 4.97185371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters 0.022986705514599314 Centerline is valid? [True, True] Translation: X:105.32, Y:-6.45, Z:0.49 [[ 9.93704429e-01 1.11735177e-01 8.17059383e-03 1.05323483e+02] [-1.11732016e-01 9.93738016e-01 -8.43788424e-04 -6.44628891e+00] [-8.21371055e-03 -7.44406258e-05 9.99966264e-01 4.92106229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters 0.023901221025020822 Centerline is valid? [True, True] Translation: X:105.39, Y:-6.46, Z:0.49 [[ 9.92188188e-01 1.24520376e-01 7.56799429e-03 1.05385087e+02] [-1.24518027e-01 9.92217037e-01 -7.82616653e-04 -6.45628401e+00] [-7.60654459e-03 -1.65848721e-04 9.99971056e-01 4.92798632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters 0.02445687269910301 Centerline is valid? [True, True] Translation: X:105.45, Y:-6.47, Z:0.50 [[ 9.91736412e-01 1.28113548e-01 6.76821178e-03 1.05445910e+02] [-1.28111723e-01 9.91759492e-01 -7.04375945e-04 -6.46683948e+00] [-6.80267838e-03 -1.68531998e-04 9.99976847e-01 4.95510872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters 0.02428269535553125 Centerline is valid? [True, True] Translation: X:105.51, Y:-6.48, Z:0.50 [[ 9.91858344e-01 1.27257586e-01 4.74679008e-03 1.05507326e+02] [-1.27256679e-01 9.91869696e-01 -4.93770566e-04 -6.47559061e+00] [-4.77103329e-03 -1.14310286e-04 9.99988612e-01 4.95242667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters 0.024567904567307952 Centerline is valid? [True, True] Translation: X:105.57, Y:-6.48, Z:0.50 [[ 9.91746089e-01 1.28110365e-01 5.23723171e-03 1.05568562e+02] [-1.28109270e-01 9.91759909e-01 -5.45422986e-04 -6.48327128e+00] [-5.26395078e-03 -1.30016819e-04 9.99986137e-01 4.95494167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters 0.025244355970716337 Centerline is valid? [True, True] Translation: X:105.63, Y:-6.49, Z:0.50 [[ 9.91168410e-01 1.32532671e-01 4.50277817e-03 1.05630601e+02] [-1.32531904e-01 9.91178629e-01 -4.69612231e-04 -6.48731783e+00] [-4.52529646e-03 -1.31296955e-04 9.99989752e-01 4.97727884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters 0.025724807514294245 Centerline is valid? [True, True] Translation: X:105.69, Y:-6.49, Z:0.50 [[ 9.90613741e-01 1.36690923e-01 8.73257807e-05 1.05691923e+02] [-1.36690923e-01 9.90613745e-01 -9.59273077e-06 -6.49340606e+00] [-8.78173578e-05 -2.43395064e-06 9.99999996e-01 4.97731877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters 0.025942637422035758 Centerline is valid? [True, True] Translation: X:105.75, Y:-6.50, Z:0.50 [[ 9.90486342e-01 1.37580016e-01 2.92320988e-03 1.05753692e+02] [-1.37579713e-01 9.90490651e-01 -3.05757283e-04 -6.49738462e+00] [-2.93747815e-03 -9.93259626e-05 9.99995681e-01 4.98170329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters 0.02564112158669799 Centerline is valid? [True, True] Translation: X:105.82, Y:-6.50, Z:0.50 [[ 9.90684088e-01 1.36093693e-01 4.85219689e-03 1.05816505e+02] [-1.36092837e-01 9.90695958e-01 -5.07723141e-04 -6.49612236e+00] [-4.87614977e-03 -1.57356003e-04 9.99988099e-01 4.99400640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters 0.024785331989432044 Centerline is valid? [True, True] Translation: X:105.88, Y:-6.50, Z:0.50 [[ 9.91438097e-01 1.30531901e-01 3.45280882e-03 1.05878178e+02] [-1.30531433e-01 9.91444105e-01 -3.61661474e-04 -6.50049039e+00] [-3.47047531e-03 -9.21351186e-05 9.99993974e-01 4.97043110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters 0.023827353887902903 Centerline is valid? [True, True] Translation: X:105.94, Y:-6.50, Z:0.50 [[ 9.92524955e-01 1.21947773e-01 4.79110153e-03 1.05939972e+02] [-1.21946769e-01 9.92536515e-01 -5.02140486e-04 -6.50338429e+00] [-4.81657813e-03 -8.58723886e-05 9.99988397e-01 4.98585125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters 0.023296505725674183 Centerline is valid? [True, True] Translation: X:106.00, Y:-6.51, Z:0.50 [[ 9.93434842e-01 1.14333528e-01 3.88067984e-03 1.06001689e+02] [-1.14332808e-01 9.93442421e-01 -4.07525843e-04 -6.50988868e+00] [-3.90182584e-03 -3.88386521e-05 9.99992387e-01 4.97984474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters 0.022916304767623633 Centerline is valid? [True, True] Translation: X:106.06, Y:-6.52, Z:0.50 [[ 9.93853077e-01 1.10638998e-01 3.88252880e-03 1.06063540e+02] [-1.10638247e-01 9.93860660e-01 -4.08272584e-04 -6.51533367e+00] [-3.90386351e-03 -2.37932185e-05 9.99992380e-01 4.98060406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters 0.022807594834849575 Centerline is valid? [True, True] Translation: X:106.13, Y:-6.52, Z:0.50 [[ 9.93992888e-01 1.09374112e-01 3.92975033e-03 1.06125014e+02] [-1.09373331e-01 9.94000656e-01 -4.13772930e-04 -6.52415335e+00] [-3.95143045e-03 -1.85225343e-05 9.99992193e-01 5.02490245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters 0.022857893640526955 Centerline is valid? [True, True] Translation: X:106.19, Y:-6.54, Z:0.50 [[ 9.93929074e-01 1.09943334e-01 4.17834952e-03 1.06186664e+02] [-1.09942451e-01 9.93937857e-01 -4.41127994e-04 -6.53922272e+00] [-4.20151885e-03 -2.09280476e-05 9.99991173e-01 5.02221218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters 0.022793483217795805 Centerline is valid? [True, True] Translation: X:106.25, Y:-6.55, Z:0.50 [[ 9.93870811e-01 1.10285336e-01 7.61289656e-03 1.06248048e+02] [-1.10282416e-01 9.93899966e-01 -8.03568561e-04 -6.54731092e+00] [-7.65507946e-03 -4.09252869e-05 9.99970699e-01 5.01087528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters 0.022749629653226543 Centerline is valid? [True, True] Translation: X:106.31, Y:-6.56, Z:0.50 [[ 9.93762711e-01 1.11394378e-01 5.19296340e-03 1.06309428e+02] [-1.11393030e-01 9.93776278e-01 -5.49068089e-04 -6.55684432e+00] [-5.22180694e-03 -3.28165341e-05 9.99986366e-01 5.00444858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters 0.023018884168673148 Centerline is valid? [True, True] Translation: X:106.37, Y:-6.57, Z:0.50 [[ 9.93053749e-01 1.17656770e-01 1.06637257e-03 1.06370554e+02] [-1.17656716e-01 9.93054321e-01 -1.13443091e-04 -6.56966580e+00] [-1.07231323e-03 -1.28108070e-05 9.99999425e-01 5.01872207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters 0.023259848926637575 Centerline is valid? [True, True] Translation: X:106.43, Y:-6.57, Z:0.50 [[ 9.92526254e-01 1.22002306e-01 2.65933432e-03 1.06432566e+02] [-1.22001987e-01 9.92529816e-01 -2.82227290e-04 -6.57469390e+00] [-2.67390098e-03 -4.43260777e-05 9.99996424e-01 5.01804929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters 0.024179249193583274 Centerline is valid? [True, True] Translation: X:106.49, Y:-6.58, Z:0.50 [[ 9.91638706e-01 1.28930874e-01 5.43205235e-03 1.06494321e+02] [-1.28929650e-01 9.91653575e-01 -5.76493527e-04 -6.58334241e+00] [-5.46104195e-03 -1.28679311e-04 9.99985080e-01 5.01522914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters 0.02438801377600551 Centerline is valid? [True, True] Translation: X:106.56, Y:-6.59, Z:0.50 [[ 9.91436911e-01 1.30419805e-01 6.59739863e-03 1.06555906e+02] [-1.30418027e-01 9.91458848e-01 -7.00884655e-04 -6.59094971e+00] [-6.63245849e-03 -1.65536795e-04 9.99977991e-01 5.01536435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters 0.023864934906148823 Centerline is valid? [True, True] Translation: X:106.62, Y:-6.59, Z:0.50 [[ 9.91822115e-01 1.27353637e-01 8.36316373e-03 1.06618081e+02] [-1.27350662e-01 9.91857358e-01 -8.89401181e-04 -6.59296396e+00] [-8.40833395e-03 -1.82926678e-04 9.99964633e-01 5.02424536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters 0.023614755607487745 Centerline is valid? [True, True] Translation: X:106.68, Y:-6.59, Z:0.50 [[ 9.91882215e-01 1.27089470e-01 4.23527860e-03 1.06680460e+02] [-1.27088701e-01 9.91891253e-01 -4.51298963e-04 -6.59473445e+00] [-4.25829114e-03 -9.06206388e-05 9.99990929e-01 5.02499061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters 0.02394695734964751 Centerline is valid? [True, True] Translation: X:106.74, Y:-6.59, Z:0.51 [[ 9.91422443e-01 1.30621188e-01 4.43216651e-03 1.06742937e+02] [-1.30620379e-01 9.91432344e-01 -4.72839128e-04 -6.59473226e+00] [-4.45595605e-03 -1.10147945e-04 9.99990066e-01 5.05989459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters 0.02459715963953536 Centerline is valid? [True, True] Translation: X:106.80, Y:-6.60, Z:0.50 [[ 9.90917210e-01 1.34153756e-01 9.26568541e-03 1.06804387e+02] [-1.34150373e-01 9.90960494e-01 -9.88518319e-04 -6.60061569e+00] [-9.31454163e-03 -2.63455336e-04 9.99956584e-01 5.04754296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters 0.02482411471903903 Centerline is valid? [True, True] Translation: X:106.87, Y:-6.60, Z:0.50 [[ 9.90780872e-01 1.35329812e-01 6.25346288e-03 1.06866325e+02] [-1.35328287e-01 9.90800589e-01 -6.68288866e-04 -6.60242189e+00] [-6.28637411e-03 -1.84142594e-04 9.99980224e-01 5.00960367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters 0.02441475945721757 Centerline is valid? [True, True] Translation: X:106.93, Y:-6.60, Z:0.50 [[ 9.90998709e-01 1.33788348e-01 4.71551570e-03 1.06929682e+02] [-1.33787458e-01 9.91009920e-01 -5.05032211e-04 -6.59916765e+00] [-4.74069026e-03 -1.30390592e-04 9.99988754e-01 5.01746579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters 0.024032706152451427 Centerline is valid? [True, True] Translation: X:106.99, Y:-6.60, Z:0.51 [[ 9.91085711e-01 1.32933546e-01 8.81965152e-03 1.06992185e+02] [-1.32930397e-01 9.91124925e-01 -9.44879133e-04 -6.59682952e+00] [-8.86698259e-03 -2.35943570e-04 9.99960660e-01 5.05361471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters 0.023969157491474505 Centerline is valid? [True, True] Translation: X:107.05, Y:-6.60, Z:0.51 [[ 9.91325530e-01 1.30934938e-01 1.13901081e-02 1.07054817e+02] [-1.30929540e-01 9.91390924e-01 -1.22157418e-03 -6.59525170e+00] [-1.14519965e-02 -2.80323937e-04 9.99934384e-01 5.05791955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters 0.023028810158355142 Centerline is valid? [True, True] Translation: X:107.12, Y:-6.59, Z:0.50 [[ 9.91964707e-01 1.26218683e-01 8.65238266e-03 1.07117779e+02] [-1.26215377e-01 9.92002427e-01 -9.29259939e-04 -6.58862358e+00] [-8.70047457e-03 -1.70270674e-04 9.99962136e-01 5.01355427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters 0.02275041206920658 Centerline is valid? [True, True] Translation: X:107.18, Y:-6.60, Z:0.50 [[ 9.92453592e-01 1.22212741e-01 9.99564953e-03 1.07179945e+02] [-1.22208108e-01 9.92503915e-01 -1.07531440e-03 -6.59620457e+00] [-1.00521384e-02 -1.54349775e-04 9.99949464e-01 5.04537180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters 0.02243306622568318 Centerline is valid? [True, True] Translation: X:107.24, Y:-6.60, Z:0.51 [[ 9.92919243e-01 1.18200811e-01 1.18298138e-02 1.07242392e+02] [-1.18194021e-01 9.92989703e-01 -1.27395018e-03 -6.59812193e+00] [-1.18974652e-02 -1.33283607e-04 9.99929214e-01 5.07360663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters 0.022602378915732864 Centerline is valid? [True, True] Translation: X:107.31, Y:-6.60, Z:0.50 [[ 9.92925964e-01 1.17750425e-01 1.52599823e-02 1.07305150e+02] [-1.17739044e-01 9.93043207e-01 -1.64524643e-03 -6.59880420e+00] [-1.53475502e-02 -1.63087820e-04 9.99882206e-01 5.04601943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters 0.022355367938021942 Centerline is valid? [True, True] Translation: X:107.37, Y:-6.61, Z:0.50 [[ 9.93229934e-01 1.15666980e-01 1.07446558e-02 1.07367429e+02] [-1.15661191e-01 9.93288046e-01 -1.16066383e-03 -6.60538735e+00] [-1.08067886e-02 -8.99336270e-05 9.99941601e-01 5.03579323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters 0.022389919689850945 Centerline is valid? [True, True] Translation: X:107.43, Y:-6.62, Z:0.50 [[ 9.93327562e-01 1.14802715e-01 1.09859500e-02 1.07429459e+02] [-1.14796584e-01 9.93388308e-01 -1.18920825e-03 -6.61998598e+00] [-1.10498386e-02 -7.98761926e-05 9.99938945e-01 5.04121734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters 0.02232180460861145 Centerline is valid? [True, True] Translation: X:107.49, Y:-6.62, Z:0.51 [[ 9.93025097e-01 1.17244230e-01 1.24478061e-02 1.07491580e+02] [-1.17236534e-01 9.93103105e-01 -1.34866441e-03 -6.62043335e+00] [-1.25200780e-02 -1.20080037e-04 9.99921614e-01 5.08782849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters 0.022415179917250155 Centerline is valid? [True, True] Translation: X:107.55, Y:-6.62, Z:0.51 [[ 9.92694695e-01 1.19866177e-01 1.37601264e-02 1.07554178e+02] [-1.19857000e-01 9.92790044e-01 -1.49266815e-03 -6.62402356e+00] [-1.38398370e-02 -1.67483728e-04 9.99904211e-01 5.09140098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters 0.02300524319596843 Centerline is valid? [True, True] Translation: X:107.62, Y:-6.63, Z:0.51 [[ 9.92039187e-01 1.25118946e-01 1.42653433e-02 1.07615570e+02] [-1.25109598e-01 9.92141718e-01 -1.54939253e-03 -6.63181029e+00] [-1.43471006e-02 -2.47673263e-04 9.99897044e-01 5.07454926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters 0.023547182972569875 Centerline is valid? [True, True] Translation: X:107.68, Y:-6.64, Z:0.51 [[ 9.91618488e-01 1.28193117e-01 1.61027636e-02 1.07677465e+02] [-1.28181575e-01 9.91749171e-01 -1.75106883e-03 -6.63739138e+00] [-1.61943774e-02 -3.27685380e-04 9.99868809e-01 5.07069149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters 0.023530681281430054 Centerline is valid? [True, True] Translation: X:107.74, Y:-6.64, Z:0.51 [[ 9.91514072e-01 1.29387318e-01 1.26002514e-02 1.07740013e+02] [-1.29380325e-01 9.91594095e-01 -1.37201688e-03 -6.63674629e+00] [-1.26718564e-02 -2.69850569e-04 9.99919672e-01 5.08187279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters 0.023792218399208805 Centerline is valid? [True, True] Translation: X:107.80, Y:-6.63, Z:0.51 [[ 9.90974163e-01 1.33635201e-01 1.05754995e-02 1.07803050e+02] [-1.33630500e-01 9.91030554e-01 -1.15307661e-03 -6.63202502e+00] [-1.06347348e-02 -2.70540169e-04 9.99943413e-01 5.11045318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters 0.02453858993584855 Centerline is valid? [True, True] Translation: X:107.86, Y:-6.64, Z:0.51 [[ 9.90413436e-01 1.37556283e-01 1.26291126e-02 1.07864996e+02] [-1.37549877e-01 9.90493882e-01 -1.37857461e-03 -6.63570933e+00] [-1.26986903e-02 -3.71774070e-04 9.99919299e-01 5.10357698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters 0.0248751544730134 Centerline is valid? [True, True] Translation: X:107.93, Y:-6.63, Z:0.51 [[ 9.90038213e-01 1.40085052e-01 1.41603650e-02 1.07928100e+02] [-1.40077232e-01 9.90139371e-01 -1.54749396e-03 -6.63248789e+00] [-1.42375157e-02 -4.51466585e-04 9.99898540e-01 5.09790619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters 0.02494382787017392 Centerline is valid? [True, True] Translation: X:107.99, Y:-6.63, Z:0.51 [[ 9.90049490e-01 1.40183119e-01 1.22759801e-02 1.07991704e+02] [-1.40177228e-01 9.90125517e-01 -1.34330340e-03 -6.62680626e+00] [-1.23430696e-02 -3.90876014e-04 9.99923745e-01 5.08491357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters 0.025202033795358174 Centerline is valid? [True, True] Translation: X:108.05, Y:-6.63, Z:0.51 [[ 9.89670979e-01 1.42869931e-01 1.18125222e-02 1.08053768e+02] [-1.42864655e-01 9.89741389e-01 -1.29362396e-03 -6.62722586e+00] [-1.18761621e-02 -4.07329817e-04 9.99929393e-01 5.09200843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters 0.025896367460243732 Centerline is valid? [True, True] Translation: X:108.12, Y:-6.62, Z:0.51 [[ 9.89044295e-01 1.47236466e-01 1.06210240e-02 1.08117147e+02] [-1.47232435e-01 9.89101235e-01 -1.16475500e-03 -6.62253610e+00] [-1.06767624e-02 -4.11764938e-04 9.99942917e-01 5.11927233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters 0.026200762717025355 Centerline is valid? [True, True] Translation: X:108.18, Y:-6.62, Z:0.51 [[ 9.88872775e-01 1.48348584e-01 1.11055290e-02 1.08179136e+02] [-1.48344242e-01 9.88935034e-01 -1.21824939e-03 -6.61968628e+00] [-1.11633723e-02 -4.42747643e-04 9.99937590e-01 5.10473618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters 0.02663024248947286 Centerline is valid? [True, True] Translation: X:108.24, Y:-6.61, Z:0.51 [[ 9.88564490e-01 1.50460813e-01 1.00892939e-02 1.08240788e+02] [-1.50457342e-01 9.88615883e-01 -1.10647343e-03 -6.60967678e+00] [-1.01409171e-02 -4.24187998e-04 9.99948490e-01 5.11886396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters 0.02679332261943077 Centerline is valid? [True, True] Translation: X:108.30, Y:-6.60, Z:0.51 [[ 9.88523656e-01 1.50725696e-01 1.01363590e-02 1.08300964e+02] [-1.50722278e-01 9.88575528e-01 -1.10465477e-03 -6.59958848e+00] [-1.01870563e-02 -4.35797756e-04 9.99948016e-01 5.14820683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters 0.026584861486139665 Centerline is valid? [True, True] Translation: X:108.36, Y:-6.59, Z:0.51 [[ 9.88796684e-01 1.48884931e-01 1.06955935e-02 1.08361584e+02] [-1.48881069e-01 9.88854428e-01 -1.16082534e-03 -6.58892883e+00] [-1.07492144e-02 -4.44551147e-04 9.99942127e-01 5.13798491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters 0.02579741551581325 Centerline is valid? [True, True] Translation: X:108.42, Y:-6.58, Z:0.51 [[ 9.89525790e-01 1.43790860e-01 1.27632156e-02 1.08421380e+02] [-1.43784933e-01 9.89607990e-01 -1.38561630e-03 -6.58016184e+00] [-1.28298190e-02 -4.64055021e-04 9.99917587e-01 5.13741403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters 0.024712701776512132 Centerline is valid? [True, True] Translation: X:108.48, Y:-6.57, Z:0.52 [[ 9.90622500e-01 1.36309434e-01 9.31667221e-03 1.08482897e+02] [-1.36305945e-01 9.90666274e-01 -1.01145405e-03 -6.57013522e+00] [-9.36758367e-03 -2.67948668e-04 9.99956087e-01 5.15847357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters 0.024225716446963818 Centerline is valid? [True, True] Translation: X:108.54, Y:-6.57, Z:0.52 [[ 9.91706050e-01 1.28085718e-01 1.06376413e-02 1.08542525e+02] [-1.28080767e-01 9.91763076e-01 -1.14817679e-03 -6.57122123e+00] [-1.06970849e-02 -2.23823389e-04 9.99942760e-01 5.15127404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters 0.023727681731504968 Centerline is valid? [True, True] Translation: X:108.60, Y:-6.57, Z:0.51 [[ 9.92727573e-01 1.19914049e-01 1.06107062e-02 1.08601554e+02] [-1.19908711e-01 9.92784267e-01 -1.14015418e-03 -6.57495350e+00] [-1.06708626e-02 -1.40453603e-04 9.99943055e-01 5.13523603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters 0.023270853636225244 Centerline is valid? [True, True] Translation: X:108.66, Y:-6.58, Z:0.51 [[ 9.93880548e-01 1.09798321e-01 1.20741594e-02 1.08660169e+02] [-1.09790726e-01 9.93953886e-01 -1.29209606e-03 -6.58009786e+00] [-1.21430276e-02 -4.14415867e-05 9.99926270e-01 5.14109577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters 0.02352585176499261 Centerline is valid? [True, True] Translation: X:108.72, Y:-6.58, Z:0.52 [[ 9.93461491e-01 1.13206484e-01 1.47837085e-02 1.08718874e+02] [-1.13195568e-01 9.93571477e-01 -1.57579009e-03 -6.58167701e+00] [-1.48670607e-02 -1.07963503e-04 9.99889473e-01 5.15175280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters 0.023740929703082055 Centerline is valid? [True, True] Translation: X:108.78, Y:-6.59, Z:0.51 [[ 9.93081317e-01 1.16856622e-01 1.15770499e-02 1.08776854e+02] [-1.16850244e-01 9.93148786e-01 -1.22821007e-03 -6.59180273e+00] [-1.16412575e-02 -1.33068624e-04 9.99932229e-01 5.14923872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters 0.023696392107025954 Centerline is valid? [True, True] Translation: X:108.83, Y:-6.60, Z:0.51 [[ 9.93043123e-01 1.17196325e-01 1.14182794e-02 1.08834134e+02] [-1.17190218e-01 9.93108756e-01 -1.20483063e-03 -6.60255154e+00] [-1.14807950e-02 -1.41661878e-04 9.99934083e-01 5.13907301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters 0.023861089445864146 Centerline is valid? [True, True] Translation: X:108.89, Y:-6.61, Z:0.52 [[ 9.93290698e-01 1.14876421e-01 1.33040012e-02 1.08892171e+02] [-1.14868012e-01 9.93379780e-01 -1.39706415e-03 -6.60654375e+00] [-1.33764155e-02 -1.40513339e-04 9.99910522e-01 5.16651191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters 0.023630987529085892 Centerline is valid? [True, True] Translation: X:108.95, Y:-6.61, Z:0.52 [[ 9.93702237e-01 1.11515218e-01 1.09645274e-02 1.08951084e+02] [-1.11509358e-01 9.93762723e-01 -1.14625447e-03 -6.60642369e+00] [-1.10239634e-02 -8.36117816e-05 9.99939231e-01 5.18119256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters 0.023652896653932033 Centerline is valid? [True, True] Translation: X:109.01, Y:-6.62, Z:0.51 [[ 9.94196081e-01 1.06688954e-01 1.38426576e-02 1.09009090e+02] [-1.06679226e-01 9.94292445e-01 -1.44135867e-03 -6.61698558e+00] [-1.39174269e-02 -4.37308499e-05 9.99903147e-01 5.14466900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters 0.023778816583164726 Centerline is valid? [True, True] Translation: X:109.07, Y:-6.63, Z:0.52 [[ 9.94726213e-01 1.01370375e-01 1.56143560e-02 1.09067393e+02] [-1.01357449e-01 9.94848755e-01 -1.61902271e-03 -6.62651602e+00] [-1.56980436e-02 2.78530406e-05 9.99876778e-01 5.16335187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters 0.02404644668964925 Centerline is valid? [True, True] Translation: X:109.13, Y:-6.63, Z:0.52 [[ 9.95460678e-01 9.44191608e-02 1.19607728e-02 1.09127016e+02] [-9.44110598e-02 9.95532526e-01 -1.24138864e-03 -6.63470423e+00] [-1.20245492e-02 1.06524338e-04 9.99927697e-01 5.17295842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters 0.023871404790233527 Centerline is valid? [True, True] Translation: X:109.18, Y:-6.64, Z:0.52 [[ 9.95690903e-01 9.20833789e-02 1.09670425e-02 1.09184949e+02] [-9.20765045e-02 9.95751293e-01 -1.13117451e-03 -6.64264350e+00] [-1.10246092e-02 1.16493227e-04 9.99939220e-01 5.17031963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters 0.023885003197563544 Centerline is valid? [True, True] Translation: X:109.24, Y:-6.66, Z:0.52 [[ 9.95515059e-01 9.33152848e-02 1.55571590e-02 1.09242684e+02] [-9.33016969e-02 9.95636599e-01 -1.59852723e-03 -6.65828697e+00] [-1.56384439e-02 1.39848594e-04 9.99877702e-01 5.16829145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters 0.02404799287630299 Centerline is valid? [True, True] Translation: X:109.30, Y:-6.66, Z:0.52 [[ 9.95545903e-01 9.27237192e-02 1.70489343e-02 1.09304050e+02] [-9.27072465e-02 9.95691862e-01 -1.75571960e-03 -6.66439288e+00] [-1.71382819e-02 1.67339702e-04 9.99853115e-01 5.19285301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters 0.024220914718615847 Centerline is valid? [True, True] Translation: X:109.37, Y:-6.68, Z:0.52 [[ 9.95892254e-01 8.90551570e-02 1.63645250e-02 1.09365027e+02] [-8.90394452e-02 9.96026671e-01 -1.68766019e-03 -6.67664910e+00] [-1.64497982e-02 2.23639483e-04 9.99864668e-01 5.17540256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters 0.024784387845285645 Centerline is valid? [True, True] Translation: X:109.43, Y:-6.69, Z:0.52 [[ 9.96174878e-01 8.59734421e-02 1.56262287e-02 1.09425797e+02] [-8.59587043e-02 9.96297394e-01 -1.61360354e-03 -6.69235913e+00] [-1.57070980e-02 2.64220937e-04 9.99876601e-01 5.15399943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters 0.024972960267299917 Centerline is valid? [True, True] Translation: X:109.49, Y:-6.70, Z:0.52 [[ 9.96317926e-01 8.44512840e-02 1.47841650e-02 1.09488044e+02] [-8.44378961e-02 9.96427572e-01 -1.52854891e-03 -6.69776277e+00] [-1.48604376e-02 2.74576885e-04 9.99889540e-01 5.16708802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters 0.024941243075578316 Centerline is valid? [True, True] Translation: X:109.55, Y:-6.71, Z:0.52 [[ 9.96507855e-01 8.24994539e-02 1.28815519e-02 1.09549739e+02] [-8.24891053e-02 9.96591074e-01 -1.33353171e-03 -6.70961434e+00] [-1.29476553e-02 2.66287134e-04 9.99916140e-01 5.17172112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters 0.024946307532594542 Centerline is valid? [True, True] Translation: X:109.61, Y:-6.74, Z:0.52 [[ 9.96460528e-01 8.27188941e-02 1.49666484e-02 1.09609649e+02] [-8.27049214e-02 9.96572872e-01 -1.55119941e-03 -6.73581988e+00] [-1.50436693e-02 3.07893505e-04 9.99886790e-01 5.17278392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters 0.024258901021176213 Centerline is valid? [True, True] Translation: X:109.67, Y:-6.75, Z:0.52 [[ 9.96050015e-01 8.77343404e-02 1.36767362e-02 1.09670553e+02] [-8.77231199e-02 9.96143885e-01 -1.41933320e-03 -6.74810508e+00] [-1.37485214e-02 2.13960884e-04 9.99905462e-01 5.19148505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters 0.0238614349670636 Centerline is valid? [True, True] Translation: X:109.73, Y:-6.76, Z:0.52 [[ 9.95529978e-01 9.36458030e-02 1.22689165e-02 1.09731511e+02] [-9.36372014e-02 9.95605569e-01 -1.27492183e-03 -6.76166569e+00] [-1.23343927e-02 1.20395897e-04 9.99923921e-01 5.16675388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters 0.02346835419881117 Centerline is valid? [True, True] Translation: X:109.79, Y:-6.78, Z:0.52 [[ 9.94845640e-01 1.00741765e-01 1.15433947e-02 1.09792180e+02] [-1.00734610e-01 9.94912607e-01 -1.20109393e-03 -6.77737658e+00] [-1.16056692e-02 3.20837104e-05 9.99932651e-01 5.18231485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters 0.023463678987621913 Centerline is valid? [True, True] Translation: X:109.85, Y:-6.80, Z:0.52 [[ 9.93984246e-01 1.08948905e-01 1.12006386e-02 1.09852368e+02] [-1.08942671e-01 9.94047349e-01 -1.16695554e-03 -6.79696309e+00] [-1.12611037e-02 -6.02920685e-05 9.99936590e-01 5.24403464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters 0.023873258718653752 Centerline is valid? [True, True] Translation: X:109.91, Y:-6.81, Z:0.52 [[ 9.93230356e-01 1.15433053e-01 1.29872954e-02 1.09913821e+02] [-1.15425205e-01 9.93315250e-01 -1.35474090e-03 -6.80524774e+00] [-1.30568604e-02 -1.53491442e-04 9.99914744e-01 5.22777364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters 0.024437374650831418 Centerline is valid? [True, True] Translation: X:109.98, Y:-6.81, Z:0.52 [[ 9.92427958e-01 1.22322865e-01 1.11294770e-02 1.09975878e+02] [-1.22317517e-01 9.92490339e-01 -1.16252420e-03 -6.81089380e+00] [-1.11881017e-02 -2.07608470e-04 9.99937390e-01 5.19112647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters 0.02458807035434159 Centerline is valid? [True, True] Translation: X:110.04, Y:-6.82, Z:0.52 [[ 9.92137311e-01 1.24655146e-01 1.11647486e-02 1.10037468e+02] [-1.24649895e-01 9.92200101e-01 -1.16771499e-03 -6.82011342e+00] [-1.12232263e-02 -2.33151122e-04 9.99936990e-01 5.22067115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters 0.024713937329360593 Centerline is valid? [True, True] Translation: X:110.10, Y:-6.83, Z:0.52 [[ 9.92056897e-01 1.25447958e-01 9.26947242e-03 1.10099196e+02] [-1.25444360e-01 9.92100181e-01 -9.70872282e-04 -6.82869140e+00] [-9.31803922e-03 -1.99642488e-04 9.99956566e-01 5.21143073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters 0.024764177055503277 Centerline is valid? [True, True] Translation: X:110.16, Y:-6.84, Z:0.52 [[ 9.91995751e-01 1.26005061e-01 8.19480144e-03 1.10160102e+02] [-1.26002266e-01 9.92029582e-01 -8.58611196e-04 -6.83720029e+00] [-8.23767481e-03 -1.80824891e-04 9.99966053e-01 5.20155823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters 0.024894260191659332 Centerline is valid? [True, True] Translation: X:110.22, Y:-6.84, Z:0.52 [[ 9.91753789e-01 1.27676599e-01 1.10954078e-02 1.10220483e+02] [-1.27671584e-01 9.91815818e-01 -1.16205933e-03 -6.84010681e+00] [-1.11529688e-02 -2.64091547e-04 9.99937769e-01 5.24516976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters 0.025210133650445273 Centerline is valid? [True, True] Translation: X:110.28, Y:-6.85, Z:0.52 [[ 9.91386409e-01 1.30749571e-01 7.58536872e-03 1.10282736e+02] [-1.30747304e-01 9.91415407e-01 -7.96150988e-04 -6.84626209e+00] [-7.62434781e-03 -2.02473239e-04 9.99970914e-01 5.23162517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters 0.02468139579509016 Centerline is valid? [True, True] Translation: X:110.34, Y:-6.85, Z:0.52 [[ 9.92102117e-01 1.25005969e-01 1.03391073e-02 1.10343286e+02] [-1.25001460e-01 9.92155966e-01 -1.08373267e-03 -6.84593164e+00] [-1.03934801e-02 -2.17230037e-04 9.99945963e-01 5.22356900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters 0.024575187700863442 Centerline is valid? [True, True] Translation: X:110.40, Y:-6.85, Z:0.53 [[ 9.92474465e-01 1.21833235e-01 1.22922323e-02 1.10404320e+02] [-1.21826601e-01 9.92550561e-01 -1.28983383e-03 -6.84781528e+00] [-1.23578067e-02 -2.17393740e-04 9.99923616e-01 5.25312685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters 0.02424689380325257 Centerline is valid? [True, True] Translation: X:110.47, Y:-6.85, Z:0.53 [[ 9.92847590e-01 1.18866076e-01 1.11588310e-02 1.10465106e+02] [-1.18860413e-01 9.92910283e-01 -1.17168956e-03 -6.85214680e+00] [-1.12189921e-02 -1.63034092e-04 9.99937052e-01 5.26410680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters 0.024000361154619333 Centerline is valid? [True, True] Translation: X:110.53, Y:-6.85, Z:0.52 [[ 9.93359226e-01 1.14611571e-01 1.00814206e-02 1.10527048e+02] [-1.14606723e-01 9.93410377e-01 -1.05926872e-03 -6.84927623e+00] [-1.01363923e-02 -1.03164222e-04 9.99948620e-01 5.20300542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters 0.0238686731952949 Centerline is valid? [True, True] Translation: X:110.59, Y:-6.85, Z:0.52 [[ 9.93693245e-01 1.11644769e-01 1.04489528e-02 1.10588004e+02] [-1.11639389e-01 9.93748177e-01 -1.09858145e-03 -6.85358559e+00] [-1.05062787e-02 -7.48617371e-05 9.99944805e-01 5.23059188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters 0.023619788682043476 Centerline is valid? [True, True] Translation: X:110.65, Y:-6.85, Z:0.53 [[ 9.93906617e-01 1.09889783e-01 8.59493685e-03 1.10649294e+02] [-1.09886082e-01 9.93943778e-01 -9.03086002e-04 -6.85373808e+00] [-8.64212393e-03 -4.68807806e-05 9.99962655e-01 5.26027812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters 0.02365079408180726 Centerline is valid? [True, True] Translation: X:110.71, Y:-6.86, Z:0.53 [[ 9.94062724e-01 1.08313919e-01 1.03631638e-02 1.10708796e+02] [-1.08308462e-01 9.94116740e-01 -1.08797384e-03 -6.85547129e+00] [-1.04200373e-02 -4.09040956e-05 9.99945709e-01 5.25860741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters 0.023593519927877497 Centerline is valid? [True, True] Translation: X:110.77, Y:-6.86, Z:0.53 [[ 9.94570441e-01 1.03602594e-01 9.80515707e-03 1.10769504e+02] [-1.03597477e-01 9.94618772e-01 -1.02970982e-03 -6.85823945e+00] [-9.85907389e-03 8.32942037e-06 9.99951398e-01 5.25299372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters 0.023949907498633245 Centerline is valid? [True, True] Translation: X:110.83, Y:-6.86, Z:0.52 [[ 9.95282574e-01 9.63396654e-02 1.14571547e-02 1.10829399e+02] [-9.63322099e-02 9.95348512e-01 -1.20210866e-03 -6.86332121e+00] [-1.15196726e-02 9.27447788e-05 9.99933642e-01 5.23965344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters 0.02398891710700035 Centerline is valid? [True, True] Translation: X:110.89, Y:-6.86, Z:0.53 [[ 9.95709685e-01 9.18794085e-02 1.09725788e-02 1.10890727e+02] [-9.18722845e-02 9.95770132e-01 -1.15262198e-03 -6.86449700e+00] [-1.10320685e-02 1.39600982e-04 9.99939135e-01 5.26015621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters 0.024188891368995085 Centerline is valid? [True, True] Translation: X:110.95, Y:-6.88, Z:0.53 [[ 9.95975797e-01 8.86237970e-02 1.33429626e-02 1.10950865e+02] [-8.86129596e-02 9.96065147e-01 -1.40241401e-03 -6.87668684e+00] [-1.34147472e-02 2.14411003e-04 9.99909995e-01 5.26649284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters 0.02405965927010714 Centerline is valid? [True, True] Translation: X:111.01, Y:-6.89, Z:0.52 [[ 9.96008934e-01 8.86792324e-02 1.01092612e-02 1.11012479e+02] [-8.86729970e-02 9.96060223e-01 -1.06424540e-03 -6.88741394e+00] [-1.01638094e-02 1.63579435e-04 9.99948334e-01 5.24968106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters 0.02444832776469193 Centerline is valid? [True, True] Translation: X:111.07, Y:-6.90, Z:0.52 [[ 9.96273274e-01 8.60512792e-02 5.89415232e-03 1.11072672e+02] [-8.60491116e-02 9.96290703e-01 -6.20831006e-04 -6.89726688e+00] [-5.92571246e-03 1.11330768e-04 9.99982437e-01 5.23833263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters 0.02424540479879029 Centerline is valid? [True, True] Translation: X:111.13, Y:-6.91, Z:0.53 [[ 9.96303615e-01 8.56763678e-02 6.21818043e-03 1.11130412e+02] [-8.56739819e-02 9.96323013e-01 -6.49542234e-04 -6.90582393e+00] [-6.25096668e-03 1.14404998e-04 9.99980456e-01 5.27789362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters 0.024199421980051337 Centerline is valid? [True, True] Translation: X:111.19, Y:-6.92, Z:0.53 [[ 9.96214433e-01 8.65314249e-02 8.31359351e-03 1.11188943e+02] [-8.65271718e-02 9.96249111e-01 -8.70593553e-04 -6.92115795e+00] [-8.35774384e-03 1.47946130e-04 9.99965063e-01 5.26392583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters 0.024208560005554085 Centerline is valid? [True, True] Translation: X:111.25, Y:-6.93, Z:0.53 [[ 9.96207582e-01 8.64713146e-02 9.65217892e-03 1.11249399e+02] [-8.64655659e-02 9.96254326e-01 -1.01209336e-03 -6.93427192e+00] [-9.70354205e-03 1.73673965e-04 9.99952904e-01 5.26040984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters 0.02403637789347871 Centerline is valid? [True, True] Translation: X:111.31, Y:-6.95, Z:0.53 [[ 9.96060931e-01 8.80986862e-02 1.00619198e-02 1.11310123e+02] [-8.80925057e-02 9.96111738e-01 -1.05666909e-03 -6.94726280e+00] [-1.01158876e-02 1.66127071e-04 9.99948819e-01 5.28576369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters 0.023794652567636534 Centerline is valid? [True, True] Translation: X:111.37, Y:-6.95, Z:0.53 [[ 9.95912270e-01 8.97527148e-02 1.01587956e-02 1.11371494e+02] [-8.97464872e-02 9.95964069e-01 -1.06816817e-03 -6.95371267e+00] [-1.02136664e-02 1.52085567e-04 9.99947828e-01 5.29360110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters 0.023574828620723853 Centerline is valid? [True, True] Translation: X:111.43, Y:-6.96, Z:0.53 [[ 9.95666226e-01 9.25220839e-02 9.40370008e-03 1.11432998e+02] [-9.25168590e-02 9.95710626e-01 -9.90051227e-04 -6.96344752e+00] [-9.45496569e-03 1.15759775e-04 9.99955294e-01 5.29699177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters 0.023144204521265022 Centerline is valid? [True, True] Translation: X:111.49, Y:-6.98, Z:0.53 [[ 9.95428684e-01 9.52510641e-02 6.99787286e-03 1.11493900e+02] [-9.52482303e-02 9.95453279e-01 -7.37866785e-04 -6.97913509e+00] [-7.03633808e-03 6.79587569e-05 9.99975242e-01 5.29658020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters 0.023146777896177858 Centerline is valid? [True, True] Translation: X:111.56, Y:-6.98, Z:0.53 [[ 9.95325799e-01 9.60413781e-02 1.01295120e-02 1.11555260e+02] [-9.60354809e-02 9.95377338e-01 -1.06811361e-03 -6.98492518e+00] [-1.01852698e-02 9.03284784e-05 9.99948125e-01 5.29719043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters 0.02323760088432595 Centerline is valid? [True, True] Translation: X:111.62, Y:-6.99, Z:0.53 [[ 9.95293824e-01 9.66629556e-02 6.81743500e-03 1.11616852e+02] [-9.66602898e-02 9.95317170e-01 -7.20217814e-04 -6.99340791e+00] [-6.85512850e-03 5.78530984e-05 9.99976502e-01 5.30588425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters 0.023094230072085126 Centerline is valid? [True, True] Translation: X:111.68, Y:-7.00, Z:0.53 [[ 9.95096557e-01 9.87322765e-02 5.89743836e-03 1.11677736e+02] [-9.87303170e-02 9.95114032e-01 -6.23172721e-04 -6.99967029e+00] [-5.93015093e-03 3.78610698e-05 9.99982416e-01 5.28481121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters 0.02294091661805825 Centerline is valid? [True, True] Translation: X:111.74, Y:-7.01, Z:0.53 [[ 9.94864782e-01 1.00947697e-01 7.32310479e-03 1.11738401e+02] [-1.00944733e-01 9.94891734e-01 -7.74229075e-04 -7.00585099e+00] [-7.36385306e-03 3.10243824e-05 9.99972886e-01 5.32381219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters 0.022725758794458848 Centerline is valid? [True, True] Translation: X:111.80, Y:-7.01, Z:0.53 [[ 9.94883097e-01 1.01019269e-01 1.65272371e-03 1.11799098e+02] [-1.01019117e-01 9.94884469e-01 -1.75102310e-04 -7.01236064e+00] [-1.66195786e-03 7.24963758e-06 9.99998619e-01 5.32280831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters 0.02291750608462237 Centerline is valid? [True, True] Translation: X:111.86, Y:-7.02, Z:0.53 [[ 9.95027763e-01 9.94720827e-02 5.00546210e-03 1.11857722e+02] [-9.94707025e-02 9.95040353e-01 -5.24551754e-04 -7.01791990e+00] [-5.03281503e-03 2.40467263e-05 9.99987335e-01 5.32870749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters 0.02302824334388852 Centerline is valid? [True, True] Translation: X:111.92, Y:-7.02, Z:0.53 [[ 9.94817798e-01 1.01462566e-01 6.54960985e-03 1.11918108e+02] [-1.01460225e-01 9.94839358e-01 -6.89483348e-04 -7.02300642e+00] [-6.58576640e-03 2.13854162e-05 9.99978313e-01 5.33786833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters 0.02302599879096919 Centerline is valid? [True, True] Translation: X:111.98, Y:-7.03, Z:0.53 [[ 9.94482776e-01 1.04577556e-01 8.21841918e-03 1.11979540e+02] [-1.04573970e-01 9.94516734e-01 -8.66046877e-04 -7.02796095e+00] [-8.26392446e-03 1.83598220e-06 9.99965853e-01 5.33516277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters 0.02308337370951837 Centerline is valid? [True, True] Translation: X:112.04, Y:-7.03, Z:0.53 [[ 9.94290396e-01 1.06431749e-01 7.67406663e-03 1.12040562e+02] [-1.06428673e-01 9.94320010e-01 -8.09236139e-04 -7.03471464e+00] [-7.71660643e-03 -1.21250091e-05 9.99970226e-01 5.32267481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters 0.02302561634887596 Centerline is valid? [True, True] Translation: X:112.10, Y:-7.04, Z:0.53 [[ 9.94559485e-01 1.03989082e-01 6.14020046e-03 1.12101731e+02] [-1.03987064e-01 9.94578439e-01 -6.47969920e-04 -7.03913798e+00] [-6.17429278e-03 5.94321384e-06 9.99980939e-01 5.33177550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters 0.023570153679278272 Centerline is valid? [True, True] Translation: X:112.16, Y:-7.04, Z:0.53 [[ 9.95095092e-01 9.79853594e-02 1.35877968e-02 1.12161733e+02] [-9.79749291e-02 9.95187852e-01 -1.43277735e-03 -7.04320642e+00] [-1.36628016e-02 9.44862728e-05 9.99906655e-01 5.32998374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters 0.023500617652325365 Centerline is valid? [True, True] Translation: X:112.22, Y:-7.05, Z:0.53 [[ 9.95412185e-01 9.49120317e-02 1.20949798e-02 1.12223062e+02] [-9.49035119e-02 9.95485656e-01 -1.27772120e-03 -7.05114954e+00] [-1.21616500e-02 1.24003196e-04 9.99926037e-01 5.33697677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters 0.023661571985633775 Centerline is valid? [True, True] Translation: X:112.28, Y:-7.07, Z:0.53 [[ 9.95941878e-01 8.97500632e-02 6.68600586e-03 1.12283825e+02] [-8.97473356e-02 9.95964314e-01 -7.07482779e-04 -7.06554992e+00] [-6.72251986e-03 1.04560516e-04 9.99977398e-01 5.32189914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters 0.023669442959715375 Centerline is valid? [True, True] Translation: X:112.34, Y:-7.08, Z:0.54 [[ 9.96136862e-01 8.76717805e-02 5.00101638e-03 1.12344840e+02] [-8.76702241e-02 9.96149412e-01 -5.30008189e-04 -7.07943493e+00] [-5.02822629e-03 8.95204680e-05 9.99987354e-01 5.35149266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters 0.023517229447767612 Centerline is valid? [True, True] Translation: X:112.41, Y:-7.09, Z:0.54 [[ 9.95933304e-01 8.96880351e-02 8.53876813e-03 1.12405138e+02] [-8.96835739e-02 9.95969898e-01 -9.04706603e-04 -7.08873485e+00] [-8.58549738e-03 1.35240193e-04 9.99963135e-01 5.35824964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters 0.02289177208101384 Centerline is valid? [True, True] Translation: X:112.47, Y:-7.10, Z:0.53 [[ 9.95410662e-01 9.51111084e-02 1.05589001e-02 1.12466097e+02] [-9.51045740e-02 9.95466657e-01 -1.12038881e-03 -7.10211959e+00] [-1.06175944e-02 1.11047271e-04 9.99943626e-01 5.33170963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters 0.022709965584452697 Centerline is valid? [True, True] Translation: X:112.53, Y:-7.12, Z:0.53 [[ 9.94177496e-01 1.07268990e-01 1.02210866e-02 1.12526899e+02] [-1.07263494e-01 9.94230036e-01 -1.08595235e-03 -7.12010954e+00] [-1.02786003e-02 -1.67200636e-05 9.99947174e-01 5.33910223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters 0.02277908744705258 Centerline is valid? [True, True] Translation: X:112.59, Y:-7.13, Z:0.54 [[ 9.93515700e-01 1.13460451e-01 7.29933528e-03 1.12588923e+02] [-1.13457806e-01 9.93542512e-01 -7.76716603e-04 -7.12565591e+00] [-7.34032653e-03 -5.64864278e-05 9.99973058e-01 5.39506148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters 0.023239985575109035 Centerline is valid? [True, True] Translation: X:112.65, Y:-7.13, Z:0.54 [[ 9.92656374e-01 1.20792126e-01 6.52576009e-03 1.12650345e+02] [-1.20790167e-01 9.92677819e-01 -6.94982396e-04 -7.13194368e+00] [-6.56192570e-03 -9.83689442e-05 9.99978465e-01 5.38500514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters 0.023943653818308937 Centerline is valid? [True, True] Translation: X:112.71, Y:-7.13, Z:0.54 [[ 9.91898497e-01 1.26636449e-01 1.00290181e-02 1.12711802e+02] [-1.26632118e-01 9.91949175e-01 -1.06830387e-03 -7.13339909e+00] [-1.00835625e-02 -2.10346796e-04 9.99949137e-01 5.38050572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters 0.02500711780892069 Centerline is valid? [True, True] Translation: X:112.77, Y:-7.14, Z:0.54 [[ 9.90929544e-01 1.34007784e-01 1.00276220e-02 1.12774280e+02] [-1.34003813e-01 9.90980239e-01 -1.06985468e-03 -7.13526988e+00] [-1.00805441e-02 -2.83588969e-04 9.99949150e-01 5.38486725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters 0.025335728536016736 Centerline is valid? [True, True] Translation: X:112.84, Y:-7.13, Z:0.54 [[ 9.90316074e-01 1.38602104e-01 7.97052594e-03 1.12837426e+02] [-1.38599735e-01 9.90348115e-01 -8.51572622e-04 -7.13192643e+00] [-8.01162510e-03 -2.61386725e-04 9.99967872e-01 5.38419800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters 0.026353810842209016 Centerline is valid? [True, True] Translation: X:112.90, Y:-7.13, Z:0.54 [[ 9.89640196e-01 1.43440519e-01 6.09100405e-03 1.12899024e+02] [-1.43439225e-01 9.89658913e-01 -6.50991105e-04 -7.13158995e+00] [-6.12139495e-03 -2.29441936e-04 9.99981238e-01 5.38046701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters 0.02653448443197921 Centerline is valid? [True, True] Translation: X:112.96, Y:-7.13, Z:0.54 [[ 9.89377376e-01 1.45173168e-01 7.56036110e-03 1.12960137e+02] [-1.45171228e-01 9.89406217e-01 -8.07618923e-04 -7.13193675e+00] [-7.59751287e-03 -2.98507014e-04 9.99971094e-01 5.39437912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters 0.026285165924017577 Centerline is valid? [True, True] Translation: X:113.02, Y:-7.13, Z:0.54 [[ 9.89735203e-01 1.42330600e-01 1.28929133e-02 1.13020845e+02] [-1.42324734e-01 9.89819062e-01 -1.37607247e-03 -7.12744449e+00] [-1.29575086e-02 -4.73033099e-04 9.99915936e-01 5.39692970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters 0.02629260843159567 Centerline is valid? [True, True] Translation: X:113.08, Y:-7.13, Z:0.54 [[ 9.89813742e-01 1.41919216e-01 1.13001069e-02 1.13082005e+02] [-1.41914668e-01 9.89878159e-01 -1.20743471e-03 -7.12956130e+00] [-1.13570872e-02 -4.08515448e-04 9.99935423e-01 5.41273506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters 0.026676519944168052 Centerline is valid? [True, True] Translation: X:113.14, Y:-7.12, Z:0.54 [[ 9.89308382e-01 1.45695938e-01 6.45128353e-03 1.13143877e+02] [-1.45694537e-01 9.89329382e-01 -6.89141835e-04 -7.12214392e+00] [-6.48284952e-03 -2.58142971e-04 9.99978953e-01 5.39054239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters 0.027019892355486328 Centerline is valid? [True, True] Translation: X:113.20, Y:-7.12, Z:0.54 [[ 9.89122031e-01 1.46780345e-01 9.65084226e-03 1.13202221e+02] [-1.46777298e-01 9.89169030e-01 -1.02710749e-03 -7.12417605e+00] [-9.69707347e-03 -4.00589896e-04 9.99952902e-01 5.40149706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters 0.026892649516964823 Centerline is valid? [True, True] Translation: X:113.26, Y:-7.12, Z:0.54 [[ 9.89314574e-01 1.45315511e-01 1.18353755e-02 1.13260479e+02] [-1.45310910e-01 9.89385249e-01 -1.25235025e-03 -7.12182160e+00] [-1.18917319e-02 -4.80840833e-04 9.99929175e-01 5.43819456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters 0.025933075848183898 Centerline is valid? [True, True] Translation: X:113.32, Y:-7.12, Z:0.54 [[ 9.90040216e-01 1.40167099e-01 1.31739933e-02 1.13320308e+02] [-1.40160936e-01 9.90127753e-01 -1.39452505e-03 -7.11585734e+00] [-1.32394029e-02 -4.65843344e-04 9.99912247e-01 5.43058575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters 0.025344516925429147 Centerline is valid? [True, True] Translation: X:113.38, Y:-7.12, Z:0.54 [[ 9.90793386e-01 1.34738657e-01 1.31893848e-02 1.13379818e+02] [-1.34732095e-01 9.90881090e-01 -1.38888750e-03 -7.11749746e+00] [-1.32562488e-02 -4.00932898e-04 9.99912052e-01 5.41877857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters 0.024198564143162973 Centerline is valid? [True, True] Translation: X:113.44, Y:-7.11, Z:0.54 [[ 9.92381455e-01 1.22823361e-01 9.66796671e-03 1.13440801e+02] [-1.22819258e-01 9.92428532e-01 -1.01917425e-03 -7.11357294e+00] [-9.71994441e-03 -1.76002875e-04 9.99952745e-01 5.40980594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters 0.023562010894392364 Centerline is valid? [True, True] Translation: X:113.50, Y:-7.11, Z:0.54 [[ 9.93311520e-01 1.15075115e-01 9.48377171e-03 1.13499493e+02] [-1.15070878e-01 9.93356787e-01 -9.93084130e-04 -7.11484292e+00] [-9.53504827e-03 -1.04864027e-04 9.99954535e-01 5.39923145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters 0.023062587242034194 Centerline is valid? [True, True] Translation: X:113.56, Y:-7.11, Z:0.54 [[ 9.94486484e-01 1.04481599e-01 8.95705613e-03 1.13559539e+02] [-1.04477424e-01 9.94526820e-01 -9.33986980e-04 -7.11035268e+00] [-9.00561700e-03 -6.97272518e-06 9.99959449e-01 5.42533851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters 0.02320170137150149 Centerline is valid? [True, True] Translation: X:113.62, Y:-7.12, Z:0.54 [[ 9.95060213e-01 9.89096931e-02 8.48795460e-03 1.13616814e+02] [-9.89057842e-02 9.95096413e-01 -8.80088486e-04 -7.11518562e+00] [-8.53338246e-03 3.62332310e-05 9.99963589e-01 5.41573466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters 0.024077795681536344 Centerline is valid? [True, True] Translation: X:113.68, Y:-7.13, Z:0.54 [[ 9.95721659e-01 9.10395421e-02 1.58170924e-02 1.13675425e+02] [-9.10249452e-02 9.95847259e-01 -1.64183863e-03 -7.12530167e+00] [-1.59008804e-02 1.95064311e-04 9.99873554e-01 5.41807577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters 0.02410816934760072 Centerline is valid? [True, True] Translation: X:113.74, Y:-7.13, Z:0.54 [[ 9.95983858e-01 8.84890616e-02 1.36323014e-02 1.13736492e+02] [-8.84779549e-02 9.96077128e-01 -1.41688238e-03 -7.13054909e+00] [-1.37042023e-02 2.05033824e-04 9.99906072e-01 5.41598276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters 0.02414093638783099 Centerline is valid? [True, True] Translation: X:113.80, Y:-7.14, Z:0.54 [[ 9.95966912e-01 8.91511389e-02 1.00987805e-02 1.13796666e+02] [-8.91450754e-02 9.96018099e-01 -1.04986692e-03 -7.14122777e+00] [-1.01521650e-02 1.45376160e-04 9.99948455e-01 5.39089573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters 0.023675122472064 Centerline is valid? [True, True] Translation: X:113.86, Y:-7.15, Z:0.54 [[ 9.95668755e-01 9.25923572e-02 8.38964803e-03 1.13855338e+02] [-9.25883244e-02 9.95704096e-01 -8.68655021e-04 -7.14992712e+00] [-8.43403772e-03 8.81092097e-05 9.99964429e-01 5.41526805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters 0.02356360611903188 Centerline is valid? [True, True] Translation: X:113.91, Y:-7.16, Z:0.54 [[ 9.95531761e-01 9.37362155e-02 1.14032499e-02 1.13913170e+02] [-9.37289048e-02 9.95597063e-01 -1.17502893e-03 -7.16025458e+00] [-1.14631849e-02 1.00964494e-04 9.99934290e-01 5.43171662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters 0.02367380893070314 Centerline is valid? [True, True] Translation: X:113.97, Y:-7.16, Z:0.54 [[ 9.95552038e-01 9.36489308e-02 1.02964583e-02 1.13972329e+02] [-9.36429549e-02 9.95605278e-01 -1.06202885e-03 -7.16403545e+00] [-1.03506661e-02 9.31142081e-05 9.99946426e-01 5.41759707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters 0.02387526319860703 Centerline is valid? [True, True] Translation: X:114.03, Y:-7.17, Z:0.54 [[ 9.95468635e-01 9.42833828e-02 1.23628675e-02 1.14030767e+02] [-9.42749090e-02 9.95545395e-01 -1.26771575e-03 -7.16925429e+00] [-1.24273204e-02 9.64630500e-05 9.99922773e-01 5.42098380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters 0.023578747154279742 Centerline is valid? [True, True] Translation: X:114.09, Y:-7.17, Z:0.54 [[ 9.95607814e-01 9.31764025e-02 9.12354478e-03 1.14089970e+02] [-9.31717343e-02 9.95649613e-01 -9.36305125e-04 -7.17229555e+00] [-9.17109537e-03 8.21362086e-05 9.99957941e-01 5.43424532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters 0.023869466269771676 Centerline is valid? [True, True] Translation: X:114.15, Y:-7.17, Z:0.54 [[ 9.95749795e-01 9.16557179e-02 9.03189138e-03 1.14148307e+02] [-9.16511431e-02 9.95790752e-01 -9.19990070e-04 -7.17293518e+00] [-9.07819626e-03 8.82967546e-05 9.99958788e-01 5.41547243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters 0.024331032289552655 Centerline is valid? [True, True] Translation: X:114.21, Y:-7.18, Z:0.54 [[ 9.95907388e-01 8.95822376e-02 1.19790339e-02 1.14207108e+02] [-8.95740918e-02 9.95979419e-01 -1.21588917e-03 -7.17523380e+00] [-1.20397933e-02 1.37901925e-04 9.99927510e-01 5.43049384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters 0.024197073770686355 Centerline is valid? [True, True] Translation: X:114.27, Y:-7.18, Z:0.54 [[ 9.96177005e-01 8.68876794e-02 9.05023668e-03 1.14265719e+02] [-8.68829599e-02 9.96218107e-01 -9.14086900e-04 -7.17949132e+00] [-9.09543253e-03 1.24281000e-04 9.99958628e-01 5.44001632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters 0.024904325865983463 Centerline is valid? [True, True] Translation: X:114.32, Y:-7.19, Z:0.54 [[ 9.96662737e-01 8.11252080e-02 9.06031960e-03 1.14323728e+02] [-8.11202765e-02 9.96703903e-01 -9.11082000e-04 -7.18808647e+00] [-9.10436763e-03 1.73065848e-04 9.99958539e-01 5.44667194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters 0.02520104863097232 Centerline is valid? [True, True] Translation: X:114.38, Y:-7.19, Z:0.54 [[ 9.96741213e-01 7.99201178e-02 1.09420506e-02 1.14382522e+02] [-7.99128999e-02 9.96801248e-01 -1.09598473e-03 -7.19480120e+00] [-1.09946409e-02 2.18002151e-04 9.99939533e-01 5.43961427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters 0.024939030108280576 Centerline is valid? [True, True] Translation: X:114.44, Y:-7.20, Z:0.55 [[ 9.96720327e-01 8.02606170e-02 1.03354808e-02 1.14441764e+02] [-8.02541839e-02 9.96773892e-01 -1.03634562e-03 -7.19861365e+00] [-1.03853152e-02 2.03481169e-04 9.99946050e-01 5.46029140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters 0.02515249628912228 Centerline is valid? [True, True] Translation: X:114.50, Y:-7.21, Z:0.54 [[ 9.96827672e-01 7.91882747e-02 7.98813160e-03 1.14499657e+02] [-7.91844417e-02 9.96859665e-01 -7.95480273e-04 -7.20831204e+00] [-8.02603890e-03 1.60421008e-04 9.99967778e-01 5.43342381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters 0.025577685157130735 Centerline is valid? [True, True] Translation: X:114.56, Y:-7.22, Z:0.55 [[ 9.97033874e-01 7.65299728e-02 8.16193919e-03 1.14557557e+02] [-7.65259114e-02 9.97067265e-01 -8.09209401e-04 -7.21709915e+00] [-8.19993116e-03 1.82209349e-04 9.99966363e-01 5.45595724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters 0.025671357179331136 Centerline is valid? [True, True] Translation: X:114.62, Y:-7.22, Z:0.55 [[ 9.97258405e-01 7.37037939e-02 6.58971550e-03 1.14615865e+02] [-7.37011068e-02 9.97280163e-01 -6.50010372e-04 -7.22142798e+00] [-6.61970078e-03 1.62558981e-04 9.99978076e-01 5.50748046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters 0.025724926943852634 Centerline is valid? [True, True] Translation: X:114.67, Y:-7.23, Z:0.55 [[ 9.97301858e-01 7.32138264e-02 5.36095787e-03 1.14672934e+02] [-7.32120593e-02 9.97316258e-01 -5.25389490e-04 -7.23204990e+00] [-5.38503621e-03 1.31485149e-04 9.99985492e-01 5.46369901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters 0.02552786070635117 Centerline is valid? [True, True] Translation: X:114.73, Y:-7.24, Z:0.55 [[ 9.97060961e-01 7.58408157e-02 1.08448380e-02 1.14730699e+02] [-7.58337717e-02 9.97119910e-01 -1.05986568e-03 -7.24041230e+00] [-1.08939850e-02 2.34345723e-04 9.99940631e-01 5.45582342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters 0.02474447448197778 Centerline is valid? [True, True] Translation: X:114.79, Y:-7.25, Z:0.55 [[ 9.96858116e-01 7.86736698e-02 9.18429140e-03 1.14790395e+02] [-7.86687222e-02 9.96900408e-01 -8.99293923e-04 -7.24790543e+00] [-9.22657459e-03 1.73951977e-04 9.99957419e-01 5.50645355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters 0.024723515954412172 Centerline is valid? [True, True] Translation: X:114.85, Y:-7.26, Z:0.55 [[ 9.96868746e-01 7.88169860e-02 6.37072512e-03 1.14849510e+02] [-7.88146123e-02 9.96889095e-01 -6.23183372e-04 -7.25812664e+00] [-6.40002383e-03 1.19125796e-04 9.99979513e-01 5.49539969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters 0.024685728146154183 Centerline is valid? [True, True] Translation: X:114.91, Y:-7.26, Z:0.55 [[ 9.96681212e-01 8.05714875e-02 1.16102241e-02 1.14908539e+02] [-8.05638023e-02 9.96748815e-01 -1.12888173e-03 -7.26099275e+00] [-1.16634328e-02 1.89771414e-04 9.99931962e-01 5.47875994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters 0.024298348153273534 Centerline is valid? [True, True] Translation: X:114.97, Y:-7.27, Z:0.55 [[ 9.96470877e-01 8.33901702e-02 9.58495047e-03 1.14968802e+02] [-8.33850361e-02 9.96516965e-01 -9.34727265e-04 -7.27148992e+00] [-9.62951282e-03 1.32187056e-04 9.99953626e-01 5.48341341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters 0.023376311208851013 Centerline is valid? [True, True] Translation: X:115.03, Y:-7.28, Z:0.55 [[ 9.95836163e-01 9.10340256e-02 4.81071800e-03 1.15028358e+02] [-9.10328252e-02 9.95847782e-01 -4.68357355e-04 -7.27851790e+00] [-4.83337930e-03 2.84739405e-05 9.99988319e-01 5.51030407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters 0.023155958328850028 Centerline is valid? [True, True] Translation: X:115.09, Y:-7.28, Z:0.55 [[ 9.95302269e-01 9.66208416e-02 6.14875704e-03 1.15085989e+02] [-9.66190210e-02 9.95321261e-01 -5.93144283e-04 -7.28160010e+00] [-6.17729871e-03 -3.72903572e-06 9.99980920e-01 5.51257969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters 0.023525898039560237 Centerline is valid? [True, True] Translation: X:115.14, Y:-7.29, Z:0.55 [[ 9.94909341e-01 1.00196883e-01 1.07697265e-02 1.15144761e+02] [-1.00191537e-01 9.94967629e-01 -1.03619005e-03 -7.28820508e+00] [-1.08193522e-02 -4.81202827e-05 9.99941468e-01 5.49810032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters 0.023390785953469512 Centerline is valid? [True, True] Translation: X:115.20, Y:-7.29, Z:0.55 [[ 9.95011521e-01 9.94719459e-02 7.57666796e-03 1.15203267e+02] [-9.94693105e-02 9.95040366e-01 -7.24807251e-04 -7.29305079e+00] [-7.61118846e-03 -3.24543728e-05 9.99971034e-01 5.51198954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters 0.023278638823556432 Centerline is valid? [True, True] Translation: X:115.26, Y:-7.29, Z:0.55 [[ 9.95664385e-01 9.28097553e-02 6.22751930e-03 1.15262049e+02] [-9.28078655e-02 9.95683860e-01 -5.92396145e-04 -7.29467711e+00] [-6.25562059e-03 1.18649705e-05 9.99980433e-01 5.52814981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters 0.023492256354636427 Centerline is valid? [True, True] Translation: X:115.32, Y:-7.30, Z:0.55 [[ 9.96028914e-01 8.87599545e-02 6.93347515e-03 1.15320262e+02] [-8.87575094e-02 9.96053045e-01 -6.60175617e-04 -7.29849592e+00] [-6.96470619e-03 4.21560173e-05 9.99975745e-01 5.54874457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters 0.023637847209396417 Centerline is valid? [True, True] Translation: X:115.38, Y:-7.30, Z:0.55 [[ 9.96349576e-01 8.52155313e-02 5.08289136e-03 1.15377973e+02] [-8.52141949e-02 9.96362540e-01 -4.79310697e-04 -7.30399212e+00] [-5.10524726e-03 4.44265140e-05 9.99986967e-01 5.52304791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters 0.02377956832820908 Centerline is valid? [True, True] Translation: X:115.44, Y:-7.31, Z:0.55 [[ 9.96381846e-01 8.46907117e-02 7.12035699e-03 1.15436110e+02] [-8.46880892e-02 9.96407286e-01 -6.69559391e-04 -7.31307637e+00] [-7.15148105e-03 6.41273940e-05 9.99974426e-01 5.51342092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters 0.02366579111172288 Centerline is valid? [True, True] Translation: X:115.49, Y:-7.32, Z:0.56 [[ 9.96385692e-01 8.44913096e-02 8.76198312e-03 1.15494183e+02] [-8.44873612e-02 9.96424213e-01 -8.20462420e-04 -7.32120054e+00] [-8.79997408e-03 7.72201831e-05 9.99961276e-01 5.56803691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters 0.023934337041651897 Centerline is valid? [True, True] Translation: X:115.55, Y:-7.33, Z:0.56 [[ 9.96707439e-01 8.07830493e-02 6.95550494e-03 1.15552195e+02] [-8.07804967e-02 9.96731705e-01 -6.47600203e-04 -7.32813840e+00] [-6.98508741e-03 8.35987960e-05 9.99975600e-01 5.56672351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters 0.024722564165687657 Centerline is valid? [True, True] Translation: X:115.61, Y:-7.33, Z:0.55 [[ 9.97063282e-01 7.58566742e-02 1.05155554e-02 1.15610313e+02] [-7.58505684e-02 9.97118716e-01 -9.78828542e-04 -7.33397959e+00] [-1.05595078e-02 1.78343144e-04 9.99944231e-01 5.52991296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters 0.024810434823792773 Centerline is valid? [True, True] Translation: X:115.67, Y:-7.34, Z:0.56 [[ 9.97206495e-01 7.41384279e-02 9.09395103e-03 1.15670948e+02] [-7.41337805e-02 9.97247945e-01 -8.47543101e-04 -7.33862004e+00] [-9.13175950e-03 1.71006515e-04 9.99958290e-01 5.55063489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters 0.024628011587138617 Centerline is valid? [True, True] Translation: X:115.73, Y:-7.35, Z:0.56 [[ 9.97137039e-01 7.50252512e-02 9.43064357e-03 1.15729756e+02] [-7.50203016e-02 9.97181620e-01 -8.78001012e-04 -7.34681229e+00] [-9.46993668e-03 1.67997605e-04 9.99955145e-01 5.56490253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters 0.02482212487621085 Centerline is valid? [True, True] Translation: X:115.79, Y:-7.36, Z:0.56 [[ 9.97072407e-01 7.49468688e-02 1.51519736e-02 1.15789025e+02] [-7.49340842e-02 9.97187492e-01 -1.41054045e-03 -7.35735156e+00] [-1.52150741e-02 2.71011694e-04 9.99884207e-01 5.56508722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters 0.025164617759583303 Centerline is valid? [True, True] Translation: X:115.85, Y:-7.36, Z:0.56 [[ 9.97362184e-01 7.16713984e-02 1.14840846e-02 1.15850697e+02] [-7.16638119e-02 9.97428268e-01 -1.07128984e-03 -7.36090880e+00] [-1.15313315e-02 2.45470696e-04 9.99933482e-01 5.56472016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters 0.02527506130174881 Centerline is valid? [True, True] Translation: X:115.91, Y:-7.37, Z:0.56 [[ 9.97553232e-01 6.96976684e-02 5.45753491e-03 1.15911147e+02] [-6.96959237e-02 9.97568152e-01 -5.09457009e-04 -7.36981473e+00] [-5.47977098e-03 1.27842549e-04 9.99984978e-01 5.55528380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters 0.02504436977878376 Centerline is valid? [True, True] Translation: X:115.97, Y:-7.38, Z:0.56 [[ 9.97443381e-01 7.06672739e-02 1.06225003e-02 1.15968746e+02] [-7.06607989e-02 9.97499916e-01 -9.84103191e-04 -7.38092762e+00] [-1.06654871e-02 2.30992854e-04 9.99943095e-01 5.59123576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters 0.02502205025512335 Centerline is valid? [True, True] Translation: X:116.03, Y:-7.39, Z:0.56 [[ 9.97359845e-01 7.14497516e-02 1.29720020e-02 1.16029974e+02] [-7.14401115e-02 9.97444162e-01 -1.20560991e-03 -7.38713780e+00] [-1.30249882e-02 2.75705648e-04 9.99915133e-01 5.63387927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters 0.02496115059686838 Centerline is valid? [True, True] Translation: X:116.09, Y:-7.40, Z:0.56 [[ 9.97503189e-01 7.04142687e-02 5.40550455e-03 1.16091296e+02] [-7.04125731e-02 9.97517827e-01 -5.03575134e-04 -7.39873364e+00] [-5.42754602e-03 1.21702317e-04 9.99985263e-01 5.58182508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters 0.025069043266181652 Centerline is valid? [True, True] Translation: X:116.15, Y:-7.41, Z:0.56 [[ 9.97474322e-01 7.04294613e-02 9.20147300e-03 1.16150124e+02] [-7.04245671e-02 9.97516741e-01 -8.55228653e-04 -7.41191437e+00] [-9.23885666e-03 2.05058868e-04 9.99957300e-01 5.58542429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters 0.024449882228324782 Centerline is valid? [True, True] Translation: X:116.21, Y:-7.42, Z:0.56 [[ 9.97107299e-01 7.52255675e-02 1.08696478e-02 1.16211386e+02] [-7.52190020e-02 9.97166524e-01 -1.01216083e-03 -7.42053570e+00] [-1.09149893e-02 1.91628894e-04 9.99940411e-01 5.61375127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters 0.023854219381458493 Centerline is valid? [True, True] Translation: X:116.27, Y:-7.43, Z:0.56 [[ 9.96652696e-01 8.12402226e-02 9.13403610e-03 1.16272558e+02] [-8.12358298e-02 9.96694544e-01 -8.51525077e-04 -7.43156901e+00] [-9.17302204e-03 1.06663761e-04 9.99957921e-01 5.57809144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters 0.023280484360474068 Centerline is valid? [True, True] Translation: X:116.33, Y:-7.45, Z:0.56 [[ 9.95801555e-01 9.11047281e-02 8.89894711e-03 1.16333155e+02] [-9.11009481e-02 9.95841317e-01 -8.30046198e-04 -7.44653432e+00] [-8.93756034e-03 1.58587762e-05 9.99960059e-01 5.62437118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters 0.023312473504206697 Centerline is valid? [True, True] Translation: X:116.39, Y:-7.45, Z:0.56 [[ 9.95390084e-01 9.56907206e-02 6.47038836e-03 1.16393538e+02] [-9.56888207e-02 9.95411114e-01 -6.03283374e-04 -7.45226576e+00] [-6.49842511e-03 -1.86415431e-05 9.99978885e-01 5.64659371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters 0.023630140223485474 Centerline is valid? [True, True] Translation: X:116.45, Y:-7.45, Z:0.56 [[ 9.94801983e-01 1.01069986e-01 1.24045360e-02 1.16452929e+02] [-1.01063442e-01 9.94879313e-01 -1.15481490e-03 -7.45410433e+00] [-1.24577334e-02 -1.04832959e-04 9.99922394e-01 5.59720332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters 0.023843871873991843 Centerline is valid? [True, True] Translation: X:116.51, Y:-7.46, Z:0.56 [[ 9.94474951e-01 1.04266451e-01 1.21687760e-02 1.16514349e+02] [-1.04260373e-01 9.94549389e-01 -1.13450798e-03 -7.46046832e+00] [-1.22207398e-02 -1.40481353e-04 9.99925314e-01 5.63399033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters 0.02361385890577064 Centerline is valid? [True, True] Translation: X:116.58, Y:-7.46, Z:0.57 [[ 9.94502351e-01 1.04438477e-01 7.59457409e-03 1.16576143e+02] [-1.04436110e-01 9.94531345e-01 -7.08680934e-04 -7.46202238e+00] [-7.62705555e-03 -8.83629226e-05 9.99970910e-01 5.65737187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters 0.02385996575090715 Centerline is valid? [True, True] Translation: X:116.63, Y:-7.46, Z:0.56 [[ 9.94410763e-01 1.04881719e-01 1.21268105e-02 1.16634933e+02] [-1.04875822e-01 9.94484691e-01 -1.12299322e-03 -7.46206906e+00] [-1.21777089e-02 -1.55092673e-04 9.99925837e-01 5.63892703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters 0.02410147578246821 Centerline is valid? [True, True] Translation: X:116.70, Y:-7.46, Z:0.56 [[ 9.94309686e-01 1.05595251e-01 1.40673751e-02 1.16696237e+02] [-1.05587329e-01 9.94409176e-01 -1.30670020e-03 -7.46173372e+00] [-1.41267082e-02 -1.86071898e-04 9.99900196e-01 5.63226630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters 0.023961774623359182 Centerline is valid? [True, True] Translation: X:116.76, Y:-7.46, Z:0.56 [[ 9.94427477e-01 1.04707440e-01 1.22614876e-02 1.16758169e+02] [-1.04701344e-01 9.94503056e-01 -1.13982056e-03 -7.46033743e+00] [-1.23134346e-02 -1.50325349e-04 9.99924175e-01 5.62118921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters 0.023784275582755462 Centerline is valid? [True, True] Translation: X:116.82, Y:-7.46, Z:0.56 [[ 9.94428588e-01 1.04654411e-01 1.26189574e-02 1.16818821e+02] [-1.04647955e-01 9.94508638e-01 -1.17270532e-03 -7.45760666e+00] [-1.26723910e-02 -1.54376386e-04 9.99919690e-01 5.64545835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters 0.023768845220308307 Centerline is valid? [True, True] Translation: X:116.88, Y:-7.46, Z:0.57 [[ 9.94483434e-01 1.03944149e-01 1.40823624e-02 1.16878473e+02] [-1.03936055e-01 9.94583122e-01 -1.30742951e-03 -7.45529572e+00] [-1.41419796e-02 -1.63448209e-04 9.99899984e-01 5.67346747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters 0.023472463140799815 Centerline is valid? [True, True] Translation: X:116.94, Y:-7.45, Z:0.56 [[ 9.94771788e-01 1.01787822e-01 8.26619376e-03 1.16939733e+02] [-1.01784957e-01 9.94806128e-01 -7.67643213e-04 -7.45143194e+00] [-8.30139694e-03 -7.77443664e-05 9.99965540e-01 5.62767494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters 0.023404624610667574 Centerline is valid? [True, True] Translation: X:117.00, Y:-7.46, Z:0.56 [[ 9.95010620e-01 9.96193824e-02 5.46302875e-03 1.16997584e+02] [-9.96181254e-02 9.95025616e-01 -5.02391410e-04 -7.46028390e+00] [-5.48590146e-03 -4.43318943e-05 9.99984951e-01 5.61251955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters 0.023270055100622775 Centerline is valid? [True, True] Translation: X:117.06, Y:-7.46, Z:0.57 [[ 9.95513885e-01 9.41473632e-02 9.40105167e-03 1.17056262e+02] [-9.41434229e-02 9.95558272e-01 -8.61773954e-04 -7.46198881e+00] [-9.44042850e-03 -2.71392457e-05 9.99955438e-01 5.65664803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters 0.02319770520704109 Centerline is valid? [True, True] Translation: X:117.11, Y:-7.47, Z:0.57 [[ 9.95596989e-01 9.30376778e-02 1.14291592e-02 1.17114354e+02] [-9.30318351e-02 9.95662588e-01 -1.04295386e-03 -7.46728023e+00] [-1.14766202e-02 -2.49139338e-05 9.99934141e-01 5.66274558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters 0.02339442685083337 Centerline is valid? [True, True] Translation: X:117.17, Y:-7.47, Z:0.57 [[ 9.95793079e-01 9.08884924e-02 1.16372533e-02 1.17173302e+02] [-9.08823517e-02 9.95861076e-01 -1.05651764e-03 -7.47246781e+00] [-1.16851129e-02 -5.54799478e-06 9.99931727e-01 5.65131818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters 0.023118353997277748 Centerline is valid? [True, True] Translation: X:117.23, Y:-7.48, Z:0.56 [[ 9.95948496e-01 8.95748451e-02 7.93354135e-03 1.17232351e+02] [-8.95719436e-02 9.95980094e-01 -7.21006789e-04 -7.47960990e+00] [-7.96623333e-03 7.46290873e-06 9.99968269e-01 5.62352340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters 0.022978205650452218 Centerline is valid? [True, True] Translation: X:117.29, Y:-7.49, Z:0.56 [[ 9.96096016e-01 8.77952671e-02 9.20424921e-03 1.17289605e+02] [-8.77913424e-02 9.96138540e-01 -8.30351452e-04 -7.49353618e+00] [-9.24160830e-03 1.90563782e-05 9.99957295e-01 5.64785260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters 0.02306810605328475 Centerline is valid? [True, True] Translation: X:117.35, Y:-7.50, Z:0.56 [[ 9.96314482e-01 8.52416717e-02 9.55561003e-03 1.17348073e+02] [-8.52373660e-02 9.96360304e-01 -8.57689199e-04 -7.50097103e+00] [-9.59394137e-03 4.00331411e-05 9.99953976e-01 5.64673571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters 0.02301069727236979 Centerline is valid? [True, True] Translation: X:117.41, Y:-7.52, Z:0.56 [[ 9.96499159e-01 8.28895243e-02 1.08973816e-02 1.17406765e+02] [-8.28837662e-02 9.96558740e-01 -9.79734933e-04 -7.51702365e+00] [-1.09410906e-02 7.30890083e-05 9.99940142e-01 5.64476175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters 0.023154572657963553 Centerline is valid? [True, True] Translation: X:117.47, Y:-7.53, Z:0.57 [[ 9.96497517e-01 8.25344986e-02 1.34445459e-02 1.17467283e+02] [-8.25256799e-02 9.96588203e-01 -1.21035153e-03 -7.53052088e+00] [-1.34985716e-02 9.65920028e-05 9.99908885e-01 5.68060879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters 0.023144019232114784 Centerline is valid? [True, True] Translation: X:117.53, Y:-7.54, Z:0.57 [[ 9.96222317e-01 8.56368532e-02 1.44022335e-02 1.17528450e+02] [-8.56270253e-02 9.96326415e-01 -1.29878382e-03 -7.54472208e+00] [-1.44605494e-02 6.06570139e-05 9.99895439e-01 5.67766411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters 0.022875437189827787 Centerline is valid? [True, True] Translation: X:117.59, Y:-7.56, Z:0.57 [[ 9.95918622e-01 8.94400548e-02 1.21068152e-02 1.17589430e+02] [-8.94333703e-02 9.95992207e-01 -1.09348668e-03 -7.55848509e+00] [-1.21560951e-02 6.27046039e-06 9.99926112e-01 5.65095763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters 0.022956455744724484 Centerline is valid? [True, True] Translation: X:117.65, Y:-7.57, Z:0.57 [[ 9.95694940e-01 9.20048552e-02 1.12557948e-02 1.17651012e+02] [-9.19992235e-02 9.95758558e-01 -1.01819110e-03 -7.57167301e+00] [-1.13017326e-02 -2.17166635e-05 9.99936133e-01 5.65802020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters 0.0229191534828112 Centerline is valid? [True, True] Translation: X:117.71, Y:-7.58, Z:0.57 [[ 9.95789259e-01 9.11255373e-02 9.99443054e-03 1.17712503e+02] [-9.11210385e-02 9.95839413e-01 -9.05519806e-04 -7.57875434e+00] [-1.00353638e-02 -8.99599357e-06 9.99949644e-01 5.70227182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters 0.022888424245928057 Centerline is valid? [True, True] Translation: X:117.77, Y:-7.59, Z:0.57 [[ 9.95757939e-01 9.14799920e-02 9.87608473e-03 1.17773246e+02] [-9.14756032e-02 9.95806914e-01 -8.96138124e-04 -7.59360334e+00] [-9.91665217e-03 -1.10841564e-05 9.99950829e-01 5.67174946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters 0.022980530407333968 Centerline is valid? [True, True] Translation: X:117.84, Y:-7.60, Z:0.57 [[ 9.95531190e-01 9.37812680e-02 1.10781073e-02 1.17835313e+02] [-9.37758726e-02 9.95592825e-01 -1.00662071e-03 -7.60161587e+00] [-1.11236863e-02 -3.67368716e-05 9.99938129e-01 5.67237441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters 0.023100661743672257 Centerline is valid? [True, True] Translation: X:117.90, Y:-7.61, Z:0.57 [[ 9.95064983e-01 9.84610233e-02 1.22925522e-02 1.17896679e+02] [-9.84547245e-02 9.95140903e-01 -1.11798879e-03 -7.60755137e+00] [-1.23428998e-02 -9.77883444e-05 9.99923819e-01 5.69248472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters 0.023053829387485028 Centerline is valid? [True, True] Translation: X:117.96, Y:-7.61, Z:0.57 [[ 9.94867556e-01 1.00884147e-01 7.80607486e-03 1.17958306e+02] [-1.00881671e-01 9.94898177e-01 -7.11349482e-04 -7.61449581e+00] [-7.83801354e-03 -7.97913534e-05 9.99969279e-01 5.69717220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters 0.023387594044316784 Centerline is valid? [True, True] Translation: X:118.02, Y:-7.62, Z:0.57 [[ 9.94503612e-01 1.04361282e-01 8.44321457e-03 1.18019241e+02] [-1.04358508e-01 9.94539446e-01 -7.69585391e-04 -7.62350868e+00] [-8.47742486e-03 -1.15765827e-04 9.99964059e-01 5.68425319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters 0.02379583380612807 Centerline is valid? [True, True] Translation: X:118.08, Y:-7.62, Z:0.57 [[ 9.94094520e-01 1.07556166e-01 1.44137872e-02 1.18081123e+02] [-1.07548408e-01 9.94198980e-01 -1.31453946e-03 -7.62230241e+00] [-1.44715594e-02 -2.43403391e-04 9.99895252e-01 5.72327834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters 0.023849930693740938 Centerline is valid? [True, True] Translation: X:118.14, Y:-7.63, Z:0.57 [[ 9.94104138e-01 1.07503465e-01 1.41410073e-02 1.18142829e+02] [-1.07495961e-01 9.94204682e-01 -1.29190337e-03 -7.62579200e+00] [-1.41979397e-02 -2.35814683e-04 9.99899176e-01 5.70979565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters 0.023886755428831553 Centerline is valid? [True, True] Translation: X:118.20, Y:-7.63, Z:0.57 [[ 9.94037165e-01 1.08455430e-01 1.12931519e-02 1.18204905e+02] [-1.08450686e-01 9.94101293e-01 -1.03338173e-03 -7.62807795e+00] [-1.13386128e-02 -1.97530231e-04 9.99935696e-01 5.70448358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters 0.024040238811117345 Centerline is valid? [True, True] Translation: X:118.27, Y:-7.63, Z:0.57 [[ 9.93849645e-01 1.09738126e-01 1.48467716e-02 1.18266950e+02] [-1.09730064e-01 9.93960495e-01 -1.35900326e-03 -7.62659708e+00] [-1.49062389e-02 -2.78492291e-04 9.99888857e-01 5.72297989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters 0.023958469060143515 Centerline is valid? [True, True] Translation: X:118.33, Y:-7.63, Z:0.57 [[ 9.93910768e-01 1.08994950e-01 1.61705516e-02 1.18329290e+02] [-1.08985247e-01 9.94042261e-01 -1.48268010e-03 -7.62764909e+00] [-1.62358163e-02 -2.88699842e-04 9.99868149e-01 5.71423362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters 0.0237925611694445 Centerline is valid? [True, True] Translation: X:118.39, Y:-7.63, Z:0.57 [[ 9.94055482e-01 1.07730331e-01 1.57440221e-02 1.18391114e+02] [-1.07720941e-01 9.94180119e-01 -1.44571373e-03 -7.63355688e+00] [-1.58081410e-02 -2.58841224e-04 9.99875010e-01 5.71364367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters 0.023562047715436036 Centerline is valid? [True, True] Translation: X:118.45, Y:-7.64, Z:0.57 [[ 9.94283150e-01 1.06371760e-01 9.27721605e-03 1.18453383e+02] [-1.06368426e-01 9.94326420e-01 -8.53416607e-04 -7.63604714e+00] [-9.31536045e-03 -1.38265116e-04 9.99956602e-01 5.72449535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters 0.023779080210785373 Centerline is valid? [True, True] Translation: X:118.51, Y:-7.63, Z:0.57 [[ 9.94143455e-01 1.07712985e-01 8.75808892e-03 1.18513036e+02] [-1.07710079e-01 9.94182022e-01 -8.04101343e-04 -7.63462524e+00] [-8.79374671e-03 -1.43942367e-04 9.99961324e-01 5.71963069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters 0.02413390017156939 Centerline is valid? [True, True] Translation: X:118.57, Y:-7.64, Z:0.57 [[ 9.93780551e-01 1.10552054e-01 1.33589055e-02 1.18571608e+02] [-1.10545660e-01 9.93870300e-01 -1.21837532e-03 -7.63737574e+00] [-1.34117133e-02 -2.65971332e-04 9.99910024e-01 5.74469831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters 0.023760361958590062 Centerline is valid? [True, True] Translation: X:118.63, Y:-7.64, Z:0.57 [[ 9.94157341e-01 1.07186684e-01 1.27356155e-02 1.18632563e+02] [-1.07180553e-01 9.94238891e-01 -1.16497242e-03 -7.64336064e+00] [-1.27871138e-02 -2.06844424e-04 9.99918220e-01 5.71680072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters 0.023438243018967 Centerline is valid? [True, True] Translation: X:118.69, Y:-7.65, Z:0.57 [[ 9.94532501e-01 1.03722153e-01 1.21169131e-02 1.18693922e+02] [-1.03716336e-01 9.94606300e-01 -1.10919463e-03 -7.64571924e+00] [-1.21666062e-02 -1.53591719e-04 9.99925972e-01 5.74038827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters 0.023321555586423806 Centerline is valid? [True, True] Translation: X:118.76, Y:-7.65, Z:0.58 [[ 9.94910065e-01 9.97468321e-02 1.43014997e-02 1.18755602e+02] [-9.97383043e-02 9.95012841e-01 -1.31007299e-03 -7.64785787e+00] [-1.43608515e-02 -1.23002526e-04 9.99896870e-01 5.75817696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters 0.023222925673450395 Centerline is valid? [True, True] Translation: X:118.82, Y:-7.65, Z:0.57 [[ 9.95305288e-01 9.58066420e-02 1.37285027e-02 1.18817668e+02] [-9.57983789e-02 9.95399962e-01 -1.25976786e-03 -7.65451879e+00] [-1.37860452e-02 -6.13146964e-05 9.99904966e-01 5.72668713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters 0.02332511818965407 Centerline is valid? [True, True] Translation: X:118.88, Y:-7.66, Z:0.57 [[ 9.95660002e-01 9.22289211e-02 1.24493402e-02 1.18878940e+02] [-9.22218247e-02 9.95737830e-01 -1.14411889e-03 -7.66367906e+00] [-1.25017998e-02 -8.94744976e-06 9.99921849e-01 5.72661660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters 0.023317357785739092 Centerline is valid? [True, True] Translation: X:118.94, Y:-7.67, Z:0.58 [[ 9.95793266e-01 9.02073722e-02 1.60748855e-02 1.18940533e+02] [-9.01952567e-02 9.95923004e-01 -1.47857377e-03 -7.66767834e+00] [-1.61427265e-02 2.24753757e-05 9.99869697e-01 5.77420278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters 0.022969840751733358 Centerline is valid? [True, True] Translation: X:119.00, Y:-7.67, Z:0.58 [[ 9.96054778e-01 8.79509139e-02 1.18117109e-02 1.19002372e+02] [-8.79441921e-02 9.96124809e-01 -1.08829006e-03 -7.67353217e+00] [-1.18616544e-02 4.52251370e-05 9.99929647e-01 5.78649248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters 0.023180355053689018 Centerline is valid? [True, True] Translation: X:119.06, Y:-7.68, Z:0.58 [[ 9.96176832e-01 8.66874358e-02 1.08169989e-02 1.19063352e+02] [-8.66817192e-02 9.96235557e-01 -9.97080536e-04 -7.68191210e+00] [-1.08627133e-02 5.56324708e-05 9.99940997e-01 5.75991032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters 0.023417018152562127 Centerline is valid? [True, True] Translation: X:119.12, Y:-7.70, Z:0.57 [[ 9.96399036e-01 8.38075622e-02 1.28551006e-02 1.19123695e+02] [-8.37992388e-02 9.96481953e-01 -1.18571645e-03 -7.69990574e+00] [-1.29092478e-02 1.04199085e-04 9.99916667e-01 5.71829978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters 0.02338184429805378 Centerline is valid? [True, True] Translation: X:119.18, Y:-7.71, Z:0.58 [[ 9.96566602e-01 8.18338924e-02 1.25785907e-02 1.19184897e+02] [-8.18257410e-02 9.96645974e-01 -1.16219120e-03 -7.70818640e+00] [-1.26315084e-02 1.28948431e-04 9.99920211e-01 5.75795386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters 0.023064108136861054 Centerline is valid? [True, True] Translation: X:119.25, Y:-7.73, Z:0.58 [[ 9.96467821e-01 8.35018833e-02 8.90601184e-03 1.19245329e+02] [-8.34978515e-02 9.96507616e-01 -8.24223163e-04 -7.72760424e+00] [-8.94373282e-03 7.76790052e-05 9.99960001e-01 5.76497881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters 0.022560712300678104 Centerline is valid? [True, True] Translation: X:119.31, Y:-7.74, Z:0.58 [[ 9.95672525e-01 9.24503606e-02 9.44217474e-03 1.19305574e+02] [-9.24462283e-02 9.95717295e-01 -8.74105516e-04 -7.73934002e+00] [-9.48254805e-03 -2.57059562e-06 9.99955040e-01 5.80120559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters 0.022837452340142447 Centerline is valid? [True, True] Translation: X:119.37, Y:-7.75, Z:0.58 [[ 9.95048612e-01 9.89392438e-02 9.44908188e-03 1.19367409e+02] [-9.89353824e-02 9.95093474e-01 -8.76368025e-04 -7.75019110e+00] [-9.48942690e-03 -6.28197414e-05 9.99954972e-01 5.76256024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters 0.02300761724982055 Centerline is valid? [True, True] Translation: X:119.43, Y:-7.77, Z:0.57 [[ 9.94560014e-01 1.03858141e-01 7.99151093e-03 1.19427953e+02] [-1.03855528e-01 9.94592117e-01 -7.42361491e-04 -7.76936253e+00] [-8.02539406e-03 -9.16395312e-05 9.99967792e-01 5.74354002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters 0.022964164479351387 Centerline is valid? [True, True] Translation: X:119.49, Y:-7.78, Z:0.58 [[ 9.94716693e-01 1.02365162e-01 7.75078154e-03 1.19489427e+02] [-1.02362650e-01 9.94746886e-01 -7.21077440e-04 -7.77550028e+00] [-7.78387901e-03 -7.61227745e-05 9.99969702e-01 5.79171122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters 0.02272493940292973 Centerline is valid? [True, True] Translation: X:119.55, Y:-7.78, Z:0.58 [[ 9.94787524e-01 1.01489789e-01 9.87955963e-03 1.19551247e+02] [-1.01485653e-01 9.94836577e-01 -9.20320411e-04 -7.77958796e+00] [-9.92195041e-03 -8.71103025e-05 9.99950772e-01 5.82781860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters 0.02301586506337991 Centerline is valid? [True, True] Translation: X:119.61, Y:-7.79, Z:0.58 [[ 9.94390464e-01 1.05268159e-01 1.03062755e-02 1.19613434e+02] [-1.05263848e-01 9.94443864e-01 -9.61430971e-04 -7.78720384e+00] [-1.03502204e-02 -1.28840421e-04 9.99946427e-01 5.79984547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters 0.023324524878736864 Centerline is valid? [True, True] Translation: X:119.67, Y:-7.80, Z:0.58 [[ 9.93953509e-01 1.09466431e-01 8.57450025e-03 1.19674383e+02] [-1.09463592e-01 9.93990483e-01 -8.01167366e-04 -7.80095049e+00] [-8.61067258e-03 -1.42272483e-04 9.99962917e-01 5.80030176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters 0.023264226339668778 Centerline is valid? [True, True] Translation: X:119.74, Y:-7.80, Z:0.58 [[ 9.93987773e-01 1.09098618e-01 9.26273498e-03 1.19736489e+02] [-1.09095277e-01 9.94030920e-01 -8.66696570e-04 -7.80279029e+00] [-9.30200036e-03 -1.49034847e-04 9.99956724e-01 5.81798808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters 0.02336255304938601 Centerline is valid? [True, True] Translation: X:119.80, Y:-7.81, Z:0.58 [[ 9.93822159e-01 1.10265006e-01 1.26152749e-02 1.19797858e+02] [-1.10258884e-01 9.93902199e-01 -1.18185311e-03 -7.81289355e+00] [-1.26686665e-02 -2.16394320e-04 9.99919726e-01 5.83477344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters 0.02363027936009634 Centerline is valid? [True, True] Translation: X:119.86, Y:-7.82, Z:0.58 [[ 9.93337404e-01 1.14770470e-01 1.04182855e-02 1.19860013e+02] [-1.14766527e-01 9.93392012e-01 -9.77553845e-04 -7.81742509e+00] [-1.04616359e-02 -2.24629640e-04 9.99945250e-01 5.83401109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters 0.02376171978397825 Centerline is valid? [True, True] Translation: X:119.92, Y:-7.82, Z:0.58 [[ 9.93202551e-01 1.16129298e-01 7.91701481e-03 1.19922307e+02] [-1.16127054e-01 9.93234088e-01 -7.44098372e-04 -7.82267244e+00] [-7.94986061e-03 -1.80339203e-04 9.99968383e-01 5.82934473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters 0.024324446391565155 Centerline is valid? [True, True] Translation: X:119.98, Y:-7.82, Z:0.58 [[ 9.92739516e-01 1.19837808e-01 1.03514560e-02 1.19984327e+02] [-1.19834172e-01 9.92793445e-01 -9.73050925e-04 -7.82185480e+00] [-1.03934660e-02 -2.74472053e-04 9.99945949e-01 5.81680895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters 0.02439256158502231 Centerline is valid? [True, True] Translation: X:120.05, Y:-7.82, Z:0.58 [[ 9.92655071e-01 1.20624559e-01 9.25338237e-03 1.20046336e+02] [-1.20621672e-01 9.92698168e-01 -8.71443018e-04 -7.82116546e+00] [-9.29093315e-03 -2.51116123e-04 9.99956807e-01 5.83866748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters 0.02410381600064865 Centerline is valid? [True, True] Translation: X:120.11, Y:-7.82, Z:0.59 [[ 9.92798173e-01 1.19493820e-01 8.54490620e-03 1.20108632e+02] [-1.19491306e-01 9.92834920e-01 -8.05932302e-04 -7.82243533e+00] [-8.57998519e-03 -2.20913887e-04 9.99963167e-01 5.85692463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters 0.023838607524671235 Centerline is valid? [True, True] Translation: X:120.17, Y:-7.82, Z:0.59 [[ 9.93113644e-01 1.16434504e-01 1.29729461e-02 1.20170395e+02] [-1.16428446e-01 9.93198328e-01 -1.22376640e-03 -7.81985192e+00] [-1.30271970e-02 -2.95080858e-04 9.99915099e-01 5.86876580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters 0.02342407648105519 Centerline is valid? [True, True] Translation: X:120.23, Y:-7.82, Z:0.59 [[ 9.93916982e-01 1.09763858e-01 8.99603980e-03 1.20232002e+02] [-1.09760665e-01 9.93957683e-01 -8.49352869e-04 -7.81900792e+00] [-9.03491112e-03 -1.43225071e-04 9.99959174e-01 5.85815873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters 0.023050515195204062 Centerline is valid? [True, True] Translation: X:120.29, Y:-7.83, Z:0.58 [[ 9.94719327e-01 1.02006833e-01 1.13166849e-02 1.20293167e+02] [-1.02001271e-01 9.94783694e-01 -1.06913948e-03 -7.82648360e+00] [-1.13667132e-02 -9.08225363e-05 9.99935393e-01 5.83984664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters 0.022827119903769594 Centerline is valid? [True, True] Translation: X:120.35, Y:-7.83, Z:0.58 [[ 9.95017965e-01 9.88212215e-02 1.31763293e-02 1.20354681e+02] [-9.88133739e-02 9.95105202e-01 -1.24688112e-03 -7.83143456e+00] [-1.32350521e-02 -6.13284373e-05 9.99912411e-01 5.84719982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters 0.022763038147215652 Centerline is valid? [True, True] Translation: X:120.42, Y:-7.84, Z:0.59 [[ 9.94913748e-01 1.00027255e-01 1.18819716e-02 1.20416052e+02] [-1.00020940e-01 9.94984695e-01 -1.12604935e-03 -7.83856173e+00] [-1.19350155e-02 -6.81239870e-05 9.99928773e-01 5.86775878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters 0.022811861943483187 Centerline is valid? [True, True] Translation: X:120.48, Y:-7.84, Z:0.59 [[ 9.94661436e-01 1.02521052e-01 1.17499357e-02 1.20477639e+02] [-1.02515031e-01 9.94730830e-01 -1.11513358e-03 -7.84367070e+00] [-1.18023479e-02 -9.53646577e-05 9.99930345e-01 5.86789297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters 0.02267654086070391 Centerline is valid? [True, True] Translation: X:120.54, Y:-7.86, Z:0.58 [[ 9.94626143e-01 1.03178174e-01 8.54987942e-03 1.20539423e+02] [-1.03174999e-01 9.94662887e-01 -8.12765568e-04 -7.85537844e+00] [-8.58810741e-03 -7.37359150e-05 9.99963119e-01 5.83416376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters 0.02287845200538317 Centerline is valid? [True, True] Translation: X:120.60, Y:-7.86, Z:0.59 [[ 9.94544120e-01 1.03960587e-01 8.61337919e-03 1.20600192e+02] [-1.03957392e-01 9.94581414e-01 -8.19045729e-04 -7.86462581e+00] [-8.65185533e-03 -8.08473252e-05 9.99962569e-01 5.85147096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters 0.023204654516971252 Centerline is valid? [True, True] Translation: X:120.66, Y:-7.86, Z:0.59 [[ 9.93734300e-01 1.11048415e-01 1.26645179e-02 1.20662110e+02] [-1.11042074e-01 9.93814976e-01 -1.20495205e-03 -7.86290353e+00] [-1.27199956e-02 -2.08892141e-04 9.99919076e-01 5.89625217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters 0.02349288899876738 Centerline is valid? [True, True] Translation: X:120.72, Y:-7.87, Z:0.59 [[ 9.93354356e-01 1.14261071e-01 1.38394511e-02 1.20723480e+02] [-1.14253761e-01 9.93450721e-01 -1.32033350e-03 -7.86925275e+00] [-1.38996754e-02 -2.69650297e-04 9.99903358e-01 5.87951316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters 0.023907956459384188 Centerline is valid? [True, True] Translation: X:120.79, Y:-7.87, Z:0.59 [[ 9.93135968e-01 1.16290313e-01 1.25503635e-02 1.20785316e+02] [-1.16284445e-01 9.93215229e-01 -1.19877471e-03 -7.87497955e+00] [-1.26046180e-02 -2.68865765e-04 9.99920522e-01 5.88487184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters 0.023725168553645516 Centerline is valid? [True, True] Translation: X:120.85, Y:-7.87, Z:0.59 [[ 9.93200768e-01 1.15837282e-01 1.15740494e-02 1.20848370e+02] [-1.15832242e-01 9.93268174e-01 -1.10715060e-03 -7.87266758e+00] [-1.16243842e-02 -2.41025262e-04 9.99932406e-01 5.88603708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters 0.023665957192168994 Centerline is valid? [True, True] Translation: X:120.91, Y:-7.87, Z:0.59 [[ 9.93243750e-01 1.15492249e-01 1.13311213e-02 1.20910690e+02] [-1.15487390e-01 9.93308354e-01 -1.08435727e-03 -7.86982397e+00] [-1.13805323e-02 -2.31570551e-04 9.99935213e-01 5.87508498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters 0.023216098212529106 Centerline is valid? [True, True] Translation: X:120.97, Y:-7.87, Z:0.59 [[ 9.93674876e-01 1.11382006e-01 1.42930033e-02 1.20972262e+02] [-1.11373837e-01 9.93777639e-01 -1.36867165e-03 -7.87045118e+00] [-1.43565125e-02 -2.31851994e-04 9.99896913e-01 5.88613253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters 0.023136817111066875 Centerline is valid? [True, True] Translation: X:121.03, Y:-7.88, Z:0.59 [[ 9.93899879e-01 1.09440092e-01 1.36344364e-02 1.21033886e+02] [-1.09432446e-01 9.93993375e-01 -1.30781295e-03 -7.87509188e+00] [-1.36956667e-02 -1.92214592e-04 9.99906191e-01 5.88200683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters 0.02271549749670748 Centerline is valid? [True, True] Translation: X:121.10, Y:-7.87, Z:0.59 [[ 9.94711435e-01 1.02184432e-01 1.03683967e-02 1.21096114e+02] [-1.02179605e-01 9.94765468e-01 -9.95579763e-04 -7.87328947e+00] [-1.04158558e-02 -6.91241069e-05 9.99945751e-01 5.87299831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters 0.022470999419544776 Centerline is valid? [True, True] Translation: X:121.16, Y:-7.87, Z:0.59 [[ 9.94876255e-01 1.00498653e-01 1.10117424e-02 1.21155858e+02] [-1.00493124e-01 9.94937193e-01 -1.05572897e-03 -7.87442377e+00] [-1.10620914e-02 -5.62847067e-05 9.99938812e-01 5.89948760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters 0.022717194759299373 Centerline is valid? [True, True] Translation: X:121.22, Y:-7.88, Z:0.59 [[ 9.94788566e-01 1.01263159e-01 1.18945888e-02 1.21216587e+02] [-1.01256758e-01 9.94859672e-01 -1.14073673e-03 -7.87635662e+00] [-1.19489613e-02 -6.96156456e-05 9.99928606e-01 5.87855819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters 0.02271436270497838 Centerline is valid? [True, True] Translation: X:121.28, Y:-7.88, Z:0.59 [[ 9.95007407e-01 9.91841468e-02 1.10799723e-02 1.21277654e+02] [-9.91784514e-02 9.95069095e-01 -1.06367409e-03 -7.88077540e+00] [-1.11308376e-02 -4.05308995e-05 9.99938049e-01 5.87387953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters 0.022655989719636005 Centerline is valid? [True, True] Translation: X:121.34, Y:-7.88, Z:0.59 [[ 9.95251970e-01 9.65196253e-02 1.25490475e-02 1.21338523e+02] [-9.65121123e-02 9.95331081e-01 -1.20432996e-03 -7.88304317e+00] [-1.26066985e-02 -1.25233193e-05 9.99920532e-01 5.90860777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters 0.022565599781231974 Centerline is valid? [True, True] Translation: X:121.40, Y:-7.89, Z:0.59 [[ 9.95573257e-01 9.31537480e-02 1.25007550e-02 1.21400381e+02] [-9.31460127e-02 9.95651735e-01 -1.20085801e-03 -7.88512089e+00] [-1.25582628e-02 3.11466362e-05 9.99921141e-01 5.89065616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters 0.022674677909456747 Centerline is valid? [True, True] Translation: X:121.46, Y:-7.89, Z:0.59 [[ 9.95646846e-01 9.22286736e-02 1.34621429e-02 1.21461676e+02] [-9.22196065e-02 9.95737852e-01 -1.29407137e-03 -7.89084870e+00] [-1.35241157e-02 4.69645596e-05 9.99908544e-01 5.88021775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters 0.022651905385849245 Centerline is valid? [True, True] Translation: X:121.52, Y:-7.90, Z:0.59 [[ 9.95723059e-01 9.17358719e-02 1.09598702e-02 1.21523039e+02] [-9.17298239e-02 9.95783374e-01 -1.05430744e-03 -7.89741264e+00] [-1.10103743e-02 4.44512681e-05 9.99939383e-01 5.89548980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters 0.022647133320737742 Centerline is valid? [True, True] Translation: X:121.58, Y:-7.90, Z:0.59 [[ 9.95685399e-01 9.22734180e-02 9.80829600e-03 1.21583011e+02] [-9.22686032e-02 9.95733707e-01 -9.43237000e-04 -7.90162011e+00] [-9.85348664e-03 3.41695359e-05 9.99951453e-01 5.89867585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters 0.022549362619110672 Centerline is valid? [True, True] Translation: X:121.64, Y:-7.90, Z:0.59 [[ 9.95608411e-01 9.28984712e-02 1.15656937e-02 1.21641803e+02] [-9.28919079e-02 9.95675586e-01 -1.10455306e-03 -7.90229494e+00] [-1.16182901e-02 2.53429699e-05 9.99932505e-01 5.91940473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters 0.02281053373024792 Centerline is valid? [True, True] Translation: X:121.70, Y:-7.92, Z:0.59 [[ 9.95784746e-01 9.07842089e-02 1.30754271e-02 1.21701333e+02] [-9.07756034e-02 9.95870586e-01 -1.25136570e-03 -7.91530930e+00] [-1.31350375e-02 5.91610841e-05 9.99913730e-01 5.90556264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters 0.023130444002732883 Centerline is valid? [True, True] Translation: X:121.76, Y:-7.92, Z:0.59 [[ 9.96501242e-01 8.32118637e-02 7.81409882e-03 1.21762903e+02] [-8.32085509e-02 9.96531874e-01 -7.48672981e-04 -7.91738865e+00] [-7.84929702e-03 9.58537160e-05 9.99969189e-01 5.92670004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters 0.023690639972895573 Centerline is valid? [True, True] Translation: X:121.82, Y:-7.93, Z:0.59 [[ 9.96849371e-01 7.88074262e-02 8.98444130e-03 1.21820791e+02] [-7.88029284e-02 9.96889848e-01 -8.54083378e-04 -7.92612054e+00] [-9.02380643e-03 1.43392194e-04 9.99959274e-01 5.90335268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters 0.023756393421453723 Centerline is valid? [True, True] Translation: X:121.88, Y:-7.94, Z:0.59 [[ 9.96889296e-01 7.83156873e-02 8.85355880e-03 1.21880263e+02] [-7.83112803e-02 9.96928599e-01 -8.43881687e-04 -7.94357872e+00] [-8.89245514e-03 1.47923096e-04 9.99960450e-01 5.90115702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters 0.023453724453361656 Centerline is valid? [True, True] Translation: X:121.94, Y:-7.95, Z:0.59 [[ 9.96682058e-01 8.09396885e-02 8.58155429e-03 1.21940704e+02] [-8.09356416e-02 9.96718994e-01 -8.18391591e-04 -7.95233291e+00] [-8.61963852e-03 1.21122612e-04 9.99962843e-01 5.93493600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters 0.023263956566361543 Centerline is valid? [True, True] Translation: X:122.00, Y:-7.96, Z:0.60 [[ 9.96548102e-01 8.23461001e-02 1.05357096e-02 1.22001029e+02] [-8.23400809e-02 9.96603784e-01 -1.00455472e-03 -7.96182597e+00] [-1.05826492e-02 1.33575916e-04 9.99943993e-01 5.96043528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters 0.023015305407374093 Centerline is valid? [True, True] Translation: X:122.06, Y:-7.98, Z:0.59 [[ 9.96285450e-01 8.57887249e-02 7.45638071e-03 1.22061510e+02] [-8.57858004e-02 9.96313349e-01 -7.11762189e-04 -7.97572410e+00] [-7.48995281e-03 6.94667255e-05 9.99971947e-01 5.92889443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters 0.023160961841931532 Centerline is valid? [True, True] Translation: X:122.12, Y:-7.99, Z:0.59 [[ 9.96195274e-01 8.67592996e-02 8.23406349e-03 1.22121102e+02] [-8.67557693e-02 9.96229301e-01 -7.85635700e-04 -7.98721701e+00] [-8.27117652e-03 6.82940585e-05 9.99965791e-01 5.91430634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters 0.023095144893642065 Centerline is valid? [True, True] Translation: X:122.18, Y:-8.00, Z:0.59 [[ 9.96055872e-01 8.81011243e-02 1.05305377e-02 1.22181924e+02] [-8.80954142e-02 9.96111533e-01 -1.00577637e-03 -7.99702854e+00] [-1.05782001e-02 7.41173793e-05 9.99944047e-01 5.94546133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters 0.02298659183355931 Centerline is valid? [True, True] Translation: X:122.24, Y:-8.01, Z:0.60 [[ 9.95503807e-01 9.39125479e-02 1.23532854e-02 1.22242667e+02] [-9.39051276e-02 9.95580450e-01 -1.18062992e-03 -8.00568251e+00] [-1.24095654e-02 1.52847404e-05 9.99922998e-01 5.97218430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters 0.023050352014049202 Centerline is valid? [True, True] Translation: X:122.30, Y:-8.01, Z:0.59 [[ 9.94822176e-01 1.01465073e-01 5.80311300e-03 1.22304356e+02] [-1.01463559e-01 9.94839101e-01 -5.55440962e-04 -8.01102845e+00] [-5.82952158e-03 -3.62395135e-05 9.99983008e-01 5.93476142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters 0.023554487318618693 Centerline is valid? [True, True] Translation: X:122.36, Y:-8.01, Z:0.59 [[ 9.93758936e-01 1.11100940e-01 9.98786310e-03 1.22364075e+02] [-1.11096959e-01 9.93809114e-01 -9.54201170e-04 -8.01331617e+00] [-1.00320420e-02 -1.61375280e-04 9.99949665e-01 5.94426492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters 0.023885550569352376 Centerline is valid? [True, True] Translation: X:122.42, Y:-8.01, Z:0.60 [[ 9.93431823e-01 1.13854819e-01 1.14145680e-02 1.22424838e+02] [-1.13849797e-01 9.93497375e-01 -1.09088399e-03 -8.01459789e+00] [-1.14645457e-02 -2.15827380e-04 9.99934257e-01 5.97664989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters 0.023477371982340553 Centerline is valid? [True, True] Translation: X:122.49, Y:-8.01, Z:0.60 [[ 9.94014026e-01 1.08787832e-01 1.00660087e-02 1.22486310e+02] [-1.08783662e-01 9.94064982e-01 -9.62508423e-04 -8.01228467e+00] [-1.01109759e-02 -1.38270413e-04 9.99948873e-01 5.98311753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters 0.02304460518824602 Centerline is valid? [True, True] Translation: X:122.55, Y:-8.01, Z:0.60 [[ 9.94673271e-01 1.02685533e-01 8.98692269e-03 1.22546374e+02] [-1.02681970e-01 9.94713867e-01 -8.58237925e-04 -8.01275045e+00] [-9.02754524e-03 -6.91286034e-05 9.99959248e-01 5.96652041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters 0.023024468699071633 Centerline is valid? [True, True] Translation: X:122.61, Y:-8.01, Z:0.60 [[ 9.95566089e-01 9.32460841e-02 1.23826457e-02 1.22606398e+02] [-9.32386866e-02 9.95643092e-01 -1.17462479e-03 -8.00579376e+00] [-1.24382248e-02 1.48749841e-05 9.99922642e-01 5.98415582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters 0.023186498372829954 Centerline is valid? [True, True] Translation: X:122.67, Y:-8.01, Z:0.60 [[ 9.96350228e-01 8.49905444e-02 7.92654867e-03 1.22667615e+02] [-8.49872326e-02 9.96381755e-01 -7.54315014e-04 -8.00797945e+00] [-7.96197811e-03 7.79065007e-05 9.99968300e-01 5.97058921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters 0.023772293725840443 Centerline is valid? [True, True] Translation: X:122.73, Y:-8.02, Z:0.60 [[ 9.96811015e-01 7.92629808e-02 9.22929243e-03 1.22726647e+02] [-7.92582576e-02 9.96853730e-01 -8.76980308e-04 -8.02026926e+00] [-9.26976666e-03 1.42685994e-04 9.99957025e-01 5.95941211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters 0.025457782380090242 Centerline is valid? [True, True] Translation: X:122.79, Y:-8.02, Z:0.60 [[ 9.97581186e-01 6.88474209e-02 9.58175850e-03 1.22787022e+02] [-6.88418506e-02 9.97627170e-01 -9.10346911e-04 -8.01851385e+00] [-9.62169766e-03 2.48518963e-04 9.99953680e-01 6.00792723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters 0.026310005650118366 Centerline is valid? [True, True] Translation: X:122.85, Y:-8.03, Z:0.60 [[ 9.98052605e-01 6.18404667e-02 8.17037032e-03 1.22847055e+02] [-6.18361808e-02 9.98086010e-01 -7.76388753e-04 -8.02540872e+00] [-8.20274456e-03 2.69652321e-04 9.99966321e-01 6.00823040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters 0.027940380366842342 Centerline is valid? [True, True] Translation: X:122.91, Y:-8.04, Z:0.60 [[ 9.98450423e-01 5.50077331e-02 8.42029843e-03 1.22907424e+02] [-5.50029311e-02 9.98485872e-01 -8.00972021e-04 -8.04096734e+00] [-8.45160867e-03 3.36589759e-04 9.99964228e-01 5.98474171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters 0.02944122800968392 Centerline is valid? [True, True] Translation: X:122.97, Y:-8.05, Z:0.60 [[ 9.98743672e-01 4.95540253e-02 7.44819779e-03 1.22967433e+02] [-4.95501159e-02 9.98771387e-01 -7.08606937e-04 -8.05381301e+00] [-7.47416116e-03 3.38657631e-04 9.99972011e-01 5.97319813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters 0.03019900822053936 Centerline is valid? [True, True] Translation: X:123.03, Y:-8.07, Z:0.60 [[ 9.98959405e-01 4.53879439e-02 4.47671285e-03 1.23027375e+02] [-4.53864878e-02 9.98969411e-01 -4.26380118e-04 -8.07028896e+00] [-4.49145172e-03 2.22754156e-04 9.99989889e-01 5.99966074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters 0.030171554385284564 Centerline is valid? [True, True] Translation: X:123.09, Y:-8.08, Z:0.60 [[ 9.98903810e-01 4.63995526e-02 6.18542328e-03 1.23086986e+02] [-4.63967946e-02 9.98922915e-01 -5.88710969e-04 -8.08209900e+00] [-6.20607698e-03 3.01081817e-04 9.99980697e-01 6.01746711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters 0.028373637948051384 Centerline is valid? [True, True] Translation: X:123.15, Y:-8.10, Z:0.60 [[ 9.98567721e-01 5.27446834e-02 8.97241194e-03 1.23146068e+02] [-5.27391318e-02 9.98607958e-01 -8.54390056e-04 -8.10369292e+00] [-9.00498650e-03 3.79969115e-04 9.99959382e-01 6.00370935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters 0.02745396647416742 Centerline is valid? [True, True] Translation: X:123.21, Y:-8.12, Z:0.60 [[ 9.98392374e-01 5.60179818e-02 8.64024296e-03 1.23206614e+02] [-5.60129463e-02 9.98429703e-01 -8.23873071e-04 -8.12160208e+00] [-8.67282691e-03 3.38583126e-04 9.99962333e-01 5.98754214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters 0.02634829383784666 Centerline is valid? [True, True] Translation: X:123.27, Y:-8.13, Z:0.60 [[ 9.98060852e-01 6.15563260e-02 9.23869958e-03 1.23266880e+02] [-6.15508019e-02 9.98103563e-01 -8.81340607e-04 -8.13343041e+00] [-9.27543106e-03 3.10982190e-04 9.99956934e-01 6.04040303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters 0.02539542858014543 Centerline is valid? [True, True] Translation: X:123.33, Y:-8.14, Z:0.60 [[ 9.97847277e-01 6.48280608e-02 9.90628768e-03 1.23328087e+02] [-6.48218552e-02 9.97896403e-01 -9.46566646e-04 -8.14471064e+00] [-9.94681292e-03 3.02385004e-04 9.99950484e-01 6.04237596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters 0.024405026810846754 Centerline is valid? [True, True] Translation: X:123.39, Y:-8.17, Z:0.60 [[ 9.97415363e-01 7.09992132e-02 1.10320569e-02 1.23388222e+02] [-7.09918793e-02 9.97476335e-01 -1.05546341e-03 -8.16671703e+00] [-1.10791528e-02 2.69548962e-04 9.99938588e-01 5.99779134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters 0.02377665903473749 Centerline is valid? [True, True] Translation: X:123.45, Y:-8.18, Z:0.60 [[ 9.97106491e-01 7.53823700e-02 9.80531663e-03 1.23449332e+02] [-7.53767750e-02 9.97154682e-01 -9.39447463e-04 -8.17778901e+00] [-9.84823516e-03 1.97636018e-04 9.99951485e-01 6.02140760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters 0.023331457496853034 Centerline is valid? [True, True] Translation: X:123.51, Y:-8.19, Z:0.60 [[ 9.96765619e-01 7.99665459e-02 7.97830020e-03 1.23510404e+02] [-7.99629790e-02 9.96797540e-01 -7.65579560e-04 -8.18846363e+00] [-8.01397076e-03 1.25134732e-04 9.99967880e-01 6.04531837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters 0.023025466058061005 Centerline is valid? [True, True] Translation: X:123.57, Y:-8.20, Z:0.60 [[ 9.96572405e-01 8.22753470e-02 8.61443302e-03 1.23570995e+02] [-8.22712654e-02 9.96609630e-01 -8.27714729e-04 -8.20472120e+00] [-8.65332742e-03 1.16157353e-04 9.99962553e-01 6.04565569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters 0.023010801647484192 Centerline is valid? [True, True] Translation: X:123.63, Y:-8.22, Z:0.61 [[ 9.96333270e-01 8.47541341e-02 1.16941290e-02 1.23632212e+02] [-8.47467672e-02 9.96401887e-01 -1.12496650e-03 -8.22042733e+00] [-1.17473978e-02 1.29801917e-04 9.99930989e-01 6.05317079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters 0.02288173462579382 Centerline is valid? [True, True] Translation: X:123.69, Y:-8.23, Z:0.60 [[ 9.96218595e-01 8.64587220e-02 8.56737424e-03 1.23694226e+02] [-8.64548196e-02 9.96255430e-01 -8.25505703e-04 -8.22511427e+00] [-8.60666528e-03 8.16933377e-05 9.99962959e-01 6.03213972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters 0.02276211105462966 Centerline is valid? [True, True] Translation: X:123.76, Y:-8.24, Z:0.60 [[ 9.95822702e-01 9.07240039e-02 1.03102551e-02 1.23756263e+02] [-9.07185565e-02 9.95876073e-01 -9.95778000e-04 -8.24304468e+00] [-1.03580774e-02 5.62868755e-05 9.99946352e-01 6.04837758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742320588 meters 0.022627505176504012 Centerline is valid? [True, True] Translation: X:123.82, Y:-8.25, Z:0.61 [[ 9.95798287e-01 9.13022197e-02 7.04807320e-03 1.23818129e+02] [-9.12996818e-02 9.95823229e-01 -6.81663836e-04 -8.25270823e+00] [-7.08087243e-03 3.53128400e-05 9.99974930e-01 6.05105304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters 0.02290885841087179 Centerline is valid? [True, True] Translation: X:123.88, Y:-8.26, Z:0.60 [[ 9.95972024e-01 8.93945286e-02 6.95307712e-03 1.23879814e+02] [-8.93920055e-02 9.95996293e-01 -6.73435999e-04 -8.26106757e+00] [-6.98544053e-03 4.91739071e-05 9.99975600e-01 6.02566104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters 0.023035853444165477 Centerline is valid? [True, True] Translation: X:123.94, Y:-8.27, Z:0.61 [[ 9.96087175e-01 8.78738133e-02 9.40921892e-03 1.23941630e+02] [-8.78691152e-02 9.96131611e-01 -9.12348199e-04 -8.26983639e+00] [-9.45299191e-03 8.19985987e-05 9.99955316e-01 6.06692337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters 0.022739958126497595 Centerline is valid? [True, True] Translation: X:124.00, Y:-8.28, Z:0.61 [[ 9.96017593e-01 8.87834052e-02 8.15244240e-03 1.24003564e+02] [-8.87798988e-02 9.96050954e-01 -7.91708038e-04 -8.27948408e+00] [-8.19053857e-03 6.47821233e-05 9.99966455e-01 6.10800738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters 0.022961679063986145 Centerline is valid? [True, True] Translation: X:124.07, Y:-8.29, Z:0.61 [[ 9.96025952e-01 8.86936973e-02 8.10744693e-03 1.24065834e+02] [-8.86902101e-02 9.96058946e-01 -7.89356006e-04 -8.28819146e+00] [-8.14550594e-03 6.71678962e-05 9.99966823e-01 6.06657101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters 0.023225683189879182 Centerline is valid? [True, True] Translation: X:124.13, Y:-8.30, Z:0.61 [[ 9.96398534e-01 8.44340182e-02 7.80110751e-03 1.24127020e+02] [-8.44306565e-02 9.96429068e-01 -7.59845740e-04 -8.29602138e+00] [-7.83740712e-03 9.84565531e-05 9.99969282e-01 6.06681965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters 0.023232378487300392 Centerline is valid? [True, True] Translation: X:124.19, Y:-8.31, Z:0.61 [[ 9.96566308e-01 8.26068010e-02 5.63120863e-03 1.24188890e+02] [-8.26050100e-02 9.96582214e-01 -5.50293278e-04 -8.30900226e+00] [-5.65742033e-03 8.32376948e-05 9.99983993e-01 6.11848708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters 0.023141035700863406 Centerline is valid? [True, True] Translation: X:124.25, Y:-8.32, Z:0.61 [[ 9.96355093e-01 8.50495159e-02 6.56577101e-03 1.24250797e+02] [-8.50471317e-02 9.96376723e-01 -6.41986040e-04 -8.31690918e+00] [-6.59658200e-03 8.12460681e-05 9.99978239e-01 6.11627924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters 0.022865800567727225 Centerline is valid? [True, True] Translation: X:124.31, Y:-8.33, Z:0.61 [[ 9.96000982e-01 8.89354918e-02 8.51594299e-03 1.24311673e+02] [-8.89316148e-02 9.96037385e-01 -8.33618032e-04 -8.32864055e+00] [-8.55633582e-03 7.29478174e-05 9.99963391e-01 6.09526832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters 0.02273959799402337 Centerline is valid? [True, True] Translation: X:124.37, Y:-8.35, Z:0.61 [[ 9.95464710e-01 9.49497598e-02 5.87821381e-03 1.24371947e+02] [-9.49480113e-02 9.95482066e-01 -5.76433342e-04 -8.34727563e+00] [-5.90638863e-03 1.56943389e-05 9.99982557e-01 6.11947341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters 0.022729798051603953 Centerline is valid? [True, True] Translation: X:124.43, Y:-8.36, Z:0.61 [[ 9.95258227e-01 9.70428189e-02 6.61462256e-03 1.24434274e+02] [-9.70406399e-02 9.95280207e-01 -6.50337700e-04 -8.35680312e+00] [-6.64651352e-03 5.36674026e-06 9.99977912e-01 6.13491564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters 0.02301200199878171 Centerline is valid? [True, True] Translation: X:124.50, Y:-8.37, Z:0.62 [[ 9.94301284e-01 1.06142012e-01 9.94128233e-03 1.24495430e+02] [-1.06137522e-01 9.94350978e-01 -9.79694365e-04 -8.36506394e+00] [-9.98911053e-03 -8.10317045e-05 9.99950104e-01 6.15132981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters 0.02339094504649389 Centerline is valid? [True, True] Translation: X:124.56, Y:-8.37, Z:0.61 [[ 9.93591900e-01 1.12720661e-01 8.31803395e-03 1.24557242e+02] [-1.12717742e-01 9.93626709e-01 -8.20448304e-04 -8.36784993e+00] [-8.35750217e-03 -1.22399212e-04 9.99965068e-01 6.11312482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters 0.02380775923032946 Centerline is valid? [True, True] Translation: X:124.62, Y:-8.38, Z:0.61 [[ 9.93223329e-01 1.15880314e-01 8.89788061e-03 1.24618441e+02] [-1.15877089e-01 9.93263172e-01 -8.78784526e-04 -8.38138852e+00] [-8.93977094e-03 -1.58231215e-04 9.99960027e-01 6.13990893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters 0.023865447216004667 Centerline is valid? [True, True] Translation: X:124.68, Y:-8.38, Z:0.62 [[ 9.93117099e-01 1.16664764e-01 1.03807969e-02 1.24681061e+02] [-1.16660405e-01 9.93171333e-01 -1.02652844e-03 -8.38158444e+00] [-1.04296696e-02 -1.91565027e-04 9.99945591e-01 6.15808961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters 0.02356636641088953 Centerline is valid? [True, True] Translation: X:124.74, Y:-8.38, Z:0.61 [[ 9.93436605e-01 1.13709815e-01 1.24012185e-02 1.24743998e+02] [-1.13703345e-01 9.93513987e-01 -1.22786094e-03 -8.38165589e+00] [-1.24604039e-02 -1.90258018e-04 9.99922348e-01 6.10216799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters 0.023418763050725308 Centerline is valid? [True, True] Translation: X:124.81, Y:-8.39, Z:0.61 [[ 9.93562259e-01 1.12883619e-01 9.55647598e-03 1.24805137e+02] [-1.12879678e-01 9.93608208e-01 -9.52544000e-04 -8.39268939e+00] [-9.60291959e-03 -1.32320162e-04 9.99953882e-01 6.11439115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters 0.02340282143863841 Centerline is valid? [True, True] Translation: X:124.87, Y:-8.40, Z:0.61 [[ 9.93481576e-01 1.13793840e-01 6.73203728e-03 1.24867785e+02] [-1.13791905e-01 9.93504380e-01 -6.70951376e-04 -8.39518842e+00] [-6.76465865e-03 -9.94735177e-05 9.99977114e-01 6.14069196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters 0.02347639475761939 Centerline is valid? [True, True] Translation: X:124.93, Y:-8.40, Z:0.62 [[ 9.93339929e-01 1.14954907e-01 7.82015059e-03 1.24929977e+02] [-1.14952325e-01 9.93370703e-01 -7.80362888e-04 -8.39899220e+00] [-7.85801504e-03 -1.23778875e-04 9.99969118e-01 6.15584623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters 0.02399364304125317 Centerline is valid? [True, True] Translation: X:124.99, Y:-8.41, Z:0.61 [[ 9.93060538e-01 1.17148786e-01 1.03406836e-02 1.24991766e+02] [-1.17144378e-01 9.93114358e-01 -1.03304739e-03 -8.40502256e+00] [-1.03905016e-02 -1.85474352e-04 9.99946000e-01 6.14144166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters 0.02414436938389125 Centerline is valid? [True, True] Translation: X:125.05, Y:-8.41, Z:0.61 [[ 9.92637529e-01 1.20863808e-01 7.91681527e-03 1.25053380e+02] [-1.20861333e-01 9.92669084e-01 -7.92094906e-04 -8.41208926e+00] [-7.95451337e-03 -1.70573718e-04 9.99968348e-01 6.10254985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters 0.02464626098668995 Centerline is valid? [True, True] Translation: X:125.12, Y:-8.42, Z:0.61 [[ 9.92124947e-01 1.24876370e-01 9.69442619e-03 1.25115160e+02] [-1.24872839e-01 9.92172279e-01 -9.71098181e-04 -8.41754369e+00] [-9.73980814e-03 -2.47119790e-04 9.99952536e-01 6.13216269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters 0.02492849877772405 Centerline is valid? [True, True] Translation: X:125.18, Y:-8.42, Z:0.62 [[ 9.91715219e-01 1.28206641e-01 7.99880431e-03 1.25177710e+02] [-1.28204336e-01 9.91747450e-01 -8.02403678e-04 -8.41655352e+00] [-8.03566725e-03 -2.29725455e-04 9.99967687e-01 6.16258039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters 0.025473246580198727 Centerline is valid? [True, True] Translation: X:125.24, Y:-8.42, Z:0.61 [[ 9.91268474e-01 1.31575458e-01 8.64359437e-03 1.25240293e+02] [-1.31572885e-01 9.91306119e-01 -8.68159527e-04 -8.41957768e+00] [-8.68267648e-03 -2.76683479e-04 9.99962267e-01 6.13489339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters 0.02562394503927794 Centerline is valid? [True, True] Translation: X:125.30, Y:-8.42, Z:0.61 [[ 9.91107835e-01 1.32576171e-01 1.13497958e-02 1.25302724e+02] [-1.32571785e-01 9.91172749e-01 -1.14124777e-03 -8.41839524e+00] [-1.14009106e-02 -3.73563095e-04 9.99934938e-01 6.12569110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters 0.02522996540664634 Centerline is valid? [True, True] Translation: X:125.37, Y:-8.42, Z:0.62 [[ 9.91355025e-01 1.30744523e-01 1.10038412e-02 1.25365335e+02] [-1.30740271e-01 9.91416035e-01 -1.10791444e-03 -8.41544168e+00] [-1.10542384e-02 -3.40308642e-04 9.99938842e-01 6.15814497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters 0.024344855242518202 Centerline is valid? [True, True] Translation: X:125.43, Y:-8.42, Z:0.61 [[ 9.92207634e-01 1.24045027e-01 1.16979522e-02 1.25426438e+02] [-1.24039752e-01 9.92276550e-01 -1.17821223e-03 -8.41758255e+00] [-1.17537551e-02 -2.81979928e-04 9.99930882e-01 6.14793965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters 0.023767857470265837 Centerline is valid? [True, True] Translation: X:125.49, Y:-8.42, Z:0.61 [[ 9.92800776e-01 1.19065389e-01 1.30403891e-02 1.25488132e+02] [-1.19058377e-01 9.92886384e-01 -1.31545934e-03 -8.42158276e+00] [-1.31042505e-02 -2.46578513e-04 9.99914105e-01 6.14359429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters 0.023384544726436026 Centerline is valid? [True, True] Translation: X:125.55, Y:-8.42, Z:0.62 [[ 9.93193114e-01 1.15759226e-01 1.29321399e-02 1.25550981e+02] [-1.15752028e-01 9.93277283e-01 -1.30629419e-03 -8.41961316e+00] [-1.29964164e-02 -1.99519017e-04 9.99915523e-01 6.15356343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters 0.022805909576806557 Centerline is valid? [True, True] Translation: X:125.61, Y:-8.42, Z:0.62 [[ 9.93605721e-01 1.12603751e-01 8.25028309e-03 1.25613316e+02] [-1.12600700e-01 9.93639968e-01 -8.34761582e-04 -8.42344036e+00] [-8.29180830e-03 -9.95637701e-05 9.99965617e-01 6.16771544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters 0.022728697969546626 Centerline is valid? [True, True] Translation: X:125.68, Y:-8.43, Z:0.62 [[ 9.93747421e-01 1.11176665e-01 1.02864948e-02 1.25675825e+02] [-1.11171822e-01 9.93800653e-01 -1.04312414e-03 -8.42968657e+00] [-1.03386963e-02 -1.06966442e-04 9.99946549e-01 6.17211833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters 0.02261363660126836 Centerline is valid? [True, True] Translation: X:125.74, Y:-8.43, Z:0.62 [[ 9.94176452e-01 1.07054560e-01 1.23492531e-02 1.25739299e+02] [-1.07047233e-01 9.94253145e-01 -1.25471091e-03 -8.43184355e+00] [-1.24126063e-02 -7.45493357e-05 9.99922958e-01 6.17691944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters 0.022519026803416376 Centerline is valid? [True, True] Translation: X:125.80, Y:-8.44, Z:0.62 [[ 9.94851741e-01 1.00956158e-01 8.82429425e-03 1.25800837e+02] [-1.00952166e-01 9.94890875e-01 -8.97741386e-04 -8.43944155e+00] [-8.86984236e-03 2.28795815e-06 9.99960662e-01 6.17927376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters 0.022416814745444078 Centerline is valid? [True, True] Translation: X:125.86, Y:-8.45, Z:0.62 [[ 9.94909774e-01 1.00186487e-01 1.08263238e-02 1.25862310e+02] [-1.00180419e-01 9.94968677e-01 -1.10273496e-03 -8.44681780e+00] [-1.08823322e-02 1.25361384e-05 9.99940786e-01 6.21525206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters 0.022432139376641107 Centerline is valid? [True, True] Translation: X:125.92, Y:-8.45, Z:0.62 [[ 9.94760695e-01 1.01421026e-01 1.28427080e-02 1.25924132e+02] [-1.01412568e-01 9.94843594e-01 -1.30975697e-03 -8.45269166e+00] [-1.29093227e-02 4.82756794e-07 9.99916671e-01 6.23244400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters 0.022491625926078545 Centerline is valid? [True, True] Translation: X:125.99, Y:-8.47, Z:0.62 [[ 9.94580160e-01 1.03476966e-01 1.01401385e-02 1.25985440e+02] [-1.03471785e-01 9.94631850e-01 -1.03568552e-03 -8.46811296e+00] [-1.01928743e-02 -1.91459607e-05 9.99948051e-01 6.20874287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters 0.02249049759858481 Centerline is valid? [True, True] Translation: X:126.05, Y:-8.48, Z:0.62 [[ 9.94309671e-01 1.05953017e-01 1.10560994e-02 1.26046670e+02] [-1.05946994e-01 9.94371136e-01 -1.13069635e-03 -8.47623671e+00] [-1.11136668e-02 -4.70981840e-05 9.99938240e-01 6.21489045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters 0.02232590744617965 Centerline is valid? [True, True] Translation: X:126.11, Y:-8.48, Z:0.62 [[ 9.94418543e-01 1.04842824e-01 1.18212941e-02 1.26109153e+02] [-1.04835827e-01 9.94488804e-01 -1.21175597e-03 -8.48494332e+00] [-1.18831886e-02 -3.43025369e-05 9.99929392e-01 6.24870125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters 0.022475377119546426 Centerline is valid? [True, True] Translation: X:126.17, Y:-8.50, Z:0.63 [[ 9.94582946e-01 1.03290464e-01 1.16552121e-02 1.26170844e+02] [-1.03283527e-01 9.94651235e-01 -1.19718572e-03 -8.49874212e+00] [-1.17165289e-02 -1.30909085e-05 9.99931359e-01 6.25370548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters 0.022228713376678616 Centerline is valid? [True, True] Translation: X:126.23, Y:-8.51, Z:0.63 [[ 9.94510178e-01 1.04172722e-01 9.87671010e-03 1.26232586e+02] [-1.04167772e-01 9.94559221e-01 -1.01565634e-03 -8.50988475e+00] [-9.92877679e-03 -1.87543199e-05 9.99950708e-01 6.26037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters 0.022188717626993332 Centerline is valid? [True, True] Translation: X:126.29, Y:-8.52, Z:0.63 [[ 9.94431911e-01 1.05000942e-01 8.94293041e-03 1.26293673e+02] [-1.04996905e-01 9.94472122e-01 -9.20946343e-04 -8.52012687e+00] [-8.99019522e-03 -2.31615847e-05 9.99959587e-01 6.26227363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters 0.022372045967825417 Centerline is valid? [True, True] Translation: X:126.36, Y:-8.53, Z:0.63 [[ 9.94135581e-01 1.07723449e-01 9.49235530e-03 1.26355040e+02] [-1.07719013e-01 9.94180897e-01 -9.78802473e-04 -8.53421180e+00] [-9.54255829e-03 -4.94447805e-05 9.99954468e-01 6.28804090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters 0.022529524291752017 Centerline is valid? [True, True] Translation: X:126.42, Y:-8.54, Z:0.63 [[ 9.93788157e-01 1.10850072e-01 9.86710859e-03 1.26416380e+02] [-1.10845420e-01 9.93837137e-01 -1.01880274e-03 -8.54166751e+00] [-9.91923331e-03 -8.12496978e-05 9.99950800e-01 6.28096857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters 0.02250582035050213 Centerline is valid? [True, True] Translation: X:126.48, Y:-8.55, Z:0.63 [[ 9.93522306e-01 1.13306589e-01 8.66284499e-03 1.26478620e+02] [-1.13303077e-01 9.93560068e-01 -8.96681276e-04 -8.55184509e+00] [-8.70865676e-03 -9.06541435e-05 9.99962075e-01 6.29005377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters 0.022571521316239823 Centerline is valid? [True, True] Translation: X:126.54, Y:-8.56, Z:0.63 [[ 9.93225457e-01 1.15927756e-01 7.99664347e-03 1.26540375e+02] [-1.15924842e-01 9.93257643e-01 -8.28541041e-04 -8.56284910e+00] [-8.03877814e-03 -1.04081578e-04 9.99967683e-01 6.30832919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters 0.022986335241268262 Centerline is valid? [True, True] Translation: X:126.60, Y:-8.57, Z:0.63 [[ 9.92899620e-01 1.18154947e-01 1.37751253e-02 1.26602286e+02] [-1.18146494e-01 9.92995148e-01 -1.42864979e-03 -8.57140528e+00] [-1.38474346e-02 -2.08976927e-04 9.99904098e-01 6.30009198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters 0.02291261534691827 Centerline is valid? [True, True] Translation: X:126.67, Y:-8.58, Z:0.63 [[ 9.92995945e-01 1.17292779e-01 1.41936009e-02 1.26665235e+02] [-1.17283578e-01 9.93097360e-01 -1.48174618e-03 -8.57740028e+00] [-1.42694257e-02 -1.93308354e-04 9.99898168e-01 6.29028733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters 0.022672987468191755 Centerline is valid? [True, True] Translation: X:126.73, Y:-8.59, Z:0.63 [[ 9.93338471e-01 1.14612905e-01 1.19400005e-02 1.26726723e+02] [-1.14606133e-01 9.93410221e-01 -1.25212829e-03 -8.58555778e+00] [-1.20048286e-02 -1.24610092e-04 9.99927932e-01 6.28667341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters 0.022549753869092307 Centerline is valid? [True, True] Translation: X:126.79, Y:-8.59, Z:0.63 [[ 9.93321336e-01 1.14914137e-01 1.03664690e-02 1.26788556e+02] [-1.14908993e-01 9.93375422e-01 -1.09238516e-03 -8.59236038e+00] [-1.04233260e-02 -1.06111027e-04 9.99945670e-01 6.29558699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters 0.022633483381124114 Centerline is valid? [True, True] Translation: X:126.85, Y:-8.60, Z:0.63 [[ 9.93325764e-01 1.14657472e-01 1.25535290e-02 1.26850764e+02] [-1.14649915e-01 9.93405078e-01 -1.32236589e-03 -8.59821615e+00] [-1.26223586e-02 -1.25720929e-04 9.99920327e-01 6.28481681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters 0.02284785142989571 Centerline is valid? [True, True] Translation: X:126.91, Y:-8.61, Z:0.63 [[ 9.93056874e-01 1.16648303e-01 1.52058798e-02 1.26912056e+02] [-1.16637315e-01 9.93173269e-01 -1.61050034e-03 -8.60789692e+00] [-1.52899354e-02 -1.74254546e-04 9.99883087e-01 6.28042230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters 0.022768222121521374 Centerline is valid? [True, True] Translation: X:126.97, Y:-8.61, Z:0.63 [[ 9.93040956e-01 1.17122796e-01 1.23252284e-02 1.26974395e+02] [-1.17115536e-01 9.93117430e-01 -1.31165499e-03 -8.61340824e+00] [-1.23940239e-02 -1.40948618e-04 9.99923181e-01 6.25578400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters 0.02256959302638525 Centerline is valid? [True, True] Translation: X:127.04, Y:-8.62, Z:0.63 [[ 9.93041712e-01 1.17383385e-01 9.44981044e-03 1.27036251e+02] [-1.17379081e-01 9.93086668e-01 -1.01074546e-03 -8.61853683e+00] [-9.50312548e-03 -1.05497663e-04 9.99954839e-01 6.27257342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters 0.0228137158869825 Centerline is valid? [True, True] Translation: X:127.10, Y:-8.63, Z:0.63 [[ 9.92832362e-01 1.18917850e-01 1.19350362e-02 1.27098283e+02] [-1.18911103e-01 9.92904085e-01 -1.27587085e-03 -8.62688647e+00] [-1.20020700e-02 -1.52482446e-04 9.99927961e-01 6.29295777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters 0.023012848535499678 Centerline is valid? [True, True] Translation: X:127.16, Y:-8.63, Z:0.63 [[ 9.92607589e-01 1.20737817e-01 1.23512303e-02 1.27160396e+02] [-1.20730639e-01 9.92684416e-01 -1.32788469e-03 -8.63456490e+00] [-1.24211997e-02 -1.73103506e-04 9.99922839e-01 6.27150497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters 0.023254830864482344 Centerline is valid? [True, True] Translation: X:127.22, Y:-8.64, Z:0.63 [[ 9.92170433e-01 1.24363645e-01 1.14680595e-02 1.27222550e+02] [-1.24357698e-01 9.92236687e-01 -1.23297789e-03 -8.64117910e+00] [-1.15323670e-02 -2.02817275e-04 9.99933479e-01 6.28333030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters 0.023982305695795778 Centerline is valid? [True, True] Translation: X:127.28, Y:-8.64, Z:0.63 [[ 9.91206903e-01 1.31617478e-01 1.36277355e-02 1.27284877e+02] [-1.31609742e-01 9.91300522e-01 -1.46685966e-03 -8.64251220e+00] [-1.37022456e-02 -3.39581318e-04 9.99906062e-01 6.33430495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters 0.024297374756013138 Centerline is valid? [True, True] Translation: X:127.35, Y:-8.64, Z:0.63 [[ 9.90965494e-01 1.33392387e-01 1.39233752e-02 1.27347546e+02] [-1.33384461e-01 9.91063234e-01 -1.50048613e-03 -8.64375145e+00] [-1.39990987e-02 -3.70231925e-04 9.99901939e-01 6.33093892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters 0.024257381190202536 Centerline is valid? [True, True] Translation: X:127.41, Y:-8.65, Z:0.63 [[ 9.91088951e-01 1.32389408e-01 1.46879569e-02 1.27409236e+02] [-1.32380450e-01 9.91197712e-01 -1.58479023e-03 -8.64746421e+00] [-1.47684787e-02 -3.73730257e-04 9.99890870e-01 6.31049374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters 0.023751130027691594 Centerline is valid? [True, True] Translation: X:127.47, Y:-8.65, Z:0.64 [[ 9.91750622e-01 1.27255375e-01 1.53874345e-02 1.27471731e+02] [-1.27244791e-01 9.91869940e-01 -1.66896085e-03 -8.64881431e+00] [-1.54747180e-02 -3.02777918e-04 9.99880214e-01 6.35760939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters 0.023120350028222072 Centerline is valid? [True, True] Translation: X:127.53, Y:-8.65, Z:0.64 [[ 9.92325520e-01 1.22539472e-01 1.65571534e-02 1.27534555e+02] [-1.22526435e-01 9.92463612e-01 -1.80337662e-03 -8.64686028e+00] [-1.66533570e-02 -2.39152324e-04 9.99861295e-01 6.38446344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters 0.022902533269870164 Centerline is valid? [True, True] Translation: X:127.60, Y:-8.65, Z:0.64 [[ 9.92808667e-01 1.18440907e-01 1.73983303e-02 1.27597232e+02] [-1.18425740e-01 9.92961088e-01 -1.90310917e-03 -8.64746983e+00] [-1.75012710e-02 -1.70986859e-04 9.99846826e-01 6.37750322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters 0.02280868413775759 Centerline is valid? [True, True] Translation: X:127.66, Y:-8.66, Z:0.64 [[ 9.93219942e-01 1.15234922e-01 1.53316427e-02 1.27659410e+02] [-1.15222741e-01 9.93338262e-01 -1.67843713e-03 -8.65500942e+00] [-1.54229218e-02 -9.94966599e-05 9.99881055e-01 6.37324813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters 0.02275484132615424 Centerline is valid? [True, True] Translation: X:127.72, Y:-8.67, Z:0.64 [[ 9.93633431e-01 1.11344864e-01 1.71734079e-02 1.27721277e+02] [-1.11328804e-01 9.93781827e-01 -1.89136803e-03 -8.66605833e+00] [-1.72772148e-02 -3.25684570e-05 9.99850737e-01 6.36982239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters 0.022669700773757465 Centerline is valid? [True, True] Translation: X:127.78, Y:-8.67, Z:0.64 [[ 9.93664104e-01 1.11569555e-01 1.35603603e-02 1.27782585e+02] [-1.11559470e-01 9.93756627e-01 -1.50021532e-03 -8.67378762e+00] [-1.36430763e-02 -2.20765041e-05 9.99906929e-01 6.39808741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters 0.022642502335100047 Centerline is valid? [True, True] Translation: X:127.84, Y:-8.68, Z:0.64 [[ 9.93555492e-01 1.12675401e-01 1.23182500e-02 1.27844380e+02] [-1.12667162e-01 9.93631850e-01 -1.36301079e-03 -8.68229586e+00] [-1.23933833e-02 -3.36354084e-05 9.99923199e-01 6.39102937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters 0.023048458702747337 Centerline is valid? [True, True] Translation: X:127.90, Y:-8.70, Z:0.64 [[ 9.93286333e-01 1.14755713e-01 1.46078091e-02 1.27904767e+02] [-1.14744322e-01 9.93393740e-01 -1.61826151e-03 -8.69807172e+00] [-1.46970109e-02 -6.87661238e-05 9.99891991e-01 6.36339470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters 0.02299453416759248 Centerline is valid? [True, True] Translation: X:127.97, Y:-8.71, Z:0.64 [[ 9.92942962e-01 1.17817522e-01 1.35390690e-02 1.27966428e+02] [-1.17807891e-01 9.93035257e-01 -1.50947293e-03 -8.70913667e+00] [-1.36226152e-02 -9.61886492e-05 9.99907203e-01 6.37113023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters 0.023351809864053878 Centerline is valid? [True, True] Translation: X:128.03, Y:-8.72, Z:0.64 [[ 9.92364938e-01 1.22512946e-01 1.42270396e-02 1.28027748e+02] [-1.22502798e-01 9.92466901e-01 -1.58590660e-03 -8.71633846e+00] [-1.43141600e-02 -1.69054057e-04 9.99897533e-01 6.37081260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters 0.02422615345326158 Centerline is valid? [True, True] Translation: X:128.09, Y:-8.72, Z:0.64 [[ 9.91247304e-01 1.31342445e-01 1.33395521e-02 1.28089946e+02] [-1.31334297e-01 9.91337019e-01 -1.48879277e-03 -8.72143782e+00] [-1.34195335e-02 -2.76178878e-04 9.99909916e-01 6.35396037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters 0.02459195675587352 Centerline is valid? [True, True] Translation: X:128.15, Y:-8.73, Z:0.64 [[ 9.90755450e-01 1.34972545e-01 1.36400161e-02 1.28150922e+02] [-1.34964345e-01 9.90849283e-01 -1.52411577e-03 -8.73379512e+00] [-1.37209140e-02 -3.30889838e-04 9.99905809e-01 6.35393027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters 0.02512980252477041 Centerline is valid? [True, True] Translation: X:128.21, Y:-8.74, Z:0.64 [[ 9.90289498e-01 1.38071381e-01 1.62173866e-02 1.28213050e+02] [-1.38060172e-01 9.90422182e-01 -1.81410962e-03 -8.73931268e+00] [-1.63125361e-02 -4.42481487e-04 9.99866844e-01 6.35605643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters 0.02535212187812451 Centerline is valid? [True, True] Translation: X:128.28, Y:-8.74, Z:0.64 [[ 9.89859042e-01 1.41284315e-01 1.47586992e-02 1.28275275e+02] [-1.41275264e-01 9.89968962e-01 -1.65928870e-03 -8.73923819e+00] [-1.48450856e-02 -4.42577220e-04 9.99889708e-01 6.35633297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters 0.02629134396413881 Centerline is valid? [True, True] Translation: X:128.34, Y:-8.75, Z:0.64 [[ 9.89047300e-01 1.47046614e-01 1.27566301e-02 1.28336632e+02] [-1.47040261e-01 9.89129460e-01 -1.43966294e-03 -8.74553066e+00] [-1.28296562e-02 -4.51843473e-04 9.99917594e-01 6.37050424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters 0.02686770803680633 Centerline is valid? [True, True] Translation: X:128.40, Y:-8.74, Z:0.64 [[ 9.88335433e-01 1.51556260e-01 1.49589984e-02 1.28398538e+02] [-1.51548057e-01 9.88448451e-01 -1.68703226e-03 -8.74450768e+00] [-1.50418791e-02 -5.99653382e-04 9.99886685e-01 6.38676967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters 0.027751685847557286 Centerline is valid? [True, True] Translation: X:128.46, Y:-8.74, Z:0.64 [[ 9.87747785e-01 1.55517525e-01 1.29851061e-02 1.28461094e+02] [-1.55511659e-01 9.87832968e-01 -1.46643934e-03 -8.74252951e+00] [-1.30551729e-02 -5.70863173e-04 9.99914615e-01 6.39783762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters 0.02768701172508507 Centerline is valid? [True, True] Translation: X:128.53, Y:-8.73, Z:0.64 [[ 9.87611151e-01 1.56201494e-01 1.50102392e-02 1.28525044e+02] [-1.56193707e-01 9.87724985e-01 -1.69694445e-03 -8.72982303e+00] [-1.50910535e-02 -6.68583638e-04 9.99885900e-01 6.40040129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters 0.026685337561998933 Centerline is valid? [True, True] Translation: X:128.59, Y:-8.73, Z:0.64 [[ 9.88263476e-01 1.51976446e-01 1.54422381e-02 1.28586400e+02] [-1.51967679e-01 9.88383921e-01 -1.74644242e-03 -8.73189142e+00] [-1.55282780e-02 -6.20775829e-04 9.99879236e-01 6.41861760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters 0.024888226046168832 Centerline is valid? [True, True] Translation: X:128.65, Y:-8.73, Z:0.64 [[ 9.89658431e-01 1.42908163e-01 1.23873594e-02 1.28648766e+02] [-1.42901807e-01 9.89735879e-01 -1.40125894e-03 -8.72515664e+00] [-1.24604654e-02 -3.83408322e-04 9.99922292e-01 6.42799331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters 0.02447057891902138 Centerline is valid? [True, True] Translation: X:128.71, Y:-8.72, Z:0.64 [[ 9.90111150e-01 1.39605624e-01 1.37906072e-02 1.28712109e+02] [-1.39597386e-01 9.90207113e-01 -1.56295149e-03 -8.72292560e+00] [-1.38737542e-02 -3.77637016e-04 9.99903684e-01 6.44602986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters 0.024070623213157075 Centerline is valid? [True, True] Translation: X:128.77, Y:-8.73, Z:0.65 [[ 9.90359266e-01 1.37966431e-01 1.24011713e-02 1.28773889e+02] [-1.37959620e-01 9.90436855e-01 -1.40706048e-03 -8.72640851e+00] [-1.24767042e-02 -3.17365499e-04 9.99922113e-01 6.45681027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters 0.022916979123676674 Centerline is valid? [True, True] Translation: X:128.84, Y:-8.73, Z:0.64 [[ 9.91437854e-01 1.30441532e-01 5.99907116e-03 1.28835830e+02] [-1.30439796e-01 9.91455998e-01 -6.81462868e-04 -8.72870749e+00] [-6.03670614e-03 -1.06889534e-04 9.99981773e-01 6.44374891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters 0.022737207347988987 Centerline is valid? [True, True] Translation: X:128.90, Y:-8.74, Z:0.64 [[ 9.92159199e-01 1.24646158e-01 9.13559715e-03 1.28897138e+02] [-1.24641875e-01 9.92201252e-01 -1.03894951e-03 -8.73693533e+00] [-9.19385199e-03 -1.07874639e-04 9.99957730e-01 6.43768402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters 0.022119192205334332 Centerline is valid? [True, True] Translation: X:128.96, Y:-8.74, Z:0.65 [[ 9.92879327e-01 1.18737854e-01 9.58975895e-03 1.28959882e+02] [-1.18732846e-01 9.92925636e-01 -1.09189346e-03 -8.73547741e+00] [-9.65156659e-03 -5.45009313e-05 9.99953421e-01 6.47683228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters 0.02226281166538639 Centerline is valid? [True, True] Translation: X:129.02, Y:-8.75, Z:0.65 [[ 9.92801359e-01 1.19576119e-01 6.85666902e-03 1.29020653e+02] [-1.19573571e-01 9.92825035e-01 -7.81827882e-04 -8.74744491e+00] [-6.90096060e-03 -4.36766170e-05 9.99976187e-01 6.47008027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters 0.02257795849923322 Centerline is valid? [True, True] Translation: X:129.08, Y:-8.75, Z:0.65 [[ 9.92136558e-01 1.24812335e-01 9.32368009e-03 1.29082227e+02] [-1.24807845e-01 9.92180361e-01 -1.06416411e-03 -8.75350228e+00] [-9.38359308e-03 -1.07872306e-04 9.99955967e-01 6.45246422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters 0.02268715966033865 Centerline is valid? [True, True] Translation: X:129.14, Y:-8.76, Z:0.64 [[ 9.92063663e-01 1.25320580e-01 1.02196596e-02 1.29144026e+02] [-1.25315199e-01 9.92116292e-01 -1.16776986e-03 -8.75981118e+00] [-1.02854364e-02 -1.22176631e-04 9.99947096e-01 6.43442716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters 0.022753611036139695 Centerline is valid? [True, True] Translation: X:129.21, Y:-8.76, Z:0.65 [[ 9.92066770e-01 1.25219692e-01 1.11154090e-02 1.29206380e+02] [-1.25213303e-01 9.92129030e-01 -1.27159473e-03 -8.76385728e+00] [-1.11871486e-02 -1.30290199e-04 9.99937413e-01 6.46255245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters 0.022655274340060164 Centerline is valid? [True, True] Translation: X:129.27, Y:-8.78, Z:0.64 [[ 9.92264020e-01 1.23719263e-01 1.02789936e-02 1.29267949e+02] [-1.23713704e-01 9.92317254e-01 -1.17736749e-03 -8.77658896e+00] [-1.03456857e-02 -1.03392961e-04 9.99946477e-01 6.43880540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters 0.022578236782455026 Centerline is valid? [True, True] Translation: X:129.33, Y:-8.79, Z:0.65 [[ 9.92185523e-01 1.24472679e-01 8.62782754e-03 1.29328675e+02] [-1.24468780e-01 9.92223031e-01 -9.89550345e-04 -8.79063790e+00] [-8.68390118e-03 -9.20776389e-05 9.99962290e-01 6.46460774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters 0.022518392877839633 Centerline is valid? [True, True] Translation: X:129.39, Y:-8.79, Z:0.65 [[ 9.92020678e-01 1.25758125e-01 8.93694463e-03 1.29391111e+02] [-1.25753982e-01 9.92060927e-01 -1.02621493e-03 -8.79332215e+00] [-8.99504843e-03 -1.05829948e-04 9.99959538e-01 6.46516134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters 0.022777091501286307 Centerline is valid? [True, True] Translation: X:129.45, Y:-8.80, Z:0.65 [[ 9.91424966e-01 1.30294616e-01 9.99252051e-03 1.29453220e+02] [-1.30289655e-01 9.91475308e-01 -1.14872134e-03 -8.80097075e+00] [-1.00570096e-02 -1.63051030e-04 9.99949414e-01 6.49080131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters 0.023236029898536834 Centerline is valid? [True, True] Translation: X:129.52, Y:-8.81, Z:0.65 [[ 9.90797580e-01 1.35197978e-01 6.45463992e-03 1.29515123e+02] [-1.35196005e-01 9.90818595e-01 -7.43137985e-04 -8.80833351e+00] [-6.49584800e-03 -1.36342211e-04 9.99978892e-01 6.48578497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters 0.023630969024476103 Centerline is valid? [True, True] Translation: X:129.58, Y:-8.81, Z:0.65 [[ 9.90532191e-01 1.37037821e-01 8.16176534e-03 1.29577632e+02] [-1.37034720e-01 9.90565798e-01 -9.40620731e-04 -8.80848383e+00] [-8.21366622e-03 -1.86730118e-04 9.99966250e-01 6.47068068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters 0.02369591301870289 Centerline is valid? [True, True] Translation: X:129.64, Y:-8.81, Z:0.65 [[ 9.90235765e-01 1.38787558e-01 1.30822048e-02 1.29639444e+02] [-1.38779725e-01 9.90322125e-01 -1.50904058e-03 -8.81372074e+00] [-1.31650329e-02 -3.21238832e-04 9.99913286e-01 6.49342187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters 0.02351093170145117 Centerline is valid? [True, True] Translation: X:129.70, Y:-8.82, Z:0.65 [[ 9.90314986e-01 1.38570106e-01 8.63452601e-03 1.29701185e+02] [-1.38566673e-01 9.90352605e-01 -9.97399475e-04 -8.82010971e+00] [-8.68943507e-03 -2.08717898e-04 9.99962224e-01 6.49121763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters 0.02337372347820312 Centerline is valid? [True, True] Translation: X:129.76, Y:-8.82, Z:0.65 [[ 9.90532742e-01 1.37063572e-01 7.64619959e-03 1.29763367e+02] [-1.37060827e-01 9.90562238e-01 -8.84361358e-04 -8.82177784e+00] [-7.69525030e-03 -1.72005560e-04 9.99970376e-01 6.48479594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters 0.023768394667680572 Centerline is valid? [True, True] Translation: X:129.83, Y:-8.82, Z:0.65 [[ 9.90253511e-01 1.38698462e-01 1.26775246e-02 1.29825044e+02] [-1.38691049e-01 9.90334612e-01 -1.46635821e-03 -8.82282192e+00] [-1.27583730e-02 -3.06192814e-04 9.99918562e-01 6.51054205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters 0.023306315245584474 Centerline is valid? [True, True] Translation: X:129.89, Y:-8.83, Z:0.65 [[ 9.90783873e-01 1.35174663e-01 8.66762321e-03 1.29887206e+02] [-1.35171049e-01 9.90821770e-01 -1.00418267e-03 -8.82773755e+00] [-8.72380982e-03 -1.76683724e-04 9.99961931e-01 6.48418152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters 0.022710136526209835 Centerline is valid? [True, True] Translation: X:129.95, Y:-8.83, Z:0.65 [[ 9.91969309e-01 1.25950442e-01 1.15488487e-02 1.29948929e+02] [-1.25943397e-01 9.92036527e-01 -1.33821924e-03 -8.82983820e+00] [-1.16254290e-02 -1.27028819e-04 9.99932414e-01 6.49966737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters 0.02242206637109186 Centerline is valid? [True, True] Translation: X:130.01, Y:-8.83, Z:0.65 [[ 9.92691760e-01 1.20103570e-01 1.17559080e-02 1.30010655e+02] [-1.20095836e-01 9.92761366e-01 -1.36417240e-03 -8.83346599e+00] [-1.18346532e-02 -5.76328931e-05 9.99929966e-01 6.52126917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters 0.022302231681917632 Centerline is valid? [True, True] Translation: X:130.07, Y:-8.84, Z:0.65 [[ 9.92856473e-01 1.19068057e-01 7.66958576e-03 1.30072651e+02] [-1.19064725e-01 9.92886095e-01 -8.91253688e-04 -8.83724468e+00] [-7.72114490e-03 -2.82901239e-05 9.99970191e-01 6.50227986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters 0.022536733299552456 Centerline is valid? [True, True] Translation: X:130.13, Y:-8.85, Z:0.65 [[ 9.92619514e-01 1.20942871e-01 8.90629007e-03 1.30133144e+02] [-1.20938451e-01 9.92659468e-01 -1.03512555e-03 -8.84885675e+00] [-8.96610422e-03 -4.96271065e-05 9.99959802e-01 6.49972424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters 0.022634013236768207 Centerline is valid? [True, True] Translation: X:130.19, Y:-8.86, Z:0.65 [[ 9.92582812e-01 1.20800452e-01 1.36606295e-02 1.30194319e+02] [-1.20790030e-01 9.92676808e-01 -1.58844110e-03 -8.85583769e+00] [-1.37524745e-02 -7.34085119e-05 9.99905428e-01 6.51314091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters 0.022395806387312957 Centerline is valid? [True, True] Translation: X:130.26, Y:-8.86, Z:0.65 [[ 9.93044956e-01 1.17264428e-01 1.05247216e-02 1.30256071e+02] [-1.17258024e-01 9.93100727e-01 -1.22566366e-03 -8.86375664e+00] [-1.05958354e-02 -1.69689437e-05 9.99943862e-01 6.50165495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters 0.0227062996219899 Centerline is valid? [True, True] Translation: X:130.32, Y:-8.87, Z:0.65 [[ 9.93092470e-01 1.16793924e-01 1.12483550e-02 1.30317694e+02] [-1.16786561e-01 9.93156171e-01 -1.31142458e-03 -8.87456125e+00] [-1.13245396e-02 -1.12908294e-05 9.99935875e-01 6.48548099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters 0.02273532902309742 Centerline is valid? [True, True] Translation: X:130.38, Y:-8.88, Z:0.65 [[ 9.92818813e-01 1.18771444e-01 1.42880885e-02 1.30379415e+02] [-1.18759744e-01 9.92921619e-01 -1.66756705e-03 -8.87865726e+00] [-1.43850114e-02 -4.12577964e-05 9.99896530e-01 6.52158444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters 0.0227757520031487 Centerline is valid? [True, True] Translation: X:130.44, Y:-8.89, Z:0.65 [[ 9.92654488e-01 1.20379389e-01 1.20776586e-02 1.30440751e+02] [-1.20371127e-01 9.92727959e-01 -1.41134678e-03 -8.88829261e+00] [-1.21597265e-02 -5.28216674e-05 9.99926066e-01 6.48746002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters 0.02284557947207573 Centerline is valid? [True, True] Translation: X:130.50, Y:-8.89, Z:0.65 [[ 9.92959138e-01 1.17530551e-01 1.47891492e-02 1.30502351e+02] [-1.17517818e-01 9.93069267e-01 -1.73007888e-03 -8.89455564e+00] [-1.48899867e-02 -2.00909196e-05 9.99889138e-01 6.48839981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters 0.022821311466585028 Centerline is valid? [True, True] Translation: X:130.56, Y:-8.90, Z:0.65 [[ 9.93836875e-01 1.10087888e-01 1.29969958e-02 1.30564092e+02] [-1.10077394e-01 9.93921853e-01 -1.52224777e-03 -8.89958128e+00] [-1.30855792e-02 8.21905431e-05 9.99914377e-01 6.50566213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters 0.023121403232473567 Centerline is valid? [True, True] Translation: X:130.63, Y:-8.90, Z:0.65 [[ 9.93930044e-01 1.08647180e-01 1.72875115e-02 1.30625930e+02] [-1.08628358e-01 9.94080365e-01 -2.02687579e-03 -8.90478859e+00] [-1.74053901e-02 1.36658764e-04 9.99848505e-01 6.50817571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters 0.023309554812403578 Centerline is valid? [True, True] Translation: X:130.69, Y:-8.91, Z:0.65 [[ 9.94144854e-01 1.06497074e-01 1.82861220e-02 1.30687278e+02] [-1.06475606e-01 9.94312998e-01 -2.14637453e-03 -8.91405141e+00] [-1.84107114e-02 1.86781267e-04 9.99830491e-01 6.50849328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters 0.023245909304229817 Centerline is valid? [True, True] Translation: X:130.75, Y:-8.92, Z:0.65 [[ 9.94310002e-01 1.05379215e-01 1.55833417e-02 1.30748790e+02] [-1.05363454e-01 9.94432094e-01 -1.83127078e-03 -8.92013035e+00] [-1.56895530e-02 1.78936153e-04 9.99876895e-01 6.50778579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters 0.023359082908999705 Centerline is valid? [True, True] Translation: X:130.81, Y:-8.92, Z:0.65 [[ 9.94506326e-01 1.03937945e-01 1.24125489e-02 1.30811026e+02] [-1.03927811e-01 9.94583771e-01 -1.46042532e-03 -8.92357678e+00] [-1.24971133e-02 1.62393181e-04 9.99921895e-01 6.50620178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters 0.02365443944066234 Centerline is valid? [True, True] Translation: X:130.87, Y:-8.93, Z:0.65 [[ 9.94725973e-01 1.01701948e-01 1.33023521e-02 1.30872748e+02] [-1.01690086e-01 9.94814893e-01 -1.56683995e-03 -8.93034806e+00] [-1.33927287e-02 2.05859053e-04 9.99910292e-01 6.51845672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters 0.023888428182546245 Centerline is valid? [True, True] Translation: X:130.93, Y:-8.94, Z:0.65 [[ 9.95023042e-01 9.84259844e-02 1.55393626e-02 1.30934631e+02] [-9.84093681e-02 9.95144331e-01 -1.83222567e-03 -8.93555984e+00] [-1.56442472e-02 2.93887906e-04 9.99877578e-01 6.53213794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters 0.02443277860509892 Centerline is valid? [True, True] Translation: X:131.00, Y:-8.95, Z:0.65 [[ 9.95429564e-01 9.49079403e-02 1.06050048e-02 1.30996504e+02] [-9.48999795e-02 9.95486025e-01 -1.25251915e-03 -8.94603435e+00] [-1.06760081e-02 2.40379850e-04 9.99942981e-01 6.51850236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters 0.024698163106862094 Centerline is valid? [True, True] Translation: X:131.06, Y:-8.95, Z:0.65 [[ 9.95593217e-01 9.34355310e-02 7.99668423e-03 1.31059339e+02] [-9.34309486e-02 9.95625313e-01 -9.45527991e-04 -8.94813725e+00] [-8.05004715e-03 1.94223461e-04 9.99967579e-01 6.50530567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters 0.024496672833686423 Centerline is valid? [True, True] Translation: X:131.12, Y:-8.96, Z:0.65 [[ 9.95480946e-01 9.41887184e-02 1.20901113e-02 1.31120394e+02] [-9.41782839e-02 9.95554320e-01 -1.43078000e-03 -8.96347520e+00] [-1.21711258e-02 2.85688301e-04 9.99925888e-01 6.54261330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters 0.024695680673456177 Centerline is valid? [True, True] Translation: X:131.18, Y:-8.98, Z:0.66 [[ 9.95531079e-01 9.37306736e-02 1.15078609e-02 1.31181106e+02] [-9.37211720e-02 9.95597551e-01 -1.36337250e-03 -8.97595056e+00] [-1.15849880e-02 2.78749482e-04 9.99932853e-01 6.57104913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters 0.025131185120670037 Centerline is valid? [True, True] Translation: X:131.24, Y:-8.99, Z:0.65 [[ 9.95851122e-01 9.06431348e-02 8.02281075e-03 1.31242439e+02] [-9.06384068e-02 9.95883414e-01 -9.51715319e-04 -8.98879872e+00] [-8.07605061e-03 2.20591985e-04 9.99967364e-01 6.49299907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters 0.02388797081198624 Centerline is valid? [True, True] Translation: X:131.30, Y:-9.00, Z:0.66 [[ 9.95071447e-01 9.84039546e-02 1.22260738e-02 1.31302650e+02] [-9.83935578e-02 9.95146524e-01 -1.45046261e-03 -8.99979820e+00] [-1.23094661e-02 2.40347034e-04 9.99924207e-01 6.57262102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters 0.02312171808364425 Centerline is valid? [True, True] Translation: X:131.36, Y:-9.01, Z:0.66 [[ 9.94365623e-01 1.05406768e-01 1.12436939e-02 1.31364372e+02] [-1.05398401e-01 9.94429179e-01 -1.33575532e-03 -9.00503445e+00] [-1.13218550e-02 1.43161810e-04 9.99935895e-01 6.57909315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters 0.022718688355847335 Centerline is valid? [True, True] Translation: X:131.42, Y:-9.02, Z:0.66 [[ 9.93583525e-01 1.12485148e-01 1.17843437e-02 1.31424903e+02] [-1.12476436e-01 9.93653404e-01 -1.40154464e-03 -9.02303021e+00] [-1.18672062e-02 6.70906816e-05 9.99929580e-01 6.55449949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters 0.02250671275555316 Centerline is valid? [True, True] Translation: X:131.49, Y:-9.03, Z:0.66 [[ 9.93317200e-01 1.14957787e-01 1.02784455e-02 1.31486677e+02] [-1.14951277e-01 9.93370377e-01 -1.22393143e-03 -9.02728109e+00] [-1.03510037e-02 3.42317070e-05 9.99946426e-01 6.58382312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters 0.02252408984889418 Centerline is valid? [True, True] Translation: X:131.55, Y:-9.03, Z:0.66 [[ 9.92735511e-01 1.20101137e-01 7.20566008e-03 1.31549618e+02] [-1.20098064e-01 9.92761662e-01 -8.59230237e-04 -9.02602110e+00] [-7.25669760e-03 -1.23974592e-05 9.99973670e-01 6.56919196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters 0.02256427952224066 Centerline is valid? [True, True] Translation: X:131.61, Y:-9.03, Z:0.66 [[ 9.92243106e-01 1.23921836e-01 9.84875928e-03 1.31610382e+02] [-1.23916283e-01 9.92291981e-01 -1.17447569e-03 -9.03460168e+00] [-9.91838804e-03 -5.50562381e-05 9.99950810e-01 6.56793951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters 0.02294716269507297 Centerline is valid? [True, True] Translation: X:131.67, Y:-9.04, Z:0.66 [[ 9.91836857e-01 1.26911722e-01 1.23718846e-02 1.31672010e+02] [-1.26903167e-01 9.91914010e-01 -1.47730578e-03 -9.04085293e+00] [-1.24593331e-02 -1.04785005e-04 9.99922374e-01 6.56881301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters 0.02274039545771826 Centerline is valid? [True, True] Translation: X:131.73, Y:-9.05, Z:0.66 [[ 9.92059759e-01 1.25374845e-01 9.92886562e-03 1.31733925e+02] [-1.25369243e-01 9.92109441e-01 -1.18709365e-03 -9.04665696e+00] [-9.99935301e-03 -6.71065200e-05 9.99950003e-01 6.58575665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters 0.02243923178605824 Centerline is valid? [True, True] Translation: X:131.80, Y:-9.05, Z:0.66 [[ 9.92237452e-01 1.24116845e-01 7.73613136e-03 1.31795619e+02] [-1.24113396e-01 9.92267609e-01 -9.26146158e-04 -9.05125412e+00] [-7.79126291e-03 -4.12006332e-05 9.99969647e-01 6.58519157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters 0.02253871905972471 Centerline is valid? [True, True] Translation: X:131.86, Y:-9.06, Z:0.66 [[ 9.91879903e-01 1.26819576e-01 9.54213862e-03 1.31857366e+02] [-1.26814443e-01 9.91925798e-01 -1.14350196e-03 -9.06045287e+00] [-9.61011191e-03 -7.58643826e-05 9.99953819e-01 6.58575569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters 0.022908190863984778 Centerline is valid? [True, True] Translation: X:131.92, Y:-9.07, Z:0.66 [[ 9.91598271e-01 1.28909547e-01 1.07330072e-02 1.31919224e+02] [-1.28903161e-01 9.91656350e-01 -1.28760393e-03 -9.07018805e+00] [-1.08094392e-02 -1.06732722e-04 9.99941571e-01 6.59611304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters 0.02290398613911108 Centerline is valid? [True, True] Translation: X:131.98, Y:-9.08, Z:0.66 [[ 9.91283621e-01 1.31325135e-01 1.05114848e-02 1.31981141e+02] [-1.31319130e-01 9.91339343e-01 -1.26248253e-03 -9.07699344e+00] [-1.05862441e-02 -1.28880785e-04 9.99943956e-01 6.60036319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters 0.02300691717252212 Centerline is valid? [True, True] Translation: X:132.04, Y:-9.09, Z:0.66 [[ 9.90817911e-01 1.34990231e-01 7.58313646e-03 1.32042563e+02] [-1.34987204e-01 9.90846922e-01 -9.12002843e-04 -9.08552180e+00] [-7.63683890e-03 -1.19997637e-04 9.99970832e-01 6.60176069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters 0.023643900004091178 Centerline is valid? [True, True] Translation: X:132.10, Y:-9.09, Z:0.66 [[ 9.89898596e-01 1.41304455e-01 1.15681043e-02 1.32103888e+02] [-1.41297839e-01 9.89966153e-01 -1.39133851e-03 -9.08720249e+00] [-1.16486340e-02 -2.57264092e-04 9.99932119e-01 6.61609609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters 0.02387471198133586 Centerline is valid? [True, True] Translation: X:132.17, Y:-9.10, Z:0.66 [[ 9.89583808e-01 1.43463864e-01 1.19166453e-02 1.32165423e+02] [-1.43456976e-01 9.89655514e-01 -1.43520885e-03 -9.09556950e+00] [-1.19992743e-02 -2.89266460e-04 9.99927964e-01 6.61493929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters 0.024038348116666962 Centerline is valid? [True, True] Translation: X:132.23, Y:-9.10, Z:0.66 [[ 9.89365265e-01 1.44860793e-01 1.31042964e-02 1.32227058e+02] [-1.44852564e-01 9.89451989e-01 -1.57996135e-03 -9.10162755e+00] [-1.31949466e-02 -3.35032051e-04 9.99912887e-01 6.59514518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters 0.02440991117795987 Centerline is valid? [True, True] Translation: X:132.29, Y:-9.10, Z:0.66 [[ 9.88784807e-01 1.48881312e-01 1.17881717e-02 1.32289131e+02] [-1.48874925e-01 9.88855011e-01 -1.42237764e-03 -9.10154205e+00] [-1.18685581e-02 -3.48537774e-04 9.99929505e-01 6.62317929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters 0.02432214904935012 Centerline is valid? [True, True] Translation: X:132.35, Y:-9.10, Z:0.66 [[ 9.88873710e-01 1.48331326e-01 1.12518232e-02 1.32351199e+02] [-1.48325465e-01 9.88937668e-01 -1.35826835e-03 -9.09812793e+00] [-1.13288255e-02 -3.25776039e-04 9.99935774e-01 6.62938475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters 0.024304324590085837 Centerline is valid? [True, True] Translation: X:132.41, Y:-9.10, Z:0.66 [[ 9.89123386e-01 1.46513293e-01 1.29916374e-02 1.32412269e+02] [-1.46505312e-01 9.89208639e-01 -1.56911700e-03 -9.10434394e+00] [-1.30813364e-02 -3.51293557e-04 9.99914374e-01 6.61873275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters 0.023642416035714868 Centerline is valid? [True, True] Translation: X:132.47, Y:-9.09, Z:0.66 [[ 9.89887547e-01 1.41605348e-01 8.40060839e-03 1.32474997e+02] [-1.41601832e-01 9.89923174e-01 -1.01485309e-03 -9.09451385e+00] [-8.45966555e-03 -1.84951102e-04 9.99964199e-01 6.61064771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters 0.023432118804496752 Centerline is valid? [True, True] Translation: X:132.53, Y:-9.09, Z:0.66 [[ 9.90437020e-01 1.37475451e-01 1.16193438e-02 1.32534986e+02] [-1.37468493e-01 9.90505152e-01 -1.39913086e-03 -9.09239806e+00] [-1.17013661e-02 -2.11542695e-04 9.99931514e-01 6.61638507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters 0.023275909489678726 Centerline is valid? [True, True] Translation: X:132.60, Y:-9.09, Z:0.66 [[ 9.91359915e-01 1.30250758e-01 1.55002612e-02 1.32595553e+02] [-1.30237488e-01 9.91481070e-01 -1.86678423e-03 -9.09151509e+00] [-1.56113656e-02 -1.68060015e-04 9.99878121e-01 6.62177121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters 0.0229234124994308 Centerline is valid? [True, True] Translation: X:132.66, Y:-9.09, Z:0.66 [[ 9.92375517e-01 1.22618137e-01 1.24750436e-02 1.32656909e+02] [-1.22608927e-01 9.92453924e-01 -1.50330311e-03 -9.09232283e+00] [-1.25652382e-02 -3.77105135e-05 9.99921054e-01 6.60372820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters 0.02293972686975771 Centerline is valid? [True, True] Translation: X:132.72, Y:-9.09, Z:0.66 [[ 9.93068966e-01 1.16959838e-01 1.15942206e-02 1.32716890e+02] [-1.16951512e-01 9.93136645e-01 -1.39588488e-03 -9.09242560e+00] [-1.16779078e-02 3.02483220e-05 9.99931810e-01 6.60473151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters 0.023111551437898968 Centerline is valid? [True, True] Translation: X:132.78, Y:-9.09, Z:0.66 [[ 9.93597409e-01 1.12119744e-01 1.39051136e-02 1.32775519e+02] [-1.12107412e-01 9.93694698e-01 -1.66568584e-03 -9.09407108e+00] [-1.40041939e-02 9.61548515e-05 9.99901932e-01 6.61701678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters 0.023806053367996793 Centerline is valid? [True, True] Translation: X:132.84, Y:-9.10, Z:0.66 [[ 9.94432732e-01 1.04636110e-01 1.24429075e-02 1.32835393e+02] [-1.04625622e-01 9.94510559e-01 -1.49261800e-03 -9.10000784e+00] [-1.25307846e-02 1.82461253e-04 9.99921470e-01 6.62934108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters 0.024355705880644517 Centerline is valid? [True, True] Translation: X:132.90, Y:-9.11, Z:0.66 [[ 9.95025474e-01 9.90400613e-02 1.07411530e-02 1.32895840e+02] [-9.90319203e-02 9.95083423e-01 -1.28848006e-03 -9.10675209e+00] [-1.08159544e-02 2.18353479e-04 9.99941482e-01 6.60072828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters 0.02640663881670884 Centerline is valid? [True, True] Translation: X:132.95, Y:-9.11, Z:0.66 [[ 9.96079932e-01 8.78571438e-02 1.02903384e-02 1.32954847e+02] [-8.78490846e-02 9.96133032e-01 -1.23346623e-03 -9.11465455e+00] [-1.03589149e-02 3.24634142e-04 9.99946292e-01 6.61912326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters 0.028234183933914202 Centerline is valid? [True, True] Translation: X:133.01, Y:-9.12, Z:0.67 [[ 9.96816538e-01 7.92055993e-02 9.12481187e-03 1.33014265e+02] [-7.91989016e-02 9.96858234e-01 -1.09359490e-03 -9.12225123e+00] [-9.18276268e-03 3.67438409e-04 9.99957770e-01 6.67192617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters 0.031521360050133534 Centerline is valid? [True, True] Translation: X:133.07, Y:-9.13, Z:0.66 [[ 9.97748009e-01 6.67316731e-02 6.76713487e-03 1.33074400e+02] [-6.67277021e-02 9.97770893e-01 -8.11149348e-04 -9.13229241e+00] [-6.80617956e-03 3.57767287e-04 9.99976774e-01 6.60557388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters 0.033042609548889344 Centerline is valid? [True, True] Translation: X:133.13, Y:-9.15, Z:0.66 [[ 9.98011905e-01 6.21260778e-02 1.06107598e-02 1.33132400e+02] [-6.21160623e-02 9.98068123e-01 -1.27118368e-03 -9.15161774e+00] [-1.06692348e-02 6.09557827e-04 9.99942896e-01 6.59768398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters 0.031949904624232514 Centerline is valid? [True, True] Translation: X:133.19, Y:-9.17, Z:0.67 [[ 9.97960179e-01 6.34329708e-02 7.19306651e-03 1.33192270e+02] [-6.34283907e-02 9.97986019e-01 -8.63323975e-04 -9.17145528e+00] [-7.23334302e-03 4.05318315e-04 9.99973757e-01 6.69355532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters 0.031004615212732456 Centerline is valid? [True, True] Translation: X:133.25, Y:-9.19, Z:0.67 [[ 9.97849766e-01 6.53426268e-02 5.11710157e-03 1.33252124e+02] [-6.53403329e-02 9.97862848e-01 -6.14350776e-04 -9.18554630e+00] [-5.14630884e-03 2.78676658e-04 9.99986719e-01 6.65366005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters 0.03035858319302757 Centerline is valid? [True, True] Translation: X:133.31, Y:-9.21, Z:0.66 [[ 9.97564577e-01 6.89259059e-02 1.06833605e-02 1.33310227e+02] [-6.89161198e-02 9.97621634e-01 -1.28190487e-03 -9.21265627e+00] [-1.07463080e-02 5.42527133e-04 9.99942110e-01 6.63611981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters 0.02963544683772272 Centerline is valid? [True, True] Translation: X:133.37, Y:-9.23, Z:0.67 [[ 9.97378136e-01 7.17565643e-02 9.37280643e-03 1.33370123e+02] [-7.17491480e-02 9.97422074e-01 -1.12555840e-03 -9.22853656e+00] [-9.42941023e-03 4.50116465e-04 9.99955441e-01 6.68128423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters 0.028065255076203492 Centerline is valid? [True, True] Translation: X:133.43, Y:-9.25, Z:0.67 [[ 9.96915790e-01 7.80016789e-02 8.63975911e-03 1.33428695e+02] [-7.79956138e-02 9.96953163e-01 -1.03724574e-03 -9.24934277e+00] [-8.69434207e-03 3.60183346e-04 9.99962139e-01 6.66602652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters 0.02688318948903708 Centerline is valid? [True, True] Translation: X:133.49, Y:-9.27, Z:0.67 [[ 9.96518522e-01 8.30363796e-02 7.46963001e-03 1.33488299e+02] [-8.30319814e-02 9.96546479e-01 -8.97546235e-04 -9.26730964e+00] [-7.51836248e-03 2.74203268e-04 9.99971699e-01 6.65479274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters 0.025011800224941004 Centerline is valid? [True, True] Translation: X:133.55, Y:-9.29, Z:0.67 [[ 9.95660846e-01 9.27752676e-02 7.22692753e-03 1.33546955e+02] [-9.27714060e-02 9.95687055e-01 -8.68466986e-04 -9.28869547e+00] [-7.27633044e-03 1.94246347e-04 9.99973508e-01 6.69142559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters 0.02360489252287831 Centerline is valid? [True, True] Translation: X:133.61, Y:-9.30, Z:0.67 [[ 9.94892549e-01 1.00634670e-01 7.84092052e-03 1.33607356e+02] [-1.00630360e-01 9.94923435e-01 -9.43326237e-04 -9.30280626e+00] [-7.89604689e-03 1.49473592e-04 9.99968815e-01 6.69553946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters 0.022813103290733622 Centerline is valid? [True, True] Translation: X:133.67, Y:-9.32, Z:0.67 [[ 9.93544515e-01 1.12846636e-01 1.16160660e-02 1.33668297e+02] [-1.12837991e-01 9.93612415e-01 -1.39901484e-03 -9.31797670e+00] [-1.16997415e-02 7.92499610e-05 9.99931553e-01 6.67753970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters 0.022651464171506003 Centerline is valid? [True, True] Translation: X:133.73, Y:-9.33, Z:0.67 [[ 9.92089813e-01 1.24751774e-01 1.39569952e-02 1.33729000e+02] [-1.24740446e-01 9.92187981e-01 -1.68270192e-03 -9.33070697e+00] [-1.40578829e-02 -7.16103724e-05 9.99901181e-01 6.68328758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters 0.02280846102464381 Centerline is valid? [True, True] Translation: X:133.79, Y:-9.34, Z:0.67 [[ 9.91453396e-01 1.30018031e-01 1.07459503e-02 1.33791130e+02] [-1.30011607e-01 9.91511623e-01 -1.29720666e-03 -9.33857092e+00] [-1.08233949e-02 -1.10978316e-04 9.99941419e-01 6.69138077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters 0.02302193187185802 Centerline is valid? [True, True] Translation: X:133.85, Y:-9.35, Z:0.67 [[ 9.90997135e-01 1.33348821e-01 1.19486146e-02 1.33852772e+02] [-1.33341102e-01 9.91069153e-01 -1.44397051e-03 -9.34508501e+00] [-1.20344552e-02 -1.62270800e-04 9.99927570e-01 6.69447744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters 0.023288360733596285 Centerline is valid? [True, True] Translation: X:133.91, Y:-9.35, Z:0.67 [[ 9.90511822e-01 1.36647507e-01 1.46215683e-02 1.33914629e+02] [-1.36636279e-01 9.90619704e-01 -1.76888233e-03 -9.35079509e+00] [-1.47261270e-02 -2.45737812e-04 9.99891535e-01 6.68399933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters 0.023343706654358736 Centerline is valid? [True, True] Translation: X:133.98, Y:-9.36, Z:0.67 [[ 9.90662391e-01 1.35713453e-01 1.30339822e-02 1.33975848e+02] [-1.35704426e-01 9.90748110e-01 -1.57865938e-03 -9.35931024e+00] [-1.31276386e-02 -2.04850598e-04 9.99913808e-01 6.68359523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters 0.023059447311209985 Centerline is valid? [True, True] Translation: X:134.04, Y:-9.36, Z:0.67 [[ 9.91124553e-01 1.32396743e-01 1.19675951e-02 1.34038024e+02] [-1.32388869e-01 9.91196792e-01 -1.45120933e-03 -9.36127534e+00] [-1.20543773e-02 -1.46047185e-04 9.99927333e-01 6.70302169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters 0.022871291178319157 Centerline is valid? [True, True] Translation: X:134.10, Y:-9.37, Z:0.67 [[ 9.91759434e-01 1.27648738e-01 1.09098349e-02 1.34099702e+02] [-1.27641890e-01 9.91819436e-01 -1.32452321e-03 -9.36672257e+00] [-1.09896601e-02 -7.89435610e-05 9.99939609e-01 6.68861665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters 0.023045259601527982 Centerline is valid? [True, True] Translation: X:134.16, Y:-9.38, Z:0.67 [[ 9.91853722e-01 1.26504792e-01 1.49242264e-02 1.34161251e+02] [-1.26491820e-01 9.91965992e-01 -1.81374796e-03 -9.37501797e+00] [-1.50337729e-02 -8.88198999e-05 9.99886983e-01 6.69362943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters 0.022874348558824944 Centerline is valid? [True, True] Translation: X:134.22, Y:-9.38, Z:0.67 [[ 9.92333559e-01 1.22862179e-01 1.33788418e-02 1.34222586e+02] [-1.22851397e-01 9.92423742e-01 -1.62785676e-03 -9.38269777e+00] [-1.34774822e-02 -2.82325101e-05 9.99909174e-01 6.70368171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters 0.022837600183867032 Centerline is valid? [True, True] Translation: X:134.28, Y:-9.39, Z:0.67 [[ 9.92474596e-01 1.21921912e-01 1.13676964e-02 1.34284317e+02] [-1.21914048e-01 9.92539696e-01 -1.38483452e-03 -9.39127770e+00] [-1.14517316e-02 -1.14688035e-05 9.99934427e-01 6.70701858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters 0.02296677849711841 Centerline is valid? [True, True] Translation: X:134.35, Y:-9.39, Z:0.67 [[ 9.92034330e-01 1.25413266e-01 1.18068136e-02 1.34347672e+02] [-1.25405010e-01 9.92104586e-01 -1.43990242e-03 -9.38858079e+00] [-1.18941768e-02 -5.22009421e-05 9.99929260e-01 6.72328563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters 0.023048471485231325 Centerline is valid? [True, True] Translation: X:134.41, Y:-9.39, Z:0.67 [[ 9.91621213e-01 1.28425569e-01 1.39371079e-02 1.34409596e+02] [-1.28414338e-01 9.91719145e-01 -1.70150251e-03 -9.39495454e+00] [-1.40402131e-02 -1.02478488e-04 9.99901426e-01 6.73398776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters 0.023178082242298666 Centerline is valid? [True, True] Translation: X:134.47, Y:-9.40, Z:0.67 [[ 9.91321769e-01 1.30763691e-01 1.34910192e-02 1.34471274e+02] [-1.30753358e-01 9.91413557e-01 -1.64891979e-03 -9.39926713e+00] [-1.35907982e-02 -1.29385988e-04 9.99907632e-01 6.72796820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters 0.023002681497900797 Centerline is valid? [True, True] Translation: X:134.53, Y:-9.40, Z:0.67 [[ 9.91228693e-01 1.31550125e-01 1.26586907e-02 1.34533638e+02] [-1.31541069e-01 9.91309512e-01 -1.54898616e-03 -9.40129690e+00] [-1.27524498e-02 -1.29738181e-04 9.99918676e-01 6.73522784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters 0.023179113244717577 Centerline is valid? [True, True] Translation: X:134.60, Y:-9.40, Z:0.67 [[ 9.91226871e-01 1.31374657e-01 1.44910461e-02 1.34596327e+02] [-1.31362743e-01 9.91332779e-01 -1.77508599e-03 -9.40466170e+00] [-1.45986503e-02 -1.44070629e-04 9.99893424e-01 6.74148814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters 0.02309904591392777 Centerline is valid? [True, True] Translation: X:134.66, Y:-9.41, Z:0.67 [[ 9.91300456e-01 1.30890665e-01 1.38216936e-02 1.34657999e+02] [-1.30879752e-01 9.91396801e-01 -1.69501046e-03 -9.41142987e+00] [-1.39246438e-02 -1.28715189e-04 9.99903039e-01 6.74976459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters 0.0230721001142136 Centerline is valid? [True, True] Translation: X:134.72, Y:-9.42, Z:0.68 [[ 9.91428447e-01 1.29904556e-01 1.39441903e-02 1.34719835e+02] [-1.29893326e-01 9.91526496e-01 -1.71193181e-03 -9.41516100e+00] [-1.40484219e-02 -1.13999364e-04 9.99901310e-01 6.75032029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters 0.02304222146536699 Centerline is valid? [True, True] Translation: X:134.78, Y:-9.41, Z:0.67 [[ 9.91313835e-01 1.30763154e-01 1.40668910e-02 1.34782765e+02] [-1.30751784e-01 9.91413628e-01 -1.72892108e-03 -9.41476417e+00] [-1.41721866e-02 -1.25367710e-04 9.99899562e-01 6.74972189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters 0.023119765074760264 Centerline is valid? [True, True] Translation: X:134.85, Y:-9.42, Z:0.67 [[ 9.91008425e-01 1.33052094e-01 1.41223960e-02 1.34845604e+02] [-1.33040839e-01 9.91109033e-01 -1.73766339e-03 -9.41651198e+00] [-1.42280340e-02 -1.56816351e-04 9.99898764e-01 6.74809447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters 0.023039508097959977 Centerline is valid? [True, True] Translation: X:134.91, Y:-9.42, Z:0.67 [[ 9.91869550e-01 1.26538264e-01 1.35226875e-02 1.34907622e+02] [-1.26527313e-01 9.91961725e-01 -1.66579082e-03 -9.42069389e+00] [-1.36247747e-02 -5.87421220e-05 9.99907177e-01 6.72856574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters 0.023191619859803277 Centerline is valid? [True, True] Translation: X:134.97, Y:-9.43, Z:0.67 [[ 9.92771717e-01 1.19366458e-01 1.24886696e-02 1.34969986e+02] [-1.19356527e-01 9.92850264e-01 -1.54016431e-03 -9.42582404e+00] [-1.25832229e-02 3.84273314e-05 9.99920827e-01 6.73040708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters 0.02362234527809902 Centerline is valid? [True, True] Translation: X:135.03, Y:-9.43, Z:0.67 [[ 9.93492042e-01 1.12897185e-01 1.50926826e-02 1.35031682e+02] [-1.12881905e-01 9.93606665e-01 -1.86318752e-03 -9.43152192e+00] [-1.52065386e-02 1.47371204e-04 9.99884363e-01 6.74857846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters 0.023787235666063028 Centerline is valid? [True, True] Translation: X:135.09, Y:-9.44, Z:0.67 [[ 9.93991259e-01 1.08668628e-01 1.31341728e-02 1.35093376e+02] [-1.08656663e-01 9.94078012e-01 -1.62322128e-03 -9.43947134e+00] [-1.32327856e-02 1.86352370e-04 9.99912425e-01 6.71464281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters 0.023860056404291598 Centerline is valid? [True, True] Translation: X:135.15, Y:-9.45, Z:0.67 [[ 9.93611501e-01 1.11581162e-01 1.69065160e-02 1.35154552e+02] [-1.11561723e-01 9.93755306e-01 -2.09151615e-03 -9.45464484e+00] [-1.70343138e-02 1.92034437e-04 9.99854887e-01 6.73698476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters 0.023403812715268302 Centerline is valid? [True, True] Translation: X:135.22, Y:-9.46, Z:0.68 [[ 9.93173594e-01 1.15928218e-01 1.29174713e-02 1.35217010e+02] [-1.15917214e-01 9.93257590e-01 -1.59991516e-03 -9.45710576e+00] [-1.30158518e-02 9.16362043e-05 9.99915286e-01 6.76067507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters 0.02329999129789369 Centerline is valid? [True, True] Translation: X:135.28, Y:-9.46, Z:0.67 [[ 9.92818975e-01 1.19140482e-01 1.07716809e-02 1.35278666e+02] [-1.19133002e-01 9.92877406e-01 -1.33570952e-03 -9.46379909e+00] [-1.08540957e-02 4.28550770e-05 9.99941092e-01 6.73759344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters 0.02341117306551768 Centerline is valid? [True, True] Translation: X:135.34, Y:-9.48, Z:0.68 [[ 9.92729843e-01 1.19333780e-01 1.57132966e-02 1.35339687e+02] [-1.19317858e-01 9.92854191e-01 -1.95030258e-03 -9.47635862e+00] [-1.58337494e-02 6.12466840e-05 9.99874636e-01 6.75076909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters 0.02332351188805272 Centerline is valid? [True, True] Translation: X:135.40, Y:-9.48, Z:0.67 [[ 9.92637714e-01 1.20095025e-01 1.57338671e-02 1.35402391e+02] [-1.20079099e-01 9.92762400e-01 -1.95642632e-03 -9.48102274e+00] [-1.58549487e-02 5.27139586e-05 9.99874301e-01 6.74831295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters 0.023140983055626015 Centerline is valid? [True, True] Translation: X:135.46, Y:-9.49, Z:0.67 [[ 9.92471082e-01 1.21890076e-01 1.19984064e-02 1.35463539e+02] [-1.21880928e-01 9.92543606e-01 -1.49344582e-03 -9.49231409e+00] [-1.20909778e-02 1.98248760e-05 9.99926901e-01 6.73978814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters 0.02284707157586614 Centerline is valid? [True, True] Translation: X:135.53, Y:-9.50, Z:0.68 [[ 9.92306420e-01 1.23525299e-01 8.33480326e-03 1.35525224e+02] [-1.23520931e-01 9.92341423e-01 -1.03877927e-03 -9.50248866e+00] [-8.39928605e-03 1.26468663e-06 9.99964725e-01 6.75573101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters 0.023011402242590486 Centerline is valid? [True, True] Translation: X:135.59, Y:-9.51, Z:0.68 [[ 9.92670759e-01 1.20033830e-01 1.40230109e-02 1.35586309e+02] [-1.20021115e-01 9.92769801e-01 -1.74785692e-03 -9.51032745e+00] [-1.41314237e-02 5.19890494e-05 9.99900145e-01 6.77555163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters 0.023148987806653455 Centerline is valid? [True, True] Translation: X:135.65, Y:-9.52, Z:0.68 [[ 9.93021671e-01 1.16882562e-01 1.56980057e-02 1.35647644e+02] [-1.16866196e-01 9.93145737e-01 -1.95905757e-03 -9.52076903e+00] [-1.58193871e-02 1.10820408e-04 9.99874860e-01 6.78270659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters 0.022985845614776047 Centerline is valid? [True, True] Translation: X:135.71, Y:-9.53, Z:0.68 [[ 9.92955306e-01 1.17796894e-01 1.27926254e-02 1.35708565e+02] [-1.17786078e-01 9.93037706e-01 -1.59830929e-03 -9.53395700e+00] [-1.28918352e-02 8.02565180e-05 9.99916894e-01 6.75864653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters 0.0228251906917647 Centerline is valid? [True, True] Translation: X:135.77, Y:-9.55, Z:0.68 [[ 9.92932544e-01 1.18092830e-01 1.17918223e-02 1.35769586e+02] [-1.18083642e-01 9.93002557e-01 -1.47491620e-03 -9.55009416e+00] [-1.18834867e-02 7.20709704e-05 9.99929386e-01 6.80251460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters 0.022731646203298376 Centerline is valid? [True, True] Translation: X:135.83, Y:-9.55, Z:0.68 [[ 9.92763978e-01 1.19782213e-01 8.47972229e-03 1.35832340e+02] [-1.19777505e-01 9.92800191e-01 -1.06278885e-03 -9.55368048e+00] [-8.54597311e-03 3.94185119e-05 9.99963482e-01 6.80196828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters 0.022714254816113555 Centerline is valid? [True, True] Translation: X:135.89, Y:-9.56, Z:0.68 [[ 9.92090364e-01 1.24973977e-01 1.17564566e-02 1.35893871e+02] [-1.24965280e-01 9.92160020e-01 -1.47440622e-03 -9.56455655e+00] [-1.18485486e-02 -6.40468321e-06 9.99929803e-01 6.77031567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters 0.022663940816738705 Centerline is valid? [True, True] Translation: X:135.96, Y:-9.58, Z:0.68 [[ 9.91815217e-01 1.27286217e-01 1.00396412e-02 1.35955097e+02] [-1.27279978e-01 9.91866028e-01 -1.26057274e-03 -9.57802363e+00] [-1.01184325e-02 -2.75900759e-05 9.99948807e-01 6.78915016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters 0.022659488946409276 Centerline is valid? [True, True] Translation: X:136.02, Y:-9.59, Z:0.68 [[ 9.91893826e-01 1.26766359e-01 8.77085532e-03 1.36016767e+02] [-1.26761566e-01 9.91932603e-01 -1.10256072e-03 -9.58535647e+00] [-8.83986496e-03 -1.81841790e-05 9.99960927e-01 6.80959078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters 0.022614131822893725 Centerline is valid? [True, True] Translation: X:136.08, Y:-9.59, Z:0.68 [[ 9.91766931e-01 1.27620783e-01 1.05494201e-02 1.36078764e+02] [-1.27613882e-01 9.91823036e-01 -1.32745839e-03 -9.58838892e+00] [-1.06325691e-02 -2.97231250e-05 9.99943472e-01 6.81746207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters 0.0225188286285549 Centerline is valid? [True, True] Translation: X:136.14, Y:-9.60, Z:0.68 [[ 9.92030519e-01 1.25521613e-01 1.09441027e-02 1.36140305e+02] [-1.25514042e-01 9.92090885e-01 -1.37861337e-03 -9.59873538e+00] [-1.10305903e-02 -6.01202904e-06 9.99939161e-01 6.81759507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters 0.022467302587196192 Centerline is valid? [True, True] Translation: X:136.20, Y:-9.61, Z:0.68 [[ 9.92898152e-01 1.18829326e-01 5.73164469e-03 1.36201368e+02] [-1.18827131e-01 9.92914694e-01 -7.23112223e-04 -9.61089043e+00] [-5.77696117e-03 3.69018937e-05 9.99983313e-01 6.81738809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters 0.02356717671697526 Centerline is valid? [True, True] Translation: X:136.26, Y:-9.62, Z:0.68 [[ 9.94092490e-01 1.08071185e-01 1.00369539e-02 1.36262588e+02] [-1.08063904e-01 9.94143143e-01 -1.26660682e-03 -9.61859691e+00] [-1.01150526e-02 1.74491906e-04 9.99948826e-01 6.81435216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters 0.02324162495811827 Centerline is valid? [True, True] Translation: X:136.32, Y:-9.63, Z:0.68 [[ 9.94156508e-01 1.07511922e-01 9.69657727e-03 1.36323946e+02] [-1.07505075e-01 9.94203780e-01 -1.22607788e-03 -9.63230637e+00] [-9.77219176e-03 1.76482035e-04 9.99952235e-01 6.82950791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters 0.02310061384106224 Centerline is valid? [True, True] Translation: X:136.38, Y:-9.65, Z:0.68 [[ 9.94108526e-01 1.07934834e-01 9.91516792e-03 1.36384311e+02] [-1.07927677e-01 9.94157955e-01 -1.25568672e-03 -9.65339403e+00] [-9.99277541e-03 1.78167832e-04 9.99950055e-01 6.80707972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters 0.023466823786694797 Centerline is valid? [True, True] Translation: X:136.44, Y:-9.67, Z:0.68 [[ 9.94361123e-01 1.05356815e-01 1.20788794e-02 1.36444713e+02] [-1.05345990e-01 9.94434452e-01 -1.53075518e-03 -9.67429549e+00] [-1.21729293e-02 2.49661932e-04 9.99925876e-01 6.79911561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters 0.023339848359803097 Centerline is valid? [True, True] Translation: X:136.50, Y:-9.69, Z:0.68 [[ 9.94369137e-01 1.05589760e-01 8.99014070e-03 1.36504742e+02] [-1.05583761e-01 9.94409759e-01 -1.14065903e-03 -9.69423921e+00] [-9.06032555e-03 1.85023270e-04 9.99958937e-01 6.84083231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters 0.022843814657111876 Centerline is valid? [True, True] Translation: X:136.57, Y:-9.71, Z:0.68 [[ 9.93845806e-01 1.10402026e-01 9.05027175e-03 1.36565704e+02] [-1.10396134e-01 9.93887002e-01 -1.14950539e-03 -9.71073828e+00] [-9.12185518e-03 1.43316097e-04 9.99958385e-01 6.83240468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters 0.022327135346734337 Centerline is valid? [True, True] Translation: X:136.63, Y:-9.73, Z:0.68 [[ 9.92913316e-01 1.18249072e-01 1.18450111e-02 1.36626176e+02] [-1.18239521e-01 9.92983962e-01 -1.50588679e-03 -9.72771093e+00] [-1.19399758e-02 9.46666007e-05 9.99928711e-01 6.82781735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters 0.022275329269634384 Centerline is valid? [True, True] Translation: X:136.69, Y:-9.74, Z:0.68 [[ 9.91506922e-01 1.29406569e-01 1.29600802e-02 1.36687970e+02] [-1.29396047e-01 9.91591619e-01 -1.65069879e-03 -9.74283600e+00] [-1.30647182e-02 -4.03038747e-05 9.99914652e-01 6.84467733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters 0.023662651994378635 Centerline is valid? [True, True] Translation: X:136.75, Y:-9.75, Z:0.68 [[ 9.88616335e-01 1.50116376e-01 1.01397732e-02 1.36748679e+02] [-1.50110961e-01 9.88668305e-01 -1.29732028e-03 -9.75319871e+00] [-1.02196214e-02 -2.39539081e-04 9.99947750e-01 6.83914760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters 0.025469390102614165 Centerline is valid? [True, True] Translation: X:136.81, Y:-9.76, Z:0.69 [[ 9.86831199e-01 1.61470152e-01 9.56944390e-03 1.36809650e+02] [-1.61465873e-01 9.86877538e-01 -1.22322946e-03 -9.76087959e+00] [-9.64138429e-03 -3.38017617e-04 9.99953464e-01 6.85461841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters 0.0268513837297061 Centerline is valid? [True, True] Translation: X:136.87, Y:-9.76, Z:0.69 [[ 9.84788857e-01 1.73426862e-01 1.06785676e-02 1.36870934e+02] [-1.73422236e-01 9.84846620e-01 -1.36472430e-03 -9.75941377e+00] [-1.07534311e-02 -5.07935797e-04 9.99942051e-01 6.88182961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters 0.029057764974020173 Centerline is valid? [True, True] Translation: X:136.93, Y:-9.76, Z:0.69 [[ 9.83841707e-01 1.78585534e-01 1.27554913e-02 1.36932145e+02] [-1.78579359e-01 9.83924160e-01 -1.63069760e-03 -9.76038527e+00] [-1.28416550e-02 -6.73519139e-04 9.99917316e-01 6.86116513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters 0.028352759642389747 Centerline is valid? [True, True] Translation: X:137.00, Y:-9.75, Z:0.69 [[ 9.83788304e-01 1.78991810e-01 1.10681893e-02 1.36995328e+02] [-1.78987166e-01 9.83850389e-01 -1.41685064e-03 -9.75374381e+00] [-1.11430470e-02 -5.87182743e-04 9.99937742e-01 6.86007525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters 0.027347623208153208 Centerline is valid? [True, True] Translation: X:137.06, Y:-9.75, Z:0.69 [[ 9.85011911e-01 1.72051406e-01 1.22413029e-02 1.37056688e+02] [-1.72045198e-01 9.85087812e-01 -1.56633304e-03 -9.74929953e+00] [-1.23282481e-02 -5.63200681e-04 9.99923846e-01 6.86051561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters 0.024886347110315645 Centerline is valid? [True, True] Translation: X:137.12, Y:-9.74, Z:0.69 [[ 9.86996182e-01 1.60024544e-01 1.51881928e-02 1.37119583e+02] [-1.60013553e-01 9.87112903e-01 -1.94403097e-03 -9.74030840e+00] [-1.53035538e-02 -5.11565555e-04 9.99882763e-01 6.87363451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters 0.022936867288101282 Centerline is valid? [True, True] Translation: X:137.18, Y:-9.74, Z:0.69 [[ 9.88899409e-01 1.48142077e-01 1.14840297e-02 1.37180904e+02] [-1.48134986e-01 9.88966058e-01 -1.47034283e-03 -9.73839325e+00] [-1.15751352e-02 -2.47165433e-04 9.99932975e-01 6.89666357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters 0.022486431921235596 Centerline is valid? [True, True] Translation: X:137.24, Y:-9.74, Z:0.69 [[ 9.89862362e-01 1.41638732e-01 1.05344437e-02 1.37243855e+02] [-1.41632370e-01 9.89918404e-01 -1.35128386e-03 -9.74006123e+00] [-1.06196338e-02 -1.54433194e-04 9.99943598e-01 6.86855414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters 0.022092893438484824 Centerline is valid? [True, True] Translation: X:137.31, Y:-9.75, Z:0.69 [[ 9.91018619e-01 1.33020992e-01 1.36935096e-02 1.37305812e+02] [-1.33009398e-01 9.91113217e-01 -1.75800216e-03 -9.74771811e+00] [-1.38056696e-02 -7.91526033e-05 9.99904694e-01 6.88682191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters 0.021920190635085178 Centerline is valid? [True, True] Translation: X:137.37, Y:-9.75, Z:0.69 [[ 9.91466617e-01 1.29810301e-01 1.19679753e-02 1.37367992e+02] [-1.29801190e-01 9.91538847e-01 -1.53820759e-03 -9.74889592e+00] [-1.20663876e-02 -2.83759537e-05 9.99927198e-01 6.91523389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters 0.02195148334643682 Centerline is valid? [True, True] Translation: X:137.43, Y:-9.75, Z:0.69 [[ 9.91639982e-01 1.28635720e-01 1.01487592e-02 1.37430844e+02] [-1.28629092e-01 9.91691914e-01 -1.30587822e-03 -9.74851812e+00] [-1.02324250e-02 -1.04646265e-05 9.99947647e-01 6.85796450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters 0.022090837150100646 Centerline is valid? [True, True] Translation: X:137.49, Y:-9.76, Z:0.69 [[ 9.92126389e-01 1.24265895e-01 1.55953537e-02 1.37492315e+02] [-1.24249675e-01 9.92248953e-01 -2.00848461e-03 -9.76062426e+00] [-1.57240595e-02 5.49529501e-05 9.99876368e-01 6.88316113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters 0.02229842968549591 Centerline is valid? [True, True] Translation: X:137.55, Y:-9.77, Z:0.69 [[ 9.92505581e-01 1.21193200e-01 1.56486472e-02 1.37554148e+02] [-1.21176454e-01 9.92628932e-01 -2.01745004e-03 -9.76761277e+00] [-1.57778012e-02 1.06082848e-04 9.99875517e-01 6.91887753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters 0.022178788007243034 Centerline is valid? [True, True] Translation: X:137.62, Y:-9.77, Z:0.69 [[ 9.92544245e-01 1.21216778e-01 1.27441804e-02 1.37616483e+02] [-1.21205650e-01 9.92626055e-01 -1.64484086e-03 -9.77060156e+00] [-1.28495878e-02 8.79106580e-05 9.99917437e-01 6.88211221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters 0.02206532054031276 Centerline is valid? [True, True] Translation: X:137.68, Y:-9.79, Z:0.69 [[ 9.92394880e-01 1.22606584e-01 1.09557347e-02 1.37676898e+02] [-1.22598427e-01 9.92455350e-01 -1.41557749e-03 -9.78503487e+00] [-1.10466367e-02 6.16560033e-05 9.99938982e-01 6.88721677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters 0.0222064462875957 Centerline is valid? [True, True] Translation: X:137.74, Y:-9.80, Z:0.69 [[ 9.92585511e-01 1.20708245e-01 1.42661462e-02 1.37738525e+02] [-1.20694193e-01 9.92688021e-01 -1.84506036e-03 -9.79648200e+00] [-1.43845465e-02 1.09539172e-04 9.99896531e-01 6.93558091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters 0.022125621269375825 Centerline is valid? [True, True] Translation: X:137.80, Y:-9.80, Z:0.69 [[ 9.92538255e-01 1.21313913e-01 1.22778893e-02 1.37799941e+02] [-1.21303530e-01 9.92614188e-01 -1.58965317e-03 -9.80363028e+00] [-1.23800542e-02 8.84402661e-05 9.99923360e-01 6.92896249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters 0.021941827878959732 Centerline is valid? [True, True] Translation: X:137.86, Y:-9.82, Z:0.69 [[ 9.91729598e-01 1.27856383e-01 1.11870326e-02 1.37860763e+02] [-1.27848161e-01 9.91792693e-01 -1.45002016e-03 -9.81501162e+00] [-1.12806116e-02 7.78636171e-06 9.99936372e-01 6.89024127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters 0.02185103772621333 Centerline is valid? [True, True] Translation: X:137.92, Y:-9.83, Z:0.69 [[ 9.91190917e-01 1.31835021e-01 1.26528225e-02 1.37921165e+02] [-1.31824806e-01 9.91271671e-01 -1.64166075e-03 -9.82932568e+00] [-1.27588129e-02 -4.07566377e-05 9.99918602e-01 6.92526269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters 0.021974939312627145 Centerline is valid? [True, True] Translation: X:137.98, Y:-9.84, Z:0.69 [[ 9.91107939e-01 1.32744759e-01 9.15877487e-03 1.37982952e+02] [-1.32739432e-01 9.91150255e-01 -1.18976755e-03 -9.83851761e+00] [-9.23565745e-03 -3.65425047e-05 9.99957350e-01 6.92280628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters 0.021937959375067526 Centerline is valid? [True, True] Translation: X:138.04, Y:-9.84, Z:0.69 [[ 9.91008025e-01 1.33292495e-01 1.16706838e-02 1.38044603e+02] [-1.33283867e-01 9.91076742e-01 -1.51749929e-03 -9.84416951e+00] [-1.17688146e-02 -5.16598899e-05 9.99930744e-01 6.91606889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters 0.022108644168993333 Centerline is valid? [True, True] Translation: X:138.11, Y:-9.85, Z:0.70 [[ 9.90598025e-01 1.36035353e-01 1.44891286e-02 1.38105462e+02] [-1.36022320e-01 9.90703978e-01 -1.88580316e-03 -9.85496281e+00] [-1.46109733e-02 -1.02772006e-04 9.99893249e-01 6.95956566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters 0.021919054322136967 Centerline is valid? [True, True] Translation: X:138.17, Y:-9.86, Z:0.69 [[ 9.90573358e-01 1.36658381e-01 9.42913191e-03 1.38167099e+02] [-1.36652876e-01 9.90618232e-01 -1.22875947e-03 -9.86284743e+00] [-9.50859026e-03 -7.13415979e-05 9.99954790e-01 6.93490293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters 0.0217061494655876 Centerline is valid? [True, True] Translation: X:138.23, Y:-9.87, Z:0.69 [[ 9.91323067e-01 1.31174016e-01 8.48254295e-03 1.38228339e+02] [-1.31169349e-01 9.91359358e-01 -1.10667198e-03 -9.87294066e+00] [-8.55441495e-03 -1.55801743e-05 9.99963410e-01 6.91147567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters 0.02194986453118218 Centerline is valid? [True, True] Translation: X:138.29, Y:-9.88, Z:0.70 [[ 9.91904433e-01 1.26589211e-01 1.00383091e-02 1.38289852e+02] [-1.26582427e-01 9.91955226e-01 -1.31089588e-03 -9.88181828e+00] [-1.01234984e-02 2.96099105e-05 9.99948756e-01 6.97303818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters 0.02200116053198292 Centerline is valid? [True, True] Translation: X:138.35, Y:-9.89, Z:0.69 [[ 9.91922708e-01 1.26507632e-01 9.22829211e-03 1.38352132e+02] [-1.26501883e-01 9.91965634e-01 -1.20642923e-03 -9.88865180e+00] [-9.30677113e-03 2.92882274e-05 9.99956691e-01 6.93987447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters 0.022162196523124518 Centerline is valid? [True, True] Translation: X:138.41, Y:-9.90, Z:0.69 [[ 9.92243954e-01 1.23634608e-01 1.29003736e-02 1.38413183e+02] [-1.23623110e-01 9.92327807e-01 -1.68798426e-03 -9.90146397e+00] [-1.30100927e-02 8.01078730e-05 9.99915362e-01 6.93286716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters 0.022424472785643804 Centerline is valid? [True, True] Translation: X:138.47, Y:-9.91, Z:0.70 [[ 9.92672614e-01 1.20077372e-01 1.35095010e-02 1.38474275e+02] [-1.20064409e-01 9.92764527e-01 -1.76949017e-03 -9.91437643e+00] [-1.36242291e-02 1.34514171e-04 9.99907177e-01 6.95217571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters 0.022397970642906172 Centerline is valid? [True, True] Translation: X:138.54, Y:-9.93, Z:0.69 [[ 9.92950264e-01 1.18002129e-01 1.11924095e-02 1.38535272e+02] [-1.17993081e-01 9.93013333e-01 -1.46761930e-03 -9.92928226e+00] [-1.12873941e-02 1.36646096e-04 9.99936286e-01 6.94986404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters 0.022331348688973268 Centerline is valid? [True, True] Translation: X:138.60, Y:-9.94, Z:0.69 [[ 9.92730652e-01 1.20076916e-01 8.20900222e-03 1.38596644e+02] [-1.20072110e-01 9.92764588e-01 -1.07770625e-03 -9.94006248e+00] [-8.27901435e-03 8.41998123e-05 9.99965725e-01 6.93852580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters 0.02211596861635908 Centerline is valid? [True, True] Translation: X:138.66, Y:-9.96, Z:0.70 [[ 9.91549772e-01 1.29204195e-01 1.16329345e-02 1.38658156e+02] [-1.29195140e-01 9.91618009e-01 -1.52970628e-03 -9.95623965e+00] [-1.17330718e-02 1.38613138e-05 9.99931165e-01 6.96623882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters 0.022046291859292504 Centerline is valid? [True, True] Translation: X:138.72, Y:-9.97, Z:0.70 [[ 9.90974477e-01 1.33703198e-01 9.64577859e-03 1.38719376e+02] [-1.33697174e-01 9.91021419e-01 -1.26956003e-03 -9.96977014e+00] [-9.72891743e-03 -3.15117532e-05 9.99952672e-01 6.95466666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters 0.022336195559161658 Centerline is valid? [True, True] Translation: X:138.78, Y:-9.99, Z:0.69 [[ 9.90430432e-01 1.37663324e-01 9.81674713e-03 1.38780336e+02] [-1.37657266e-01 9.90479078e-01 -1.29340919e-03 -9.98550159e+00] [-9.90133765e-03 -7.03147416e-05 9.99950978e-01 6.92837616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters 0.022414484427372518 Centerline is valid? [True, True] Translation: X:138.84, Y:-9.99, Z:0.70 [[ 9.89540796e-01 1.43838422e-01 1.09326105e-02 1.38842473e+02] [-1.43831269e-01 9.89601176e-01 -1.44187041e-03 -9.99258176e+00] [-1.10263206e-02 -1.45661640e-04 9.99939198e-01 6.95606331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters 0.02295392595164611 Centerline is valid? [True, True] Translation: X:138.90, Y:-10.00, Z:0.69 [[ 9.88661825e-01 1.49949860e-01 7.92692378e-03 1.38904182e+02] [-1.49946286e-01 9.88693590e-01 -1.04673542e-03 -1.00020366e+01] [-7.99425656e-03 -1.53745431e-04 9.99968034e-01 6.93510034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters 0.023544402034229014 Centerline is valid? [True, True] Translation: X:138.97, Y:-10.01, Z:0.70 [[ 9.88097990e-01 1.53175272e-01 1.41314615e-02 1.38965263e+02] [-1.53164222e-01 9.88198985e-01 -1.86740427e-03 -1.00127529e+01] [-1.42507360e-02 -3.19255890e-04 9.99898402e-01 6.96092682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters 0.023540907335195364 Centerline is valid? [True, True] Translation: X:139.03, Y:-10.01, Z:0.70 [[ 9.88218954e-01 1.52025701e-01 1.76489290e-02 1.39027413e+02] [-1.52008241e-01 9.88376469e-01 -2.33441499e-03 -1.00140820e+01] [-1.77986772e-02 -3.75869520e-04 9.99841520e-01 6.96285674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters 0.0229023590898554 Centerline is valid? [True, True] Translation: X:139.09, Y:-10.02, Z:0.69 [[ 9.88950212e-01 1.47800779e-01 1.15068431e-02 1.39089105e+02] [-1.47793057e-01 9.89017134e-01 -1.52324123e-03 -1.00177251e+01] [-1.16056012e-02 -1.94221777e-04 9.99932634e-01 6.94152204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters 0.022916763827459236 Centerline is valid? [True, True] Translation: X:139.15, Y:-10.02, Z:0.69 [[ 9.89092207e-01 1.46811984e-01 1.19518998e-02 1.39151095e+02] [-1.46803559e-01 9.89164398e-01 -1.58395764e-03 -1.00238175e+01] [-1.20549377e-02 -1.87901270e-04 9.99927319e-01 6.92966741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters 0.022445341760281984 Centerline is valid? [True, True] Translation: X:139.21, Y:-10.03, Z:0.70 [[ 9.89924748e-01 1.41023109e-01 1.27073425e-02 1.39212775e+02] [-1.41013086e-01 9.90006297e-01 -1.68582079e-03 -1.00296378e+01] [-1.28180888e-02 -1.23065862e-04 9.99917837e-01 6.95711490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters 0.02207016485355031 Centerline is valid? [True, True] Translation: X:139.27, Y:-10.04, Z:0.69 [[ 9.90722160e-01 1.35484530e-01 1.06556561e-02 1.39274556e+02] [-1.35477145e-01 9.90779461e-01 -1.41525801e-03 -1.00355543e+01] [-1.07491507e-02 -4.14703796e-05 9.99942225e-01 6.93393713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters 0.022326179022383878 Centerline is valid? [True, True] Translation: X:139.34, Y:-10.04, Z:0.69 [[ 9.91152260e-01 1.32125462e-01 1.26515118e-02 1.39336417e+02] [-1.32114756e-01 9.91233001e-01 -1.68197354e-03 -1.00426043e+01] [-1.27628275e-02 -4.35951609e-06 9.99918552e-01 6.89983676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters 0.022236541617391466 Centerline is valid? [True, True] Translation: X:139.40, Y:-10.05, Z:0.70 [[ 9.91350598e-01 1.30456351e-01 1.43224272e-02 1.39397927e+02] [-1.30442429e-01 9.91454053e-01 -1.90601720e-03 -1.00507046e+01] [-1.44486805e-02 2.12791015e-05 9.99895612e-01 6.95024541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters 0.022143484190318263 Centerline is valid? [True, True] Translation: X:139.46, Y:-10.06, Z:0.69 [[ 9.91380278e-01 1.30489094e-01 1.17363044e-02 1.39459014e+02] [-1.30479727e-01 9.91449745e-01 -1.56360933e-03 -1.00609477e+01] [-1.18399899e-02 1.87816653e-05 9.99929905e-01 6.93978194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters 0.022460642131275837 Centerline is valid? [True, True] Translation: X:139.52, Y:-10.07, Z:0.69 [[ 9.91521498e-01 1.29120487e-01 1.45951926e-02 1.39520765e+02] [-1.29105825e-01 9.91628911e-01 -1.94633482e-03 -1.00661877e+01] [-1.47243266e-02 4.55084316e-05 9.99891590e-01 6.91793535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters 0.022558116644212402 Centerline is valid? [True, True] Translation: X:139.58, Y:-10.07, Z:0.69 [[ 9.91669306e-01 1.27515135e-01 1.82175174e-02 1.39582447e+02] [-1.27491976e-01 9.91836621e-01 -2.43174690e-03 -1.00730150e+01] [-1.83788854e-02 8.89014644e-05 9.99831090e-01 6.92586573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters 0.0223996096668352 Centerline is valid? [True, True] Translation: X:139.64, Y:-10.08, Z:0.69 [[ 9.91811841e-01 1.27232031e-01 1.10128626e-02 1.39643493e+02] [-1.27223531e-01 9.91872979e-01 -1.47181008e-03 -1.00847760e+01] [-1.11106222e-02 5.86633934e-05 9.99938273e-01 6.92734768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters 0.0224483676636583 Centerline is valid? [True, True] Translation: X:139.70, Y:-10.09, Z:0.69 [[ 9.91926364e-01 1.26098341e-01 1.34646174e-02 1.39704807e+02] [-1.26085508e-01 9.92017742e-01 -1.80116431e-03 -1.00944279e+01] [-1.35842632e-02 8.89292490e-05 9.99907726e-01 6.93812165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters 0.022546481582095355 Centerline is valid? [True, True] Translation: X:139.77, Y:-10.10, Z:0.69 [[ 9.91665686e-01 1.27975285e-01 1.48826512e-02 1.39766184e+02] [-1.27959798e-01 9.91777355e-01 -1.99214616e-03 -1.01008679e+01] [-1.50152220e-02 7.11619437e-05 9.99887263e-01 6.93789640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters 0.022436414339974366 Centerline is valid? [True, True] Translation: X:139.83, Y:-10.11, Z:0.69 [[ 9.91445154e-01 1.29976406e-01 1.19432391e-02 1.39827785e+02] [-1.29966555e-01 9.91517086e-01 -1.60061391e-03 -1.01090640e+01] [-1.20499676e-02 3.46992727e-05 9.99927396e-01 6.93056206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters 0.022461015767632913 Centerline is valid? [True, True] Translation: X:139.89, Y:-10.12, Z:0.70 [[ 9.91016195e-01 1.33225537e-01 1.17412550e-02 1.39888529e+02] [-1.33216224e-01 9.91085746e-01 -1.57516286e-03 -1.01230479e+01] [-1.18464424e-02 -3.11375497e-06 9.99929828e-01 6.95481396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters 0.02273011316616986 Centerline is valid? [True, True] Translation: X:139.95, Y:-10.13, Z:0.70 [[ 9.90317394e-01 1.38068763e-01 1.44386699e-02 1.39949984e+02] [-1.38055168e-01 9.90422643e-01 -1.93886986e-03 -1.01299544e+01] [-1.45680830e-02 -7.32364480e-05 9.99893877e-01 6.96345583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters 0.022488067443889773 Centerline is valid? [True, True] Translation: X:140.01, Y:-10.14, Z:0.70 [[ 9.90389780e-01 1.37690332e-01 1.30175573e-02 1.40011635e+02] [-1.37679225e-01 9.90475325e-01 -1.74990644e-03 -1.01369675e+01] [-1.31345144e-02 -5.91577387e-05 9.99913737e-01 6.96217202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters 0.022666007283928306 Centerline is valid? [True, True] Translation: X:140.07, Y:-10.15, Z:0.70 [[ 9.90334217e-01 1.38016687e-01 1.37670674e-02 1.40072266e+02] [-1.38004269e-01 9.90429902e-01 -1.85254068e-03 -1.01498655e+01] [-1.38909967e-02 -6.52796446e-05 9.99903513e-01 6.96614307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters 0.022766704196078843 Centerline is valid? [True, True] Translation: X:140.13, Y:-10.16, Z:0.70 [[ 9.90101422e-01 1.39622692e-01 1.43065964e-02 1.40134243e+02] [-1.39609421e-01 9.90204775e-01 -1.92711840e-03 -1.01564396e+01] [-1.44355295e-02 -8.92929591e-05 9.99895798e-01 6.97461701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters 0.022823199025776376 Centerline is valid? [True, True] Translation: X:140.20, Y:-10.16, Z:0.70 [[ 9.90022845e-01 1.40122416e-01 1.48483978e-02 1.40195921e+02] [-1.40108146e-01 9.90134182e-01 -2.00212808e-03 -1.01609508e+01] [-1.49824492e-02 -9.82289469e-05 9.99887752e-01 6.97319676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters 0.022836599770585657 Centerline is valid? [True, True] Translation: X:140.26, Y:-10.17, Z:0.70 [[ 9.89885620e-01 1.40965524e-01 1.59743741e-02 1.40257129e+02] [-1.40949082e-01 9.90014499e-01 -2.15612568e-03 -1.01725125e+01] [-1.61188014e-02 -1.17255574e-04 9.99870077e-01 6.97394931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters 0.022667972262533115 Centerline is valid? [True, True] Translation: X:140.32, Y:-10.18, Z:0.70 [[ 9.89931998e-01 1.40729274e-01 1.51628290e-02 1.40319155e+02] [-1.40714400e-01 9.90048110e-01 -2.04871516e-03 -1.01787800e+01] [-1.53002444e-02 -1.05539703e-04 9.99882939e-01 6.99115460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters 0.022534579988115856 Centerline is valid? [True, True] Translation: X:140.38, Y:-10.18, Z:0.70 [[ 9.90136204e-01 1.39189645e-01 1.60169064e-02 1.40382572e+02] [-1.39172787e-01 9.90265740e-01 -2.16779986e-03 -1.01804725e+01] [-1.61627290e-02 -8.27003858e-05 9.99869371e-01 7.00817818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters 0.0224649072915084 Centerline is valid? [True, True] Translation: X:140.44, Y:-10.19, Z:0.70 [[ 9.90223659e-01 1.38760500e-01 1.42347491e-02 1.40444274e+02] [-1.38747116e-01 9.90325966e-01 -1.92830278e-03 -1.01898599e+01] [-1.43646139e-02 -6.55793514e-05 9.99896821e-01 6.98961124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters 0.022401619186855945 Centerline is valid? [True, True] Translation: X:140.51, Y:-10.20, Z:0.70 [[ 9.90348370e-01 1.38058264e-01 1.22483785e-02 1.40505502e+02] [-1.38048279e-01 9.90424108e-01 -1.66101657e-03 -1.02005192e+01] [-1.23604064e-02 -4.58825227e-05 9.99923606e-01 6.98854220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters 0.022404317364432158 Centerline is valid? [True, True] Translation: X:140.57, Y:-10.21, Z:0.70 [[ 9.91166557e-01 1.32111613e-01 1.16352173e-02 1.40566820e+02] [-1.32102174e-01 9.91234846e-01 -1.57951573e-03 -1.02088416e+01] [-1.17419052e-02 2.85256716e-05 9.99931061e-01 7.02165721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters 0.02251014036403824 Centerline is valid? [True, True] Translation: X:140.63, Y:-10.22, Z:0.70 [[ 9.91227481e-01 1.31385394e-01 1.43512898e-02 1.40628932e+02] [-1.31370931e-01 9.91331365e-01 -1.95003322e-03 -1.02150916e+01] [-1.44830896e-02 4.75842188e-05 9.99895113e-01 7.00508573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters 0.022605944516527275 Centerline is valid? [True, True] Translation: X:140.69, Y:-10.23, Z:0.70 [[ 9.90443157e-01 1.37193923e-01 1.41484886e-02 1.40691010e+02] [-1.37180411e-01 9.90544207e-01 -1.92579224e-03 -1.02259886e+01] [-1.42789104e-02 -3.35077314e-05 9.99898051e-01 6.99287992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters 0.022637923269407133 Centerline is valid? [True, True] Translation: X:140.75, Y:-10.24, Z:0.70 [[ 9.90329048e-01 1.38303260e-01 1.09810964e-02 1.40751340e+02] [-1.38295173e-01 9.90389927e-01 -1.49607208e-03 -1.02437478e+01] [-1.10824789e-02 -3.70289867e-05 9.99938587e-01 7.00335876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters 0.022745304815255392 Centerline is valid? [True, True] Translation: X:140.81, Y:-10.26, Z:0.70 [[ 9.90575391e-01 1.36474336e-01 1.16254181e-02 1.40813665e+02] [-1.36465114e-01 9.90643607e-01 -1.58663191e-03 -1.02554448e+01] [-1.17331806e-02 -1.47854721e-05 9.99931164e-01 7.00685635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters 0.022582203219643545 Centerline is valid? [True, True] Translation: X:140.88, Y:-10.26, Z:0.70 [[ 9.90471237e-01 1.37183425e-01 1.21423326e-02 1.40875916e+02] [-1.37173386e-01 9.90545662e-01 -1.65966866e-03 -1.02619053e+01] [-1.22552139e-02 -2.17508005e-05 9.99924902e-01 7.02966890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters 0.02269716181628778 Centerline is valid? [True, True] Translation: X:140.94, Y:-10.27, Z:0.70 [[ 9.89777307e-01 1.41663584e-01 1.65018377e-02 1.40937459e+02] [-1.41645640e-01 9.89914854e-01 -2.25709403e-03 -1.02721569e+01] [-1.66551623e-02 -1.03392906e-04 9.99861288e-01 7.03015398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters 0.0230194857513124 Centerline is valid? [True, True] Translation: X:141.00, Y:-10.29, Z:0.70 [[ 9.89081155e-01 1.46611736e-01 1.49488384e-02 1.40999276e+02] [-1.46597521e-01 9.89194102e-01 -2.04824117e-03 -1.02858183e+01] [-1.50875990e-02 -1.65585908e-04 9.99886162e-01 6.99261248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters 0.02275828964458342 Centerline is valid? [True, True] Translation: X:141.06, Y:-10.30, Z:0.70 [[ 9.89595653e-01 1.43228853e-01 1.36359262e-02 1.41060263e+02] [-1.43216682e-01 9.89689590e-01 -1.86999074e-03 -1.03011778e+01] [-1.37631708e-02 -1.02357399e-04 9.99905278e-01 7.00082701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters 0.022667192570501492 Centerline is valid? [True, True] Translation: X:141.12, Y:-10.31, Z:0.70 [[ 9.89661944e-01 1.42614684e-01 1.51752621e-02 1.41121681e+02] [-1.42599506e-01 9.89778279e-01 -2.08312058e-03 -1.03132115e+01] [-1.53172284e-02 -1.02399719e-04 9.99882679e-01 7.04427030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters 0.022994394829629748 Centerline is valid? [True, True] Translation: X:141.18, Y:-10.32, Z:0.70 [[ 9.88899479e-01 1.47608017e-01 1.70204029e-02 1.41183210e+02] [-1.47589624e-01 9.89045921e-01 -2.33868461e-03 -1.03242383e+01] [-1.71791686e-02 -1.99310863e-04 9.99852407e-01 7.03278937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters 0.023294566280939344 Centerline is valid? [True, True] Translation: X:141.24, Y:-10.34, Z:0.70 [[ 9.88376106e-01 1.51116411e-01 1.66284050e-02 1.41244158e+02] [-1.51099189e-01 9.88515943e-01 -2.29450159e-03 -1.03389720e+01] [-1.67841803e-02 -2.44707959e-04 9.99859106e-01 7.02377679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters 0.023434171776660323 Centerline is valid? [True, True] Translation: X:141.31, Y:-10.35, Z:0.71 [[ 9.87918420e-01 1.54286831e-01 1.45866186e-02 1.41305956e+02] [-1.54273796e-01 9.88026067e-01 -2.02146113e-03 -1.03498631e+01] [-1.47238443e-02 -2.53294349e-04 9.99891566e-01 7.06917179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters 0.02323507814022877 Centerline is valid? [True, True] Translation: X:141.37, Y:-10.36, Z:0.71 [[ 9.87795208e-01 1.55307407e-01 1.18421189e-02 1.41367569e+02] [-1.55298820e-01 9.87866167e-01 -1.64689604e-03 -1.03584418e+01] [-1.19542038e-02 -2.12271082e-04 9.99928523e-01 7.08165249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters 0.023596296144852848 Centerline is valid? [True, True] Translation: X:141.43, Y:-10.37, Z:0.71 [[ 9.87468418e-01 1.57218871e-01 1.37240862e-02 1.41428951e+02] [-1.57207525e-01 9.87563746e-01 -1.90842267e-03 -1.03659208e+01] [-1.38534501e-02 -2.73022515e-04 9.99903999e-01 7.05441631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters 0.023785351065700986 Centerline is valid? [True, True] Translation: X:141.49, Y:-10.38, Z:0.71 [[ 9.87282183e-01 1.58508394e-01 1.22057293e-02 1.41490989e+02] [-1.58499412e-01 9.87357598e-01 -1.70593183e-03 -1.03779852e+01] [-1.23218241e-02 -2.50364818e-04 9.99924052e-01 7.06491188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters 0.023782040494653944 Centerline is valid? [True, True] Translation: X:141.55, Y:-10.38, Z:0.71 [[ 9.87164949e-01 1.58917938e-01 1.58256740e-02 1.41553356e+02] [-1.58902900e-01 9.87291740e-01 -2.21118367e-03 -1.03799575e+01] [-1.59759540e-02 -3.31942484e-04 9.99872321e-01 7.10390342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters 0.02400612699759022 Centerline is valid? [True, True] Translation: X:141.62, Y:-10.38, Z:0.71 [[ 9.86812863e-01 1.61327756e-01 1.31806168e-02 1.41617076e+02] [-1.61317499e-01 9.86900837e-01 -1.84471208e-03 -1.03812508e+01] [-1.33055650e-02 -3.05878533e-04 9.99911430e-01 7.05845356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters 0.023682918410375443 Centerline is valid? [True, True] Translation: X:141.68, Y:-10.38, Z:0.71 [[ 9.86938024e-01 1.60822373e-01 9.46050816e-03 1.41679254e+02] [-1.60817008e-01 9.86983344e-01 -1.33007547e-03 -1.03845694e+01] [-9.55126987e-03 -2.08708562e-04 9.99954364e-01 7.05798732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters 0.023153214350171546 Centerline is valid? [True, True] Translation: X:141.74, Y:-10.39, Z:0.71 [[ 9.87588676e-01 1.56706949e-01 1.05612047e-02 1.41740997e+02] [-1.56700033e-01 9.87645127e-01 -1.48434994e-03 -1.03887759e+01] [-1.06633303e-02 -1.89013920e-04 9.99943127e-01 7.11288745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters 0.022551829257506893 Centerline is valid? [True, True] Translation: X:141.80, Y:-10.39, Z:0.71 [[ 9.88511388e-01 1.50816658e-01 9.97855650e-03 1.41803513e+02] [-1.50810169e-01 9.88561744e-01 -1.40387550e-03 -1.03924470e+01] [-1.00761470e-02 -1.17120873e-04 9.99949227e-01 7.09673397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters 0.022345734182528013 Centerline is valid? [True, True] Translation: X:141.87, Y:-10.40, Z:0.71 [[ 9.89402784e-01 1.44893027e-01 9.38837637e-03 1.41866373e+02] [-1.44886998e-01 9.89447325e-01 -1.32273043e-03 -1.03953392e+01] [-9.48095830e-03 -5.15404965e-05 9.99955053e-01 7.08426976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters 0.022360009415170506 Centerline is valid? [True, True] Translation: X:141.93, Y:-10.40, Z:0.71 [[ 9.89769672e-01 1.42208707e-01 1.15186817e-02 1.41929502e+02] [-1.42199435e-01 9.89836695e-01 -1.62410729e-03 -1.03951569e+01] [-1.16325761e-02 -3.04579016e-05 9.99932339e-01 7.09512664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters 0.022230289994057625 Centerline is valid? [True, True] Translation: X:141.99, Y:-10.40, Z:0.71 [[ 9.90246596e-01 1.38815155e-01 1.19176792e-02 1.41991851e+02] [-1.38804950e-01 9.90318309e-01 -1.68320646e-03 -1.04018686e+01] [-1.20359505e-02 1.25566007e-05 9.99927565e-01 7.09068715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters 0.022665371577296332 Centerline is valid? [True, True] Translation: X:142.05, Y:-10.42, Z:0.71 [[ 9.91536394e-01 1.29446342e-01 9.96116779e-03 1.42052884e+02] [-1.29438728e-01 9.91586422e-01 -1.40806369e-03 -1.04158445e+01] [-1.00596274e-02 1.06785510e-04 9.99949395e-01 7.06788155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters 0.02295748662630942 Centerline is valid? [True, True] Translation: X:142.11, Y:-10.42, Z:0.71 [[ 9.92102159e-01 1.24926496e-01 1.12550945e-02 1.42113960e+02] [-1.24916474e-01 9.92165984e-01 -1.59183964e-03 -1.04244495e+01] [-1.13657849e-02 1.73320825e-04 9.99935392e-01 7.09558297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters 0.02302067221312364 Centerline is valid? [True, True] Translation: X:142.18, Y:-10.43, Z:0.71 [[ 9.92253192e-01 1.23929035e-01 8.67161090e-03 1.42175433e+02] [-1.23923035e-01 9.92291073e-01 -1.22790181e-03 -1.04307328e+01] [-8.75693477e-03 1.43777144e-04 9.99961647e-01 7.13308770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters 0.022895234262318074 Centerline is valid? [True, True] Translation: X:142.24, Y:-10.44, Z:0.71 [[ 9.92254727e-01 1.23985403e-01 7.62739884e-03 1.42235878e+02] [-1.23980755e-01 9.92284034e-01 -1.08113300e-03 -1.04443386e+01] [-7.70259079e-03 1.27108663e-04 9.99970327e-01 7.11601879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters 0.023245209379975217 Centerline is valid? [True, True] Translation: X:142.30, Y:-10.46, Z:0.71 [[ 9.92322765e-01 1.23156914e-01 1.13095160e-02 1.42296360e+02] [-1.23146626e-01 9.92387190e-01 -1.60427122e-03 -1.04635074e+01] [-1.14209958e-02 1.99226121e-04 9.99934758e-01 7.11577031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters 0.02300983458292846 Centerline is valid? [True, True] Translation: X:142.36, Y:-10.47, Z:0.71 [[ 9.92198947e-01 1.24285512e-01 9.71398553e-03 1.42358123e+02] [-1.24277963e-01 9.92246484e-01 -1.37934048e-03 -1.04716187e+01] [-9.81010003e-03 1.61345844e-04 9.99951867e-01 7.12820115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters 0.022991743859063295 Centerline is valid? [True, True] Translation: X:142.42, Y:-10.48, Z:0.71 [[ 9.92095878e-01 1.25134597e-01 9.33276778e-03 1.42418952e+02] [-1.25127654e-01 9.92139764e-01 -1.32649019e-03 -1.04837220e+01] [-9.42539984e-03 1.48218106e-04 9.99955569e-01 7.14584932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters 0.02306383513200859 Centerline is valid? [True, True] Translation: X:142.48, Y:-10.50, Z:0.72 [[ 9.91913010e-01 1.26484325e-01 1.05021717e-02 1.42480211e+02] [-1.26475582e-01 9.91968594e-01 -1.49511362e-03 -1.04983473e+01] [-1.06069329e-02 1.54754367e-04 9.99943733e-01 7.16569372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters 0.02261835343430693 Centerline is valid? [True, True] Translation: X:142.54, Y:-10.51, Z:0.71 [[ 9.91192038e-01 1.31973452e-01 1.10160174e-02 1.42540757e+02] [-1.31964160e-01 9.91253246e-01 -1.56938110e-03 -1.05123383e+01] [-1.11267797e-02 1.01838556e-04 9.99938090e-01 7.13036175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters 0.022504096316306038 Centerline is valid? [True, True] Translation: X:142.60, Y:-10.52, Z:0.71 [[ 9.90830886e-01 1.34849493e-01 8.35288088e-03 1.42602574e+02] [-1.34844241e-01 9.90866092e-01 -1.19130347e-03 -1.05215609e+01] [-8.43723310e-03 5.40423898e-05 9.99964404e-01 7.14714750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters 0.022287015165021577 Centerline is valid? [True, True] Translation: X:142.66, Y:-10.54, Z:0.71 [[ 9.90184477e-01 1.39639296e-01 5.96384225e-03 1.42663504e+02] [-1.39636700e-01 9.90202437e-01 -8.51616749e-04 -1.05374000e+01] [-6.02433029e-03 1.04864353e-05 9.99981854e-01 7.14292354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters 0.022426946439288185 Centerline is valid? [True, True] Translation: X:142.72, Y:-10.55, Z:0.72 [[ 9.89278804e-01 1.45902131e-01 6.32589142e-03 1.42723652e+02] [-1.45899332e-01 9.89299028e-01 -9.04178777e-04 -1.05536256e+01] [-6.39011984e-03 -2.84584342e-05 9.99979583e-01 7.15324882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters 0.022610625065937525 Centerline is valid? [True, True] Translation: X:142.79, Y:-10.56, Z:0.72 [[ 9.88466802e-01 1.51267640e-01 7.17513676e-03 1.42785520e+02] [-1.51264174e-01 9.88492841e-01 -1.02645930e-03 -1.05632590e+01] [-7.24784140e-03 -7.07201966e-05 9.99973732e-01 7.17145408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters 0.023257279007836165 Centerline is valid? [True, True] Translation: X:142.85, Y:-10.57, Z:0.72 [[ 9.87146800e-01 1.59596419e-01 8.37721973e-03 1.42847772e+02] [-1.59591985e-01 9.87182333e-01 -1.19945017e-03 -1.05696756e+01] [-8.46127127e-03 -1.52903727e-04 9.99964191e-01 7.18123858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters 0.023545491462930297 Centerline is valid? [True, True] Translation: X:142.91, Y:-10.58, Z:0.72 [[ 9.86677826e-01 1.62410058e-01 9.47847379e-03 1.42909714e+02] [-1.62404500e-01 9.86723332e-01 -1.35832421e-03 -1.05785515e+01] [-9.57323675e-03 -1.99118420e-04 9.99954156e-01 7.18313207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters 0.023740860939756126 Centerline is valid? [True, True] Translation: X:142.97, Y:-10.59, Z:0.72 [[ 9.86465745e-01 1.63729476e-01 8.83133662e-03 1.42970879e+02] [-1.63724693e-01 9.86505256e-01 -1.26682178e-03 -1.05887059e+01] [-8.91957606e-03 -1.96231577e-04 9.99960201e-01 7.19491833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters 0.023972164819626888 Centerline is valid? [True, True] Translation: X:143.03, Y:-10.59, Z:0.72 [[ 9.86057503e-01 1.66185524e-01 8.54241114e-03 1.43032508e+02] [-1.66181096e-01 9.86094483e-01 -1.23060946e-03 -1.05930536e+01] [-8.62813397e-03 -2.06135555e-04 9.99962756e-01 7.20977212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters 0.0245739475109533 Centerline is valid? [True, True] Translation: X:143.09, Y:-10.59, Z:0.72 [[ 9.85233018e-01 1.71088068e-01 6.69127283e-03 1.43094890e+02] [-1.71085464e-01 9.85255721e-01 -9.63793576e-04 -1.05943258e+01] [-6.75750841e-03 -1.95218266e-04 9.99977149e-01 7.18898708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters 0.024288284866262118 Centerline is valid? [True, True] Translation: X:143.16, Y:-10.60, Z:0.72 [[ 9.85606457e-01 1.68859879e-01 8.13964540e-03 1.43156141e+02] [-1.68855943e-01 9.85640043e-01 -1.17335775e-03 -1.06029636e+01] [-8.22089349e-03 -2.17958521e-04 9.99966184e-01 7.21783511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters 0.023587707599478803 Centerline is valid? [True, True] Translation: X:143.22, Y:-10.61, Z:0.72 [[ 9.86320579e-01 1.64592371e-01 9.00368961e-03 1.43218423e+02] [-1.64587367e-01 9.86361653e-01 -1.29904255e-03 -1.06077914e+01] [-9.09470666e-03 -2.00621160e-04 9.99958622e-01 7.22277071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters 0.023338237411068666 Centerline is valid? [True, True] Translation: X:143.28, Y:-10.61, Z:0.72 [[ 9.86770257e-01 1.61671217e-01 1.21192902e-02 1.43281286e+02] [-1.61661912e-01 9.86844650e-01 -1.74997579e-03 -1.06092593e+01] [-1.22427774e-02 -2.32403562e-04 9.99925027e-01 7.19846098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters 0.02323896459113462 Centerline is valid? [True, True] Translation: X:143.34, Y:-10.61, Z:0.72 [[ 9.86764298e-01 1.61891171e-01 9.35244821e-03 1.43343594e+02] [-1.61885627e-01 9.86808602e-01 -1.35188350e-03 -1.06141021e+01] [-9.44793435e-03 -1.80036570e-04 9.99955351e-01 7.21713433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters 0.02292051073314056 Centerline is valid? [True, True] Translation: X:143.41, Y:-10.62, Z:0.72 [[ 9.87150429e-01 1.59604577e-01 7.77230980e-03 1.43405403e+02] [-1.59600667e-01 9.87181018e-01 -1.12464754e-03 -1.06230385e+01] [-7.85217559e-03 -1.30269534e-04 9.99969163e-01 7.22893665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters 0.02303275387645793 Centerline is valid? [True, True] Translation: X:143.47, Y:-10.63, Z:0.72 [[ 9.87069133e-01 1.60030685e-01 9.20358254e-03 1.43467218e+02] [-1.60025211e-01 9.87112028e-01 -1.33290605e-03 -1.06268086e+01] [-9.29827289e-03 -1.57134819e-04 9.99956758e-01 7.20207943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters 0.02308902418709836 Centerline is valid? [True, True] Translation: X:143.53, Y:-10.62, Z:0.72 [[ 9.86795583e-01 1.61606116e-01 1.08600319e-02 1.43530764e+02] [-1.61598574e-01 9.86855320e-01 -1.57417088e-03 -1.06199268e+01] [-1.09716759e-02 -2.01580805e-04 9.99939789e-01 7.19878675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters 0.02288781236547462 Centerline is valid? [True, True] Translation: X:143.59, Y:-10.63, Z:0.72 [[ 9.86966948e-01 1.60524903e-01 1.13136294e-02 1.43592641e+02] [-1.60516630e-01 9.87031771e-01 -1.64143193e-03 -1.06253388e+01] [-1.14304024e-02 -1.95986601e-04 9.99934652e-01 7.22483676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters 0.02247878090794016 Centerline is valid? [True, True] Translation: X:143.66, Y:-10.62, Z:0.72 [[ 9.87859412e-01 1.54827621e-01 1.27353991e-02 1.43655353e+02] [-1.54816643e-01 9.87941490e-01 -1.84943500e-03 -1.06241561e+01] [-1.28681728e-02 -1.44669961e-04 9.99917191e-01 7.20248905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters 0.02227428386918516 Centerline is valid? [True, True] Translation: X:143.72, Y:-10.63, Z:0.72 [[ 9.88771100e-01 1.48866486e-01 1.30568229e-02 1.43717500e+02] [-1.48854402e-01 9.88857303e-01 -1.89791674e-03 -1.06288249e+01] [-1.31938709e-02 -6.69603491e-05 9.99912955e-01 7.19442904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters 0.02211522567300838 Centerline is valid? [True, True] Translation: X:143.78, Y:-10.64, Z:0.72 [[ 9.90291319e-01 1.38500896e-01 1.18577510e-02 1.43778896e+02] [-1.38490165e-01 9.90362306e-01 -1.72532618e-03 -1.06371378e+01] [-1.19824288e-02 6.63936430e-05 9.99928206e-01 7.24223785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters 0.022193599635602856 Centerline is valid? [True, True] Translation: X:143.84, Y:-10.65, Z:0.72 [[ 9.90614008e-01 1.36346372e-01 9.67229580e-03 1.43840811e+02] [-1.36339115e-01 9.90661224e-01 -1.40876838e-03 -1.06453607e+01] [-9.77404886e-03 7.68334409e-05 9.99952230e-01 7.24446358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters 0.02228309478223097 Centerline is valid? [True, True] Translation: X:143.90, Y:-10.65, Z:0.72 [[ 9.90189819e-01 1.39015868e-01 1.40964638e-02 1.43902409e+02] [-1.39000702e-01 9.90290151e-01 -2.05478647e-03 -1.06530627e+01] [-1.42452372e-02 7.52102935e-05 9.99898529e-01 7.21881039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters 0.022263458076555238 Centerline is valid? [True, True] Translation: X:143.96, Y:-10.67, Z:0.72 [[ 9.89831584e-01 1.41660631e-01 1.28724743e-02 1.43963164e+02] [-1.41648184e-01 9.89915281e-01 -1.87817802e-03 -1.06658163e+01] [-1.30087229e-02 3.57173219e-05 9.99915382e-01 7.20381747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters 0.022323686205909857 Centerline is valid? [True, True] Translation: X:144.02, Y:-10.68, Z:0.72 [[ 9.89375566e-01 1.45053578e-01 9.76978064e-03 1.44024853e+02] [-1.45046546e-01 9.89423802e-01 -1.42836990e-03 -1.06769614e+01] [-9.87364367e-03 -3.87865319e-06 9.99951254e-01 7.20326403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters 0.022165859086310528 Centerline is valid? [True, True] Translation: X:144.09, Y:-10.68, Z:0.72 [[ 9.88877382e-01 1.48475786e-01 8.74435019e-03 1.44086753e+02] [-1.48470278e-01 9.88916043e-01 -1.27931813e-03 -1.06814559e+01] [-8.83737595e-03 -3.31873409e-05 9.99960949e-01 7.24125611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters 0.022514320954971603 Centerline is valid? [True, True] Translation: X:144.15, Y:-10.69, Z:0.72 [[ 9.88153902e-01 1.53011043e-01 1.18104463e-02 1.44148504e+02] [-1.53001302e-01 9.88224474e-01 -1.72929441e-03 -1.06912925e+01] [-1.19359732e-02 -9.82046456e-05 9.99928759e-01 7.23386486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters 0.022570129053053705 Centerline is valid? [True, True] Translation: X:144.21, Y:-10.70, Z:0.72 [[ 9.87956306e-01 1.54385393e-01 1.03676088e-02 1.44210213e+02] [-1.54377947e-01 9.88010699e-01 -1.51956381e-03 -1.06956724e+01] [-1.04779068e-02 -9.92675092e-05 9.99945100e-01 7.24527937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters 0.02250300170896288 Centerline is valid? [True, True] Translation: X:144.27, Y:-10.70, Z:0.72 [[ 9.87940368e-01 1.54671491e-01 7.11054920e-03 1.44272271e+02] [-1.54667987e-01 9.87965953e-01 -1.04337901e-03 -1.07015351e+01] [-7.18636151e-03 -6.89780922e-05 9.99974175e-01 7.23862354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters 0.022455076299372653 Centerline is valid? [True, True] Translation: X:144.33, Y:-10.71, Z:0.73 [[ 9.87733235e-01 1.55907642e-01 8.70990984e-03 1.44333932e+02] [-1.55902424e-01 9.87771633e-01 -1.27913171e-03 -1.07099092e+01] [-8.80282827e-03 -9.44551561e-05 9.99961250e-01 7.27683423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters 0.022735967238071746 Centerline is valid? [True, True] Translation: X:144.40, Y:-10.72, Z:0.73 [[ 9.87471333e-01 1.57517497e-01 9.41304136e-03 1.44395285e+02] [-1.57511468e-01 9.87516189e-01 -1.38314538e-03 -1.07165391e+01] [-9.51340033e-03 -1.16845555e-04 9.99954740e-01 7.27816324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters 0.022775840842011827 Centerline is valid? [True, True] Translation: X:144.46, Y:-10.72, Z:0.73 [[ 9.87235125e-01 1.59095115e-01 7.45337936e-03 1.44457605e+02] [-1.59091370e-01 9.87263255e-01 -1.09650430e-03 -1.07228499e+01] [-7.53289604e-03 -1.03260769e-04 9.99971622e-01 7.26892246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters 0.023353155769943672 Centerline is valid? [True, True] Translation: X:144.52, Y:-10.72, Z:0.73 [[ 9.86372389e-01 1.64263277e-01 9.33193950e-03 1.44519241e+02] [-1.64257636e-01 9.86416516e-01 -1.37299101e-03 -1.07233784e+01] [-9.43071125e-03 -1.78561894e-04 9.99955514e-01 7.26124792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters 0.023177253229815124 Centerline is valid? [True, True] Translation: X:144.58, Y:-10.73, Z:0.73 [[ 9.86539983e-01 1.63251744e-01 9.36638565e-03 1.44581456e+02] [-1.63246001e-01 9.86584431e-01 -1.37969836e-03 -1.07256946e+01] [-9.46596842e-03 -1.67897398e-04 9.99955183e-01 7.30191157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters 0.02292869176863002 Centerline is valid? [True, True] Translation: X:144.64, Y:-10.73, Z:0.73 [[ 9.87149528e-01 1.59632529e-01 7.29824855e-03 1.44643340e+02] [-1.59628935e-01 9.87176501e-01 -1.07622840e-03 -1.07328640e+01] [-7.37646054e-03 -1.02613281e-04 9.99972788e-01 7.28999349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters 0.022829069407381747 Centerline is valid? [True, True] Translation: X:144.71, Y:-10.73, Z:0.73 [[ 9.87446196e-01 1.57641343e-01 9.96072839e-03 1.44705046e+02] [-1.57634555e-01 9.87496427e-01 -1.46790073e-03 -1.07315941e+01] [-1.00675855e-02 -1.20681987e-04 9.99949313e-01 7.29031831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters 0.022750369035977196 Centerline is valid? [True, True] Translation: X:144.77, Y:-10.74, Z:0.73 [[ 9.87574272e-01 1.56662781e-01 1.24028673e-02 1.44765825e+02] [-1.56652172e-01 9.87652142e-01 -1.82839794e-03 -1.07365191e+01] [-1.25361604e-02 -1.37257338e-04 9.99921410e-01 7.29250035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters 0.022580308556271415 Centerline is valid? [True, True] Translation: X:144.83, Y:-10.75, Z:0.73 [[ 9.88280215e-01 1.52322399e-01 1.00051739e-02 1.44826689e+02] [-1.52315253e-01 9.88330857e-01 -1.47686814e-03 -1.07494784e+01] [-1.01133822e-02 -6.43810316e-05 9.99948856e-01 7.28621893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters 0.022397023455588538 Centerline is valid? [True, True] Translation: X:144.89, Y:-10.75, Z:0.73 [[ 9.88885748e-01 1.48330093e-01 1.01568395e-02 1.44887612e+02] [-1.48322514e-01 9.88937907e-01 -1.49959580e-03 -1.07545972e+01] [-1.02669188e-02 -2.35590522e-05 9.99947294e-01 7.28809692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters 0.022528967263875894 Centerline is valid? [True, True] Translation: X:144.95, Y:-10.76, Z:0.73 [[ 9.88718594e-01 1.49256735e-01 1.25685378e-02 1.44948531e+02] [-1.49245195e-01 9.88798476e-01 -1.85644383e-03 -1.07633525e+01] [-1.27048378e-02 -4.02933457e-05 9.99919289e-01 7.30882346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters 0.022464729533970097 Centerline is valid? [True, True] Translation: X:145.01, Y:-10.77, Z:0.73 [[ 9.88029059e-01 1.53699932e-01 1.32253310e-02 1.45010101e+02] [-1.53687523e-01 9.88117564e-01 -1.95559385e-03 -1.07697518e+01] [-1.33687565e-02 -1.00384819e-04 9.99910629e-01 7.32688606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters 0.022516551064013388 Centerline is valid? [True, True] Translation: X:145.07, Y:-10.78, Z:0.73 [[ 9.87458867e-01 1.57560416e-01 9.98506395e-03 1.45071527e+02] [-1.57553525e-01 9.87509343e-01 -1.47800220e-03 -1.07780633e+01] [-1.00932186e-02 -1.13715645e-04 9.99949056e-01 7.31326605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters 0.022513691521419053 Centerline is valid? [True, True] Translation: X:145.13, Y:-10.79, Z:0.73 [[ 9.87093003e-01 1.59813525e-01 1.03460007e-02 1.45132450e+02] [-1.59806247e-01 9.87147212e-01 -1.53177516e-03 -1.07852929e+01] [-1.04578242e-02 -1.41351006e-04 9.99945305e-01 7.32745888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters 0.02238185393593491 Centerline is valid? [True, True] Translation: X:145.19, Y:-10.79, Z:0.73 [[ 9.87113300e-01 1.59611576e-01 1.14663928e-02 1.45193463e+02] [-1.59602627e-01 9.87179883e-01 -1.69727431e-03 -1.07894517e+01] [-1.15902970e-02 -1.54664372e-04 9.99932818e-01 7.34745728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters 0.022432696328922475 Centerline is valid? [True, True] Translation: X:145.25, Y:-10.80, Z:0.73 [[ 9.86888605e-01 1.60999650e-01 1.14015350e-02 1.45253957e+02] [-1.60990881e-01 9.86954449e-01 -1.68878538e-03 -1.07974043e+01] [-1.15246896e-02 -1.68900119e-04 9.99933574e-01 7.33932078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters 0.02244926795400803 Centerline is valid? [True, True] Translation: X:145.31, Y:-10.80, Z:0.73 [[ 9.86858456e-01 1.61040876e-01 1.32749765e-02 1.45314928e+02] [-1.61028981e-01 9.86947718e-01 -1.96712274e-03 -1.08044835e+01] [-1.34184949e-02 -1.96384218e-04 9.99909949e-01 7.34524697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters 0.022436008786446054 Centerline is valid? [True, True] Translation: X:145.38, Y:-10.82, Z:0.73 [[ 9.87014705e-01 1.60024169e-01 1.39368989e-02 1.45375538e+02] [-1.60010925e-01 9.87113078e-01 -2.06746333e-03 -1.08174880e+01] [-1.40881393e-02 -1.89439376e-04 9.99900739e-01 7.33888996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters 0.022321848999787786 Centerline is valid? [True, True] Translation: X:145.44, Y:-10.82, Z:0.73 [[ 9.87732755e-01 1.55293879e-01 1.63651025e-02 1.45437223e+02] [-1.55274933e-01 9.87868307e-01 -2.42980428e-03 -1.08245759e+01] [-1.65438998e-02 -1.41092912e-04 9.99863130e-01 7.32008666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters 0.022225490767749833 Centerline is valid? [True, True] Translation: X:145.50, Y:-10.83, Z:0.73 [[ 9.88057676e-01 1.53289200e-01 1.56348943e-02 1.45498349e+02] [-1.53271621e-01 9.88181365e-01 -2.32356814e-03 -1.08339393e+01] [-1.58062891e-02 -1.00566260e-04 9.99875068e-01 7.32568693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters 0.02194365050963061 Centerline is valid? [True, True] Translation: X:145.56, Y:-10.85, Z:0.73 [[ 9.88660953e-01 1.49508128e-01 1.40299196e-02 1.45559468e+02] [-1.49493565e-01 9.88760496e-01 -2.08703988e-03 -1.08463678e+01] [-1.41842597e-02 -3.40078511e-05 9.99899398e-01 7.34736433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters 0.022064530585924128 Centerline is valid? [True, True] Translation: X:145.62, Y:-10.85, Z:0.73 [[ 9.89251033e-01 1.45459559e-01 1.49636354e-02 1.45621020e+02] [-1.45442498e-01 9.89364198e-01 -2.22795097e-03 -1.08549257e+01] [-1.51285619e-02 2.76542870e-05 9.99885556e-01 7.34797086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters 0.02259888002765733 Centerline is valid? [True, True] Translation: X:145.68, Y:-10.87, Z:0.73 [[ 9.90118843e-01 1.39215821e-01 1.68413878e-02 1.45682705e+02] [-1.39193268e-01 9.90262054e-01 -2.50974248e-03 -1.08658930e+01] [-1.70267831e-02 1.40735513e-04 9.99855024e-01 7.32337864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters 0.022541516374364537 Centerline is valid? [True, True] Translation: X:145.74, Y:-10.88, Z:0.73 [[ 9.90527486e-01 1.36531378e-01 1.46452278e-02 1.45742710e+02] [-1.36514000e-01 9.90635733e-01 -2.18449384e-03 -1.08818976e+01] [-1.48063379e-02 1.64522568e-04 9.99890367e-01 7.34704859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters 0.022530444127008272 Centerline is valid? [True, True] Translation: X:145.80, Y:-10.89, Z:0.74 [[ 9.90708869e-01 1.35353713e-01 1.32404472e-02 1.45804145e+02] [-1.35339379e-01 9.90797328e-01 -1.97679140e-03 -1.08921952e+01] [-1.33861658e-02 1.66470867e-04 9.99910387e-01 7.36719077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters 0.022703291769203722 Centerline is valid? [True, True] Translation: X:145.86, Y:-10.91, Z:0.74 [[ 9.90940503e-01 1.33718751e-01 1.24986440e-02 1.45864583e+02] [-1.33705827e-01 9.91019305e-01 -1.86773216e-03 -1.09094315e+01] [-1.26361483e-02 1.79669919e-04 9.99920145e-01 7.35838368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters 0.022879962001344272 Centerline is valid? [True, True] Translation: X:145.93, Y:-10.92, Z:0.74 [[ 9.90954181e-01 1.33506219e-01 1.36345372e-02 1.45926027e+02] [-1.33490795e-01 9.91047955e-01 -2.03923151e-03 -1.09220743e+01] [-1.37847303e-02 2.00699791e-04 9.99904966e-01 7.36730100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters 0.022857013575757642 Centerline is valid? [True, True] Translation: X:145.99, Y:-10.94, Z:0.74 [[ 9.91120539e-01 1.32344304e-01 1.28476594e-02 1.45987975e+02] [-1.32330473e-01 9.91203784e-01 -1.92451902e-03 -1.09367924e+01] [-1.29893478e-02 2.07293481e-04 9.99915613e-01 7.36996706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters 0.023227655022240067 Centerline is valid? [True, True] Translation: X:146.05, Y:-10.95, Z:0.74 [[ 9.91238501e-01 1.31401485e-01 1.34121015e-02 1.46048990e+02] [-1.31386306e-01 9.91329207e-01 -2.01046138e-03 -1.09496478e+01] [-1.35599855e-02 2.30680256e-04 9.99908033e-01 7.36693619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters 0.023800364833005457 Centerline is valid? [True, True] Translation: X:146.11, Y:-10.97, Z:0.74 [[ 9.91650677e-01 1.28057942e-01 1.51689733e-02 1.46109108e+02] [-1.28038106e-01 9.91766638e-01 -2.27573039e-03 -1.09656573e+01] [-1.53355070e-02 3.14522965e-04 9.99882355e-01 7.38879784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters 0.024131743094831813 Centerline is valid? [True, True] Translation: X:146.17, Y:-10.98, Z:0.74 [[ 9.92003730e-01 1.25312800e-01 1.50100685e-02 1.46170632e+02] [-1.25293033e-01 9.92117219e-01 -2.25384373e-03 -1.09768234e+01] [-1.51741829e-02 3.55164371e-04 9.99884802e-01 7.37764680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters 0.024816869925086735 Centerline is valid? [True, True] Translation: X:146.23, Y:-10.99, Z:0.74 [[ 9.92365391e-01 1.21904421e-01 1.87147755e-02 1.46231099e+02] [-1.21873043e-01 9.92541713e-01 -2.81238890e-03 -1.09937276e+01] [-1.89180380e-02 5.10090776e-04 9.99820908e-01 7.37735310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters 0.02530771478663837 Centerline is valid? [True, True] Translation: X:146.29, Y:-11.01, Z:0.74 [[ 9.92850895e-01 1.18417453e-01 1.49802153e-02 1.46291207e+02] [-1.18396921e-01 9.92963792e-01 -2.25322304e-03 -1.10141668e+01] [-1.51416323e-02 4.63503151e-04 9.99885251e-01 7.38660366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters 0.025628765288523203 Centerline is valid? [True, True] Translation: X:146.35, Y:-11.03, Z:0.74 [[ 9.93108299e-01 1.16608470e-01 1.17631039e-02 1.46352447e+02] [-1.16595650e-01 9.93177886e-01 -1.77208182e-03 -1.10298349e+01] [-1.18894944e-02 3.88342409e-04 9.99929242e-01 7.38011529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters 0.026166908376958842 Centerline is valid? [True, True] Translation: X:146.41, Y:-11.05, Z:0.74 [[ 9.93212153e-01 1.15249429e-01 1.57222347e-02 1.46411855e+02] [-1.15226336e-01 9.93336436e-01 -2.36988019e-03 -1.10540861e+01] [-1.58905959e-02 5.42178306e-04 9.99873590e-01 7.38071465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters 0.024554716978013157 Centerline is valid? [True, True] Translation: X:146.47, Y:-11.08, Z:0.74 [[ 9.92143259e-01 1.24301678e-01 1.41720038e-02 1.46469692e+02] [-1.24283835e-01 9.92244408e-01 -2.13629555e-03 -1.10780286e+01] [-1.43276366e-02 3.58160252e-04 9.99897290e-01 7.39267258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters 0.023482933415107876 Centerline is valid? [True, True] Translation: X:146.53, Y:-11.10, Z:0.74 [[ 9.90778652e-01 1.34930785e-01 1.23022887e-02 1.46528351e+02] [-1.34918146e-01 9.90855010e-01 -1.85546057e-03 -1.11008699e+01] [-1.24401431e-02 1.78548752e-04 9.99922602e-01 7.36929083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters 0.02316911615887873 Centerline is valid? [True, True] Translation: X:146.59, Y:-11.12, Z:0.74 [[ 9.88844479e-01 1.48294504e-01 1.39762969e-02 1.46588565e+02] [-1.48279482e-01 9.88943244e-01 -2.11082513e-03 -1.11221262e+01] [-1.41347882e-02 1.48797128e-05 9.99900099e-01 7.38219313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters 0.023500087922838 Centerline is valid? [True, True] Translation: X:146.65, Y:-11.14, Z:0.74 [[ 9.87723522e-01 1.55323901e-01 1.66351826e-02 1.46648944e+02] [-1.55303453e-01 9.87863592e-01 -2.52193496e-03 -1.11368730e+01] [-1.68250080e-02 -9.25268229e-05 9.99858445e-01 7.38462481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters 0.024705792399716944 Centerline is valid? [True, True] Translation: X:146.71, Y:-11.15, Z:0.74 [[ 9.85682261e-01 1.67531636e-01 1.90691128e-02 1.46709404e+02] [-1.67507036e-01 9.85866640e-01 -2.89141277e-03 -1.11539263e+01] [-1.92840053e-02 -3.44196305e-04 9.99813987e-01 7.39071148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters 0.025523275019611786 Centerline is valid? [True, True] Translation: X:146.77, Y:-11.16, Z:0.74 [[ 9.84431183e-01 1.75050850e-01 1.58885246e-02 1.46770786e+02] [-1.75034603e-01 9.84559312e-01 -2.41828672e-03 -1.11627711e+01] [-1.60665180e-02 -4.00404737e-04 9.99870845e-01 7.37021470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters 0.02634448436518708 Centerline is valid? [True, True] Translation: X:146.83, Y:-11.17, Z:0.74 [[ 9.83158392e-01 1.81934248e-01 1.73062554e-02 1.46832441e+02] [-1.81915916e-01 9.83310543e-01 -2.64098175e-03 -1.11680579e+01] [-1.74979084e-02 -5.51779925e-04 9.99846748e-01 7.39501922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters 0.026462092590174735 Centerline is valid? [True, True] Translation: X:146.89, Y:-11.18, Z:0.74 [[ 9.83128931e-01 1.82084895e-01 1.73952839e-02 1.46894819e+02] [-1.82066229e-01 9.83282661e-01 -2.66413152e-03 -1.11770834e+01] [-1.75895791e-02 -5.47908960e-04 9.99845141e-01 7.43249639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters 0.026765716331417774 Centerline is valid? [True, True] Translation: X:146.96, Y:-11.17, Z:0.74 [[ 9.82523133e-01 1.85578710e-01 1.44511329e-02 1.46958226e+02] [-1.85566108e-01 9.82629275e-01 -2.21989258e-03 -1.11745098e+01] [-1.46120710e-02 -5.00544666e-04 9.99893113e-01 7.38549260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters 0.027198834944275278 Centerline is valid? [True, True] Translation: X:147.02, Y:-11.18, Z:0.74 [[ 9.82083639e-01 1.87781401e-01 1.58073532e-02 1.47020490e+02] [-1.87766494e-01 9.82210677e-01 -2.43526785e-03 -1.11765080e+01] [-1.59834491e-02 -5.76454574e-04 9.99872090e-01 7.38896910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters 0.026524107116984594 Centerline is valid? [True, True] Translation: X:147.08, Y:-11.17, Z:0.74 [[ 9.82408177e-01 1.85992844e-01 1.67581607e-02 1.47084059e+02] [-1.85975704e-01 9.82550932e-01 -2.58914396e-03 -1.11748033e+01] [-1.69473087e-02 -5.73014542e-04 9.99856220e-01 7.42194988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters 0.02523282776976503 Centerline is valid? [True, True] Translation: X:147.15, Y:-11.18, Z:0.74 [[ 9.83795509e-01 1.78978711e-01 1.06309946e-02 1.47145290e+02] [-1.78971413e-01 9.83852905e-01 -1.64165834e-03 -1.11760453e+01] [-1.07531568e-02 -2.87588028e-04 9.99942142e-01 7.38767194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters 0.02516039842883889 Centerline is valid? [True, True] Translation: X:147.21, Y:-11.18, Z:0.74 [[ 9.84185162e-01 1.76703915e-01 1.24616378e-02 1.47207655e+02] [-1.76693678e-01 9.84264006e-01 -1.92651840e-03 -1.11802718e+01] [-1.26059649e-02 -3.05841792e-04 9.99920495e-01 7.37207825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters 0.025151819311028202 Centerline is valid? [True, True] Translation: X:147.27, Y:-11.18, Z:0.74 [[ 9.84201911e-01 1.76199010e-01 1.73351322e-02 1.47270895e+02] [-1.76179085e-01 9.84354477e-01 -2.68198535e-03 -1.11783631e+01] [-1.75364782e-02 -4.14472624e-04 9.99846138e-01 7.41254710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters 0.024977959187825065 Centerline is valid? [True, True] Translation: X:147.33, Y:-11.18, Z:0.74 [[ 9.84133005e-01 1.76933512e-01 1.32951211e-02 1.47333455e+02] [-1.76921832e-01 9.84222752e-01 -2.05888711e-03 -1.11817338e+01] [-1.34496468e-02 -3.25978424e-04 9.99909496e-01 7.39526663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters 0.02495561841696757 Centerline is valid? [True, True] Translation: X:147.40, Y:-11.18, Z:0.74 [[ 9.84152147e-01 1.76690581e-01 1.49996901e-02 1.47395721e+02] [-1.76675657e-01 9.84266380e-01 -2.32480605e-03 -1.11831058e+01] [-1.51744620e-02 -3.62117237e-04 9.99884796e-01 7.39424497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters 0.02421573841853161 Centerline is valid? [True, True] Translation: X:147.46, Y:-11.18, Z:0.74 [[ 9.85048742e-01 1.71621952e-01 1.49960542e-02 1.47458569e+02] [-1.71606416e-01 9.85162842e-01 -2.32631964e-03 -1.11846939e+01] [-1.51728029e-02 -2.81880884e-04 9.99884847e-01 7.40733028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters 0.023599613544911444 Centerline is valid? [True, True] Translation: X:147.52, Y:-11.19, Z:0.74 [[ 9.87218816e-01 1.58782985e-01 1.36738140e-02 1.47519561e+02] [-1.58768807e-01 9.87313505e-01 -2.12321981e-03 -1.11938935e+01] [-1.38374724e-02 -7.48925851e-05 9.99904255e-01 7.37345187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters 0.023650930556452742 Centerline is valid? [True, True] Translation: X:147.58, Y:-11.20, Z:0.74 [[ 9.88229159e-01 1.52242313e-01 1.50135480e-02 1.47582304e+02] [-1.52224434e-01 9.88343198e-01 -2.33326877e-03 -1.11952334e+01] [-1.51937603e-02 2.03753873e-05 9.99884568e-01 7.38084240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters 0.023584464188540134 Centerline is valid? [True, True] Translation: X:147.64, Y:-11.20, Z:0.74 [[ 9.88448966e-01 1.50958186e-01 1.34263981e-02 1.47643496e+02] [-1.50943743e-01 9.88540148e-01 -2.08850183e-03 -1.12033748e+01] [-1.35878100e-02 3.77466990e-05 9.99907681e-01 7.37629481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters 0.023826911729156255 Centerline is valid? [True, True] Translation: X:147.70, Y:-11.22, Z:0.74 [[ 9.89260849e-01 1.45590606e-01 1.28975836e-02 1.47703921e+02] [-1.45576798e-01 9.89344916e-01 -2.00803603e-03 -1.12178326e+01] [-1.30525099e-02 1.08882501e-04 9.99914806e-01 7.39716348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters 0.02388670580606308 Centerline is valid? [True, True] Translation: X:147.76, Y:-11.23, Z:0.74 [[ 9.89736670e-01 1.42176559e-01 1.43927119e-02 1.47764801e+02] [-1.42158986e-01 9.89841298e-01 -2.24201681e-03 -1.12278854e+01] [-1.45652629e-02 1.72952929e-04 9.99893906e-01 7.40457190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters 0.02407899092314877 Centerline is valid? [True, True] Translation: X:147.83, Y:-11.24, Z:0.74 [[ 9.90058564e-01 1.39819786e-01 1.53123214e-02 1.47825627e+02] [-1.39799579e-01 9.90176943e-01 -2.38745749e-03 -1.12412236e+01] [-1.54957214e-02 2.23066643e-04 9.99879909e-01 7.39047517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters 0.023799730261701478 Centerline is valid? [True, True] Translation: X:147.89, Y:-11.26, Z:0.74 [[ 9.89793558e-01 1.41791928e-01 1.42744966e-02 1.47886322e+02] [-1.41774545e-01 9.89896468e-01 -2.22758627e-03 -1.12565312e+01] [-1.44461275e-02 1.81090291e-04 9.99895633e-01 7.41472405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters 0.02351743070411102 Centerline is valid? [True, True] Translation: X:147.95, Y:-11.28, Z:0.74 [[ 9.88804211e-01 1.48581981e-01 1.37705326e-02 1.47946086e+02] [-1.48566435e-01 9.88900090e-01 -2.15083402e-03 -1.12765978e+01] [-1.39372561e-02 8.09147983e-05 9.99902868e-01 7.41730751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters 0.023284197445608886 Centerline is valid? [True, True] Translation: X:148.01, Y:-11.29, Z:0.74 [[ 9.87762423e-01 1.55135086e-01 1.60779617e-02 1.48007451e+02] [-1.55114726e-01 9.87893266e-01 -2.51335227e-03 -1.12872307e+01] [-1.62732192e-02 -1.13336970e-05 9.99867582e-01 7.43584693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters 0.023704007066426187 Centerline is valid? [True, True] Translation: X:148.07, Y:-11.30, Z:0.75 [[ 9.85625356e-01 1.68416162e-01 1.33661675e-02 1.48069040e+02] [-1.68403283e-01 9.85715963e-01 -2.09138135e-03 -1.12982117e+01] [-1.35274671e-02 -1.89587994e-04 9.99908482e-01 7.48181883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters 0.02443130488460707 Centerline is valid? [True, True] Translation: X:148.13, Y:-11.31, Z:0.75 [[ 9.84324396e-01 1.76173634e-01 8.26638571e-03 1.48130530e+02] [-1.76168969e-01 9.84359090e-01 -1.29482077e-03 -1.13088278e+01] [-8.36520519e-03 -1.81756975e-04 9.99964995e-01 7.47890123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters 0.02501387622272804 Centerline is valid? [True, True] Translation: X:148.19, Y:-11.32, Z:0.75 [[ 9.83754893e-01 1.79087767e-01 1.24049256e-02 1.48191405e+02] [-1.79077484e-01 9.83833053e-01 -1.94381974e-03 -1.13182209e+01] [-1.25524902e-02 -3.09200688e-04 9.99921167e-01 7.45358627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters 0.024816789932888238 Centerline is valid? [True, True] Translation: X:148.25, Y:-11.33, Z:0.75 [[ 9.83945269e-01 1.78032447e-01 1.24962497e-02 1.48253106e+02] [-1.78021904e-01 9.84024573e-01 -1.95997318e-03 -1.13274916e+01] [-1.26455556e-02 -2.96099832e-04 9.99919998e-01 7.47170909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters 0.024642527905860696 Centerline is valid? [True, True] Translation: X:148.31, Y:-11.33, Z:0.75 [[ 9.84051840e-01 1.77568359e-01 1.05572027e-02 1.48314810e+02] [-1.77560790e-01 9.84108438e-01 -1.65739781e-03 -1.13337252e+01] [-1.06837336e-02 -2.43579887e-04 9.99942898e-01 7.48795462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters 0.024942834221549692 Centerline is valid? [True, True] Translation: X:148.38, Y:-11.34, Z:0.75 [[ 9.83652344e-01 1.79733310e-01 1.11356870e-02 1.48376119e+02] [-1.79725012e-01 9.83715334e-01 -1.74970370e-03 -1.13413932e+01] [-1.12688261e-02 -2.80261335e-04 9.99936465e-01 7.47172081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters 0.024753736743233355 Centerline is valid? [True, True] Translation: X:148.44, Y:-11.35, Z:0.75 [[ 9.83906599e-01 1.78262094e-01 1.22650384e-02 1.48437227e+02] [-1.78251893e-01 9.83982999e-01 -1.92874429e-03 -1.13499646e+01] [-1.24124113e-02 -2.88562085e-04 9.99922921e-01 7.49602875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters 0.024394969512260226 Centerline is valid? [True, True] Translation: X:148.50, Y:-11.36, Z:0.75 [[ 9.84404068e-01 1.75449855e-01 1.28832934e-02 1.48498477e+02] [-1.75438336e-01 9.84488333e-01 -2.02772059e-03 -1.13612846e+01] [-1.30392153e-02 -2.64127165e-04 9.99914951e-01 7.51049649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters 0.024083047325295846 Centerline is valid? [True, True] Translation: X:148.56, Y:-11.36, Z:0.75 [[ 9.85040910e-01 1.71747748e-01 1.40398332e-02 1.48561135e+02] [-1.71733664e-01 9.85140933e-01 -2.21164853e-03 -1.13648484e+01] [-1.42110601e-02 -2.32547732e-04 9.99898991e-01 7.50550188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters 0.023902643009524153 Centerline is valid? [True, True] Translation: X:148.62, Y:-11.37, Z:0.75 [[ 9.84870236e-01 1.73089465e-01 8.40569866e-03 1.48623299e+02] [-1.73084453e-01 9.84906094e-01 -1.32556629e-03 -1.13700555e+01] [-8.50826540e-03 -1.49384978e-04 9.99963793e-01 7.49495319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters 0.024208572360839897 Centerline is valid? [True, True] Translation: X:148.68, Y:-11.38, Z:0.75 [[ 9.84330319e-01 1.76047752e-01 1.00505039e-02 1.48684916e+02] [-1.76040729e-01 9.84381606e-01 -1.58621255e-03 -1.13804955e+01] [-1.01727803e-02 -2.07940929e-04 9.99948234e-01 7.51282557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters 0.024518327840062373 Centerline is valid? [True, True] Translation: X:148.75, Y:-11.39, Z:0.75 [[ 9.83909298e-01 1.78050215e-01 1.48531022e-02 1.48747374e+02] [-1.78035078e-01 9.84021345e-01 -2.34588987e-03 -1.13859191e+01] [-1.50334558e-02 -3.36230347e-04 9.99886935e-01 7.52524822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters 0.024560696198213952 Centerline is valid? [True, True] Translation: X:148.81, Y:-11.39, Z:0.75 [[ 9.84021781e-01 1.77465931e-01 1.43867321e-02 1.48809531e+02] [-1.77451638e-01 9.84126894e-01 -2.27422323e-03 -1.13891950e+01] [-1.45619672e-02 -3.15063987e-04 9.99893919e-01 7.49117962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters 0.024119004932587788 Centerline is valid? [True, True] Translation: X:148.87, Y:-11.40, Z:0.75 [[ 9.84699284e-01 1.73912176e-01 1.10396792e-02 1.48871851e+02] [-1.73903518e-01 9.84761146e-01 -1.74680345e-03 -1.13951187e+01] [-1.11752376e-02 -1.99762948e-04 9.99937535e-01 7.49803284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters 0.023860203159590327 Centerline is valid? [True, True] Translation: X:148.93, Y:-11.40, Z:0.75 [[ 9.85200383e-01 1.71113837e-01 1.00129612e-02 1.48934750e+02] [-1.71106555e-01 9.85251253e-01 -1.58581129e-03 -1.13977868e+01] [-1.01366369e-02 -1.50941411e-04 9.99948612e-01 7.50765460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters 0.0237926269234046 Centerline is valid? [True, True] Translation: X:149.00, Y:-11.40, Z:0.75 [[ 9.85584051e-01 1.68627106e-01 1.37469442e-02 1.48997004e+02] [-1.68613115e-01 9.85679902e-01 -2.17884867e-03 -1.13998435e+01] [-1.39174995e-02 -1.70476580e-04 9.99903132e-01 7.49953550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters 0.02371186904705036 Centerline is valid? [True, True] Translation: X:149.06, Y:-11.41, Z:0.75 [[ 9.85864994e-01 1.67022659e-01 1.31774490e-02 1.49058347e+02] [-1.67009635e-01 9.85953048e-01 -2.09042268e-03 -1.14072600e+01] [-1.33414940e-02 -1.39886413e-04 9.99910989e-01 7.50617779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters 0.0235245221979539 Centerline is valid? [True, True] Translation: X:149.12, Y:-11.41, Z:0.75 [[ 9.86671700e-01 1.62263896e-01 1.22222877e-02 1.49121472e+02] [-1.62252298e-01 9.86747396e-01 -1.94125537e-03 -1.14094769e+01] [-1.23753063e-02 -6.77125403e-05 9.99923421e-01 7.47747894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters 0.023342469937875213 Centerline is valid? [True, True] Translation: X:149.18, Y:-11.42, Z:0.75 [[ 9.87372601e-01 1.57925686e-01 1.24428734e-02 1.49182209e+02] [-1.57913302e-01 9.87451000e-01 -1.97781354e-03 -1.14204454e+01] [-1.25990753e-02 -1.20563173e-05 9.99920628e-01 7.46898590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters 0.02334873821972651 Centerline is valid? [True, True] Translation: X:149.24, Y:-11.43, Z:0.75 [[ 9.87670051e-01 1.55852918e-01 1.47559685e-02 1.49243495e+02] [-1.55835241e-01 9.87780273e-01 -2.34739258e-03 -1.14337093e+01] [-1.49415026e-02 1.89494396e-05 9.99888369e-01 7.48621853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters 0.023138547190048354 Centerline is valid? [True, True] Translation: X:149.30, Y:-11.45, Z:0.75 [[ 9.87784877e-01 1.55332839e-01 1.23590180e-02 1.49304022e+02] [-1.55320375e-01 9.87862191e-01 -1.96788286e-03 -1.14463326e+01] [-1.25146834e-02 2.42376203e-05 9.99921688e-01 7.48519278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters 0.023183896130468923 Centerline is valid? [True, True] Translation: X:149.36, Y:-11.46, Z:0.75 [[ 9.87455131e-01 1.57268300e-01 1.41083770e-02 1.49364523e+02] [-1.57252229e-01 9.87555913e-01 -2.24827670e-03 -1.14605863e+01] [-1.42863938e-02 1.49862581e-06 9.99897944e-01 7.49484197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters 0.023328378030008843 Centerline is valid? [True, True] Translation: X:149.43, Y:-11.47, Z:0.75 [[ 9.86443954e-01 1.63311506e-01 1.60523132e-02 1.49425094e+02] [-1.63291466e-01 9.86574550e-01 -2.56016550e-03 -1.14740065e+01] [-1.62549081e-02 -9.57459623e-05 9.99867876e-01 7.52862150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters 0.02337199207957197 Centerline is valid? [True, True] Translation: X:149.49, Y:-11.48, Z:0.75 [[ 9.85750853e-01 1.67679163e-01 1.33773851e-02 1.49486035e+02] [-1.67665620e-01 9.85841610e-01 -2.13550660e-03 -1.14847743e+01] [-1.35460628e-02 -1.37850118e-04 9.99908238e-01 7.54330910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters 0.02382647825680723 Centerline is valid? [True, True] Translation: X:149.55, Y:-11.50, Z:0.75 [[ 9.84904785e-01 1.72687381e-01 1.19009807e-02 1.49546261e+02] [-1.72677008e-01 9.84976667e-01 -1.90153880e-03 -1.14999701e+01] [-1.20505600e-02 -1.82191065e-04 9.99927373e-01 7.54454777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters 0.024241348499004393 Centerline is valid? [True, True] Translation: X:149.61, Y:-11.50, Z:0.76 [[ 9.83925801e-01 1.78324564e-01 9.50618559e-03 1.49608326e+02] [-1.78318195e-01 9.83971702e-01 -1.52033710e-03 -1.15042498e+01] [-9.62493107e-03 -1.99226952e-04 9.99953659e-01 7.55833501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters 0.0249330903507639 Centerline is valid? [True, True] Translation: X:149.67, Y:-11.51, Z:0.76 [[ 9.82925711e-01 1.83812985e-01 8.35664587e-03 1.49669966e+02] [-1.83808254e-01 9.82961208e-01 -1.33726421e-03 -1.15100003e+01] [-8.46006525e-03 -2.21589117e-04 9.99964188e-01 7.55592434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters 0.02535643781997122 Centerline is valid? [True, True] Translation: X:149.73, Y:-11.52, Z:0.76 [[ 9.82224828e-01 1.87523542e-01 8.32521914e-03 1.49731564e+02] [-1.87518973e-01 9.82260076e-01 -1.33308275e-03 -1.15154133e+01] [-8.42751479e-03 -2.51749567e-04 9.99964456e-01 7.55883944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters 0.025248394961672187 Centerline is valid? [True, True] Translation: X:149.79, Y:-11.52, Z:0.76 [[ 9.82572468e-01 1.85419716e-01 1.30719227e-02 1.49792405e+02] [-1.85408258e-01 9.82659348e-01 -2.09357996e-03 -1.15209494e+01] [-1.32334380e-02 -3.66548391e-04 9.99912367e-01 7.56117143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters 0.02487068843837605 Centerline is valid? [True, True] Translation: X:149.85, Y:-11.53, Z:0.76 [[ 9.82980966e-01 1.83173838e-01 1.39916394e-02 1.49854674e+02] [-1.83160452e-01 9.83080473e-01 -2.24310664e-03 -1.15251963e+01] [-1.41657860e-02 -3.57783874e-04 9.99899596e-01 7.56909979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters 0.02467608559539685 Centerline is valid? [True, True] Translation: X:149.92, Y:-11.52, Z:0.76 [[ 9.83249738e-01 1.81967381e-01 1.03838897e-02 1.49917795e+02] [-1.81959930e-01 9.83304535e-01 -1.66580272e-03 -1.15225637e+01] [-1.05136476e-02 -2.51551752e-04 9.99944698e-01 7.55125658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters 0.024100717175096088 Centerline is valid? [True, True] Translation: X:149.98, Y:-11.53, Z:0.75 [[ 9.84148842e-01 1.76979025e-01 1.13789667e-02 1.49978447e+02] [-1.76969751e-01 9.84214599e-01 -1.82487185e-03 -1.15269833e+01] [-1.15223092e-02 -2.17787382e-04 9.99933592e-01 7.54333790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters 0.023345218284082047 Centerline is valid? [True, True] Translation: X:150.04, Y:-11.53, Z:0.75 [[ 9.86515381e-01 1.63228477e-01 1.19944353e-02 1.50039126e+02] [-1.63217146e-01 9.86588293e-01 -1.92416353e-03 -1.15332803e+01] [-1.21476477e-02 -5.94805790e-05 9.99926213e-01 7.53557973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters 0.023323718657895703 Centerline is valid? [True, True] Translation: X:150.10, Y:-11.54, Z:0.75 [[ 9.88163135e-01 1.52941524e-01 1.19376681e-02 1.50100034e+02] [-1.52929536e-01 9.88235238e-01 -1.91603800e-03 -1.15425218e+01] [-1.20902661e-02 6.77360584e-05 9.99926908e-01 7.50984829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters 0.024086462309958537 Centerline is valid? [True, True] Translation: X:150.16, Y:-11.55, Z:0.75 [[ 9.89586391e-01 1.43312814e-01 1.34242848e-02 1.50160208e+02] [-1.43296756e-01 9.89677419e-01 -2.15549194e-03 -1.15526535e+01] [-1.35946211e-02 2.09389035e-04 9.99907567e-01 7.49354487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters 0.024101426318513395 Centerline is valid? [True, True] Translation: X:150.22, Y:-11.57, Z:0.75 [[ 9.89809971e-01 1.41899326e-01 1.18660466e-02 1.50220899e+02] [-1.41886655e-01 9.89881073e-01 -1.90722750e-03 -1.15659160e+01] [-1.20166092e-02 2.04159138e-04 9.99927777e-01 7.50299684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters 0.024711433132082065 Centerline is valid? [True, True] Translation: X:150.28, Y:-11.59, Z:0.75 [[ 9.90575990e-01 1.36256343e-01 1.39074276e-02 1.50280269e+02] [-1.36238357e-01 9.90673562e-01 -2.23702601e-03 -1.15875843e+01] [-1.40825298e-02 3.21219166e-04 9.99900785e-01 7.51383493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters 0.025498645425385127 Centerline is valid? [True, True] Translation: X:150.34, Y:-11.61, Z:0.75 [[ 9.91006824e-01 1.32860667e-01 1.59222542e-02 1.50340329e+02] [-1.32836621e-01 9.91134634e-01 -2.56308048e-03 -1.16065122e+01] [-1.61216302e-02 4.24971803e-04 9.99869948e-01 7.50988475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters 0.025319267811947155 Centerline is valid? [True, True] Translation: X:150.40, Y:-11.63, Z:0.75 [[ 9.91044657e-01 1.32630122e-01 1.54834949e-02 1.50400315e+02] [-1.32607303e-01 9.91165513e-01 -2.49578106e-03 -1.16314474e+01] [-1.56777219e-02 4.20205990e-04 9.99877009e-01 7.51893889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters 0.02472809937198885 Centerline is valid? [True, True] Translation: X:150.46, Y:-11.65, Z:0.75 [[ 9.90398623e-01 1.37461581e-01 1.46588523e-02 1.50460516e+02] [-1.37441623e-01 9.90507045e-01 -2.36514605e-03 -1.16519135e+01] [-1.48448132e-02 3.27700948e-04 9.99889756e-01 7.53444089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters 0.02362354291494118 Centerline is valid? [True, True] Translation: X:150.52, Y:-11.68, Z:0.75 [[ 9.88693332e-01 1.49228001e-01 1.47139015e-02 1.50518550e+02] [-1.49209176e-01 9.88802802e-01 -2.37518691e-03 -1.16781498e+01] [-1.49035914e-02 1.52882348e-04 9.99888924e-01 7.52038161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters 0.02340210747763462 Centerline is valid? [True, True] Translation: X:150.58, Y:-11.70, Z:0.75 [[ 9.87600144e-01 1.56558772e-01 1.16321678e-02 1.50578454e+02] [-1.56547492e-01 9.87668644e-01 -1.87962083e-03 -1.16954385e+01] [-1.17829985e-02 3.53271075e-05 9.99930577e-01 7.52936322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters 0.02368709192220269 Centerline is valid? [True, True] Translation: X:150.64, Y:-11.72, Z:0.76 [[ 9.85953745e-01 1.66745788e-01 9.54224262e-03 1.50638363e+02] [-1.66738659e-01 9.85999918e-01 -1.54335333e-03 -1.17172633e+01] [-9.66599810e-03 -6.93857510e-05 9.99953281e-01 7.55099001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters 0.02447004605722125 Centerline is valid? [True, True] Translation: X:150.70, Y:-11.73, Z:0.76 [[ 9.83984440e-01 1.77926828e-01 1.08011712e-02 1.50698460e+02] [-1.77918335e-01 9.84043700e-01 -1.74990920e-03 -1.17323966e+01] [-1.09401802e-02 -1.99842962e-04 9.99940134e-01 7.55561404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters 0.02565323521998602 Centerline is valid? [True, True] Translation: X:150.76, Y:-11.75, Z:0.76 [[ 9.82408965e-01 1.86457527e-01 1.03061086e-02 1.50758652e+02] [-1.86450253e-01 9.82462983e-01 -1.67068611e-03 -1.17490882e+01] [-1.04368822e-02 -2.80279535e-04 9.99945495e-01 7.55464941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters 0.02721274316458736 Centerline is valid? [True, True] Translation: X:150.82, Y:-11.76, Z:0.76 [[ 9.80672105e-01 1.95384753e-01 1.03450893e-02 1.50818923e+02] [-1.95377916e-01 9.80726596e-01 -1.67733320e-03 -1.17604597e+01] [-1.04734296e-02 -3.76288113e-04 9.99945081e-01 7.55175939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters 0.027826568104859877 Centerline is valid? [True, True] Translation: X:150.88, Y:-11.77, Z:0.75 [[ 9.80129789e-01 1.97979490e-01 1.22359188e-02 1.50879898e+02] [-1.97970082e-01 9.80206048e-01 -1.98751440e-03 -1.17704614e+01] [-1.23872086e-02 -4.74323765e-04 9.99923163e-01 7.54051672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters 0.02745826680406221 Centerline is valid? [True, True] Translation: X:150.94, Y:-11.79, Z:0.76 [[ 9.80271040e-01 1.97411450e-01 9.86949166e-03 1.50940826e+02] [-1.97405242e-01 9.80320653e-01 -1.60887795e-03 -1.17853823e+01] [-9.99287743e-03 -3.71152932e-04 9.99950001e-01 7.56288866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters 0.02748098930362464 Centerline is valid? [True, True] Translation: X:151.00, Y:-11.79, Z:0.75 [[ 9.80517554e-01 1.96163665e-01 1.02538826e-02 1.51002931e+02] [-1.96156900e-01 9.80571098e-01 -1.67121487e-03 -1.17916512e+01] [-1.03824925e-02 -3.72714302e-04 9.99946031e-01 7.54891378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters 0.02690769880347939 Centerline is valid? [True, True] Translation: X:151.07, Y:-11.80, Z:0.75 [[ 9.81013357e-01 1.93475076e-01 1.34234342e-02 1.51065380e+02] [-1.93463210e-01 9.81105088e-01 -2.18935011e-03 -1.17973147e+01] [-1.35933843e-02 -4.49158963e-04 9.99907505e-01 7.52143130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters 0.02570645822449556 Centerline is valid? [True, True] Translation: X:151.13, Y:-11.81, Z:0.75 [[ 9.82311066e-01 1.87083258e-01 8.05129594e-03 1.51126072e+02] [-1.87078767e-01 9.82344038e-01 -1.31406004e-03 -1.18096605e+01] [-8.15498120e-03 -2.15410801e-04 9.99966724e-01 7.54041521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters 0.024957075469325143 Centerline is valid? [True, True] Translation: X:151.19, Y:-11.82, Z:0.75 [[ 9.83565114e-01 1.80313076e-01 9.31996300e-03 1.51187519e+02] [-1.80306741e-01 9.83609252e-01 -1.52249838e-03 -1.18196931e+01] [-9.44172820e-03 -1.82975864e-04 9.99955409e-01 7.53798132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters 0.02461578793751856 Centerline is valid? [True, True] Translation: X:151.25, Y:-11.84, Z:0.76 [[ 9.84663304e-01 1.74000904e-01 1.27225094e-02 1.51247828e+02] [-1.73988553e-01 9.84745479e-01 -2.07984798e-03 -1.18351090e+01] [-1.28903291e-02 -1.65621012e-04 9.99916903e-01 7.55037263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters 0.024442248731981937 Centerline is valid? [True, True] Translation: X:151.31, Y:-11.84, Z:0.76 [[ 9.84351249e-01 1.75752269e-01 1.27968296e-02 1.51309651e+02] [-1.75739897e-01 9.84434408e-01 -2.09375817e-03 -1.18434490e+01] [-1.29656221e-02 -1.87920047e-04 9.99915925e-01 7.57543685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters 0.025129070480918836 Centerline is valid? [True, True] Translation: X:151.37, Y:-11.86, Z:0.76 [[ 9.83248343e-01 1.81826423e-01 1.27219459e-02 1.51370339e+02] [-1.81814655e-01 9.83330607e-01 -2.08523852e-03 -1.18551945e+01] [-1.28890303e-02 -2.62728892e-04 9.99916898e-01 7.55358919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters 0.02527493017486036 Centerline is valid? [True, True] Translation: X:151.43, Y:-11.87, Z:0.76 [[ 9.82887434e-01 1.83732047e-01 1.32222320e-02 1.51431521e+02] [-1.83719410e-01 9.82976322e-01 -2.17456538e-03 -1.18687116e+01] [-1.33966783e-02 -2.91827671e-04 9.99910218e-01 7.57178362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters 0.024731198907749212 Centerline is valid? [True, True] Translation: X:151.49, Y:-11.87, Z:0.76 [[ 9.83353328e-01 1.81142181e-01 1.42738755e-02 1.51493665e+02] [-1.81127179e-01 9.83456879e-01 -2.34758531e-03 -1.18734824e+01] [-1.44629878e-02 -2.76880978e-04 9.99895367e-01 7.58283995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters 0.024460336475802872 Centerline is valid? [True, True] Translation: X:151.56, Y:-11.88, Z:0.76 [[ 9.83706760e-01 1.79328510e-01 1.27395085e-02 1.51555382e+02] [-1.79316378e-01 9.83789224e-01 -2.09764548e-03 -1.18839306e+01] [-1.29091588e-02 -2.20934482e-04 9.99916649e-01 7.58262573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters 0.02406764629076994 Centerline is valid? [True, True] Translation: X:151.62, Y:-11.90, Z:0.76 [[ 9.84355631e-01 1.75797706e-01 1.17965593e-02 1.51616403e+02] [-1.75787031e-01 9.84426300e-01 -1.94389242e-03 -1.18982216e+01] [-1.19545750e-02 -1.60200680e-04 9.99928529e-01 7.57101257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters 0.02384893749990438 Centerline is valid? [True, True] Translation: X:151.68, Y:-11.91, Z:0.76 [[ 9.85233475e-01 1.70868290e-01 1.09099977e-02 1.51677205e+02] [-1.70858839e-01 9.85293875e-01 -1.79937539e-03 -1.19090887e+01] [-1.10570101e-02 -9.12646748e-05 9.99938865e-01 7.56155571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters 0.023583667607141635 Centerline is valid? [True, True] Translation: X:151.74, Y:-11.92, Z:0.76 [[ 9.86080577e-01 1.65749035e-01 1.31283515e-02 1.51739638e+02] [-1.65734857e-01 9.86167965e-01 -2.16827010e-03 -1.19194696e+01] [-1.33061483e-02 -3.77364239e-05 9.99911469e-01 7.56741572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters 0.023806877841354362 Centerline is valid? [True, True] Translation: X:151.80, Y:-11.93, Z:0.76 [[ 9.86167835e-01 1.65088764e-01 1.47885377e-02 1.51800222e+02] [-1.65070674e-01 9.86278713e-01 -2.44404634e-03 -1.19333872e+01] [-1.49891046e-02 -3.09140022e-05 9.99887657e-01 7.55883113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters 0.02386978591336847 Centerline is valid? [True, True] Translation: X:151.86, Y:-11.95, Z:0.76 [[ 9.86169065e-01 1.64649353e-01 1.90043716e-02 1.51860876e+02] [-1.64619187e-01 9.86352163e-01 -3.15168202e-03 -1.19454301e+01] [-1.92639254e-02 -2.03928849e-05 9.99814433e-01 7.57215376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters 0.023929932215498967 Centerline is valid? [True, True] Translation: X:151.92, Y:-11.96, Z:0.76 [[ 9.86601079e-01 1.62449150e-01 1.51190120e-02 1.51920912e+02] [-1.62429678e-01 9.86716916e-01 -2.51531472e-03 -1.19614195e+01] [-1.53267957e-02 2.58359552e-05 9.99882537e-01 7.55642579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters 0.02410264566383634 Centerline is valid? [True, True] Translation: X:151.98, Y:-11.98, Z:0.75 [[ 9.87098468e-01 1.59292094e-01 1.62062796e-02 1.51981685e+02] [-1.59269170e-01 9.87231493e-01 -2.70381768e-03 -1.19770132e+01] [-1.64300464e-02 8.77735951e-05 9.99865014e-01 7.54596187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters 0.024172251927744044 Centerline is valid? [True, True] Translation: X:152.04, Y:-12.00, Z:0.76 [[ 9.87896107e-01 1.54199512e-01 1.68461109e-02 1.52040510e+02] [-1.54173945e-01 9.88039714e-01 -2.81380130e-03 -1.19993360e+01] [-1.70785134e-02 1.82511982e-04 9.99854135e-01 7.56729404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters 0.02420169210760142 Centerline is valid? [True, True] Translation: X:152.10, Y:-12.02, Z:0.76 [[ 9.88098839e-01 1.53186550e-01 1.39486995e-02 1.52100266e+02] [-1.53168807e-01 9.88197273e-01 -2.33788130e-03 -1.20176999e+01] [-1.41421987e-02 1.73552142e-04 9.99899979e-01 7.56772831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters 0.02401207084703672 Centerline is valid? [True, True] Translation: X:152.16, Y:-12.04, Z:0.76 [[ 9.87609401e-01 1.56065957e-01 1.64647388e-02 1.52160513e+02] [-1.56041511e-01 9.87746622e-01 -2.76709090e-03 -1.20366410e+01] [-1.66948388e-02 1.63622285e-04 9.99860618e-01 7.61949550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters 0.023905220336256854 Centerline is valid? [True, True] Translation: X:152.22, Y:-12.05, Z:0.76 [[ 9.87277023e-01 1.58219745e-01 1.58301172e-02 1.52221661e+02] [-1.58197297e-01 9.87403917e-01 -2.66826059e-03 -1.20499915e+01] [-1.60528913e-02 1.30030614e-04 9.99871136e-01 7.63307581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters 0.023700253859327395 Centerline is valid? [True, True] Translation: X:152.28, Y:-12.07, Z:0.76 [[ 9.86242950e-01 1.64983536e-01 1.02604219e-02 1.52281454e+02] [-1.64974410e-01 9.86296321e-01 -1.73540488e-03 -1.20708244e+01] [-1.04061297e-02 1.88237661e-05 9.99945855e-01 7.59942101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters 0.02374254438032451 Centerline is valid? [True, True] Translation: X:152.34, Y:-12.08, Z:0.76 [[ 9.85394448e-01 1.69977526e-01 1.02675823e-02 1.52343163e+02] [-1.69968594e-01 9.85447939e-01 -1.74272490e-03 -1.20845255e+01] [-1.04143918e-02 -2.78950749e-05 9.99945768e-01 7.61048409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters 0.024030941798753147 Centerline is valid? [True, True] Translation: X:152.40, Y:-12.10, Z:0.76 [[ 9.84133540e-01 1.76932841e-01 1.32644616e-02 1.52403300e+02] [-1.76918503e-01 9.84222919e-01 -2.25599099e-03 -1.20989915e+01] [-1.34543460e-02 -1.26532281e-04 9.99909478e-01 7.61078769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters 0.02443977526006566 Centerline is valid? [True, True] Translation: X:152.47, Y:-12.11, Z:0.76 [[ 9.83598252e-01 1.79911552e-01 1.28962403e-02 1.52465091e+02] [-1.79898156e-01 9.83682779e-01 -2.20092836e-03 -1.21126737e+01] [-1.30817819e-02 -1.55180562e-04 9.99914418e-01 7.57581700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters 0.024719781129929924 Centerline is valid? [True, True] Translation: X:152.53, Y:-12.12, Z:0.76 [[ 9.82973155e-01 1.83343181e-01 1.22088227e-02 1.52526722e+02] [-1.83331371e-01 9.83048953e-01 -2.08914269e-03 -1.21227378e+01] [-1.23849005e-02 -1.84689032e-04 9.99923287e-01 7.59592535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters 0.024848062597092768 Centerline is valid? [True, True] Translation: X:152.59, Y:-12.13, Z:0.76 [[ 9.82504866e-01 1.85550278e-01 1.59775780e-02 1.52588037e+02] [-1.85530233e-01 9.82634734e-01 -2.74083948e-03 -1.21335852e+01] [-1.62086866e-02 -2.71435630e-04 9.99868594e-01 7.61033436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters 0.024812054810922714 Centerline is valid? [True, True] Translation: X:152.65, Y:-12.14, Z:0.76 [[ 9.82912350e-01 1.83558821e-01 1.37648445e-02 1.52649217e+02] [-1.83543653e-01 9.83008708e-01 -2.36806321e-03 -1.21446233e+01] [-1.39656409e-02 -1.98851251e-04 9.99902456e-01 7.58403226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters 0.024339497734623346 Centerline is valid? [True, True] Translation: X:152.71, Y:-12.15, Z:0.76 [[ 9.83660372e-01 1.79388736e-01 1.52300258e-02 1.52710894e+02] [-1.79369560e-01 9.83778257e-01 -2.62704995e-03 -1.21526245e+01] [-1.54542314e-02 -1.47678081e-04 9.99880565e-01 7.60799884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters 0.024067670937894817 Centerline is valid? [True, True] Translation: X:152.77, Y:-12.16, Z:0.76 [[ 9.84574530e-01 1.74492865e-01 1.28543356e-02 1.52772221e+02] [-1.74478702e-01 9.84658437e-01 -2.22384479e-03 -1.21640720e+01] [-1.30451750e-02 -5.32668415e-05 9.99914907e-01 7.61226058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters 0.023910400961767136 Centerline is valid? [True, True] Translation: X:152.83, Y:-12.17, Z:0.76 [[ 9.84975843e-01 1.72120421e-01 1.40409661e-02 1.52834236e+02] [-1.72103167e-01 9.85075916e-01 -2.43709093e-03 -1.21736450e+01] [-1.42508907e-02 -1.60190501e-05 9.99898451e-01 7.61301806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters 0.023697290510755517 Centerline is valid? [True, True] Translation: X:152.90, Y:-12.19, Z:0.76 [[ 9.85569464e-01 1.68585081e-01 1.52283615e-02 1.52895637e+02] [-1.68564259e-01 9.85687105e-01 -2.64995847e-03 -1.21851103e+01] [-1.54571430e-02 4.47606894e-05 9.99880530e-01 7.63618185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters 0.023734587738005138 Centerline is valid? [True, True] Translation: X:152.96, Y:-12.20, Z:0.76 [[ 9.86062661e-01 1.65895140e-01 1.26187012e-02 1.52956595e+02] [-1.65880538e-01 9.86143395e-01 -2.20239665e-03 -1.21955895e+01] [-1.28092158e-02 7.85041409e-05 9.99917956e-01 7.61846733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters 0.023799620536632458 Centerline is valid? [True, True] Translation: X:153.02, Y:-12.21, Z:0.76 [[ 9.86347975e-01 1.64130668e-01 1.33714274e-02 1.53016290e+02] [-1.64114078e-01 9.86438600e-01 -2.33619274e-03 -1.22121348e+01] [-1.35735330e-02 1.09859503e-04 9.99907869e-01 7.61779209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters 0.024041373335077505 Centerline is valid? [True, True] Translation: X:153.08, Y:-12.23, Z:0.76 [[ 9.86514649e-01 1.62896469e-01 1.59244443e-02 1.53076389e+02] [-1.62872638e-01 9.86643155e-01 -2.79086040e-03 -1.22270567e+01] [-1.61663653e-02 1.59568413e-04 9.99869303e-01 7.64427034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters 0.023956016186392804 Centerline is valid? [True, True] Translation: X:153.14, Y:-12.24, Z:0.76 [[ 9.86085803e-01 1.65376167e-01 1.68971426e-02 1.53138891e+02] [-1.65349533e-01 9.86230554e-01 -2.97101165e-03 -1.22367699e+01] [-1.71558128e-02 1.35737771e-04 9.99852819e-01 7.62775716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters 0.02370626123651035 Centerline is valid? [True, True] Translation: X:153.20, Y:-12.25, Z:0.76 [[ 9.85525349e-01 1.68974483e-01 1.36898129e-02 1.53199008e+02] [-1.68957252e-01 9.85620424e-01 -2.41396516e-03 -1.22547279e+01] [-1.39008577e-02 6.60306993e-05 9.99903376e-01 7.62188162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters 0.02386925493759336 Centerline is valid? [True, True] Translation: X:153.26, Y:-12.27, Z:0.76 [[ 9.85271631e-01 1.70472168e-01 1.33810926e-02 1.53259312e+02] [-1.70455736e-01 9.85362490e-01 -2.36739804e-03 -1.22734736e+01] [-1.35888022e-02 5.16461343e-05 9.99907667e-01 7.62580313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters 0.023910980346365813 Centerline is valid? [True, True] Translation: X:153.32, Y:-12.28, Z:0.76 [[ 9.85058335e-01 1.71543819e-01 1.52576137e-02 1.53320720e+02] [-1.71522480e-01 9.85176490e-01 -2.70612060e-03 -1.22844207e+01] [-1.54956606e-02 4.86629089e-05 9.99879934e-01 7.62460617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters 0.023706036079038307 Centerline is valid? [True, True] Translation: X:153.38, Y:-12.30, Z:0.76 [[ 9.84552538e-01 1.74612371e-01 1.29159107e-02 1.53381472e+02] [-1.74597329e-01 9.84637253e-01 -2.29187511e-03 -1.23007830e+01] [-1.31176766e-02 1.38794361e-06 9.99913960e-01 7.62215604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters 0.023845727653885315 Centerline is valid? [True, True] Translation: X:153.44, Y:-12.32, Z:0.76 [[ 9.83676923e-01 1.79570004e-01 1.15898965e-02 1.53441256e+02] [-1.79558138e-01 9.83745196e-01 -2.06497071e-03 -1.23230988e+01] [-1.17723118e-02 -4.97961911e-05 9.99930703e-01 7.62436113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters 0.02386362384070328 Centerline is valid? [True, True] Translation: X:153.50, Y:-12.34, Z:0.77 [[ 9.83167833e-01 1.82183525e-01 1.37904072e-02 1.53501870e+02] [-1.82166902e-01 9.83264540e-01 -2.46269516e-03 -1.23384727e+01] [-1.40082809e-02 -9.09131028e-05 9.99901875e-01 7.67741171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters 0.02412334684871006 Centerline is valid? [True, True] Translation: X:153.56, Y:-12.36, Z:0.76 [[ 9.82449757e-01 1.86158656e-01 1.17230748e-02 1.53562913e+02] [-1.86146842e-01 9.82519690e-01 -2.10058361e-03 -1.23550274e+01] [-1.19091937e-02 -1.18495499e-04 9.99929076e-01 7.64635003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters 0.02471788498135509 Centerline is valid? [True, True] Translation: X:153.62, Y:-12.37, Z:0.76 [[ 9.81087770e-01 1.93160992e-01 1.24747319e-02 1.53622444e+02] [-1.93148112e-01 9.81167053e-01 -2.24059533e-03 -1.23732152e+01] [-1.26725915e-02 -2.11250233e-04 9.99919677e-01 7.63917993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters 0.025913055323864675 Centerline is valid? [True, True] Translation: X:153.68, Y:-12.38, Z:0.77 [[ 9.79310015e-01 2.01852711e-01 1.44006017e-02 1.53683191e+02] [-2.01836505e-01 9.79415817e-01 -2.58508689e-03 -1.23827588e+01] [-1.46259839e-02 -3.74965644e-04 9.99892964e-01 7.68334080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters 0.026423629913849073 Centerline is valid? [True, True] Translation: X:153.74, Y:-12.39, Z:0.77 [[ 9.78489076e-01 2.06022481e-01 1.06708212e-02 1.53744249e+02] [-2.06013756e-01 9.78547207e-01 -1.92241116e-03 -1.23945615e+01] [-1.08379622e-02 -3.17277634e-04 9.99941217e-01 7.66019761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters 0.027529896178107943 Centerline is valid? [True, True] Translation: X:153.80, Y:-12.41, Z:0.76 [[ 9.77592577e-01 2.10050833e-01 1.38347580e-02 1.53804419e+02] [-2.10036576e-01 9.77690353e-01 -2.49191931e-03 -1.24098867e+01] [-1.40495392e-02 -4.69723389e-04 9.99901190e-01 7.64481936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters 0.02732277774765325 Centerline is valid? [True, True] Translation: X:153.87, Y:-12.42, Z:0.77 [[ 9.77482724e-01 2.10553032e-01 1.39622769e-02 1.53866556e+02] [-2.10538436e-01 9.77582323e-01 -2.52386161e-03 -1.24184607e+01] [-1.41806818e-02 -4.72564822e-04 9.99899337e-01 7.65371916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters 0.027754348967127425 Centerline is valid? [True, True] Translation: X:153.93, Y:-12.43, Z:0.76 [[ 9.77070631e-01 2.12659179e-01 1.04429344e-02 1.53928317e+02] [-2.12651070e-01 9.77126367e-01 -1.89370940e-03 -1.24325419e+01] [-1.06067813e-02 -3.70413332e-04 9.99943678e-01 7.64688224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters 0.028281001478797706 Centerline is valid? [True, True] Translation: X:153.99, Y:-12.44, Z:0.76 [[ 9.76814219e-01 2.13868450e-01 9.70911097e-03 1.53990746e+02] [-2.13861450e-01 9.76862407e-01 -1.76575686e-03 -1.24412239e+01] [-9.86210520e-03 -3.51588140e-04 9.99951306e-01 7.64626148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters 0.02832494125947291 Centerline is valid? [True, True] Translation: X:154.05, Y:-12.45, Z:0.77 [[ 9.76532971e-01 2.15076828e-01 1.11944159e-02 1.54052020e+02] [-2.15067553e-01 9.76597044e-01 -2.04009798e-03 -1.24499234e+01] [-1.13712113e-02 -4.15332704e-04 9.99935259e-01 7.66997662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters 0.0282489225415577 Centerline is valid? [True, True] Translation: X:154.11, Y:-12.46, Z:0.77 [[ 9.76405299e-01 2.15723191e-01 9.80805868e-03 1.54114271e+02] [-2.15716048e-01 9.76454490e-01 -1.79299849e-03 -1.24606642e+01] [-9.96391429e-03 -3.65062433e-04 9.99950292e-01 7.66698597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters 0.02774954655273471 Centerline is valid? [True, True] Translation: X:154.18, Y:-12.47, Z:0.77 [[ 9.77150184e-01 2.12135552e-01 1.32674480e-02 1.54176273e+02] [-2.12122088e-01 9.77240152e-01 -2.43017147e-03 -1.24662402e+01] [-1.34810087e-02 -4.39676272e-04 9.99909030e-01 7.65734657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters 0.02719311018415205 Centerline is valid? [True, True] Translation: X:154.24, Y:-12.46, Z:0.77 [[ 9.77556614e-01 2.10198338e-01 1.41324217e-02 1.54239363e+02] [-2.10182769e-01 9.77658668e-01 -2.59482153e-03 -1.24640019e+01] [-1.43621118e-02 -4.33806586e-04 9.99896765e-01 7.69064771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters 0.027307927045390867 Centerline is valid? [True, True] Translation: X:154.30, Y:-12.47, Z:0.77 [[ 9.77502919e-01 2.10420993e-01 1.45275568e-02 1.54303316e+02] [-2.10404450e-01 9.77610767e-01 -2.67518594e-03 -1.24654790e+01] [-1.47652113e-02 -4.41660540e-04 9.99890891e-01 7.67516544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters 0.026918765841526197 Centerline is valid? [True, True] Translation: X:154.37, Y:-12.47, Z:0.77 [[ 9.77958469e-01 2.08248884e-01 1.51537342e-02 1.54365717e+02] [-2.08230589e-01 9.78075775e-01 -2.79279385e-03 -1.24723299e+01] [-1.54030965e-02 -4.24234590e-04 9.99881275e-01 7.66640456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters 0.026136459601097627 Centerline is valid? [True, True] Translation: X:154.43, Y:-12.48, Z:0.76 [[ 9.79348747e-01 2.01694570e-01 1.39761413e-02 1.54427194e+02] [-2.01678329e-01 9.79448423e-01 -2.57650867e-03 -1.24796029e+01] [-1.42085774e-02 -2.95384301e-04 9.99899009e-01 7.64402954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters 0.025049266214914327 Centerline is valid? [True, True] Translation: X:154.49, Y:-12.48, Z:0.77 [[ 9.81573485e-01 1.90544668e-01 1.43604499e-02 1.54489526e+02] [-1.90526314e-01 9.81678517e-01 -2.64815292e-03 -1.24802075e+01] [-1.46019365e-02 -1.36686888e-04 9.99893377e-01 7.65297054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters 0.02466719128385754 Centerline is valid? [True, True] Translation: X:154.55, Y:-12.49, Z:0.76 [[ 9.82643535e-01 1.85107596e-01 1.21186383e-02 1.54550886e+02] [-1.85094014e-01 9.82718259e-01 -2.24263943e-03 -1.24878744e+01] [-1.23243367e-02 -3.93722621e-05 9.99924052e-01 7.64809366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters 0.024884022144163746 Centerline is valid? [True, True] Translation: X:154.61, Y:-12.50, Z:0.76 [[ 9.83710146e-01 1.79026782e-01 1.62406599e-02 1.54611048e+02] [-1.79001443e-01 9.83844199e-01 -3.01255007e-03 -1.25020161e+01] [-1.65176062e-02 5.63745097e-05 9.99863573e-01 7.63773791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters 0.024892420693380022 Centerline is valid? [True, True] Translation: X:154.67, Y:-12.52, Z:0.77 [[ 9.84298229e-01 1.75808549e-01 1.57591539e-02 1.54672099e+02] [-1.75784130e-01 9.84424370e-01 -2.93241853e-03 -1.25152908e+01] [-1.60292394e-02 1.16165217e-04 9.99871517e-01 7.66168396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters 0.024620007239447097 Centerline is valid? [True, True] Translation: X:154.73, Y:-12.53, Z:0.77 [[ 9.84418665e-01 1.75430189e-01 1.20058412e-02 1.54732670e+02] [-1.75415915e-01 9.84491868e-01 -2.24009764e-03 -1.25277527e+01] [-1.22126338e-02 9.91783012e-05 9.99925418e-01 7.65457049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters 0.024766099633042753 Centerline is valid? [True, True] Translation: X:154.79, Y:-12.55, Z:0.77 [[ 9.84274256e-01 1.75967768e-01 1.54768618e-02 1.54792517e+02] [-1.75944004e-01 9.84395921e-01 -2.89463531e-03 -1.25464719e+01] [-1.57447221e-02 1.26053985e-04 9.99876036e-01 7.67237612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters 0.02485519922707785 Centerline is valid? [True, True] Translation: X:154.85, Y:-12.56, Z:0.77 [[ 9.84113866e-01 1.76895919e-01 1.50908235e-02 1.54854605e+02] [-1.76873298e-01 9.84229557e-01 -2.83131727e-03 -1.25586099e+01] [-1.53536830e-02 1.17174854e-04 9.99882118e-01 7.67056980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters 0.02466898931328611 Centerline is valid? [True, True] Translation: X:154.92, Y:-12.57, Z:0.77 [[ 9.83610074e-01 1.79754278e-01 1.41287492e-02 1.54915565e+02] [-1.79734734e-01 9.83711540e-01 -2.65156308e-03 -1.25735489e+01] [-1.43752434e-02 6.86771899e-05 9.99896668e-01 7.66544598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters 0.024575733137068834 Centerline is valid? [True, True] Translation: X:154.98, Y:-12.59, Z:0.77 [[ 9.82807869e-01 1.84165250e-01 1.31092763e-02 1.54976159e+02] [-1.84148708e-01 9.82895295e-01 -2.46832048e-03 -1.25890267e+01] [-1.33396248e-02 1.18284970e-05 9.99911023e-01 7.67003656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters 0.024689543380349538 Centerline is valid? [True, True] Translation: X:155.04, Y:-12.60, Z:0.77 [[ 9.82061243e-01 1.88046095e-01 1.39420454e-02 1.55037570e+02] [-1.88027663e-01 9.82160203e-01 -2.63310847e-03 -1.26017409e+01] [-1.41884679e-02 -3.56164338e-05 9.99899338e-01 7.66191707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters 0.024799719069812664 Centerline is valid? [True, True] Translation: X:155.10, Y:-12.62, Z:0.77 [[ 9.81375684e-01 1.91804827e-01 1.06148984e-02 1.55098015e+02] [-1.91794304e-01 9.81433087e-01 -2.01011271e-03 -1.26180292e+01] [-1.08033619e-02 -6.32013264e-05 9.99941640e-01 7.67452686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters 0.024661202490299492 Centerline is valid? [True, True] Translation: X:155.16, Y:-12.63, Z:0.77 [[ 9.81348845e-01 1.91903402e-01 1.12928761e-02 1.55160103e+02] [-1.91891425e-01 9.81413817e-01 -2.14493784e-03 -1.26271915e+01] [-1.14946055e-02 -6.20738121e-05 9.99933933e-01 7.67732055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters 0.024598849906249828 Centerline is valid? [True, True] Translation: X:155.22, Y:-12.64, Z:0.77 [[ 9.81546586e-01 1.90941070e-01 1.03830021e-02 1.55220461e+02] [-1.90930839e-01 9.81601501e-01 -1.97702952e-03 -1.26404176e+01] [-1.05694666e-02 -4.18887245e-05 9.99944141e-01 7.68437280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters 0.024457599315096928 Centerline is valid? [True, True] Translation: X:155.28, Y:-12.65, Z:0.77 [[ 9.81399710e-01 1.91690329e-01 1.04606921e-02 1.55282214e+02] [-1.91679922e-01 9.81455458e-01 -1.99794728e-03 -1.26513730e+01] [-1.06496906e-02 -4.43197693e-05 9.99943289e-01 7.70190652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters 0.024441190650673884 Centerline is valid? [True, True] Translation: X:155.34, Y:-12.66, Z:0.77 [[ 9.81566282e-01 1.90868035e-01 9.85028024e-03 1.55343743e+02] [-1.90858710e-01 9.81615705e-01 -1.88693951e-03 -1.26642949e+01] [-1.00293462e-02 -2.78555794e-05 9.99949704e-01 7.72639531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters 0.024303230753427302 Centerline is valid? [True, True] Translation: X:155.40, Y:-12.67, Z:0.77 [[ 9.82038694e-01 1.88291881e-01 1.20901375e-02 1.55404792e+02] [-1.88277575e-01 9.82113113e-01 -2.32101198e-03 -1.26735342e+01] [-1.23109103e-02 3.02179205e-06 9.99924218e-01 7.70626323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters 0.024185153037374466 Centerline is valid? [True, True] Translation: X:155.47, Y:-12.69, Z:0.77 [[ 9.82404947e-01 1.86218294e-01 1.42571548e-02 1.55465593e+02] [-1.86198087e-01 9.82508395e-01 -2.74356049e-03 -1.26861953e+01] [-1.45186754e-02 4.06324463e-05 9.99894598e-01 7.71441609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters 0.024175843448641546 Centerline is valid? [True, True] Translation: X:155.53, Y:-12.70, Z:0.77 [[ 9.83087502e-01 1.82789077e-01 1.12746237e-02 1.55525613e+02] [-1.82776145e-01 9.83152149e-01 -2.17563958e-03 -1.27023313e+01] [-1.14823537e-02 7.81118130e-05 9.99934073e-01 7.71514127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters 0.024219009440407502 Centerline is valid? [True, True] Translation: X:155.59, Y:-12.72, Z:0.77 [[ 9.83230330e-01 1.81959315e-01 1.22035608e-02 1.55585512e+02] [-1.81944029e-01 9.83306055e-01 -2.36062134e-03 -1.27204934e+01] [-1.24293723e-02 1.00669469e-04 9.99922747e-01 7.72688551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters 0.023943180970747015 Centerline is valid? [True, True] Translation: X:155.65, Y:-12.74, Z:0.77 [[ 9.82858650e-01 1.84052817e-01 1.06505361e-02 1.55645303e+02] [-1.84041239e-01 9.82916352e-01 -2.06567326e-03 -1.27389274e+01] [-1.08487790e-02 7.01269822e-05 9.99941148e-01 7.73266594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters 0.02401520443987999 Centerline is valid? [True, True] Translation: X:155.71, Y:-12.76, Z:0.77 [[ 9.82250597e-01 1.87264424e-01 1.07610757e-02 1.55705663e+02] [-1.87252726e-01 9.82309541e-01 -2.09348542e-03 -1.27579598e+01] [-1.09627426e-02 4.12865518e-05 9.99939906e-01 7.70965348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters 0.02399294243021238 Centerline is valid? [True, True] Translation: X:155.77, Y:-12.78, Z:0.77 [[ 9.81312413e-01 1.92105925e-01 1.10118868e-02 1.55765137e+02] [-1.92093913e-01 9.81374196e-01 -2.14832709e-03 -1.27819971e+01] [-1.12194879e-02 -7.13637195e-06 9.99937060e-01 7.70753187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters 0.024145376989338514 Centerline is valid? [True, True] Translation: X:155.83, Y:-12.80, Z:0.77 [[ 9.80453625e-01 1.96482067e-01 1.02706148e-02 1.55825979e+02] [-1.96471796e-01 9.80507417e-01 -2.00956041e-03 -1.27988633e+01] [-1.04652565e-02 -4.76053468e-05 9.99945237e-01 7.72093303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters 0.024950163636876202 Centerline is valid? [True, True] Translation: X:155.89, Y:-12.82, Z:0.77 [[ 9.78723323e-01 2.04856877e-01 1.15894823e-02 1.55886032e+02] [-2.04844327e-01 9.78791927e-01 -2.27248652e-03 -1.28162270e+01] [-1.18092262e-02 -1.49904141e-04 9.99930257e-01 7.73274872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters 0.025277850973755744 Centerline is valid? [True, True] Translation: X:155.95, Y:-12.83, Z:0.77 [[ 9.77667650e-01 2.09950463e-01 9.31501752e-03 1.55946149e+02] [-2.09942546e-01 9.77712011e-01 -1.83074857e-03 -1.28298011e+01] [-9.49177102e-03 -1.65754848e-04 9.99954938e-01 7.74683145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters 0.025562598177229362 Centerline is valid? [True, True] Translation: X:156.01, Y:-12.84, Z:0.77 [[ 9.76903502e-01 2.13520175e-01 8.28754265e-03 1.56007023e+02] [-2.13514005e-01 9.76938639e-01 -1.63258242e-03 -1.28397109e+01] [-8.44500992e-03 -1.74630939e-04 9.99964325e-01 7.74592715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters 0.025642424743005432 Centerline is valid? [True, True] Translation: X:156.07, Y:-12.85, Z:0.78 [[ 9.76761478e-01 2.14105479e-01 9.79079659e-03 1.56068110e+02] [-2.14096854e-01 9.76810524e-01 -1.93301758e-03 -1.28522366e+01] [-9.97762280e-03 -2.08081640e-04 9.99950201e-01 7.75095946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters 0.025597885770862777 Centerline is valid? [True, True] Translation: X:156.13, Y:-12.86, Z:0.78 [[ 9.76581759e-01 2.14818230e-01 1.18825642e-02 1.56129675e+02] [-2.14805518e-01 9.76654014e-01 -2.35096599e-03 -1.28613417e+01] [-1.21101844e-02 -2.56529862e-04 9.99926636e-01 7.77552824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters 0.026088996366846817 Centerline is valid? [True, True] Translation: X:156.19, Y:-12.87, Z:0.77 [[ 9.75986171e-01 2.17583421e-01 1.04138614e-02 1.56190619e+02] [-2.17573765e-01 9.76041696e-01 -2.06507217e-03 -1.28706218e+01] [-1.06136884e-02 -2.50301152e-04 9.99943642e-01 7.74910003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters 0.02623006733782874 Centerline is valid? [True, True] Translation: X:156.25, Y:-12.88, Z:0.77 [[ 9.75808060e-01 2.18348969e-01 1.10615412e-02 1.56252313e+02] [-2.18338055e-01 9.75870716e-01 -2.19963174e-03 -1.28828294e+01] [-1.12749215e-02 -2.68737016e-04 9.99936400e-01 7.74664493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters 0.025761910261903862 Centerline is valid? [True, True] Translation: X:156.31, Y:-12.89, Z:0.78 [[ 9.76556147e-01 2.14684717e-01 1.57658839e-02 1.56314313e+02] [-2.14661953e-01 9.76683353e-01 -3.14222817e-03 -1.28936046e+01] [-1.60728647e-02 -3.15773193e-04 9.99870773e-01 7.75735098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters 0.0253779385661717 Centerline is valid? [True, True] Translation: X:156.37, Y:-12.91, Z:0.78 [[ 9.77133738e-01 2.12208559e-01 1.33110993e-02 1.56373496e+02] [-2.12192018e-01 9.77224374e-01 -2.65918709e-03 -1.29124722e+01] [-1.35722329e-02 -2.26127601e-04 9.99907867e-01 7.75189354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters 0.024871071507121822 Centerline is valid? [True, True] Translation: X:156.43, Y:-12.92, Z:0.77 [[ 9.77552526e-01 2.10447241e-01 1.01497114e-02 1.56434822e+02] [-2.10437475e-01 9.77605205e-01 -2.03289303e-03 -1.29243622e+01] [-1.03502274e-02 -1.48619923e-04 9.99946424e-01 7.74498108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters 0.025017578756698647 Centerline is valid? [True, True] Translation: X:156.49, Y:-12.94, Z:0.78 [[ 9.76860064e-01 2.13563329e-01 1.16240909e-02 1.56493949e+02] [-2.13550685e-01 9.76929201e-01 -2.33277325e-03 -1.29424511e+01] [-1.18541086e-02 -2.03539536e-04 9.99929717e-01 7.79657293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters 0.025624846330778894 Centerline is valid? [True, True] Translation: X:156.55, Y:-12.96, Z:0.78 [[ 9.75919246e-01 2.17808883e-01 1.18708324e-02 1.56554403e+02] [-2.17795942e-01 9.75991407e-01 -2.38789937e-03 -1.29582999e+01] [-1.21059361e-02 -2.55022176e-04 9.99926688e-01 7.78932149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters 0.026997633189015522 Centerline is valid? [True, True] Translation: X:156.61, Y:-12.97, Z:0.78 [[ 9.74085972e-01 2.25770684e-01 1.35689805e-02 1.56614261e+02] [-2.25754566e-01 9.74180391e-01 -2.72807079e-03 -1.29730871e+01] [-1.38345532e-02 -4.05883820e-04 9.99904216e-01 7.78232845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters 0.02803868165512161 Centerline is valid? [True, True] Translation: X:156.68, Y:-12.98, Z:0.78 [[ 9.72867069e-01 2.31077099e-01 1.15343337e-02 1.56675922e+02] [-2.31065803e-01 9.72935357e-01 -2.32085978e-03 -1.29830578e+01] [-1.17584586e-02 -4.07302039e-04 9.99930784e-01 7.78738564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters 0.029060335421912498 Centerline is valid? [True, True] Translation: X:156.74, Y:-12.99, Z:0.78 [[ 9.71441415e-01 2.36985502e-01 1.18088111e-02 1.56737274e+02] [-2.36974092e-01 9.71513063e-01 -2.37649744e-03 -1.29883585e+01] [-1.20356097e-02 -4.89754261e-04 9.99927449e-01 7.76814540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters 0.030653895980549684 Centerline is valid? [True, True] Translation: X:156.80, Y:-13.00, Z:0.78 [[ 9.70352022e-01 2.41342183e-01 1.30730470e-02 1.56797925e+02] [-2.41328583e-01 9.70439895e-01 -2.63171507e-03 -1.29989320e+01] [-1.33217502e-02 -6.01209868e-04 9.99911081e-01 7.77748188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters 0.031522497397578536 Centerline is valid? [True, True] Translation: X:156.86, Y:-13.00, Z:0.78 [[ 9.69204039e-01 2.45964503e-01 1.20413049e-02 1.56859569e+02] [-2.45953311e-01 9.69278644e-01 -2.42477363e-03 -1.30028680e+01] [-1.22677880e-02 -6.11498431e-04 9.99924561e-01 7.78628044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters 0.031022588300443316 Centerline is valid? [True, True] Translation: X:156.92, Y:-13.01, Z:0.78 [[ 9.69199881e-01 2.46139248e-01 8.18910025e-03 1.56922260e+02] [-2.46134032e-01 9.69234389e-01 -1.65451275e-03 -1.30076280e+01] [-8.34439810e-03 -4.12062700e-04 9.99965100e-01 7.78907951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters 0.031106585682306283 Centerline is valid? [True, True] Translation: X:156.99, Y:-13.01, Z:0.78 [[ 9.69192192e-01 2.46058232e-01 1.10381641e-02 1.56985198e+02] [-2.46048692e-01 9.69254891e-01 -2.23527400e-03 -1.30124208e+01] [-1.12488021e-02 -5.49515738e-04 9.99936579e-01 7.80189904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters 0.030669230407214546 Centerline is valid? [True, True] Translation: X:157.05, Y:-13.02, Z:0.78 [[ 9.69473874e-01 2.44914559e-01 1.17160542e-02 1.57047588e+02] [-2.44903674e-01 9.69544501e-01 -2.37715736e-03 -1.30150520e+01] [-1.19414364e-02 -5.64712758e-04 9.99928539e-01 7.83239423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters 0.030041447283527978 Centerline is valid? [True, True] Translation: X:157.11, Y:-13.02, Z:0.78 [[ 9.69812827e-01 2.43595434e-01 1.11510018e-02 1.57110084e+02] [-2.43585429e-01 9.69876795e-01 -2.26749513e-03 -1.30182616e+01] [-1.13674493e-02 -5.17175699e-04 9.99935255e-01 7.83200030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters 0.029479849121686975 Centerline is valid? [True, True] Translation: X:157.17, Y:-13.02, Z:0.78 [[ 9.69919994e-01 2.43170616e-01 1.11021327e-02 1.57173260e+02] [-2.43160615e-01 9.69983400e-01 -2.26243680e-03 -1.30201079e+01] [-1.13190425e-02 -5.05218717e-04 9.99935810e-01 7.81360070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters 0.028320798869425904 Centerline is valid? [True, True] Translation: X:157.24, Y:-13.02, Z:0.78 [[ 9.71389422e-01 2.37298036e-01 9.60384499e-03 1.57235642e+02] [-2.37290279e-01 9.71436822e-01 -1.95574201e-03 -1.30187046e+01] [-9.79362239e-03 -3.79111962e-04 9.99951969e-01 7.80703635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters 0.027734808514272558 Centerline is valid? [True, True] Translation: X:157.30, Y:-13.02, Z:0.78 [[ 9.71913843e-01 2.35023533e-01 1.21417059e-02 1.57297508e+02] [-2.35010866e-01 9.71989579e-01 -2.47998108e-03 -1.30240224e+01] [-1.23844656e-02 -4.43104887e-04 9.99923211e-01 7.82300907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters 0.026853417016893116 Centerline is valid? [True, True] Translation: X:157.36, Y:-13.02, Z:0.78 [[ 9.72886980e-01 2.30838757e-01 1.42965593e-02 1.57361748e+02] [-2.30820654e-01 9.72991913e-01 -2.92622403e-03 -1.30208889e+01] [-1.45859225e-02 -4.53055887e-04 9.99893517e-01 7.80376126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters 0.02630560417269773 Centerline is valid? [True, True] Translation: X:157.42, Y:-13.03, Z:0.78 [[ 9.73759566e-01 2.27304089e-01 1.11874212e-02 1.57422603e+02] [-2.27292778e-01 9.73823779e-01 -2.28915971e-03 -1.30297055e+01] [-1.14149122e-02 -3.13728883e-04 9.99934799e-01 7.79918852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters 0.025767326825795113 Centerline is valid? [True, True] Translation: X:157.49, Y:-13.03, Z:0.78 [[ 9.73929254e-01 2.26428510e-01 1.38541542e-02 1.57487449e+02] [-2.26410941e-01 9.74027718e-01 -2.84435775e-03 -1.30287325e+01] [-1.41383739e-02 -3.66528857e-04 9.99899981e-01 7.83367554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters 0.026207082555382216 Centerline is valid? [True, True] Translation: X:157.55, Y:-13.03, Z:0.79 [[ 9.73371009e-01 2.28732669e-01 1.51737945e-02 1.57549873e+02] [-2.28711772e-01 9.73489178e-01 -3.12179855e-03 -1.30335456e+01] [-1.54855820e-02 -4.31757226e-04 9.99879998e-01 7.85104848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters 0.02598102910508796 Centerline is valid? [True, True] Translation: X:157.61, Y:-13.04, Z:0.78 [[ 9.73232504e-01 2.29438629e-01 1.32818912e-02 1.57612607e+02] [-2.29422598e-01 9.73323055e-01 -2.73892217e-03 -1.30364546e+01] [-1.35559855e-02 -3.81557905e-04 9.99908041e-01 7.84351318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters 0.02581708152176019 Centerline is valid? [True, True] Translation: X:157.67, Y:-13.05, Z:0.78 [[ 9.73705271e-01 2.27655024e-01 8.44014620e-03 1.57674035e+02] [-2.27648442e-01 9.73741825e-01 -1.74527801e-03 -1.30451043e+01] [-8.61584467e-03 -2.21999734e-04 9.99962858e-01 7.81362797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters 0.025260694120130316 Centerline is valid? [True, True] Translation: X:157.74, Y:-13.05, Z:0.78 [[ 9.74360340e-01 2.24653356e-01 1.23610858e-02 1.57736349e+02] [-2.24638937e-01 9.74438705e-01 -2.56080936e-03 -1.30520154e+01] [-1.26204149e-02 -2.81630105e-04 9.99920320e-01 7.82489291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters 0.024821015492720016 Centerline is valid? [True, True] Translation: X:157.80, Y:-13.06, Z:0.78 [[ 9.74629561e-01 2.23397390e-01 1.38139214e-02 1.57799925e+02] [-2.23379149e-01 9.74727409e-01 -2.86935498e-03 -1.30564207e+01] [-1.41058143e-02 -2.89183836e-04 9.99900466e-01 7.83877373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters 0.02533749079415445 Centerline is valid? [True, True] Translation: X:157.86, Y:-13.07, Z:0.78 [[ 9.73821924e-01 2.27120068e-01 9.34532170e-03 1.57862104e+02] [-2.27111834e-01 9.73866738e-01 -1.94713608e-03 -1.30674352e+01] [-9.54333164e-03 -2.26269350e-04 9.99954436e-01 7.79526054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters 0.02562163724941375 Centerline is valid? [True, True] Translation: X:157.92, Y:-13.08, Z:0.78 [[ 9.73439359e-01 2.28437692e-01 1.52326994e-02 1.57924132e+02] [-2.28415896e-01 9.73558459e-01 -3.17893337e-03 -1.30755278e+01] [-1.55561116e-02 -3.84891824e-04 9.99878922e-01 7.82699507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters 0.025643657737303073 Centerline is valid? [True, True] Translation: X:157.98, Y:-13.09, Z:0.78 [[ 9.73244981e-01 2.29159033e-01 1.67434841e-02 1.57984939e+02] [-2.29132676e-01 9.73388902e-01 -3.50184307e-03 -1.30863001e+01] [-1.71004006e-02 -4.28328130e-04 9.99853686e-01 7.84889543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters 0.0254977958831384 Centerline is valid? [True, True] Translation: X:158.05, Y:-13.09, Z:0.78 [[ 9.73196973e-01 2.29552273e-01 1.39070513e-02 1.58047172e+02] [-2.29534032e-01 9.73296269e-01 -2.91550348e-03 -1.30906542e+01] [-1.42049416e-02 -3.54782390e-04 9.99899042e-01 7.83206191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters 0.025450426126569465 Centerline is valid? [True, True] Translation: X:158.11, Y:-13.10, Z:0.78 [[ 9.73563548e-01 2.27580911e-01 1.95178762e-02 1.58109742e+02] [-2.27544418e-01 9.73759070e-01 -4.10008494e-03 -1.30962304e+01] [-1.99388100e-02 -4.49490544e-04 9.99801101e-01 7.82160975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters 0.025152250366993655 Centerline is valid? [True, True] Translation: X:158.17, Y:-13.10, Z:0.79 [[ 9.73655445e-01 2.27284297e-01 1.83554549e-02 1.58171484e+02] [-2.27251804e-01 9.73828363e-01 -3.86469510e-03 -1.31030746e+01] [-1.87534471e-02 -4.08428813e-04 9.99824055e-01 7.85123165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters 0.024892803731482217 Centerline is valid? [True, True] Translation: X:158.23, Y:-13.11, Z:0.78 [[ 9.74043544e-01 2.25900184e-01 1.44319438e-02 1.58234571e+02] [-2.25879836e-01 9.74150410e-01 -3.04605710e-03 -1.31053280e+01] [-1.47469888e-02 -2.92892844e-04 9.99891214e-01 7.84061697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters 0.02468836961589494 Centerline is valid? [True, True] Translation: X:158.30, Y:-13.11, Z:0.78 [[ 9.74399094e-01 2.24332547e-01 1.48766017e-02 1.58297089e+02] [-2.24310635e-01 9.74512614e-01 -3.14707691e-03 -1.31097241e+01] [-1.52034278e-02 -2.70471079e-04 9.99884385e-01 7.83583332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters 0.024840914324141365 Centerline is valid? [True, True] Translation: X:158.36, Y:-13.12, Z:0.78 [[ 9.74548631e-01 2.23557069e-01 1.66494091e-02 1.58359431e+02] [-2.23529350e-01 9.74690801e-01 -3.53150656e-03 -1.31188987e+01] [-1.70175192e-02 -2.80006710e-04 9.99855152e-01 7.81709926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters 0.024732853592843867 Centerline is valid? [True, True] Translation: X:158.42, Y:-13.12, Z:0.78 [[ 9.74801038e-01 2.22291908e-01 1.86880680e-02 1.58422867e+02] [-2.22256560e-01 9.74980117e-01 -3.97394868e-03 -1.31244254e+01] [-1.91038714e-02 -2.79736407e-04 9.99817465e-01 7.83702622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters 0.02436887760433152 Centerline is valid? [True, True] Translation: X:158.49, Y:-13.13, Z:0.79 [[ 9.75005395e-01 2.21714513e-01 1.43928486e-02 1.58485414e+02] [-2.21693376e-01 9.75111601e-01 -3.06788006e-03 -1.31278201e+01] [-1.47148272e-02 -1.99599585e-04 9.99891711e-01 7.86335413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters 0.024483253862341892 Centerline is valid? [True, True] Translation: X:158.55, Y:-13.13, Z:0.78 [[ 9.75137482e-01 2.20935132e-01 1.71626866e-02 1.58547570e+02] [-2.20904951e-01 9.75288479e-01 -3.65858482e-03 -1.31343628e+01] [-1.75468805e-02 -2.23699246e-04 9.99846017e-01 7.84611258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters 0.02454715141863035 Centerline is valid? [True, True] Translation: X:158.61, Y:-13.14, Z:0.78 [[ 9.75770092e-01 2.17799619e-01 2.08819090e-02 1.58608908e+02] [-2.17754160e-01 9.75993487e-01 -4.45422220e-03 -1.31430887e+01] [-2.13507351e-02 -2.00825743e-04 9.99772027e-01 7.83239991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters 0.02408073853789317 Centerline is valid? [True, True] Translation: X:158.67, Y:-13.15, Z:0.78 [[ 9.76851126e-01 2.13334210e-01 1.58238135e-02 1.58671554e+02] [-2.13307471e-01 9.76979278e-01 -3.37838667e-03 -1.31501299e+01] [-1.61802633e-02 -7.51568090e-05 9.99869088e-01 7.83460947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters 0.024112136337945397 Centerline is valid? [True, True] Translation: X:158.73, Y:-13.16, Z:0.78 [[ 9.76779915e-01 2.13871652e-01 1.26456988e-02 1.58734137e+02] [-2.13854597e-01 9.76861767e-01 -2.70165254e-03 -1.31565007e+01] [-1.29309065e-02 -6.54208798e-05 9.99916390e-01 7.84699619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters 0.02423131144903868 Centerline is valid? [True, True] Translation: X:158.80, Y:-13.17, Z:0.79 [[ 9.76572069e-01 2.14467631e-01 1.76246556e-02 1.58796078e+02] [-2.14434559e-01 9.76731092e-01 -3.76758644e-03 -1.31658303e+01] [-1.80225745e-02 -1.00015571e-04 9.99837575e-01 7.85437332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters 0.024697111778239748 Centerline is valid? [True, True] Translation: X:158.86, Y:-13.18, Z:0.78 [[ 9.77599858e-01 2.09367587e-01 2.15344190e-02 1.58856423e+02] [-2.09316931e-01 9.77837008e-01 -4.60533995e-03 -1.31789427e+01] [-2.20213608e-02 -5.33881497e-06 9.99757500e-01 7.81522201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters 0.02440753923056156 Centerline is valid? [True, True] Translation: X:158.92, Y:-13.19, Z:0.78 [[ 9.78835516e-01 2.04053722e-01 1.55919998e-02 1.58917997e+02] [-2.04026453e-01 9.78959688e-01 -3.33697553e-03 -1.31892987e+01] [-1.59448615e-02 8.51697538e-05 9.99872869e-01 7.82326637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters 0.024526791425821728 Centerline is valid? [True, True] Translation: X:158.98, Y:-13.20, Z:0.78 [[ 9.79305100e-01 2.01875379e-01 1.44171043e-02 1.58978371e+02] [-2.01851798e-01 9.79411210e-01 -3.08757993e-03 -1.32029543e+01] [-1.47435799e-02 1.13564346e-04 9.99891301e-01 7.82757713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters 0.02452052985518593 Centerline is valid? [True, True] Translation: X:159.04, Y:-13.22, Z:0.78 [[ 9.79148905e-01 2.02470232e-01 1.65295822e-02 1.59038934e+02] [-2.02439282e-01 9.79288410e-01 -3.54218714e-03 -1.32154511e+01] [-1.69044157e-02 1.22091913e-04 9.99857103e-01 7.84806083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters 0.02450160369054978 Centerline is valid? [True, True] Translation: X:159.10, Y:-13.23, Z:0.78 [[ 9.78642601e-01 2.04740457e-01 1.84392163e-02 1.59099528e+02] [-2.04702298e-01 9.78816293e-01 -3.95388554e-03 -1.32295645e+01] [-1.88581257e-02 9.48908833e-05 9.99822165e-01 7.83347705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters 0.024174761383457352 Centerline is valid? [True, True] Translation: X:159.16, Y:-13.25, Z:0.78 [[ 9.78667186e-01 2.05025686e-01 1.32290609e-02 1.59159490e+02] [-2.05006035e-01 9.78756591e-01 -2.83932033e-03 -1.32489820e+01] [-1.35301642e-02 6.67122982e-05 9.99908461e-01 7.82775818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters 0.02442816384447346 Centerline is valid? [True, True] Translation: X:159.22, Y:-13.26, Z:0.78 [[ 9.78786690e-01 2.04445839e-01 1.33609300e-02 1.59220756e+02] [-2.04425700e-01 9.78877874e-01 -2.87060246e-03 -1.32642090e+01] [-1.36656015e-02 7.83900050e-05 9.99906618e-01 7.84208820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters 0.024419026223636692 Centerline is valid? [True, True] Translation: X:159.28, Y:-13.28, Z:0.78 [[ 9.78994115e-01 2.03561390e-01 1.15447993e-02 1.59280484e+02] [-2.03546269e-01 9.79062181e-01 -2.48238749e-03 -1.32846771e+01] [-1.18083947e-02 8.03419030e-05 9.99930275e-01 7.82821280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters 0.024721931594005573 Centerline is valid? [True, True] Translation: X:159.34, Y:-13.31, Z:0.78 [[ 9.78538368e-01 2.05673959e-01 1.26840327e-02 1.59339734e+02] [-2.05655855e-01 9.78620569e-01 -2.72952720e-03 -1.33065205e+01] [-1.29742480e-02 6.24014966e-05 9.99915829e-01 7.81680432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters 0.02438358610139158 Centerline is valid? [True, True] Translation: X:159.40, Y:-13.32, Z:0.78 [[ 9.76795024e-01 2.13758432e-01 1.33721519e-02 1.59400430e+02] [-2.13739026e-01 9.76886550e-01 -2.88055847e-03 -1.33218064e+01] [-1.36788190e-02 -4.44355517e-05 9.99906440e-01 7.83170714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters 0.024936911645319717 Centerline is valid? [True, True] Translation: X:159.46, Y:-13.34, Z:0.78 [[ 9.74742835e-01 2.22968760e-01 1.27018931e-02 1.59460118e+02] [-2.22952013e-01 9.74825577e-01 -2.73764864e-03 -1.33411617e+01] [-1.29925404e-02 -1.63409237e-04 9.99915580e-01 7.83805678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters 0.02520724414728082 Centerline is valid? [True, True] Translation: X:159.52, Y:-13.36, Z:0.78 [[ 9.74226597e-01 2.25261863e-01 1.18165387e-02 1.59519972e+02] [-2.25247517e-01 9.74298240e-01 -2.54855171e-03 -1.33568844e+01] [-1.20869244e-02 -1.78779128e-04 9.99926934e-01 7.84242231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters 0.025414952310403416 Centerline is valid? [True, True] Translation: X:159.58, Y:-13.37, Z:0.79 [[ 9.73616957e-01 2.27959210e-01 1.02283738e-02 1.59580852e+02] [-2.27948593e-01 9.73670666e-01 -2.20754897e-03 -1.33698973e+01] [-1.04622986e-02 -1.82236296e-04 9.99945252e-01 7.86284460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters 0.025513582717591084 Centerline is valid? [True, True] Translation: X:159.64, Y:-13.38, Z:0.78 [[ 9.72791500e-01 2.31373202e-01 1.19640484e-02 1.59643471e+02] [-2.31358915e-01 9.72865035e-01 -2.58372034e-03 -1.33753605e+01] [-1.22372080e-02 -2.54568064e-04 9.99925090e-01 7.84912428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters 0.02589734940655211 Centerline is valid? [True, True] Translation: X:159.70, Y:-13.39, Z:0.78 [[ 9.72671191e-01 2.31578335e-01 1.67996906e-02 1.59702761e+02] [-2.31550160e-01 9.72816193e-01 -3.63009104e-03 -1.33936053e+01] [-1.71836614e-02 -3.59086073e-04 9.99852286e-01 7.84741221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters 0.024968611608154626 Centerline is valid? [True, True] Translation: X:159.76, Y:-13.40, Z:0.78 [[ 9.74233141e-01 2.25096796e-01 1.41851960e-02 1.59764381e+02] [-2.25076010e-01 9.74336384e-01 -3.06590977e-03 -1.33993234e+01] [-1.45112791e-02 -2.05836420e-04 9.99894685e-01 7.84365816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters 0.024716283923651383 Centerline is valid? [True, True] Translation: X:159.83, Y:-13.41, Z:0.78 [[ 9.75028977e-01 2.21608373e-01 1.44298984e-02 1.59825943e+02] [-2.21586446e-01 9.75135737e-01 -3.12118237e-03 -1.34105752e+01] [-1.47627898e-02 -1.54226645e-04 9.99891012e-01 7.84600360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters 0.024393334151238538 Centerline is valid? [True, True] Translation: X:159.89, Y:-13.42, Z:0.79 [[ 9.75827172e-01 2.17822668e-01 1.77374286e-02 1.59886828e+02] [-2.17788867e-01 9.75988356e-01 -3.83898200e-03 -1.34225605e+01] [-1.81477411e-02 -1.16831543e-04 9.99835309e-01 7.86233562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters 0.024286973156144726 Centerline is valid? [True, True] Translation: X:159.95, Y:-13.44, Z:0.79 [[ 9.76157182e-01 2.16460468e-01 1.61871010e-02 1.59947161e+02] [-2.16432091e-01 9.76291380e-01 -3.50581050e-03 -1.34367087e+01] [-1.65621966e-02 -8.11860261e-05 9.99862834e-01 7.86324343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters 0.024178377627045004 Centerline is valid? [True, True] Translation: X:160.01, Y:-13.45, Z:0.79 [[ 9.77311150e-01 2.11002037e-01 1.84677302e-02 1.60007378e+02] [-2.10964077e-01 9.77485621e-01 -4.00227004e-03 -1.34518735e+01] [-1.88964278e-02 1.54354754e-05 9.99821446e-01 7.85917207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters 0.0243917435048655 Centerline is valid? [True, True] Translation: X:160.07, Y:-13.47, Z:0.79 [[ 9.79533678e-01 2.00407291e-01 1.87267430e-02 1.60068177e+02] [-2.00366268e-01 9.79712645e-01 -4.06100672e-03 -1.34654285e+01] [-1.91606823e-02 2.25685235e-04 9.99816392e-01 7.85815010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters 0.02477542199599838 Centerline is valid? [True, True] Translation: X:160.13, Y:-13.49, Z:0.79 [[ 9.80662035e-01 1.94846181e-01 1.83558966e-02 1.60127067e+02] [-1.94805597e-01 9.80833753e-01 -3.99098247e-03 -1.34859793e+01] [-1.87817107e-02 3.37973603e-04 9.99823551e-01 7.86521107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters 0.024772831736692945 Centerline is valid? [True, True] Translation: X:160.19, Y:-13.50, Z:0.79 [[ 9.81122954e-01 1.92814825e-01 1.48388496e-02 1.60187110e+02] [-1.92787960e-01 9.81235112e-01 -3.23370222e-03 -1.35012776e+01] [-1.51839060e-02 3.11907935e-04 9.99884669e-01 7.86663189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters 0.025023189691948833 Centerline is valid? [True, True] Translation: X:160.24, Y:-13.53, Z:0.79 [[ 9.81103208e-01 1.92635762e-01 1.81096454e-02 1.60244612e+02] [-1.92595582e-01 9.81270253e-01 -3.95369641e-03 -1.35271961e+01] [-1.85320797e-02 3.91146532e-04 9.99828190e-01 7.86519133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters 0.024953472120259727 Centerline is valid? [True, True] Translation: X:160.30, Y:-13.55, Z:0.79 [[ 9.80922265e-01 1.93629934e-01 1.72904043e-02 1.60304162e+02] [-1.93593313e-01 9.81074572e-01 -3.78322708e-03 -1.35466355e+01] [-1.76957220e-02 3.63745031e-04 9.99843352e-01 7.87068054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters 0.024886835675924746 Centerline is valid? [True, True] Translation: X:160.36, Y:-13.57, Z:0.79 [[ 9.80488420e-01 1.96015951e-01 1.48392892e-02 1.60361507e+02] [-1.95989138e-01 9.80600667e-01 -3.25428167e-03 -1.35749500e+01] [-1.51893080e-02 2.82445985e-04 9.99884596e-01 7.85239627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502320588 meters 0.024233883417420346 Centerline is valid? [True, True] Translation: X:160.42, Y:-13.59, Z:0.79 [[ 9.79891583e-01 1.99074696e-01 1.34814833e-02 1.60421523e+02] [-1.99052764e-01 9.79984294e-01 -2.96317848e-03 -1.35932197e+01] [-1.38015357e-02 2.20067148e-04 9.99904730e-01 7.86807887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters 0.023602711503860868 Centerline is valid? [True, True] Translation: X:160.48, Y:-13.61, Z:0.79 [[ 9.78367863e-01 2.06602188e-01 1.05763808e-02 1.60480899e+02] [-2.06589120e-01 9.78425024e-01 -2.32551338e-03 -1.36145570e+01] [-1.08286518e-02 9.02423646e-05 9.99941364e-01 7.88296291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters 0.023522872024617506 Centerline is valid? [True, True] Translation: X:160.54, Y:-13.64, Z:0.79 [[ 9.77042571e-01 2.12709225e-01 1.19414802e-02 1.60540626e+02] [-2.12692915e-01 9.77115543e-01 -2.63430803e-03 -1.36357006e+01] [-1.22285475e-02 3.39628550e-05 9.99925228e-01 7.89192941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters 0.023897269886756153 Centerline is valid? [True, True] Translation: X:160.60, Y:-13.65, Z:0.79 [[ 9.74819844e-01 2.22524494e-01 1.44609941e-02 1.60600387e+02] [-2.22501560e-01 9.74927094e-01 -3.19640386e-03 -1.36525729e+01] [-1.48096932e-02 -1.01675838e-04 9.99890325e-01 7.88905380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters 0.024219542878789427 Centerline is valid? [True, True] Translation: X:160.66, Y:-13.66, Z:0.79 [[ 9.73021594e-01 2.30587604e-01 7.63763937e-03 1.60662441e+02] [-2.30581417e-01 9.73051563e-01 -1.69302401e-03 -1.36615023e+01] [-7.82220727e-03 -1.13748790e-04 9.99969400e-01 7.91532870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters 0.02455323986892647 Centerline is valid? [True, True] Translation: X:160.72, Y:-13.67, Z:0.79 [[ 9.71770233e-01 2.35847748e-01 6.20113517e-03 1.60723920e+02] [-2.35843754e-01 9.71790011e-01 -1.37804696e-03 -1.36724083e+01] [-6.35121048e-03 -1.23353986e-04 9.99979823e-01 7.93784247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters 0.024732834721727652 Centerline is valid? [True, True] Translation: X:160.79, Y:-13.69, Z:0.79 [[ 9.71844157e-01 2.35283252e-01 1.26777581e-02 1.60785101e+02] [-2.35266464e-01 9.71926815e-01 -2.82092218e-03 -1.36851332e+01] [-1.29855687e-02 -2.41154573e-04 9.99915655e-01 7.93778066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters 0.02416357901339734 Centerline is valid? [True, True] Translation: X:160.85, Y:-13.70, Z:0.80 [[ 9.73003678e-01 2.30427808e-01 1.29177158e-02 1.60846840e+02] [-2.30409869e-01 9.73089408e-01 -2.88052014e-03 -1.36954008e+01] [-1.32338443e-02 -1.73612498e-04 9.99912414e-01 7.95677984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters 0.023807073355633288 Centerline is valid? [True, True] Translation: X:160.91, Y:-13.71, Z:0.80 [[ 9.74421753e-01 2.24506531e-01 9.95316132e-03 1.60908766e+02] [-2.24495563e-01 9.74472582e-01 -2.22025306e-03 -1.37058866e+01] [-1.01975441e-02 -7.09776789e-05 9.99948001e-01 7.95478901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters 0.0235163185017573 Centerline is valid? [True, True] Translation: X:160.97, Y:-13.72, Z:0.80 [[ 9.75013961e-01 2.21933440e-01 9.66042356e-03 1.60969497e+02] [-2.21922918e-01 9.75061817e-01 -2.16138082e-03 -1.37180884e+01] [-9.89919283e-03 -3.64929131e-05 9.99951001e-01 7.96030229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters 0.023575802294732117 Centerline is valid? [True, True] Translation: X:161.03, Y:-13.74, Z:0.80 [[ 9.75651039e-01 2.19182703e-01 7.99954249e-03 1.61028225e+02] [-2.19175359e-01 9.75683833e-01 -1.79428413e-03 -1.37388823e+01] [-8.19830033e-03 -2.70742394e-06 9.99966393e-01 7.99416904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162320588 meters 0.02357389622944103 Centerline is valid? [True, True] Translation: X:161.09, Y:-13.75, Z:0.80 [[ 9.76278596e-01 2.16395527e-01 7.28557229e-03 1.61089406e+02] [-2.16389323e-01 9.76305780e-01 -1.63883018e-03 -1.37531503e+01] [-7.46758185e-03 2.34347764e-05 9.99972117e-01 7.98478712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters 0.023865201026757238 Centerline is valid? [True, True] Translation: X:161.15, Y:-13.77, Z:0.80 [[ 9.76701432e-01 2.14345207e-01 1.05093262e-02 1.61148488e+02] [-2.14332138e-01 9.76757968e-01 -2.36771022e-03 -1.37721398e+01] [-1.07725754e-02 6.00596116e-05 9.99941972e-01 7.95910231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters 0.023728884714549738 Centerline is valid? [True, True] Translation: X:161.21, Y:-13.79, Z:0.80 [[ 9.76409083e-01 2.15604933e-01 1.18243380e-02 1.61208511e+02] [-2.15588399e-01 9.76480675e-01 -2.67076120e-03 -1.37941294e+01] [-1.21220669e-02 5.85653956e-05 9.99926523e-01 8.01271393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters 0.023727579356362813 Centerline is valid? [True, True] Translation: X:161.27, Y:-13.81, Z:0.80 [[ 9.75223622e-01 2.21052078e-01 8.65249967e-03 1.61267533e+02] [-2.21043396e-01 9.75262005e-01 -1.95914536e-03 -1.38145562e+01] [-8.87152734e-03 -1.97307707e-06 9.99960647e-01 8.00239257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters 0.023955505395608902 Centerline is valid? [True, True] Translation: X:161.33, Y:-13.83, Z:0.80 [[ 9.74143343e-01 2.25700769e-01 1.01936422e-02 1.61328053e+02] [-2.25688925e-01 9.74196674e-01 -2.31272101e-03 -1.38293261e+01] [-1.04525952e-02 -4.76703706e-05 9.99945369e-01 7.97847889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters 0.024331174918679303 Centerline is valid? [True, True] Translation: X:161.39, Y:-13.85, Z:0.80 [[ 9.72724328e-01 2.31719954e-01 1.06416367e-02 1.61387628e+02] [-2.31707349e-01 9.72782530e-01 -2.41950027e-03 -1.38470140e+01] [-1.09126448e-02 -1.12238649e-04 9.99940449e-01 7.97217354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters 0.024705792250251806 Centerline is valid? [True, True] Translation: X:161.45, Y:-13.86, Z:0.80 [[ 9.71505994e-01 2.36897204e-01 7.47116503e-03 1.61448665e+02] [-2.36891104e-01 9.71534715e-01 -1.70381472e-03 -1.38636852e+01] [-7.66212512e-03 -1.14586323e-04 9.99970639e-01 7.98876385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters 0.024836741257389296 Centerline is valid? [True, True] Translation: X:161.51, Y:-13.87, Z:0.80 [[ 9.70986262e-01 2.38901213e-01 1.05778037e-02 1.61510545e+02] [-2.38889066e-01 9.71043860e-01 -2.41594312e-03 -1.38723473e+01] [-1.08486831e-02 -1.81074071e-04 9.99941135e-01 7.98858142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters 0.025350205138544548 Centerline is valid? [True, True] Translation: X:161.57, Y:-13.88, Z:0.80 [[ 9.70178533e-01 2.42118808e-01 1.14933097e-02 1.61572667e+02] [-2.42104630e-01 9.70246582e-01 -2.63030771e-03 -1.38810326e+01] [-1.17881914e-02 -2.30715427e-04 9.99930490e-01 7.97698050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters 0.02583152588027179 Centerline is valid? [True, True] Translation: X:161.63, Y:-13.89, Z:0.79 [[ 9.69329304e-01 2.45489181e-01 1.16516742e-02 1.61634157e+02] [-2.45474787e-01 9.69399293e-01 -2.67204155e-03 -1.38899607e+01] [-1.19510820e-02 -2.70104058e-04 9.99928547e-01 7.94243272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters 0.025622885207673553 Centerline is valid? [True, True] Translation: X:161.70, Y:-13.89, Z:0.80 [[ 9.69125275e-01 2.46436561e-01 8.07601953e-03 1.61696894e+02] [-2.46429641e-01 9.69158906e-01 -1.85655290e-03 -1.38931876e+01] [-8.28446877e-03 -1.90938254e-04 9.99965665e-01 7.97340773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters 0.025028397287541138 Centerline is valid? [True, True] Translation: X:161.76, Y:-13.90, Z:0.80 [[ 9.70029471e-01 2.42770107e-01 1.02713257e-02 1.61759615e+02] [-2.42758663e-01 9.70083829e-01 -2.36553502e-03 -1.38977413e+01] [-1.05383282e-02 -1.98814610e-04 9.99944451e-01 7.99844236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882320588 meters 0.02450989866982718 Centerline is valid? [True, True] Translation: X:161.82, Y:-13.90, Z:0.79 [[ 9.71416541e-01 2.37283767e-01 6.80575697e-03 1.61822588e+02] [-2.37278605e-01 9.71440377e-01 -1.56787579e-03 -1.39032054e+01] [-6.98341859e-03 -9.18000363e-05 9.99975611e-01 7.93219033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters 0.0244637239989751 Centerline is valid? [True, True] Translation: X:161.89, Y:-13.89, Z:0.78 [[ 9.75216958e-01 2.21188968e-01 -5.22732920e-03 1.61889790e+02] [-2.21185694e-01 9.75230967e-01 1.20363542e-03 -1.38895621e+01] [ 5.36408419e-03 -1.75952347e-05 9.99985613e-01 7.80849579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:161.95, Y:-13.90, Z:0.78 [[ 9.74439326e-01 2.24469323e-01 -9.02895645e-03 1.61950563e+02] [-2.24459679e-01 9.74481156e-01 2.08077842e-03 -1.39038169e+01] [ 9.26561884e-03 -9.55654697e-07 9.99957073e-01 7.80425824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:162.01, Y:-13.92, Z:0.78 [[ 9.74423956e-01 2.24536045e-01 -9.02873744e-03 1.62009845e+02] [-2.24526395e-01 9.74465784e-01 2.08172838e-03 -1.39174679e+01] [ 9.26561876e-03 -1.29613800e-06 9.99957073e-01 7.80732433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters 0.02438237891226685 Centerline is valid? [True, True] Translation: X:162.07, Y:-13.93, Z:0.78 [[ 9.73905763e-01 2.26655894e-01 -1.16047515e-02 1.62069458e+02] [-2.26640090e-01 9.73974900e-01 2.67660779e-03 -1.39325651e+01] [ 1.19094056e-02 2.33381775e-05 9.99929080e-01 7.78557519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters 0.024497566122053005 Centerline is valid? [True, True] Translation: X:162.13, Y:-13.95, Z:0.78 [[ 9.73460940e-01 2.28489539e-01 -1.28968269e-02 1.62128430e+02] [-2.28470168e-01 9.73546367e-01 2.97559061e-03 -1.39496013e+01] [ 1.32355503e-02 4.99189890e-05 9.99912405e-01 7.77727865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters 0.024497566122053005 Centerline is valid? [True, True] Translation: X:162.19, Y:-13.96, Z:0.78 [[ 9.73460941e-01 2.28489541e-01 -1.28967492e-02 1.62186895e+02] [-2.28470166e-01 9.73546366e-01 2.97592744e-03 -1.39630925e+01] [ 1.32355516e-02 4.95733073e-05 9.99912405e-01 7.78030276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:162.25, Y:-13.98, Z:0.78 [[ 9.73520323e-01 2.28205703e-01 -1.34290121e-02 1.62245999e+02] [-2.28184660e-01 9.73612939e-01 3.09936140e-03 -1.39802624e+01] [ 1.37819519e-02 4.70032625e-05 9.99905023e-01 7.77274091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:162.30, Y:-13.99, Z:0.78 [[ 9.73520323e-01 2.28205705e-01 -1.34289345e-02 1.62304464e+02] [-2.28184657e-01 9.73612939e-01 3.09969754e-03 -1.39937576e+01] [ 1.37819531e-02 4.66582730e-05 9.99905023e-01 7.77576503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters 0.024618929656216038 Centerline is valid? [True, True] Translation: X:162.36, Y:-14.01, Z:0.78 [[ 9.73722038e-01 2.27401117e-01 -1.24146656e-02 1.62363319e+02] [-2.27383060e-01 9.73801176e-01 2.86585218e-03 -1.40099701e+01] [ 1.27411139e-02 3.23412141e-05 9.99918828e-01 7.78239304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:162.42, Y:-14.02, Z:0.78 [[ 9.74318466e-01 2.24899701e-01 -1.11198694e-02 1.62423179e+02] [-2.24885044e-01 9.74381919e-01 2.56756441e-03 -1.40230825e+01] [ 1.14124442e-02 -9.33100541e-07 9.99934876e-01 7.79706043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:162.48, Y:-14.04, Z:0.78 [[ 9.74302891e-01 2.24967174e-01 -1.11196921e-02 1.62482456e+02] [-2.24952513e-01 9.74366343e-01 2.56833203e-03 -1.40367565e+01] [ 1.14124441e-02 -9.30633286e-07 9.99934876e-01 7.80012646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters 0.024521455094459424 Centerline is valid? [True, True] Translation: X:162.54, Y:-14.05, Z:0.78 [[ 9.74790972e-01 2.22868572e-01 -1.05905760e-02 1.62543135e+02] [-2.22855141e-01 9.74848500e-01 2.44687710e-03 -1.40482071e+01] [ 1.08695392e-02 -2.50293955e-05 9.99940925e-01 7.82236119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:162.60, Y:-14.06, Z:0.79 [[ 9.74325732e-01 2.24906157e-01 -1.03241848e-02 1.62604086e+02] [-2.24893500e-01 9.74380429e-01 2.38606689e-03 -1.40582173e+01] [ 1.05963247e-02 -2.96433080e-06 9.99943857e-01 7.86971109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:162.66, Y:-14.07, Z:0.79 [[ 9.74310335e-01 2.24972857e-01 -1.03240218e-02 1.62663360e+02] [-2.24960196e-01 9.74365031e-01 2.38677167e-03 -1.40719028e+01] [ 1.05963247e-02 -2.96232732e-06 9.99943857e-01 7.87277710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters 0.02424872417007226 Centerline is valid? [True, True] Translation: X:162.72, Y:-14.09, Z:0.79 [[ 9.74305146e-01 2.25127353e-01 -6.86714397e-03 1.62722627e+02] [-2.25121753e-01 9.74329346e-01 1.58796642e-03 -1.40867741e+01] [ 7.04835457e-03 -1.22036754e-06 9.99975160e-01 7.87940434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters 0.02424872417007226 Centerline is valid? [True, True] Translation: X:162.78, Y:-14.10, Z:0.79 [[ 9.74274217e-01 2.25261170e-01 -6.86700368e-03 1.62782714e+02] [-2.25255568e-01 9.74298417e-01 1.58857287e-03 -1.41006381e+01] [ 7.04835460e-03 -8.74773414e-07 9.99975160e-01 7.88251234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:162.84, Y:-14.12, Z:0.79 [[ 9.73787041e-01 2.27415967e-01 -4.55824818e-03 1.62843190e+02] [-2.27413520e-01 9.73797709e-01 1.05489933e-03 -1.41159236e+01] [ 4.67871259e-03 9.35996581e-06 9.99989055e-01 7.88190683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:162.90, Y:-14.13, Z:0.79 [[ 9.73755524e-01 2.27550882e-01 -4.55810293e-03 1.62903273e+02] [-2.27548434e-01 9.73766192e-01 1.05552657e-03 -1.41298047e+01] [ 4.67871253e-03 9.36435311e-06 9.99989055e-01 7.88501493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:162.96, Y:-14.14, Z:0.79 [[ 9.73145302e-01 2.30162265e-01 -3.68139101e-03 1.62964153e+02] [-2.30160686e-01 9.73152265e-01 8.52905150e-04 -1.41435590e+01] [ 3.77886058e-03 1.73108388e-05 9.99992860e-01 7.89167775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:163.03, Y:-14.16, Z:0.79 [[ 9.73097409e-01 2.30364669e-01 -3.68129297e-03 1.63025049e+02] [-2.30363089e-01 9.73104372e-01 8.53328084e-04 -1.41576286e+01] [ 3.77885892e-03 1.76626740e-05 9.99992860e-01 7.89482787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:163.09, Y:-14.17, Z:0.79 [[ 9.72410579e-01 2.33260676e-01 -2.66884748e-03 1.63085762e+02] [-2.33259856e-01 9.72414241e-01 6.19097682e-04 -1.41698714e+01] [ 2.73963644e-03 2.05178428e-05 9.99996247e-01 7.91314644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:163.15, Y:-14.18, Z:0.79 [[ 9.72361783e-01 2.33464003e-01 -2.66879965e-03 1.63146654e+02] [-2.33463183e-01 9.72365445e-01 6.19303853e-04 -1.41839641e+01] [ 2.73963372e-03 2.08790624e-05 9.99996247e-01 7.91629663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:163.21, Y:-14.20, Z:0.79 [[ 9.72312944e-01 2.33667322e-01 -2.66866999e-03 1.63207543e+02] [-2.33666501e-01 9.72316606e-01 6.19861866e-04 -1.41980698e+01] [ 2.73963361e-03 2.08790616e-05 9.99996247e-01 7.91944692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:163.27, Y:-14.21, Z:0.79 [[ 9.71416652e-01 2.37348236e-01 -3.93727422e-03 1.63268425e+02] [-2.37346473e-01 9.71424630e-01 9.15980576e-04 -1.42094203e+01] [ 4.04217153e-03 4.46993649e-05 9.99991829e-01 7.94864497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:163.33, Y:-14.22, Z:0.80 [[ 9.71367395e-01 2.37549747e-01 -3.93716378e-03 1.63329311e+02] [-2.37547984e-01 9.71375373e-01 9.16455008e-04 -1.42235484e+01] [ 4.04216759e-03 4.50508045e-05 9.99991829e-01 7.95179527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters 0.02476889912500522 Centerline is valid? [True, True] Translation: X:163.39, Y:-14.23, Z:0.80 [[ 9.70283325e-01 2.41923207e-01 -4.84053000e-03 1.63390188e+02] [-2.41920589e-01 9.70295396e-01 1.12804193e-03 -1.42347019e+01] [ 4.96964349e-03 7.65035954e-05 9.99987648e-01 7.96150077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters 0.02491516712981403 Centerline is valid? [True, True] Translation: X:163.45, Y:-14.24, Z:0.80 [[ 9.69316535e-01 2.45750431e-01 -5.67285018e-03 1.63451420e+02] [-2.45746896e-01 9.69333128e-01 1.32294420e-03 -1.42448948e+01] [ 5.82399571e-03 1.11733634e-04 9.99983034e-01 7.97403076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters 0.02544283663164621 Centerline is valid? [True, True] Translation: X:163.51, Y:-14.25, Z:0.80 [[ 9.68074169e-01 2.50609411e-01 -5.22738298e-03 1.63512767e+02] [-2.50606476e-01 9.68088274e-01 1.21974868e-03 -1.42546751e+01] [ 5.36624867e-03 1.29208833e-04 9.99985593e-01 7.96528634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters 0.025222244237493783 Centerline is valid? [True, True] Translation: X:163.58, Y:-14.23, Z:0.80 [[ 9.69540699e-01 2.44809661e-01 7.68525643e-03 1.63579152e+02] [-2.44803172e-01 9.69571147e-01 -1.78851771e-03 -1.42310849e+01] [-7.88924930e-03 -1.47334441e-04 9.99968869e-01 8.00250311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:163.64, Y:-14.24, Z:0.80 [[ 9.70943743e-01 2.39195075e-01 7.34601414e-03 1.63641409e+02] [-2.39188956e-01 9.70971528e-01 -1.71348105e-03 -1.42388909e+01] [-7.54262680e-03 -9.33917462e-05 9.99971550e-01 7.99848106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:163.70, Y:-14.25, Z:0.80 [[ 9.70911146e-01 2.39327362e-01 7.34578107e-03 1.63701488e+02] [-2.39321239e-01 9.70938930e-01 -1.71448015e-03 -1.42528672e+01] [-7.54262683e-03 -9.33935380e-05 9.99971550e-01 8.00158963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:163.76, Y:-14.26, Z:0.80 [[ 9.72206715e-01 2.33919986e-01 9.77464699e-03 1.63763859e+02] [-2.33908859e-01 9.72255849e-01 -2.28255349e-03 -1.42607499e+01] [-1.00373926e-02 -6.72627027e-05 9.99949622e-01 7.99117512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:163.82, Y:-14.27, Z:0.80 [[ 9.72175077e-01 2.34051451e-01 9.77434045e-03 1.63823935e+02] [-2.34040317e-01 9.72224210e-01 -2.28386596e-03 -1.42747406e+01] [-1.00373926e-02 -6.72721693e-05 9.99949622e-01 7.99428364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:163.88, Y:-14.29, Z:0.80 [[ 9.72143422e-01 2.34182911e-01 9.77403159e-03 1.63884010e+02] [-2.34171770e-01 9.72192553e-01 -2.28518762e-03 -1.42887393e+01] [-1.00373926e-02 -6.72721696e-05 9.99949622e-01 7.99739216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters 0.024584683352384753 Centerline is valid? [True, True] Translation: X:163.95, Y:-14.30, Z:0.80 [[ 9.73188180e-01 2.29659075e-01 1.27073173e-02 1.63946013e+02] [-2.29639837e-01 9.73271138e-01 -2.97261273e-03 -1.42972136e+01] [-1.30503526e-02 -2.51946920e-05 9.99914840e-01 7.99473432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:164.01, Y:-14.31, Z:0.80 [[ 9.74331102e-01 2.24569470e-01 1.57307401e-02 1.64007513e+02] [-2.24539291e-01 9.74458080e-01 -3.68193047e-03 -1.43067486e+01] [-1.61557959e-02 5.52501521e-05 9.99869485e-01 7.99848455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:164.07, Y:-14.32, Z:0.80 [[ 9.74285925e-01 2.24765448e-01 1.57299225e-02 1.64068410e+02] [-2.24735239e-01 9.74412895e-01 -3.68542226e-03 -1.43209439e+01] [-1.61557949e-02 5.55871442e-05 9.99869485e-01 8.00163566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:164.13, Y:-14.34, Z:0.80 [[ 9.74240706e-01 2.24961420e-01 1.57291811e-02 1.64129305e+02] [-2.24931184e-01 9.74367670e-01 -3.68858584e-03 -1.43351517e+01] [-1.61557950e-02 5.55871446e-05 9.99869485e-01 8.00478662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters 0.024904630237249117 Centerline is valid? [True, True] Translation: X:164.19, Y:-14.35, Z:0.80 [[ 9.75048181e-01 2.21355198e-01 1.68202827e-02 1.64190215e+02] [-2.21320052e-01 9.75193243e-01 -3.94638615e-03 -1.43476446e+01] [-1.72765791e-02 1.25250796e-04 9.99850741e-01 8.01357593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters 0.02502772544695051 Centerline is valid? [True, True] Translation: X:164.25, Y:-14.36, Z:0.80 [[ 9.75857046e-01 2.17856405e-01 1.55439218e-02 1.64251955e+02] [-2.17825889e-01 9.75980817e-01 -3.65055235e-03 -1.43615711e+01] [-1.59658657e-02 1.76548660e-04 9.99872522e-01 8.03066591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters 0.025372328692448067 Centerline is valid? [True, True] Translation: X:164.31, Y:-14.37, Z:0.81 [[ 9.77841950e-01 2.08945334e-01 1.29216176e-02 1.64314661e+02] [-2.08923446e-01 9.77927285e-01 -3.03627617e-03 -1.43674326e+01] [-1.32708182e-02 2.69369327e-04 9.99911903e-01 8.07828813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters 0.025902462706865678 Centerline is valid? [True, True] Translation: X:164.38, Y:-14.38, Z:0.81 [[ 9.78236643e-01 2.07159650e-01 1.17452145e-02 1.64375761e+02] [-2.07141424e-01 9.78307113e-01 -2.76094489e-03 -1.43770577e+01] [-1.20623833e-02 2.67937001e-04 9.99927211e-01 8.07338999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters 0.02595781808546885 Centerline is valid? [True, True] Translation: X:164.44, Y:-14.40, Z:0.81 [[ 9.78361731e-01 2.06500804e-01 1.28740461e-02 1.64435061e+02] [-2.06478825e-01 9.78446384e-01 -3.02812210e-03 -1.43969309e+01] [-1.32218735e-02 3.04380869e-04 9.99912541e-01 8.08467598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters 0.02551633219500494 Centerline is valid? [True, True] Translation: X:164.49, Y:-14.42, Z:0.81 [[ 9.75554724e-01 2.19554980e-01 9.41225277e-03 1.64492817e+02] [-2.19543833e-01 9.75600124e-01 -2.21436561e-03 -1.44195197e+01] [-9.66876996e-03 9.38327822e-05 9.99953252e-01 8.13252396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters 0.025404257025937363 Centerline is valid? [True, True] Translation: X:164.55, Y:-14.44, Z:0.81 [[ 9.74123020e-01 2.25805992e-01 9.79773329e-03 1.64550942e+02] [-2.25794212e-01 9.74172291e-01 -2.30674217e-03 -1.44430934e+01] [-1.00655565e-02 3.47791817e-05 9.99949340e-01 8.14058722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters 0.02550272919739411 Centerline is valid? [True, True] Translation: X:164.61, Y:-14.46, Z:0.82 [[ 9.71182906e-01 2.37872390e-01 1.48488848e-02 1.64609866e+02] [-2.37846711e-01 9.71296406e-01 -3.49770416e-03 -1.44640477e+01] [-1.52546757e-02 -1.34847927e-04 9.99883632e-01 8.18158104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters 0.027207097166364932 Centerline is valid? [True, True] Translation: X:164.69, Y:-14.39, Z:0.82 [[ 9.66446825e-01 2.56292994e-01 1.71591033e-02 1.64688440e+02] [-2.56261605e-01 9.66599017e-01 -4.04109007e-03 -1.43942614e+01] [-1.76216754e-02 -4.91720672e-04 9.99844605e-01 8.24534865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters 0.026885684061008375 Centerline is valid? [True, True] Translation: X:164.75, Y:-14.41, Z:0.82 [[ 9.67535203e-01 2.52261330e-01 1.54871827e-02 1.64745960e+02] [-2.52235401e-01 9.67659068e-01 -3.63742928e-03 -1.44058878e+01] [-1.59038955e-02 -3.87074862e-04 9.99873450e-01 8.23136169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters 0.026947199946259087 Centerline is valid? [True, True] Translation: X:164.79, Y:-14.48, Z:0.81 [[ 9.68773832e-01 2.47407544e-01 1.63330714e-02 1.64792261e+02] [-2.47377911e-01 9.68911454e-01 -3.84231313e-03 -1.44832207e+01] [-1.67759172e-02 -3.18108666e-04 9.99859224e-01 8.13165827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters 0.02748292835017609 Centerline is valid? [True, True] Translation: X:164.85, Y:-14.49, Z:0.81 [[ 9.67638143e-01 2.51771590e-01 1.69555293e-02 1.64854723e+02] [-2.51740285e-01 9.67786599e-01 -3.99094021e-03 -1.44887100e+01] [-1.74141394e-02 -4.06603816e-04 9.99848280e-01 8.12935548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters 0.02750425674664357 Centerline is valid? [True, True] Translation: X:164.92, Y:-14.50, Z:0.81 [[ 9.67951047e-01 2.50498545e-01 1.79234133e-02 1.64917323e+02] [-2.50463300e-01 9.68116892e-01 -4.22123662e-03 -1.44961647e+01] [-1.84093728e-02 -4.03206826e-04 9.99830452e-01 8.12428029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters 0.026871683035890655 Centerline is valid? [True, True] Translation: X:164.98, Y:-14.50, Z:0.81 [[ 9.69489240e-01 2.44627920e-01 1.57414654e-02 1.64979018e+02] [-2.44599946e-01 9.69616994e-01 -3.70821466e-03 -1.45004499e+01] [-1.61703252e-02 -2.55287372e-04 9.99869219e-01 8.14246504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters 0.026924154010789906 Centerline is valid? [True, True] Translation: X:165.04, Y:-14.51, Z:0.82 [[ 9.70805305e-01 2.39005646e-01 2.03312546e-02 1.65039870e+02] [-2.38957754e-01 9.71018155e-01 -4.78898093e-03 -1.45059235e+01] [-2.08866108e-02 -2.09142839e-04 9.99781829e-01 8.15571332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters 0.026730358266738814 Centerline is valid? [True, True] Translation: X:165.10, Y:-14.51, Z:0.81 [[ 9.72254961e-01 2.33126317e-01 1.92979802e-02 1.65100696e+02] [-2.33081976e-01 9.72446458e-01 -4.54727980e-03 -1.45144196e+01] [-1.98263431e-02 -7.68960232e-05 9.99803436e-01 8.13782498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters 0.02670295656396004 Centerline is valid? [True, True] Translation: X:165.16, Y:-14.53, Z:0.81 [[ 9.73634229e-01 2.27324406e-01 1.89737147e-02 1.65160751e+02] [-2.27280415e-01 9.73819086e-01 -4.47219195e-03 -1.45252575e+01] [-1.94936039e-02 4.19254280e-05 9.99809981e-01 8.14374827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters 0.027055858955431836 Centerline is valid? [True, True] Translation: X:165.22, Y:-14.53, Z:0.81 [[ 9.74748423e-01 2.22322756e-01 2.09309552e-02 1.65221026e+02] [-2.22268073e-01 9.74973111e-01 -4.93314736e-03 -1.45348029e+01] [-2.15038694e-02 1.56294534e-04 9.99768753e-01 8.12333462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters 0.027727463486995185 Centerline is valid? [True, True] Translation: X:165.28, Y:-14.55, Z:0.81 [[ 9.76233510e-01 2.15470470e-01 2.32510374e-02 1.65280239e+02] [-2.15401022e-01 9.76510297e-01 -5.48091362e-03 -1.45486543e+01] [-2.38858525e-02 3.42354330e-04 9.99714634e-01 8.14011791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters 0.02807546472169128 Centerline is valid? [True, True] Translation: X:165.34, Y:-14.57, Z:0.81 [[ 9.77674150e-01 2.09314158e-01 1.84618751e-02 1.65339634e+02] [-2.09269220e-01 9.77848367e-01 -4.35493080e-03 -1.45685527e+01] [-1.89644631e-02 3.94201059e-04 9.99820081e-01 8.14035055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters 0.0285817857443156 Centerline is valid? [True, True] Translation: X:165.40, Y:-14.58, Z:0.82 [[ 9.78207709e-01 2.06526525e-01 2.13651976e-02 1.65400079e+02] [-2.06465654e-01 9.78440864e-01 -5.04077005e-03 -1.45801531e+01] [-2.19456351e-02 5.19740635e-04 9.99759030e-01 8.15273896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters 0.028054397637203965 Centerline is valid? [True, True] Translation: X:165.46, Y:-14.61, Z:0.81 [[ 9.77807234e-01 2.08856849e-01 1.64872767e-02 1.65456802e+02] [-2.08820914e-01 9.77946157e-01 -3.89106500e-03 -1.46078919e+01] [-1.69363444e-02 3.61823318e-04 9.99856504e-01 8.14385990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters 0.02764425627531253 Centerline is valid? [True, True] Translation: X:165.52, Y:-14.63, Z:0.82 [[ 9.76957863e-01 2.12575671e-01 1.91028087e-02 1.65515947e+02] [-2.12528083e-01 9.77144546e-01 -4.51117266e-03 -1.46267031e+01] [-1.96251708e-02 3.47342308e-04 9.99807347e-01 8.15088937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters 0.027331931198481374 Centerline is valid? [True, True] Translation: X:165.57, Y:-14.65, Z:0.81 [[ 9.76068953e-01 2.16548338e-01 1.99051797e-02 1.65574693e+02] [-2.16497439e-01 9.76271857e-01 -4.70329585e-03 -1.46484266e+01] [-2.04513577e-02 2.81320629e-04 9.99790810e-01 8.13728502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters 0.02693203027328299 Centerline is valid? [True, True] Translation: X:165.63, Y:-14.67, Z:0.81 [[ 9.75009164e-01 2.21478487e-01 1.74473450e-02 1.65633614e+02] [-2.21440126e-01 9.75165245e-01 -4.12500644e-03 -1.46700058e+01] [-1.79276446e-02 1.58376801e-04 9.99839274e-01 8.14923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters 0.027053452955675922 Centerline is valid? [True, True] Translation: X:165.69, Y:-14.68, Z:0.82 [[ 9.74765004e-01 2.22564113e-01 1.72743376e-02 1.65693914e+02] [-2.22526637e-01 9.74918046e-01 -4.08651186e-03 -1.46841805e+01] [-1.77505743e-02 1.39388499e-04 9.99842436e-01 8.15164743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters 0.026921477827243794 Centerline is valid? [True, True] Translation: X:165.76, Y:-14.70, Z:0.81 [[ 9.73639252e-01 2.27407905e-01 1.76706580e-02 1.65755114e+02] [-2.27369442e-01 9.73799590e-01 -4.18268141e-03 -1.46951117e+01] [-1.81588544e-02 5.46551336e-05 9.99835113e-01 8.14134237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters 0.02722444594180514 Centerline is valid? [True, True] Translation: X:165.81, Y:-14.71, Z:0.81 [[ 9.72236883e-01 2.33162189e-01 1.97695885e-02 1.65814891e+02] [-2.33115179e-01 9.72437859e-01 -4.68217846e-03 -1.47110516e+01] [-2.03164033e-02 -5.64045835e-05 9.99793599e-01 8.14377148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters 0.027460112199347315 Centerline is valid? [True, True] Translation: X:165.88, Y:-14.71, Z:0.81 [[ 9.70480413e-01 2.40595029e-01 1.67869089e-02 1.65878516e+02] [-2.40562203e-01 9.70625572e-01 -3.97819367e-03 -1.47141889e+01] [-1.72509367e-02 -1.77536751e-04 9.99851176e-01 8.14022012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters 0.027667306782141167 Centerline is valid? [True, True] Translation: X:165.94, Y:-14.72, Z:0.81 [[ 9.69740959e-01 2.43608646e-01 1.60405525e-02 1.65939035e+02] [-2.43579073e-01 9.69873589e-01 -3.80212068e-03 -1.47233771e+01] [-1.64835377e-02 -2.20070767e-04 9.99864113e-01 8.14727923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters 0.027727059418747847 Centerline is valid? [True, True] Translation: X:166.00, Y:-14.74, Z:0.82 [[ 9.69483468e-01 2.44674888e-01 1.53624299e-02 1.65998719e+02] [-2.44647902e-01 9.69605150e-01 -3.64105923e-03 -1.47351660e+01] [-1.57863669e-02 -2.28439520e-04 9.99875361e-01 8.16580807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters 0.02789242903352718 Centerline is valid? [True, True] Translation: X:166.06, Y:-14.74, Z:0.82 [[ 9.69118656e-01 2.45867335e-01 1.89283809e-02 1.66058603e+02] [-2.45826818e-01 9.69303437e-01 -4.47462193e-03 -1.47372748e+01] [-1.94475080e-02 -3.16664057e-04 9.99810829e-01 8.15191913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters 0.02784969239362457 Centerline is valid? [True, True] Translation: X:166.12, Y:-14.75, Z:0.82 [[ 9.69756213e-01 2.43507803e-01 1.66384304e-02 1.66118531e+02] [-2.43476127e-01 9.69898909e-01 -3.93463068e-03 -1.47450650e+01] [-1.70957087e-02 -2.35428030e-04 9.99853830e-01 8.16186341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters 0.02749889237129829 Centerline is valid? [True, True] Translation: X:166.18, Y:-14.76, Z:0.81 [[ 9.73096946e-01 2.29825995e-01 1.61970730e-02 1.66176469e+02] [-2.29794233e-01 9.73231736e-01 -3.82077853e-03 -1.47580382e+01] [-1.66416197e-02 -4.00604738e-06 9.99861519e-01 8.12411832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters 0.02806443864923128 Centerline is valid? [True, True] Translation: X:166.23, Y:-14.77, Z:0.81 [[ 9.76632674e-01 2.14046724e-01 1.93033555e-02 1.66234874e+02] [-2.13998513e-01 9.76823372e-01 -4.55373794e-03 -1.47682295e+01] [-1.98306815e-02 3.16439892e-04 9.99803303e-01 8.14333457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters 0.02886165980969575 Centerline is valid? [True, True] Translation: X:166.29, Y:-14.78, Z:0.81 [[ 9.78373744e-01 2.06050240e-01 1.81139496e-02 1.66293464e+02] [-2.06006416e-01 9.78541311e-01 -4.27312326e-03 -1.47806974e+01] [-1.86057260e-02 4.49121778e-04 9.99826798e-01 8.13024691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters 0.029573169320514264 Centerline is valid? [True, True] Translation: X:166.35, Y:-14.80, Z:0.81 [[ 9.79218530e-01 2.01815533e-01 2.00390035e-02 1.66350278e+02] [-2.01760993e-01 9.79423374e-01 -4.72816947e-03 -1.48043155e+01] [-2.05808865e-02 5.86821917e-04 9.99788019e-01 8.14162456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters 0.030501603539387103 Centerline is valid? [True, True] Translation: X:166.41, Y:-14.82, Z:0.82 [[ 9.80455246e-01 1.95916936e-01 1.80018153e-02 1.66409129e+02] [-1.95871889e-01 9.80620285e-01 -4.24958557e-03 -1.48235210e+01] [-1.84855111e-02 6.40478886e-04 9.99828923e-01 8.15924185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters 0.030350618720757408 Centerline is valid? [True, True] Translation: X:166.47, Y:-14.85, Z:0.82 [[ 9.80512209e-01 1.95468457e-01 1.96949437e-02 1.66466675e+02] [-1.95414394e-01 9.80709730e-01 -4.65189085e-03 -1.48490548e+01] [-2.02243208e-02 7.12560289e-04 9.99795214e-01 8.16335528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters 0.029755702880766562 Centerline is valid? [True, True] Translation: X:166.52, Y:-14.87, Z:0.82 [[ 9.79952546e-01 1.98484689e-01 1.72289287e-02 1.66524852e+02] [-1.98443755e-01 9.80103822e-01 -4.07102379e-03 -1.48722375e+01] [-1.76941748e-02 5.70436813e-04 9.99843283e-01 8.17335790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters 0.02931890955478199 Centerline is valid? [True, True] Translation: X:166.58, Y:-14.90, Z:0.82 [[ 9.79492882e-01 2.00739967e-01 1.72383331e-02 1.66581510e+02] [-2.00699295e-01 9.79644416e-01 -4.07564206e-03 -1.49031907e+01] [-1.77055810e-02 5.32341098e-04 9.99843102e-01 8.17806983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters 0.028488805656868177 Centerline is valid? [True, True] Translation: X:166.64, Y:-14.92, Z:0.82 [[ 9.78511025e-01 2.05678677e-01 1.45758952e-02 1.66639672e+02] [-2.05650134e-01 9.78619508e-01 -3.44692664e-03 -1.49246892e+01] [-1.49732147e-02 3.75320923e-04 9.99887825e-01 8.19594958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters 0.027631993482209464 Centerline is valid? [True, True] Translation: X:166.70, Y:-14.95, Z:0.82 [[ 9.76677089e-01 2.14242874e-01 1.42075751e-02 1.66697992e+02] [-2.14216645e-01 9.76780392e-01 -3.36079154e-03 -1.49453689e+01] [-1.45977064e-02 2.38909032e-04 9.99893419e-01 8.20258437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters 0.027752243628545968 Centerline is valid? [True, True] Translation: X:166.76, Y:-14.97, Z:0.82 [[ 9.75085282e-01 2.20743769e-01 2.19289811e-02 1.66756400e+02] [-2.20682850e-01 9.75331810e-01 -5.19044784e-03 -1.49689084e+01] [-2.25337919e-02 2.21779251e-04 9.99746057e-01 8.20087916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters 0.02723806237866703 Centerline is valid? [True, True] Translation: X:166.82, Y:-14.99, Z:0.82 [[ 9.73517362e-01 2.28275395e-01 1.24213786e-02 1.66815773e+02] [-2.28256445e-01 9.73596602e-01 -2.94147405e-03 -1.49858614e+01] [-1.27648781e-02 2.83163440e-05 9.99918525e-01 8.20540089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters 0.027300291924501244 Centerline is valid? [True, True] Translation: X:166.88, Y:-15.00, Z:0.82 [[ 9.71954393e-01 2.34755320e-01 1.39498614e-02 1.66876614e+02] [-2.34732055e-01 9.72054492e-01 -3.30551300e-03 -1.49973712e+01] [-1.43360122e-02 -6.16717582e-05 9.99897232e-01 8.19931313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters 0.027680509240287053 Centerline is valid? [True, True] Translation: X:166.94, Y:-15.02, Z:0.82 [[ 9.71347959e-01 2.37053624e-01 1.69918284e-02 1.66936416e+02] [-2.37019418e-01 9.71496560e-01 -4.02857866e-03 -1.50160160e+01] [-1.74624920e-02 -1.14241617e-04 9.99847513e-01 8.21323741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters 0.02750968685269095 Centerline is valid? [True, True] Translation: X:167.00, Y:-15.02, Z:0.82 [[ 9.71910862e-01 2.34996327e-01 1.28841872e-02 1.66998740e+02] [-2.34976445e-01 9.71996257e-01 -3.05731379e-03 -1.50248148e+01] [-1.32418393e-02 -5.60440342e-05 9.99912321e-01 8.17893357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters 0.027542767289409832 Centerline is valid? [True, True] Translation: X:167.06, Y:-15.04, Z:0.82 [[ 9.73046035e-01 2.30056611e-01 1.59803184e-02 1.67059881e+02] [-2.30025326e-01 9.73177248e-01 -3.79389785e-03 -1.50369333e+01] [-1.64244935e-02 1.57593173e-05 9.99865109e-01 8.18693704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters 0.027726777181106693 Centerline is valid? [True, True] Translation: X:167.12, Y:-15.05, Z:0.82 [[ 9.74458596e-01 2.24121577e-01 1.41408628e-02 1.67119803e+02] [-2.24096425e-01 9.74561187e-01 -3.35923501e-03 -1.50529574e+01] [-1.45340131e-02 1.04518629e-04 9.99894370e-01 8.18909842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters 0.02774825863085844 Centerline is valid? [True, True] Translation: X:167.18, Y:-15.07, Z:0.82 [[ 9.75339460e-01 2.20392319e-01 1.18390890e-02 1.67181071e+02] [-2.20374378e-01 9.75411302e-01 -2.81535794e-03 -1.50675956e+01] [-1.21684645e-02 1.36897804e-04 9.99925952e-01 8.16490564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters 0.028067234220813204 Centerline is valid? [True, True] Translation: X:167.24, Y:-15.09, Z:0.82 [[ 9.75175114e-01 2.20518688e-01 2.01247659e-02 1.67239731e+02] [-2.20466854e-01 9.75382722e-01 -4.78656479e-03 -1.50880797e+01] [-2.06848760e-02 2.30895023e-04 9.99786018e-01 8.20141321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters 0.027754718110739315 Centerline is valid? [True, True] Translation: X:167.30, Y:-15.11, Z:0.82 [[ 9.74452929e-01 2.23990474e-01 1.64242495e-02 1.67298549e+02] [-2.23956356e-01 9.74591324e-01 -3.91164694e-03 -1.51115684e+01] [-1.68831027e-02 1.33400751e-04 9.99857461e-01 8.16654812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters 0.027827502223865402 Centerline is valid? [True, True] Translation: X:167.36, Y:-15.13, Z:0.82 [[ 9.74127801e-01 2.25401289e-01 1.64099136e-02 1.67357391e+02] [-2.25367402e-01 9.74266004e-01 -3.90992909e-03 -1.51331500e+01] [-1.68689240e-02 1.10511039e-04 9.99857703e-01 8.17453464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters 0.027797499472221286 Centerline is valid? [True, True] Translation: X:167.42, Y:-15.16, Z:0.82 [[ 9.73503900e-01 2.28049049e-01 1.68459974e-02 1.67415213e+02] [-2.28013532e-01 9.73649642e-01 -4.02541739e-03 -1.51607156e+01] [-1.73200919e-02 7.76441637e-05 9.99849993e-01 8.21028908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters 0.027866116896979827 Centerline is valid? [True, True] Translation: X:167.47, Y:-15.19, Z:0.82 [[ 9.71640368e-01 2.35921191e-01 1.60058261e-02 1.67472598e+02] [-2.35890069e-01 9.71772190e-01 -3.83228232e-03 -1.51862265e+01] [-1.64581333e-02 -5.20152195e-05 9.99864554e-01 8.17738076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters 0.028405815489210486 Centerline is valid? [True, True] Translation: X:167.53, Y:-15.20, Z:0.82 [[ 9.68473958e-01 2.48659815e-01 1.50495590e-02 1.67532495e+02] [-2.48633716e-01 9.68590851e-01 -3.61092428e-03 -1.52044886e+01] [-1.54747570e-02 -2.44741658e-04 9.99880229e-01 8.21823652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters 0.028625973455684562 Centerline is valid? [True, True] Translation: X:167.59, Y:-15.22, Z:0.82 [[ 9.67419860e-01 2.52791574e-01 1.39726278e-02 1.67592542e+02] [-2.52769407e-01 9.67520718e-01 -3.35946071e-03 -1.52191740e+01] [-1.43680503e-02 -2.81843844e-04 9.99896735e-01 8.22973418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters 0.029640128885537364 Centerline is valid? [True, True] Translation: X:167.65, Y:-15.24, Z:0.82 [[ 9.65231795e-01 2.61100010e-01 1.24244575e-02 1.67652373e+02] [-2.61083167e-01 9.65311688e-01 -2.98749912e-03 -1.52356767e+01] [-1.27735100e-02 -3.60187558e-04 9.99918351e-01 8.23127799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters 0.03002311377447659 Centerline is valid? [True, True] Translation: X:167.71, Y:-15.25, Z:0.82 [[ 9.64126959e-01 2.65173891e-01 1.19169692e-02 1.67713951e+02] [-2.65158616e-01 9.64200526e-01 -2.87285541e-03 -1.52471525e+01] [-1.22521543e-02 -3.90089715e-04 9.99924863e-01 8.24904480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters 0.030215736752754952 Centerline is valid? [True, True] Translation: X:167.78, Y:-15.25, Z:0.82 [[ 9.63336196e-01 2.68109460e-01 1.00344745e-02 1.67777063e+02] [-2.68098736e-01 9.63388391e-01 -2.42413655e-03 -1.52518831e+01] [-1.03170302e-02 -3.54971455e-04 9.99946715e-01 8.24599635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters 0.030271157111911445 Centerline is valid? [True, True] Translation: X:167.84, Y:-15.26, Z:0.82 [[ 9.63521776e-01 2.67193684e-01 1.52749007e-02 1.67839229e+02] [-2.67168730e-01 9.63642703e-01 -3.68933295e-03 -1.52600895e+01] [-1.57053130e-02 -5.26223172e-04 9.99876525e-01 8.22342978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters 0.029872845384766176 Centerline is valid? [True, True] Translation: X:167.90, Y:-15.27, Z:0.82 [[ 9.63991511e-01 2.65476095e-01 1.55823190e-02 1.67901183e+02] [-2.65449758e-01 9.64117313e-01 -3.77260239e-03 -1.52694584e+01] [-1.60247193e-02 -4.99566137e-04 9.99871471e-01 8.24782246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters 0.02923748484741467 Centerline is valid? [True, True] Translation: X:167.97, Y:-15.27, Z:0.82 [[ 9.64757514e-01 2.62797283e-01 1.34360409e-02 1.67965179e+02] [-2.62777403e-01 9.64850992e-01 -3.25577607e-03 -1.52716897e+01] [-1.38193865e-02 -3.89653500e-04 9.99904432e-01 8.22257714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters 0.02878803189015829 Centerline is valid? [True, True] Translation: X:168.03, Y:-15.28, Z:0.82 [[ 9.65677670e-01 2.59326032e-01 1.47189445e-02 1.68026824e+02] [-2.59301752e-01 9.65789766e-01 -3.56796901e-03 -1.52820697e+01] [-1.51406732e-02 -3.71140094e-04 9.99885305e-01 8.21909920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters 0.027943492077941726 Centerline is valid? [True, True] Translation: X:168.09, Y:-15.29, Z:0.82 [[ 9.67709918e-01 2.51672137e-01 1.40943449e-02 1.68087494e+02] [-2.51649050e-01 9.67812522e-01 -3.41725687e-03 -1.52931062e+01] [-1.45007118e-02 -2.39915126e-04 9.99894830e-01 8.23423949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters 0.027365179973266537 Centerline is valid? [True, True] Translation: X:168.15, Y:-15.30, Z:0.82 [[ 9.70040114e-01 2.42439263e-01 1.56646327e-02 1.68148859e+02] [-2.42409497e-01 9.70166579e-01 -3.80054168e-03 -1.53038951e+01] [-1.61187037e-02 -1.10577862e-04 9.99870079e-01 8.24205672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters 0.027184841255774195 Centerline is valid? [True, True] Translation: X:168.21, Y:-15.32, Z:0.82 [[ 9.71833501e-01 2.35320323e-01 1.28059574e-02 1.68210209e+02] [-2.35299786e-01 9.71917870e-01 -3.10893264e-03 -1.53155978e+01] [-1.31779339e-02 8.12585933e-06 9.99913167e-01 8.21922869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters 0.0275464821521391 Centerline is valid? [True, True] Translation: X:168.27, Y:-15.33, Z:0.82 [[ 9.73149910e-01 2.29417387e-01 1.86256869e-02 1.68269320e+02] [-2.29372812e-01 9.73328128e-01 -4.52409859e-03 -1.53347210e+01] [-1.91668119e-02 1.30399938e-04 9.99816291e-01 8.22864626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters 0.027718979933219798 Centerline is valid? [True, True] Translation: X:168.33, Y:-15.35, Z:0.82 [[ 9.74708674e-01 2.22948295e-01 1.53967069e-02 1.68330451e+02] [-2.22916970e-01 9.74830247e-01 -3.74344771e-03 -1.53503082e+01] [-1.58437708e-02 2.16583701e-04 9.99874456e-01 8.22301947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters 0.028134617708817745 Centerline is valid? [True, True] Translation: X:168.39, Y:-15.38, Z:0.82 [[ 9.75604814e-01 2.18885957e-01 1.68577797e-02 1.68387552e+02] [-2.18847765e-01 9.75750399e-01 -4.10054583e-03 -1.53771227e+01] [-1.73465371e-02 3.11224847e-04 9.99849489e-01 8.23170410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters 0.027713990782089765 Centerline is valid? [True, True] Translation: X:168.45, Y:-15.40, Z:0.83 [[ 9.75157627e-01 2.21029269e-01 1.46173023e-02 1.68447004e+02] [-2.21000765e-01 9.75267146e-01 -3.55764025e-03 -1.53962505e+01] [-1.50421173e-02 2.38825040e-04 9.99886832e-01 8.25983026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters 0.02762993074797993 Centerline is valid? [True, True] Translation: X:168.50, Y:-15.42, Z:0.82 [[ 9.73742346e-01 2.27107021e-01 1.57557931e-02 1.68504470e+02] [-2.27074663e-01 9.73869794e-01 -3.83685862e-03 -1.54225547e+01] [-1.62154686e-02 1.58370292e-04 9.99868508e-01 8.23632294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters 0.027364778181213377 Centerline is valid? [True, True] Translation: X:168.56, Y:-15.45, Z:0.82 [[ 9.72289929e-01 2.33348953e-01 1.41619258e-02 1.68561678e+02] [-2.33323345e-01 9.72393060e-01 -3.45746121e-03 -1.54493150e+01] [-1.45777533e-02 5.73468026e-05 9.99893737e-01 8.24662584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters 0.02736234261067273 Centerline is valid? [True, True] Translation: X:168.62, Y:-15.47, Z:0.83 [[ 9.71026135e-01 2.38654901e-01 1.23321871e-02 1.68620628e+02] [-2.38635828e-01 9.71104442e-01 -3.01719308e-03 -1.54716457e+01] [-1.26959096e-02 -1.31283407e-05 9.99919404e-01 8.25350207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters 0.027854536317854454 Centerline is valid? [True, True] Translation: X:168.68, Y:-15.49, Z:0.83 [[ 9.68375763e-01 2.49277414e-01 1.04475943e-02 1.68679847e+02] [-2.49264282e-01 9.68432112e-01 -2.56171631e-03 -1.54907771e+01] [-1.07563638e-02 -1.23508102e-04 9.99942141e-01 8.25084758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters 0.029038714458730675 Centerline is valid? [True, True] Translation: X:168.74, Y:-15.51, Z:0.83 [[ 9.65833678e-01 2.58800285e-01 1.37010654e-02 1.68739085e+02] [-2.58778682e-01 9.65930805e-01 -3.35755856e-03 -1.55067349e+01] [-1.41032183e-02 -3.02700511e-04 9.99900499e-01 8.25666991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters 0.030085290736118823 Centerline is valid? [True, True] Translation: X:168.80, Y:-15.52, Z:0.83 [[ 9.63460248e-01 2.67575082e-01 1.21625104e-02 1.68799727e+02] [-2.67558664e-01 9.63536940e-01 -2.98781046e-03 -1.55188432e+01] [-1.25184917e-02 -3.75548422e-04 9.99921570e-01 8.25616865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters 0.030319640024390852 Centerline is valid? [True, True] Translation: X:168.86, Y:-15.52, Z:0.83 [[ 9.62513072e-01 2.70861708e-01 1.42310166e-02 1.68862770e+02] [-2.70839494e-01 9.62618149e-01 -3.50244607e-03 -1.55225783e+01] [-1.46477134e-02 -4.83171208e-04 9.99892600e-01 8.27822645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters 0.03076611932909812 Centerline is valid? [True, True] Translation: X:168.92, Y:-15.53, Z:0.83 [[ 9.62113171e-01 2.72258105e-01 1.46208892e-02 1.68924703e+02] [-2.72234715e-01 9.62224123e-01 -3.60522528e-03 -1.55329014e+01] [-1.50501241e-02 -5.11678882e-04 9.99886610e-01 8.27894364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters 0.030103081238566583 Centerline is valid? [True, True] Translation: X:168.99, Y:-15.54, Z:0.83 [[ 9.62718779e-01 2.70109222e-01 1.46136919e-02 1.68988035e+02] [-2.70085505e-01 9.62829573e-01 -3.61028994e-03 -1.55359249e+01] [-1.50456673e-02 -4.71252421e-04 9.99886696e-01 8.28715515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters 0.029461503882908573 Centerline is valid? [True, True] Translation: X:169.05, Y:-15.54, Z:0.83 [[ 9.63687199e-01 2.66694529e-01 1.34540444e-02 1.69050856e+02] [-2.66674002e-01 9.63781036e-01 -3.33042986e-03 -1.55417869e+01] [-1.38549603e-02 -3.78351235e-04 9.99903944e-01 8.28854929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters 0.028705679683441947 Centerline is valid? [True, True] Translation: X:169.11, Y:-15.55, Z:0.83 [[ 9.65185283e-01 2.61207659e-01 1.37087341e-02 1.69112742e+02] [-2.61185790e-01 9.65282584e-01 -3.39371362e-03 -1.55497659e+01] [-1.41192663e-02 -3.04964109e-04 9.99900272e-01 8.27441389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters 0.028274137855487796 Centerline is valid? [True, True] Translation: X:169.17, Y:-15.56, Z:0.83 [[ 9.66467092e-01 2.56355619e-01 1.49383930e-02 1.69174536e+02] [-2.56329039e-01 9.66582502e-01 -3.70020066e-03 -1.55569677e+01] [-1.53877565e-02 -2.53021752e-04 9.99881569e-01 8.32140049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters 0.028029478177104942 Centerline is valid? [True, True] Translation: X:169.24, Y:-15.56, Z:0.83 [[ 9.66971693e-01 2.54521898e-01 1.35774771e-02 1.69236374e+02] [-2.54499731e-01 9.67066990e-01 -3.36512506e-03 -1.55642428e+01] [-1.39868279e-02 -2.01483582e-04 9.99902159e-01 8.29453455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters 0.0282178467711213 Centerline is valid? [True, True] Translation: X:169.30, Y:-15.57, Z:0.83 [[ 9.66785744e-01 2.55094995e-01 1.58703536e-02 1.69298373e+02] [-2.55064751e-01 9.66915965e-01 -3.93556123e-03 -1.55739843e+01] [-1.63492403e-02 -2.43123302e-04 9.99866313e-01 8.30775990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters 0.02806205755203989 Centerline is valid? [True, True] Translation: X:169.36, Y:-15.58, Z:0.83 [[ 9.66885658e-01 2.54801422e-01 1.44346689e-02 1.69359880e+02] [-2.54776338e-01 9.66993376e-01 -3.58164719e-03 -1.55823869e+01] [-1.48708380e-02 -2.14568793e-04 9.99889400e-01 8.31160208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters 0.028507067886822512 Centerline is valid? [True, True] Translation: X:169.42, Y:-15.59, Z:0.83 [[ 9.66686423e-01 2.55538939e-01 1.47380460e-02 1.69421113e+02] [-2.55512844e-01 9.66798737e-01 -3.65902392e-03 -1.55938996e+01] [-1.51837474e-02 -2.28631305e-04 9.99884694e-01 8.30708298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters 0.02862404377073485 Centerline is valid? [True, True] Translation: X:169.48, Y:-15.60, Z:0.83 [[ 9.65839405e-01 2.58698857e-01 1.51375703e-02 1.69483795e+02] [-2.58671682e-01 9.65957981e-01 -3.76034217e-03 -1.55992008e+01] [-1.55950530e-02 -2.83774112e-04 9.99878349e-01 8.30230895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters 0.028684538168795962 Centerline is valid? [True, True] Translation: X:169.54, Y:-15.61, Z:0.83 [[ 9.65972433e-01 2.58111905e-01 1.65982713e-02 1.69544636e+02] [-2.58079106e-01 9.66114980e-01 -4.12551068e-03 -1.56131526e+01] [-1.71006820e-02 -2.98537431e-04 9.99853728e-01 8.30175427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters 0.02832314189048952 Centerline is valid? [True, True] Translation: X:169.61, Y:-15.62, Z:0.83 [[ 9.66867948e-01 2.54955767e-01 1.28034517e-02 1.69606495e+02] [-2.54935949e-01 9.66952699e-01 -3.18428669e-03 -1.56228722e+01] [-1.31921844e-02 -1.85275361e-04 9.99912962e-01 8.31776558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters 0.02831165660303888 Centerline is valid? [True, True] Translation: X:169.67, Y:-15.63, Z:0.83 [[ 9.67130590e-01 2.54025766e-01 1.13724442e-02 1.69668293e+02] [-2.54010073e-01 9.67197439e-01 -2.82776866e-03 -1.56264859e+01] [-1.17177250e-02 -1.53893809e-04 9.99931333e-01 8.30430256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters 0.028091360202348953 Centerline is valid? [True, True] Translation: X:169.73, Y:-15.64, Z:0.83 [[ 9.67452356e-01 2.52830144e-01 1.06234601e-02 1.69726259e+02] [-2.52816462e-01 9.67510671e-01 -2.63385047e-03 -1.56354676e+01] [-1.09442278e-02 -1.37660750e-04 9.99940101e-01 8.32582628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters 0.027938584603018273 Centerline is valid? [True, True] Translation: X:169.78, Y:-15.65, Z:0.83 [[ 9.68603191e-01 2.48205600e-01 1.42069886e-02 1.69784801e+02] [-2.48180722e-01 9.68707369e-01 -3.51613401e-03 -1.56452552e+01] [-1.46351387e-02 -1.20162071e-04 9.99892893e-01 8.34247628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters 0.027976516483063162 Centerline is valid? [True, True] Translation: X:169.84, Y:-15.65, Z:0.83 [[ 9.69854398e-01 2.43338841e-01 1.29867405e-02 1.69844633e+02] [-2.43317705e-01 9.69941341e-01 -3.20759935e-03 -1.56494748e+01] [-1.33769100e-02 -4.89995509e-05 9.99910524e-01 8.32506041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters 0.02783920738024609 Centerline is valid? [True, True] Translation: X:169.90, Y:-15.66, Z:0.83 [[ 9.70866459e-01 2.39288270e-01 1.26270581e-02 1.69902313e+02] [-2.39268042e-01 9.70948569e-01 -3.11130306e-03 -1.56577358e+01] [-1.30047223e-02 -5.91662729e-07 9.99915435e-01 8.34839797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters 0.02832731049145563 Centerline is valid? [True, True] Translation: X:169.96, Y:-15.67, Z:0.83 [[ 9.72935796e-01 2.30408421e-01 1.75469811e-02 1.69960515e+02] [-2.30368037e-01 9.73094001e-01 -4.31656245e-03 -1.56687071e+01] [-1.80694344e-02 1.57474522e-04 9.99836722e-01 8.33001787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters 0.02866913449198606 Centerline is valid? [True, True] Translation: X:170.02, Y:-15.68, Z:0.83 [[ 9.74554762e-01 2.23570632e-01 1.60993365e-02 1.70019013e+02] [-2.23535690e-01 9.74687696e-01 -3.96118812e-03 -1.56822191e+01] [-1.65774306e-02 2.61618440e-04 9.99862551e-01 8.32010508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters 0.02871740489175101 Centerline is valid? [True, True] Translation: X:170.08, Y:-15.70, Z:0.84 [[ 9.75129026e-01 2.21195264e-01 1.40013800e-02 1.70075024e+02] [-2.21168715e-01 9.75229507e-01 -3.43642257e-03 -1.56995110e+01] [-1.44146793e-02 2.54288171e-04 9.99896071e-01 8.35239897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters 0.028616937224282556 Centerline is valid? [True, True] Translation: X:170.13, Y:-15.72, Z:0.83 [[ 9.75411331e-01 2.20113413e-01 1.10824456e-02 1.70131079e+02] [-2.20096702e-01 9.75474264e-01 -2.72076250e-03 -1.57231792e+01] [-1.14095168e-02 2.14652844e-04 9.99934886e-01 8.32278821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters 0.028543612027884604 Centerline is valid? [True, True] Translation: X:170.19, Y:-15.74, Z:0.83 [[ 9.75336086e-01 2.20399547e-01 1.19816382e-02 1.70186206e+02] [-2.20380128e-01 9.75409653e-01 -2.93393888e-03 -1.57445838e+01] [-1.23336443e-02 2.21061509e-04 9.99923913e-01 8.33908458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters 0.028054735992655722 Centerline is valid? [True, True] Translation: X:170.24, Y:-15.76, Z:0.84 [[ 9.74683307e-01 2.23253668e-01 1.22576618e-02 1.70244035e+02] [-2.23233643e-01 9.74760363e-01 -2.99576679e-03 -1.57568011e+01] [-1.26170988e-02 1.83601376e-04 9.99920384e-01 8.37806267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters 0.028121667447211028 Centerline is valid? [True, True] Translation: X:170.30, Y:-15.78, Z:0.84 [[ 9.73704854e-01 2.27332188e-01 1.47964302e-02 1.70300723e+02] [-2.27303456e-01 9.73817257e-01 -3.61771095e-03 -1.57754765e+01] [-1.52314413e-02 1.59302978e-04 9.99883982e-01 8.35118039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters 0.028239576863743607 Centerline is valid? [True, True] Translation: X:170.36, Y:-15.79, Z:0.84 [[ 9.73791385e-01 2.26768440e-01 1.75046771e-02 1.70358948e+02] [-2.26728115e-01 9.73948682e-01 -4.28102018e-03 -1.57938251e+01] [-1.80194575e-02 2.00018118e-04 9.99837616e-01 8.35149635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters 0.028404578728445765 Centerline is valid? [True, True] Translation: X:170.42, Y:-15.81, Z:0.84 [[ 9.74884078e-01 2.21954208e-01 1.83674419e-02 1.70418996e+02] [-2.21908899e-01 9.75057042e-01 -4.49500503e-03 -1.58095453e+01] [-1.89069888e-02 3.06210035e-04 9.99821200e-01 8.35635273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters 0.028693616171342175 Centerline is valid? [True, True] Translation: X:170.48, Y:-15.83, Z:0.83 [[ 9.75567533e-01 2.18923265e-01 1.84551328e-02 1.70477345e+02] [-2.18876932e-01 9.75742009e-01 -4.51893550e-03 -1.58321333e+01] [-1.89967485e-02 3.69123903e-04 9.99819477e-01 8.32741107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters 0.0291626627190419 Centerline is valid? [True, True] Translation: X:170.53, Y:-15.86, Z:0.83 [[ 9.76399598e-01 2.14902337e-01 2.14665071e-02 1.70534969e+02] [-2.14838614e-01 9.76635404e-01 -5.25908656e-03 -1.58579297e+01] [-2.20951408e-02 5.23135364e-04 9.99755736e-01 8.32290576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters 0.029012045506546968 Centerline is valid? [True, True] Translation: X:170.59, Y:-15.89, Z:0.83 [[ 9.76588543e-01 2.14568174e-01 1.53400555e-02 1.70591972e+02] [-2.14535559e-01 9.76708940e-01 -3.76038163e-03 -1.58855687e+01] [-1.57896275e-02 3.81358237e-04 9.99875263e-01 8.33172447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters 0.028380571068494946 Centerline is valid? [True, True] Translation: X:170.65, Y:-15.92, Z:0.83 [[ 9.75042313e-01 2.21207918e-01 1.89616924e-02 1.70649042e+02] [-2.21159290e-01 9.75226610e-01 -4.65056648e-03 -1.59155614e+01] [-1.95206891e-02 3.40944681e-04 9.99809395e-01 8.33929055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters 0.027983348321661546 Centerline is valid? [True, True] Translation: X:170.71, Y:-15.94, Z:0.83 [[ 9.73809905e-01 2.26554177e-01 1.91695881e-02 1.70706862e+02] [-2.26505459e-01 9.73998536e-01 -4.70415764e-03 -1.59415075e+01] [-1.97368973e-02 2.38938957e-04 9.99805180e-01 8.34434082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters 0.02748343013650281 Centerline is valid? [True, True] Translation: X:170.77, Y:-15.96, Z:0.83 [[ 9.72269564e-01 2.33303304e-01 1.61698009e-02 1.70765928e+02] [-2.33269414e-01 9.72404010e-01 -3.97756161e-03 -1.59613687e+01] [-1.66515575e-02 9.53421084e-05 9.99861349e-01 8.31982229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters 0.027213672666576177 Centerline is valid? [True, True] Translation: X:170.82, Y:-15.98, Z:0.84 [[ 9.70730419e-01 2.39511992e-01 1.77892846e-02 1.70824844e+02] [-2.39472003e-01 9.70893406e-01 -4.37654553e-03 -1.59818813e+01] [-1.83197342e-02 -1.15897322e-05 9.99832180e-01 8.35645723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters 0.02761438247176922 Centerline is valid? [True, True] Translation: X:170.88, Y:-16.00, Z:0.83 [[ 9.69243632e-01 2.45340182e-01 1.93643357e-02 1.70884533e+02] [-2.45293737e-01 9.69437043e-01 -4.77517897e-03 -1.59989573e+01] [-1.99440477e-02 -1.21638477e-04 9.99801090e-01 8.32363905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters 0.027630336964756926 Centerline is valid? [True, True] Translation: X:170.95, Y:-16.02, Z:0.83 [[ 9.68343490e-01 2.48881137e-01 1.92110781e-02 1.70945186e+02] [-2.48835898e-01 9.68534019e-01 -4.74864018e-03 -1.60158252e+01] [-1.97884297e-02 -1.82091076e-04 9.99804173e-01 8.32620668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters 0.02743581706974461 Centerline is valid? [True, True] Translation: X:171.01, Y:-16.03, Z:0.83 [[ 9.67719946e-01 2.51440882e-01 1.71926716e-02 1.71006152e+02] [-2.51404905e-01 9.67872637e-01 -4.25815513e-03 -1.60297274e+01] [-1.77109907e-02 -2.01620300e-04 9.99843128e-01 8.34919522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters 0.02766672593412998 Centerline is valid? [True, True] Translation: X:171.07, Y:-16.05, Z:0.84 [[ 9.67033216e-01 2.53971994e-01 1.85738065e-02 1.71065509e+02] [-2.53930296e-01 9.67211538e-01 -4.60925922e-03 -1.60492635e+01] [-1.91354227e-02 -2.59145427e-04 9.99816867e-01 8.35274520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters 0.028043726761340013 Centerline is valid? [True, True] Translation: X:171.13, Y:-16.06, Z:0.84 [[ 9.66336067e-01 2.56531395e-01 1.96532301e-02 1.71126844e+02] [-2.56485044e-01 9.66535846e-01 -4.88671133e-03 -1.60615219e+01] [-2.02491463e-02 -3.18554193e-04 9.99794914e-01 8.36490105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters 0.02850383365038468 Centerline is valid? [True, True] Translation: X:171.19, Y:-16.07, Z:0.84 [[ 9.64069805e-01 2.65298189e-01 1.36485364e-02 1.71188501e+02] [-2.65276608e-01 9.64166352e-01 -3.40107064e-03 -1.60704175e+01] [-1.40617574e-02 -3.41767924e-04 9.99901070e-01 8.36715473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters 0.028692981103549745 Centerline is valid? [True, True] Translation: X:171.25, Y:-16.08, Z:0.84 [[ 9.63393535e-01 2.67744492e-01 1.36302817e-02 1.71249638e+02] [-2.67723210e-01 9.63489878e-01 -3.39671132e-03 -1.60832374e+01] [-1.40420892e-02 -3.76773042e-04 9.99901334e-01 8.39287254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters 0.029021406891643352 Centerline is valid? [True, True] Translation: X:171.31, Y:-16.09, Z:0.84 [[ 9.63257768e-01 2.68176057e-01 1.46994625e-02 1.71310808e+02] [-2.68151325e-01 9.63369832e-01 -3.66518241e-03 -1.60946591e+01] [-1.51439329e-02 -4.11164907e-04 9.99885240e-01 8.39331781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters 0.028416424449316434 Centerline is valid? [True, True] Translation: X:171.37, Y:-16.10, Z:0.84 [[ 9.63955410e-01 2.65660003e-01 1.46537047e-02 1.71373881e+02] [-2.65635094e-01 9.64066713e-01 -3.65646506e-03 -1.60973510e+01] [-1.50985254e-02 -3.67868944e-04 9.99885943e-01 8.37831764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters 0.028055981760762294 Centerline is valid? [True, True] Translation: X:171.43, Y:-16.11, Z:0.84 [[ 9.65150269e-01 2.61247413e-01 1.53214924e-02 1.71434112e+02] [-2.61219593e-01 9.65271823e-01 -3.82511311e-03 -1.61118359e+01] [-1.57887059e-02 -3.10465073e-04 9.99875302e-01 8.35906979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters 0.027589412794360002 Centerline is valid? [True, True] Translation: X:171.50, Y:-16.13, Z:0.84 [[ 9.66692851e-01 2.55602599e-01 1.31241534e-02 1.71495250e+02] [-2.55581630e-01 9.66781918e-01 -3.27914836e-03 -1.61257979e+01] [-1.35263531e-02 -1.84363243e-04 9.99908498e-01 8.39284595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters 0.027393862408679918 Centerline is valid? [True, True] Translation: X:171.56, Y:-16.14, Z:0.84 [[ 9.67707715e-01 2.51730146e-01 1.31799630e-02 1.71556452e+02] [-2.51708616e-01 9.67797457e-01 -3.29481573e-03 -1.61356627e+01] [-1.35849392e-02 -1.29091652e-04 9.99907712e-01 8.39014353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters 0.027174486362236596 Centerline is valid? [True, True] Translation: X:171.62, Y:-16.15, Z:0.84 [[ 9.68390868e-01 2.49031633e-01 1.42257458e-02 1.71617528e+02] [-2.49006209e-01 9.68495347e-01 -3.55965834e-03 -1.61529708e+01] [-1.46640361e-02 -9.51584001e-05 9.99892473e-01 8.37148861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters 0.027209460718826198 Centerline is valid? [True, True] Translation: X:171.68, Y:-16.17, Z:0.84 [[ 9.68248351e-01 2.49638099e-01 1.32646215e-02 1.71677098e+02] [-2.49616030e-01 9.68339202e-01 -3.32076150e-03 -1.61703350e+01] [-1.36736416e-02 -9.57402988e-05 9.99906507e-01 8.40205983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters 0.027099823863320056 Centerline is valid? [True, True] Translation: X:171.74, Y:-16.19, Z:0.84 [[ 9.68477040e-01 2.49014846e-01 6.62039961e-03 1.71736969e+02] [-2.49009325e-01 9.68499667e-01 -1.65868349e-03 -1.61881226e+01] [-6.82489163e-03 -4.21443585e-05 9.99976709e-01 8.38729107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters 0.027114277023024193 Centerline is valid? [True, True] Translation: X:171.80, Y:-16.21, Z:0.84 [[ 9.68302735e-01 2.49610546e-01 9.18635624e-03 1.71796712e+02] [-2.49599933e-01 9.68346307e-01 -2.30262656e-03 -1.62052329e+01] [-9.47033402e-03 -6.32743091e-05 9.99955153e-01 8.38918473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters 0.027213333051607978 Centerline is valid? [True, True] Translation: X:171.86, Y:-16.22, Z:0.84 [[ 9.67972288e-01 2.50870013e-01 9.68948362e-03 1.71856277e+02] [-2.50858255e-01 9.68020780e-01 -2.43009286e-03 -1.62239813e+01] [-9.98925892e-03 -7.84244116e-05 9.99950103e-01 8.38696541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters 0.027647496780542163 Centerline is valid? [True, True] Translation: X:171.92, Y:-16.25, Z:0.84 [[ 9.66774613e-01 2.55354374e-01 1.18740089e-02 1.71915042e+02] [-2.55337036e-01 9.66847517e-01 -2.97950832e-03 -1.62464405e+01] [-1.22411865e-02 -1.51361238e-04 9.99925062e-01 8.38714204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters 0.02811908671251343 Centerline is valid? [True, True] Translation: X:171.98, Y:-16.26, Z:0.84 [[ 9.65425492e-01 2.60211013e-01 1.56156586e-02 1.71975710e+02] [-2.60181639e-01 9.65551734e-01 -3.91967492e-03 -1.62578435e+01] [-1.60976688e-02 -2.78753552e-04 9.99870385e-01 8.38063763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters 0.028689319362856663 Centerline is valid? [True, True] Translation: X:172.04, Y:-16.27, Z:0.84 [[ 9.63989609e-01 2.65519851e-01 1.49412766e-02 1.72035153e+02] [-2.65493463e-01 9.64105332e-01 -3.75897040e-03 -1.62742048e+01] [-1.54030457e-02 -3.43202865e-04 9.99881307e-01 8.38489930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters 0.028401270564938935 Centerline is valid? [True, True] Translation: X:172.10, Y:-16.28, Z:0.84 [[ 9.64162638e-01 2.64952122e-01 1.38123512e-02 1.72096652e+02] [-2.64929505e-01 9.64261520e-01 -3.47551763e-03 -1.62846643e+01] [-1.42395645e-02 -3.08335110e-04 9.99898565e-01 8.39279761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters 0.02826332446816217 Centerline is valid? [True, True] Translation: X:172.16, Y:-16.30, Z:0.84 [[ 9.64605164e-01 2.63203663e-01 1.61465127e-02 1.72158038e+02] [-2.63172449e-01 9.64740237e-01 -4.06656522e-03 -1.62970149e+01] [-1.66475254e-02 -3.26687483e-04 9.99861367e-01 8.39621772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters 0.028111108154176584 Centerline is valid? [True, True] Translation: X:172.22, Y:-16.31, Z:0.84 [[ 9.64168815e-01 2.64851072e-01 1.52448382e-02 1.72219464e+02] [-2.64823435e-01 9.64289271e-01 -3.84062624e-03 -1.63056483e+01] [-1.57176279e-02 -3.34178369e-04 9.99876415e-01 8.40155335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters 0.02811211680151156 Centerline is valid? [True, True] Translation: X:172.28, Y:-16.32, Z:0.84 [[ 9.64296751e-01 2.64583389e-01 1.12874639e-02 1.72280433e+02] [-2.64568198e-01 9.64362780e-01 -2.84555344e-03 -1.63188464e+01] [-1.16380962e-02 -2.42346054e-04 9.99932246e-01 8.36991773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters 0.02799586944690105 Centerline is valid? [True, True] Translation: X:172.34, Y:-16.33, Z:0.84 [[ 9.64651521e-01 2.63270660e-01 1.16619940e-02 1.72341709e+02] [-2.63254328e-01 9.64721984e-01 -2.94162406e-03 -1.63315427e+01] [-1.20250253e-02 -2.32428262e-04 9.99927670e-01 8.37395457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters 0.02774704312243985 Centerline is valid? [True, True] Translation: X:172.40, Y:-16.35, Z:0.84 [[ 9.65141004e-01 2.61392637e-01 1.32940892e-02 1.72402416e+02] [-2.61371210e-01 9.65232528e-01 -3.35511928e-03 -1.63451272e+01] [-1.37088908e-02 -2.36529008e-04 9.99906001e-01 8.41476285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters 0.027816032696039966 Centerline is valid? [True, True] Translation: X:172.46, Y:-16.36, Z:0.84 [[ 9.65813144e-01 2.58601883e-01 1.81669480e-02 1.72464276e+02] [-2.58561331e-01 9.65983952e-01 -4.58727981e-03 -1.63555849e+01] [-1.87352594e-02 -2.66815119e-04 9.99824444e-01 8.39438307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters 0.02770198664805001 Centerline is valid? [True, True] Translation: X:172.52, Y:-16.37, Z:0.84 [[ 9.66463501e-01 2.56228904e-01 1.71770115e-02 1.72524310e+02] [-2.56192233e-01 9.66616111e-01 -4.33979085e-03 -1.63732569e+01] [-1.77155559e-02 -2.06367461e-04 9.99843046e-01 8.39856867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters 0.027569857013030743 Centerline is valid? [True, True] Translation: X:172.58, Y:-16.39, Z:0.84 [[ 9.66881666e-01 2.54627031e-01 1.74619091e-02 1.72584443e+02] [-2.54588827e-01 9.67039318e-01 -4.41426302e-03 -1.63878135e+01] [-1.80103433e-02 -1.77536956e-04 9.99837785e-01 8.39638445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters 0.027453789517440857 Centerline is valid? [True, True] Translation: X:172.65, Y:-16.40, Z:0.84 [[ 9.66769549e-01 2.55040130e-01 1.76400199e-02 1.72646272e+02] [-2.55001136e-01 9.66930452e-01 -4.46342525e-03 -1.64013212e+01] [-1.81950250e-02 -1.83121497e-04 9.99834440e-01 8.40251357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters 0.027571946670118492 Centerline is valid? [True, True] Translation: X:172.71, Y:-16.42, Z:0.84 [[ 9.66094806e-01 2.57742522e-01 1.51531730e-02 1.72705785e+02] [-2.57714050e-01 9.66213616e-01 -3.83610418e-03 -1.64182818e+01] [-1.56299292e-02 -1.99145261e-04 9.99877825e-01 8.40197402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters 0.027750202736078457 Centerline is valid? [True, True] Translation: X:172.77, Y:-16.43, Z:0.84 [[ 9.65957926e-01 2.58179202e-01 1.63946327e-02 1.72766007e+02] [-2.58145898e-01 9.66097019e-01 -4.15268731e-03 -1.64332018e+01] [-1.69109432e-02 -2.20885939e-04 9.99856975e-01 8.39841872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters 0.027497152928787585 Centerline is valid? [True, True] Translation: X:172.83, Y:-16.45, Z:0.84 [[ 9.66650227e-01 2.55629763e-01 1.55165645e-02 1.72826417e+02] [-2.55599566e-01 9.66774740e-01 -3.93251753e-03 -1.64482991e+01] [-1.60062912e-02 -1.64658200e-04 9.99871878e-01 8.40468630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters 0.027757626212817507 Centerline is valid? [True, True] Translation: X:172.89, Y:-16.47, Z:0.84 [[ 9.66282237e-01 2.57064891e-01 1.47064989e-02 1.72887602e+02] [-2.57037877e-01 9.66394128e-01 -3.73075896e-03 -1.64652036e+01] [-1.51713214e-02 -1.75161156e-04 9.99884894e-01 8.40648688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters 0.027966634589055232 Centerline is valid? [True, True] Translation: X:172.95, Y:-16.47, Z:0.84 [[ 9.64589177e-01 2.63303635e-01 1.54568664e-02 1.72950105e+02] [-2.63274565e-01 9.64712970e-01 -3.92288639e-03 -1.64724791e+01] [-1.59443498e-02 -2.85426023e-04 9.99872840e-01 8.42641180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters 0.028576831221748318 Centerline is valid? [True, True] Translation: X:173.01, Y:-16.49, Z:0.84 [[ 9.62729454e-01 2.69967004e-01 1.64260426e-02 1.73010326e+02] [-2.69935103e-01 9.62869483e-01 -4.17114056e-03 -1.64870511e+01] [-1.69422055e-02 -4.18285627e-04 9.99856383e-01 8.41446936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters 0.029115020547534662 Centerline is valid? [True, True] Translation: X:173.07, Y:-16.50, Z:0.84 [[ 9.61749076e-01 2.73452544e-01 1.61994306e-02 1.73072186e+02] [-2.73421972e-01 9.61885380e-01 -4.11588253e-03 -1.64965136e+01] [-1.67074940e-02 -4.70834047e-04 9.99860309e-01 8.43120674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters 0.029426257999828696 Centerline is valid? [True, True] Translation: X:173.13, Y:-16.50, Z:0.84 [[ 9.60514754e-01 2.77814086e-01 1.51901537e-02 1.73134591e+02] [-2.77787726e-01 9.60634724e-01 -3.86090688e-03 -1.65015092e+01] [-1.56648034e-02 -5.11180234e-04 9.99877169e-01 8.43597577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters 0.029722062094447194 Centerline is valid? [True, True] Translation: X:173.20, Y:-16.51, Z:0.85 [[ 9.59855726e-01 2.80155160e-01 1.37866716e-02 1.73196774e+02] [-2.80133676e-01 9.59954602e-01 -3.50500646e-03 -1.65068059e+01] [-1.42165245e-02 -4.97810486e-04 9.99898816e-01 8.45865454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters 0.029560539366257757 Centerline is valid? [True, True] Translation: X:173.26, Y:-16.51, Z:0.84 [[ 9.60393470e-01 2.78336827e-01 1.31527167e-02 1.73257548e+02] [-2.78317124e-01 9.60483424e-01 -3.34226042e-03 -1.65111933e+01] [-1.35632405e-02 -4.50741193e-04 9.99907913e-01 8.43413773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters 0.028925535335910472 Centerline is valid? [True, True] Translation: X:173.32, Y:-16.52, Z:0.84 [[ 9.61988946e-01 2.72910905e-01 9.84405466e-03 1.73317777e+02] [-2.72899592e-01 9.62039271e-01 -2.50070985e-03 -1.65172045e+01] [-1.01528382e-02 -2.80783265e-04 9.99948419e-01 8.44329891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters 0.02859794892699326 Centerline is valid? [True, True] Translation: X:173.38, Y:-16.53, Z:0.85 [[ 9.62823711e-01 2.69911317e-01 1.08803717e-02 1.73375411e+02] [-2.69897388e-01 9.62885144e-01 -2.75654035e-03 -1.65281509e+01] [-1.12205697e-02 -2.82521481e-04 9.99937008e-01 8.45035235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters 0.028177317109043816 Centerline is valid? [True, True] Translation: X:173.43, Y:-16.54, Z:0.85 [[ 9.65042978e-01 2.61763668e-01 1.31084859e-02 1.73434306e+02] [-2.61742771e-01 9.65131975e-01 -3.31556993e-03 -1.65374053e+01] [-1.35193146e-02 -2.31383952e-04 9.99908583e-01 8.45132994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters 0.027782122742323254 Centerline is valid? [True, True] Translation: X:173.49, Y:-16.55, Z:0.84 [[ 9.67224321e-01 2.53513754e-01 1.44183714e-02 1.73492686e+02] [-2.53487660e-01 9.67331773e-01 -3.63971921e-03 -1.65461137e+01] [-1.48700676e-02 -1.34454287e-04 9.99889425e-01 8.43749462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters 0.027537995487907415 Centerline is valid? [True, True] Translation: X:173.55, Y:-16.57, Z:0.84 [[ 9.69119936e-01 2.46316098e-01 1.16158859e-02 1.73548666e+02] [-2.46298719e-01 9.69189548e-01 -2.92605379e-03 -1.65656075e+01] [-1.19787293e-02 -2.52807513e-05 9.99928252e-01 8.43781905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters 0.02759675095277377 Centerline is valid? [True, True] Translation: X:173.60, Y:-16.58, Z:0.84 [[ 9.69893044e-01 2.43222088e-01 1.22678179e-02 1.73604518e+02] [-2.43202546e-01 9.69970626e-01 -3.08315197e-03 -1.65795556e+01] [-1.26493136e-02 6.76311919e-06 9.99919994e-01 8.44558273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters 0.027578096546266983 Centerline is valid? [True, True] Translation: X:173.66, Y:-16.60, Z:0.84 [[ 9.69105674e-01 2.46297066e-01 1.31128865e-02 1.73660355e+02] [-2.46275098e-01 9.69194384e-01 -3.28975021e-03 -1.65976480e+01] [-1.35191917e-02 -4.12618059e-05 9.99908611e-01 8.43544653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters 0.02806025335185769 Centerline is valid? [True, True] Translation: X:173.72, Y:-16.62, Z:0.84 [[ 9.67982931e-01 2.50512023e-01 1.58987680e-02 1.73716859e+02] [-2.50480415e-01 9.68113480e-01 -3.98144927e-03 -1.66156812e+01] [-1.63892125e-02 -1.28355066e-04 9.99865680e-01 8.42660917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters 0.028276058469147786 Centerline is valid? [True, True] Translation: X:173.77, Y:-16.63, Z:0.85 [[ 9.67226069e-01 2.53396561e-01 1.62454273e-02 1.73773900e+02] [-2.53364099e-01 9.67362469e-01 -4.06029563e-03 -1.66284565e+01] [-1.67440816e-02 -1.88784276e-04 9.99859790e-01 8.46668954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters 0.028617500706243942 Centerline is valid? [True, True] Translation: X:173.83, Y:-16.64, Z:0.85 [[ 9.65329537e-01 2.60617931e-01 1.47370151e-02 1.73831344e+02] [-2.60592168e-01 9.65441976e-01 -3.67602257e-03 -1.66404071e+01] [-1.51857704e-02 -2.91777558e-04 9.99884647e-01 8.45791408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters 0.029126128169805494 Centerline is valid? [True, True] Translation: X:173.89, Y:-16.65, Z:0.84 [[ 9.64292920e-01 2.64540016e-01 1.25596662e-02 1.73889397e+02] [-2.64521720e-01 9.64374660e-01 -3.12637468e-03 -1.66499731e+01] [-1.29392750e-02 -3.07563531e-04 9.99916237e-01 8.42347979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters 0.029477157687836826 Centerline is valid? [True, True] Translation: X:173.95, Y:-16.66, Z:0.85 [[ 9.63368719e-01 2.67760380e-01 1.50029741e-02 1.73947564e+02] [-2.67734769e-01 9.63485442e-01 -3.72771420e-03 -1.66601490e+01] [-1.54532813e-02 -4.25654540e-04 9.99880500e-01 8.48414163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters 0.02973700889764897 Centerline is valid? [True, True] Translation: X:174.01, Y:-16.66, Z:0.85 [[ 9.62539577e-01 2.70876239e-01 1.19843863e-02 1.74007452e+02] [-2.70860216e-01 9.62614105e-01 -2.97136597e-03 -1.66637095e+01] [-1.23412117e-02 -3.86036111e-04 9.99923770e-01 8.46779968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters 0.02985785914598942 Centerline is valid? [True, True] Translation: X:174.07, Y:-16.67, Z:0.85 [[ 9.62413305e-01 2.71250166e-01 1.35638352e-02 1.74066838e+02] [-2.71229768e-01 9.62508777e-01 -3.35660060e-03 -1.66697594e+01] [-1.39657890e-02 -4.48478811e-04 9.99902373e-01 8.47768910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters 0.029710781438488883 Centerline is valid? [True, True] Translation: X:174.13, Y:-16.67, Z:0.85 [[ 9.63103041e-01 2.68870095e-01 1.18914029e-02 1.74127457e+02] [-2.68854310e-01 9.63176379e-01 -2.93659228e-03 -1.66701295e+01] [-1.22430803e-02 -3.68813978e-04 9.99924983e-01 8.46520946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters 0.029043772079948866 Centerline is valid? [True, True] Translation: X:174.19, Y:-16.67, Z:0.85 [[ 9.64780884e-01 2.62814229e-01 1.12484251e-02 1.74188104e+02] [-2.62799694e-01 9.64846415e-01 -2.77781369e-03 -1.66705492e+01] [-1.15830516e-02 -2.76101122e-04 9.99932876e-01 8.50269347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters 0.028584040140768513 Centerline is valid? [True, True] Translation: X:174.25, Y:-16.68, Z:0.85 [[ 9.66753711e-01 2.55395535e-01 1.26641963e-02 1.74246932e+02] [-2.55376575e-01 9.66836632e-01 -3.11960700e-03 -1.66757904e+01] [-1.30409426e-02 -2.18247427e-04 9.99914939e-01 8.49629621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters 0.028369334899201324 Centerline is valid? [True, True] Translation: X:174.31, Y:-16.68, Z:0.85 [[ 9.68864055e-01 2.47168553e-01 1.44965141e-02 1.74306347e+02] [-2.47142887e-01 9.68972492e-01 -3.56425662e-03 -1.66793941e+01] [-1.49276956e-02 -1.29430221e-04 9.99888567e-01 8.47076177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters 0.028265073770990766 Centerline is valid? [True, True] Translation: X:174.36, Y:-16.69, Z:0.85 [[ 9.69686174e-01 2.44192625e-01 8.87048852e-03 1.74364673e+02] [-2.44182938e-01 9.69726744e-01 -2.17579919e-03 -1.66894655e+01] [-9.13326407e-03 -5.61795526e-05 9.99958289e-01 8.46625409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters 0.028119468205234796 Centerline is valid? [True, True] Translation: X:174.42, Y:-16.70, Z:0.85 [[ 9.70435662e-01 2.41207667e-01 8.57247419e-03 1.74422389e+02] [-2.41198549e-01 9.70473524e-01 -2.09755602e-03 -1.66981294e+01] [-8.82530583e-03 -3.21251647e-05 9.99961056e-01 8.48112896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters 0.02847657339130717 Centerline is valid? [True, True] Translation: X:174.48, Y:-16.71, Z:0.85 [[ 9.72918938e-01 2.30907531e-01 1.05096571e-02 1.74480360e+02] [-2.30893267e-01 9.72975697e-01 -2.56750598e-03 -1.67087532e+01] [-1.08184974e-02 7.13661190e-05 9.99941476e-01 8.47942948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters 0.02894387513008703 Centerline is valid? [True, True] Translation: X:174.54, Y:-16.72, Z:0.85 [[ 9.74252776e-01 2.25321511e-01 7.85786267e-03 1.74536789e+02] [-2.25313397e-01 9.74284459e-01 -1.91452412e-03 -1.67216419e+01] [-8.08717695e-03 9.47487056e-05 9.99967294e-01 8.46889624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters 0.0294927153212508 Centerline is valid? [True, True] Translation: X:174.59, Y:-16.74, Z:0.85 [[ 9.75275291e-01 2.20641816e-01 1.24617467e-02 1.74593869e+02] [-2.20621075e-01 9.75354882e-01 -3.03244916e-03 -1.67354603e+01] [-1.28237106e-02 2.08148784e-04 9.99917751e-01 8.48672083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters 0.02931139970487364 Centerline is valid? [True, True] Translation: X:174.65, Y:-16.75, Z:0.85 [[ 9.75206400e-01 2.21067927e-01 1.00721851e-02 1.74649977e+02] [-2.21054452e-01 9.75258400e-01 -2.44595648e-03 -1.67549718e+01] [-1.03637057e-02 1.58811046e-04 9.99946283e-01 8.49333022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters 0.02920989617146623 Centerline is valid? [True, True] Translation: X:174.71, Y:-16.77, Z:0.85 [[ 9.74431553e-01 2.24312181e-01 1.29303306e-02 1.74705441e+02] [-2.24290346e-01 9.74517328e-01 -3.13347381e-03 -1.67731660e+01] [-1.33037076e-02 1.53207439e-04 9.99911490e-01 8.48563083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters 0.02931964647268111 Centerline is valid? [True, True] Translation: X:174.76, Y:-16.80, Z:0.85 [[ 9.74306704e-01 2.24820313e-01 1.35008785e-02 1.74759544e+02] [-2.24796657e-01 9.74400229e-01 -3.26456896e-03 -1.67958863e+01] [-1.38892005e-02 1.45739073e-04 9.99903530e-01 8.48620727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters 0.028894868624954235 Centerline is valid? [True, True] Translation: X:174.82, Y:-16.82, Z:0.85 [[ 9.73577840e-01 2.28164846e-01 9.32697228e-03 1.74815063e+02] [-2.28153756e-01 9.73622514e-01 -2.25047427e-03 -1.68153600e+01] [-9.59442931e-03 6.30281223e-05 9.99953970e-01 8.48820127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters 0.028825635019095675 Centerline is valid? [True, True] Translation: X:174.87, Y:-16.84, Z:0.85 [[ 9.73056380e-01 2.30337390e-01 1.02941020e-02 1.74869685e+02] [-2.30324063e-01 9.73110829e-01 -2.47809153e-03 -1.68357287e+01] [-1.05880993e-02 4.03433788e-05 9.99943944e-01 8.47374387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters 0.028974792441883914 Centerline is valid? [True, True] Translation: X:174.92, Y:-16.86, Z:0.85 [[ 9.72429298e-01 2.32932892e-01 1.11143431e-02 1.74923393e+02] [-2.32917592e-01 9.72492811e-01 -2.66972284e-03 -1.68586002e+01] [-1.14304850e-02 7.39067274e-06 9.99934670e-01 8.47573494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters 0.028876871701008864 Centerline is valid? [True, True] Translation: X:174.98, Y:-16.87, Z:0.85 [[ 9.71808587e-01 2.35454368e-01 1.22193093e-02 1.74980625e+02] [-2.35436140e-01 9.71885405e-01 -2.92988634e-03 -1.68734012e+01] [-1.25656229e-02 -2.95783236e-05 9.99921049e-01 8.48248849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters 0.028883463885428222 Centerline is valid? [True, True] Translation: X:175.04, Y:-16.89, Z:0.85 [[ 9.70944125e-01 2.39041453e-01 1.12556532e-02 1.75036144e+02] [-2.39026306e-01 9.71009360e-01 -2.69208528e-03 -1.68911691e+01] [-1.15728646e-02 -7.65328185e-05 9.99933029e-01 8.47973851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters 0.029304421723206877 Centerline is valid? [True, True] Translation: X:175.09, Y:-16.91, Z:0.85 [[ 9.68693838e-01 2.47798341e-01 1.51073034e-02 1.75092837e+02] [-2.47772101e-01 9.68811604e-01 -3.61419160e-03 -1.69082641e+01] [-1.55317215e-02 -2.42123160e-04 9.99879346e-01 8.51097850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters 0.02944755434041406 Centerline is valid? [True, True] Translation: X:175.15, Y:-16.92, Z:0.85 [[ 9.68497647e-01 2.48566495e-01 1.50666703e-02 1.75150259e+02] [-2.48540629e-01 9.68614799e-01 -3.59545868e-03 -1.69222824e+01] [-1.54875104e-02 -2.62486450e-04 9.99880027e-01 8.49578963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters 0.029622661510157557 Centerline is valid? [True, True] Translation: X:175.21, Y:-16.94, Z:0.85 [[ 9.68149371e-01 2.49908459e-01 1.52498460e-02 1.75207458e+02] [-2.49882242e-01 9.68269423e-01 -3.63177100e-03 -1.69359152e+01] [-1.56735698e-02 -2.94568896e-04 9.99877119e-01 8.48657649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters 0.029554127000382704 Centerline is valid? [True, True] Translation: X:175.26, Y:-16.95, Z:0.85 [[ 9.68046397e-01 2.50445985e-01 1.27664428e-02 1.75264025e+02] [-2.50427745e-01 9.68130539e-01 -3.03380729e-03 -1.69531311e+01] [-1.31193880e-02 -2.60205257e-04 9.99913903e-01 8.51482243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters 0.029853914457502236 Centerline is valid? [True, True] Translation: X:175.32, Y:-16.96, Z:0.85 [[ 9.66797151e-01 2.55070601e-01 1.55645920e-02 1.75324394e+02] [-2.55044062e-01 9.66922352e-01 -3.70023600e-03 -1.69583446e+01] [-1.59935733e-02 -3.92279143e-04 9.99872018e-01 8.50305410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters 0.030061984078893638 Centerline is valid? [True, True] Translation: X:175.38, Y:-16.97, Z:0.85 [[ 9.65880654e-01 2.58655756e-01 1.31058467e-02 1.75381756e+02] [-2.58637307e-01 9.65969489e-01 -3.11288754e-03 -1.69693817e+01] [-1.34650143e-02 -3.82983036e-04 9.99909269e-01 8.50459808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters 0.030069653449981696 Centerline is valid? [True, True] Translation: X:175.44, Y:-16.97, Z:0.85 [[ 9.65979296e-01 2.58377263e-01 1.11888435e-02 1.75441739e+02] [-2.58363879e-01 9.66044037e-01 -2.65049477e-03 -1.69729381e+01] [-1.14937431e-02 -3.30469927e-04 9.99933890e-01 8.50822776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters 0.029967447672989856 Centerline is valid? [True, True] Translation: X:175.50, Y:-16.98, Z:0.85 [[ 9.66771376e-01 2.55204706e-01 1.49554439e-02 1.75499591e+02] [-2.55180535e-01 9.66886963e-01 -3.53497235e-03 -1.69791167e+01] [-1.53623653e-02 -3.98828096e-04 9.99881912e-01 8.52284633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters 0.029539810059218453 Centerline is valid? [True, True] Translation: X:175.56, Y:-16.98, Z:0.85 [[ 9.67251163e-01 2.53432312e-01 1.40445837e-02 1.75559025e+02] [-2.53410902e-01 9.67353058e-01 -3.31313382e-03 -1.69843416e+01] [-1.44257262e-02 -3.54418097e-04 9.99895881e-01 8.54213734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters 0.028637778824007136 Centerline is valid? [True, True] Translation: X:175.62, Y:-16.99, Z:0.85 [[ 9.69403625e-01 2.45258692e-01 1.02365036e-02 1.75619427e+02] [-2.45246855e-01 9.69457655e-01 -2.41547040e-03 -1.69890428e+01] [-1.05162719e-02 -1.68904563e-04 9.99944688e-01 8.54531187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters 0.02833668139751421 Centerline is valid? [True, True] Translation: X:175.68, Y:-17.00, Z:0.86 [[ 9.70153331e-01 2.42259355e-01 1.06263924e-02 1.75677954e+02] [-2.42246498e-01 9.70211514e-01 -2.50030979e-03 -1.69977596e+01] [-1.09155717e-02 -1.48522470e-04 9.99940412e-01 8.55904280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters 0.02813178842512079 Centerline is valid? [True, True] Translation: X:175.74, Y:-17.01, Z:0.85 [[ 9.71335481e-01 2.37483096e-01 1.04480711e-02 1.75735704e+02] [-2.37470444e-01 9.71391666e-01 -2.45330572e-03 -1.70100179e+01] [-1.07317878e-02 -9.81251987e-05 9.99942408e-01 8.53237360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters 0.027631278705883628 Centerline is valid? [True, True] Translation: X:175.79, Y:-17.02, Z:0.86 [[ 9.72803361e-01 2.31395810e-01 1.04690373e-02 1.75793427e+02] [-2.31382807e-01 9.72859691e-01 -2.45324869e-03 -1.70227280e+01] [-1.07525759e-02 -3.58266785e-05 9.99942189e-01 8.57159300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters 0.027765042155231782 Centerline is valid? [True, True] Translation: X:175.85, Y:-17.03, Z:0.86 [[ 9.73726469e-01 2.27371666e-01 1.26050965e-02 1.75851170e+02] [-2.27352551e-01 9.73808054e-01 -2.94818651e-03 -1.70336946e+01] [-1.29452786e-02 4.92638642e-06 9.99916206e-01 8.57075038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters 0.027354253385256943 Centerline is valid? [True, True] Translation: X:175.91, Y:-17.05, Z:0.86 [[ 9.73746391e-01 2.27541941e-01 6.52932346e-03 1.75908032e+02] [-2.27536844e-01 9.73768281e-01 -1.52295817e-03 -1.70481440e+01] [-6.70458494e-03 -2.68663838e-06 9.99977524e-01 8.57142075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters 0.027459951881588323 Centerline is valid? [True, True] Translation: X:175.96, Y:-17.06, Z:0.86 [[ 9.74469697e-01 2.24311741e-01 9.64635238e-03 1.75964567e+02] [-2.24300493e-01 9.74517441e-01 -2.24643849e-03 -1.70627753e+01] [-9.90444116e-03 2.54046372e-05 9.99950949e-01 8.59173568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters 0.027746363168293202 Centerline is valid? [True, True] Translation: X:176.02, Y:-17.08, Z:0.86 [[ 9.75948951e-01 2.17761707e-01 1.01727040e-02 1.76021257e+02] [-2.17748890e-01 9.76001962e-01 -2.36442570e-03 -1.70791332e+01] [-1.04434605e-02 9.24637675e-05 9.99945461e-01 8.58494888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters 0.028008535038597543 Centerline is valid? [True, True] Translation: X:176.08, Y:-17.09, Z:0.86 [[ 9.77134233e-01 2.12417575e-01 9.35230778e-03 1.76077923e+02] [-2.12406540e-01 9.77178979e-01 -2.16925390e-03 -1.70941575e+01] [-9.59966621e-03 1.33160907e-04 9.99953913e-01 8.60051682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters 0.02818625129088953 Centerline is valid? [True, True] Translation: X:176.13, Y:-17.12, Z:0.86 [[ 9.77934104e-01 2.08716420e-01 9.07434659e-03 1.76133335e+02] [-2.08705911e-01 9.77976191e-01 -2.10055318e-03 -1.71150684e+01] [-9.31291485e-03 1.60332817e-04 9.99956621e-01 8.58136530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters 0.028190135166520924 Centerline is valid? [True, True] Translation: X:176.19, Y:-17.14, Z:0.86 [[ 9.78210404e-01 2.07534198e-01 5.82776876e-03 1.76187533e+02] [-2.07529863e-01 9.78227757e-01 -1.34558485e-03 -1.71396321e+01] [-5.98014003e-03 1.06829042e-04 9.99982113e-01 8.58753540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters 0.02875931291596666 Centerline is valid? [True, True] Translation: X:176.24, Y:-17.16, Z:0.86 [[ 9.78700491e-01 2.05054484e-01 9.89991531e-03 1.76242573e+02] [-2.05041834e-01 9.78750538e-01 -2.28716637e-03 -1.71606762e+01] [-1.01585412e-02 2.08554055e-04 9.99948379e-01 8.60769577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters 0.02896096861502083 Centerline is valid? [True, True] Translation: X:176.30, Y:-17.18, Z:0.86 [[ 9.79205906e-01 2.02480854e-01 1.25418429e-02 1.76297356e+02] [-2.02460429e-01 9.79286178e-01 -2.89065445e-03 -1.71835214e+01] [-1.28673555e-02 2.91319028e-04 9.99917170e-01 8.60120885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters 0.028920434119408145 Centerline is valid? [True, True] Translation: X:176.35, Y:-17.20, Z:0.86 [[ 9.79546748e-01 2.00978371e-01 9.79093930e-03 1.76352758e+02] [-2.00965898e-01 9.79595650e-01 -2.25167376e-03 -1.72044595e+01] [-1.00436993e-02 2.37974800e-04 9.99949532e-01 8.60037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters 0.028573584419143025 Centerline is valid? [True, True] Translation: X:176.41, Y:-17.23, Z:0.86 [[ 9.79359716e-01 2.01931493e-01 8.84419156e-03 1.76406557e+02] [-2.01921393e-01 9.79399628e-01 -2.02971824e-03 -1.72326053e+01] [-9.07186196e-03 2.01992807e-04 9.99958829e-01 8.59652423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters 0.028321573978529024 Centerline is valid? [True, True] Translation: X:176.46, Y:-17.25, Z:0.86 [[ 9.78802867e-01 2.04510236e-01 1.09777545e-02 1.76462473e+02] [-2.04494888e-01 9.78864402e-01 -2.51477105e-03 -1.72510519e+01] [-1.12600295e-02 2.16570436e-04 9.99936580e-01 8.60614929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters 0.027653124196735112 Centerline is valid? [True, True] Translation: X:176.52, Y:-17.27, Z:0.86 [[ 9.77245548e-01 2.11687115e-01 1.34053667e-02 1.76518180e+02] [-2.11664926e-01 9.77337475e-01 -3.06918113e-03 -1.72735718e+01] [-1.37512733e-02 1.61897640e-04 9.99905434e-01 8.59710548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters 0.02736455892618093 Centerline is valid? [True, True] Translation: X:176.57, Y:-17.29, Z:0.86 [[ 9.76108872e-01 2.16831043e-01 1.39917713e-02 1.76573792e+02] [-2.16807508e-01 9.76209143e-01 -3.19573818e-03 -1.72920928e+01] [-1.43518303e-02 8.58673257e-05 9.99897003e-01 8.60507229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters 0.02737542775085975 Centerline is valid? [True, True] Translation: X:176.63, Y:-17.31, Z:0.86 [[ 9.75811931e-01 2.18340911e-01 1.08775486e-02 1.76630630e+02] [-2.18326846e-01 9.75872556e-01 -2.47864158e-03 -1.73078964e+01] [-1.11562900e-02 4.38271473e-05 9.99937766e-01 8.60490552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters 0.02728278372029464 Centerline is valid? [True, True] Translation: X:176.69, Y:-17.33, Z:0.86 [[ 9.75332639e-01 2.20339789e-01 1.32898455e-02 1.76686499e+02] [-2.20319060e-01 9.75423178e-01 -3.02239740e-03 -1.73290216e+01] [-1.36291778e-02 1.98365602e-05 9.99907118e-01 8.61223144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters 0.027532472503136157 Centerline is valid? [True, True] Translation: X:176.74, Y:-17.34, Z:0.86 [[ 9.75660567e-01 2.18518859e-01 1.83293945e-02 1.76743506e+02] [-2.18479255e-01 9.75832724e-01 -4.16052551e-03 -1.73419077e+01] [-1.87955762e-02 5.46682292e-05 9.99823346e-01 8.62670045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters 0.02738310690456235 Centerline is valid? [True, True] Translation: X:176.80, Y:-17.36, Z:0.86 [[ 9.75525443e-01 2.19476030e-01 1.34306461e-02 1.76802109e+02] [-2.19454834e-01 9.75617892e-01 -3.05031927e-03 -1.73574837e+01] [-1.37726506e-02 2.82438593e-05 9.99905152e-01 8.59709469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters 0.027398556160906785 Centerline is valid? [True, True] Translation: X:176.86, Y:-17.37, Z:0.86 [[ 9.75916658e-01 2.17537890e-01 1.62463146e-02 1.76859264e+02] [-2.17506777e-01 9.76051875e-01 -3.67951773e-03 -1.73718334e+01] [-1.66576803e-02 5.72191294e-05 9.99861250e-01 8.60333211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters 0.02755488902393792 Centerline is valid? [True, True] Translation: X:176.92, Y:-17.39, Z:0.86 [[ 9.76966609e-01 2.12796210e-01 1.59379420e-02 1.76916405e+02] [-2.12765620e-01 9.77096594e-01 -3.61060772e-03 -1.73896897e+01] [-1.63412325e-02 1.36397058e-04 9.99866464e-01 8.61156098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters 0.027735897853948952 Centerline is valid? [True, True] Translation: X:176.97, Y:-17.40, Z:0.86 [[ 9.77613348e-01 2.09863714e-01 1.51447149e-02 1.76974094e+02] [-2.09835758e-01 9.77730633e-01 -3.42987339e-03 -1.74031623e+01] [-1.55272577e-02 1.75187276e-04 9.99879430e-01 8.60741124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters 0.028452804391462642 Centerline is valid? [True, True] Translation: X:177.03, Y:-17.42, Z:0.86 [[ 9.78905316e-01 2.03555000e-01 1.75995749e-02 1.77031554e+02] [-2.03516244e-01 9.79063461e-01 -3.98471229e-03 -1.74189606e+01] [-1.80422088e-02 3.18856656e-04 9.99837175e-01 8.61818711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters 0.02915233827365402 Centerline is valid? [True, True] Translation: X:177.09, Y:-17.44, Z:0.86 [[ 9.80287053e-01 1.96981847e-01 1.53442365e-02 1.77089376e+02] [-1.96951557e-01 9.80407060e-01 -3.47570657e-03 -1.74398519e+01] [-1.57282489e-02 3.85118866e-04 9.99876229e-01 8.61157328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters 0.029806892001319203 Centerline is valid? [True, True] Translation: X:177.15, Y:-17.46, Z:0.86 [[ 9.81290721e-01 1.91951416e-01 1.49390286e-02 1.77146397e+02] [-1.91922117e-01 9.81404324e-01 -3.38424931e-03 -1.74634599e+01] [-1.53108387e-02 4.53802451e-04 9.99882679e-01 8.58090871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters 0.03077614069812619 Centerline is valid? [True, True] Translation: X:177.20, Y:-17.49, Z:0.86 [[ 9.82350904e-01 1.86345667e-01 1.61861970e-02 1.77203365e+02] [-1.86310502e-01 9.82484070e-01 -3.66728485e-03 -1.74868902e+01] [-1.65860634e-02 5.86902094e-04 9.99862270e-01 8.60927816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters 0.03127671255926016 Centerline is valid? [True, True] Translation: X:177.26, Y:-17.51, Z:0.86 [[ 9.82819175e-01 1.83944462e-01 1.51955491e-02 1.77261468e+02] [-1.83913145e-01 9.82936460e-01 -3.44525528e-03 -1.75137058e+01] [-1.55699948e-02 5.91401731e-04 9.99878605e-01 8.58866367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters 0.031062149707494956 Centerline is valid? [True, True] Translation: X:177.32, Y:-17.54, Z:0.86 [[ 9.82866058e-01 1.83782434e-01 1.40829538e-02 1.77319666e+02] [-1.83755493e-01 9.82966791e-01 -3.19485150e-03 -1.75378288e+01] [-1.44302335e-02 5.52290991e-04 9.99895726e-01 8.61128307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters 0.030698990309649322 Centerline is valid? [True, True] Translation: X:177.38, Y:-17.56, Z:0.86 [[ 9.82760886e-01 1.84434654e-01 1.28413485e-02 1.77378022e+02] [-1.84412287e-01 9.82844653e-01 -2.91488642e-03 -1.75624507e+01] [-1.31586568e-02 4.96533917e-04 9.99913298e-01 8.62386108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters 0.03122839788212923 Centerline is valid? [True, True] Translation: X:177.43, Y:-17.59, Z:0.86 [[ 9.82983035e-01 1.82912177e-01 1.69554656e-02 1.77434450e+02] [-1.82872920e-01 9.83129018e-01 -3.85075725e-03 -1.75940022e+01] [-1.73737606e-02 6.84533555e-04 9.99848831e-01 8.62030081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters 0.03124093371631116 Centerline is valid? [True, True] Translation: X:177.49, Y:-17.62, Z:0.86 [[ 9.83155435e-01 1.82230546e-01 1.40505953e-02 1.77492844e+02] [-1.82203491e-01 9.83255660e-01 -3.19294497e-03 -1.76190990e+01] [-1.43971794e-02 5.79093683e-04 9.99896188e-01 8.61056970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters 0.030195521958913854 Centerline is valid? [True, True] Translation: X:177.55, Y:-17.65, Z:0.86 [[ 9.82071880e-01 1.88022177e-01 1.35086771e-02 1.77547731e+02] [-1.87997707e-01 9.82164668e-01 -3.07039488e-03 -1.76540020e+01] [-1.38450476e-02 4.75748159e-04 9.99904040e-01 8.63131325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters 0.029244849109161454 Centerline is valid? [True, True] Translation: X:177.61, Y:-17.68, Z:0.86 [[ 9.81018458e-01 1.93467233e-01 1.31611111e-02 1.77605186e+02] [-1.93444484e-01 9.81106660e-01 -2.99228105e-03 -1.76770828e+01] [-1.34913621e-02 3.89538587e-04 9.99908912e-01 8.63488056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters 0.028271699599049415 Centerline is valid? [True, True] Translation: X:177.66, Y:-17.72, Z:0.86 [[ 9.79070325e-01 2.03131652e-01 1.26027940e-02 1.77659909e+02] [-2.03111571e-01 9.79151403e-01 -2.86680963e-03 -1.77155494e+01] [-1.29223832e-02 2.47034937e-04 9.99916472e-01 8.62568789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters 0.027712561581854474 Centerline is valid? [True, True] Translation: X:177.72, Y:-17.74, Z:0.86 [[ 9.77649490e-01 2.09989061e-01 1.02989442e-02 1.77718555e+02] [-2.09976008e-01 9.77703727e-01 -2.34496023e-03 -1.77407012e+01] [-1.05617322e-02 1.30017981e-04 9.99944215e-01 8.64613521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters 0.027508005211676664 Centerline is valid? [True, True] Translation: X:177.78, Y:-17.76, Z:0.86 [[ 9.76038561e-01 2.17331960e-01 1.07492684e-02 1.77778354e+02] [-2.17318109e-01 9.76097749e-01 -2.45431594e-03 -1.77576060e+01] [-1.10257380e-02 5.94963060e-05 9.99939213e-01 8.64736573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters 0.02776697961465252 Centerline is valid? [True, True] Translation: X:177.84, Y:-17.78, Z:0.87 [[ 9.73073763e-01 2.30226225e-01 1.11056864e-02 1.77838820e+02] [-2.30212202e-01 9.73137132e-01 -2.54234989e-03 -1.77759181e+01] [-1.13926714e-02 -8.27705399e-05 9.99935098e-01 8.65463205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters 0.02842093740356944 Centerline is valid? [True, True] Translation: X:177.90, Y:-17.79, Z:0.86 [[ 9.71219215e-01 2.38007824e-01 9.24723879e-03 1.77898191e+02] [-2.37998410e-01 9.71263227e-01 -2.12150240e-03 -1.77935407e+01] [-9.48643715e-03 -1.40384232e-04 9.99954993e-01 8.64913060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters 0.028657264964227287 Centerline is valid? [True, True] Translation: X:177.96, Y:-17.80, Z:0.87 [[ 9.71158250e-01 2.38144611e-01 1.17812370e-02 1.77960770e+02] [-2.38129279e-01 9.71229691e-01 -2.70792105e-03 -1.78003536e+01] [-1.20871639e-02 -1.75637592e-04 9.99926932e-01 8.65518603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters 0.028393726461514803 Centerline is valid? [True, True] Translation: X:178.02, Y:-17.81, Z:0.87 [[ 9.71551141e-01 2.36606868e-01 1.02747469e-02 1.78022375e+02] [-2.36595065e-01 9.71605461e-01 -2.36694817e-03 -1.78115372e+01] [-1.05430364e-02 -1.31343218e-04 9.99944412e-01 8.65127373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters 0.028162316763062464 Centerline is valid? [True, True] Translation: X:178.08, Y:-17.82, Z:0.87 [[ 9.72439947e-01 2.32977811e-01 9.04928832e-03 1.78083543e+02] [-2.32968454e-01 9.72482048e-01 -2.08939526e-03 -1.78216810e+01] [-9.28705318e-03 -7.63872971e-05 9.99956871e-01 8.65295250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters 0.027789572310155136 Centerline is valid? [True, True] Translation: X:178.15, Y:-17.83, Z:0.86 [[ 9.73914641e-01 2.26631841e-01 1.13261408e-02 1.78145527e+02] [-2.26616680e-01 9.73980497e-01 -2.62134958e-03 -1.78329430e+01] [-1.16255215e-02 -1.37216988e-05 9.99932421e-01 8.64878763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters 0.027882941864631507 Centerline is valid? [True, True] Translation: X:178.21, Y:-17.85, Z:0.87 [[ 9.75563541e-01 2.19386192e-01 1.20613862e-02 1.78205882e+02] [-2.19368377e-01 9.75638095e-01 -2.79699953e-03 -1.78479622e+01] [-1.23811710e-02 8.27640327e-05 9.99923347e-01 8.65948754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters 0.02805540915645596 Centerline is valid? [True, True] Translation: X:178.27, Y:-17.87, Z:0.87 [[ 9.76965928e-01 2.13174569e-01 9.70457613e-03 1.78265969e+02] [-2.13162677e-01 9.77014117e-01 -2.25568222e-03 -1.78650995e+01] [-9.96236196e-03 1.35071242e-04 9.99950365e-01 8.65056384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters 0.02836825824554014 Centerline is valid? [True, True] Translation: X:178.33, Y:-17.89, Z:0.87 [[ 9.77570014e-01 2.10032765e-01 1.55918416e-02 1.78325156e+02] [-2.10001684e-01 9.77694311e-01 -3.62308570e-03 -1.78853948e+01] [-1.60050216e-02 2.67506939e-04 9.99871876e-01 8.65407716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters 0.028232160406881198 Centerline is valid? [True, True] Translation: X:178.38, Y:-17.91, Z:0.86 [[ 9.77805257e-01 2.08998412e-01 1.47153783e-02 1.78383988e+02] [-2.08970456e-01 9.77915940e-01 -3.42965533e-03 -1.79108717e+01] [-1.51071956e-02 2.78455699e-04 9.99885841e-01 8.64843116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters 0.028047937136079528 Centerline is valid? [True, True] Translation: X:178.44, Y:-17.93, Z:0.87 [[ 9.76895024e-01 2.13276787e-01 1.37522074e-02 1.78442511e+02] [-2.13252701e-01 9.76991796e-01 -3.21176108e-03 -1.79329485e+01] [-1.41207879e-02 2.04858054e-04 9.99900276e-01 8.66353578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters 0.027853251694897083 Centerline is valid? [True, True] Translation: X:178.50, Y:-17.96, Z:0.87 [[ 9.76231609e-01 2.16359476e-01 1.26658382e-02 1.78500872e+02] [-2.16339293e-01 9.76313759e-01 -2.95892661e-03 -1.79584428e+01] [-1.30060239e-02 1.48479214e-04 9.99915407e-01 8.65578583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters 0.027526891324233676 Centerline is valid? [True, True] Translation: X:178.56, Y:-17.98, Z:0.87 [[ 9.74459350e-01 2.24234240e-01 1.21647461e-02 1.78558790e+02] [-2.24216138e-01 9.74535276e-01 -2.84961655e-03 -1.79839704e+01] [-1.24939558e-02 4.93031152e-05 9.99921946e-01 8.67607869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters 0.027700135921101602 Centerline is valid? [True, True] Translation: X:178.62, Y:-18.00, Z:0.87 [[ 9.72930917e-01 2.30856299e-01 1.05261517e-02 1.78618343e+02] [-2.30843072e-01 9.72987856e-01 -2.47135449e-03 -1.80004872e+01] [-1.08123456e-02 -2.54320213e-05 9.99941545e-01 8.68424742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters 0.02832560642495778 Centerline is valid? [True, True] Translation: X:178.68, Y:-18.03, Z:0.87 [[ 9.70609337e-01 2.40514830e-01 8.37450541e-03 1.78675473e+02] [-2.40506777e-01 9.70645459e-01 -1.97076626e-03 -1.80296426e+01] [-8.60267416e-03 -1.01281169e-04 9.99962991e-01 8.69884580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters 0.028587628169142825 Centerline is valid? [True, True] Translation: X:178.74, Y:-18.05, Z:0.87 [[ 9.69893526e-01 2.43385532e-01 8.36840529e-03 1.78735500e+02] [-2.43377563e-01 9.69929620e-01 -1.97335152e-03 -1.80452755e+01] [-8.59704937e-03 -1.22741225e-04 9.99963037e-01 8.69299671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters 0.02888331599343858 Centerline is valid? [True, True] Translation: X:178.80, Y:-18.06, Z:0.87 [[ 9.69398713e-01 2.45248100e-01 1.09318424e-02 1.78796244e+02] [-2.45234568e-01 9.69460333e-01 -2.58233229e-03 -1.80582136e+01] [-1.12312997e-02 -1.77556059e-04 9.99936911e-01 8.68450622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters 0.028830841720519307 Centerline is valid? [True, True] Translation: X:178.86, Y:-18.08, Z:0.87 [[ 9.68983668e-01 2.46948760e-01 9.32525757e-03 1.78856518e+02] [-2.46938936e-01 9.69028526e-01 -2.20868049e-03 -1.80769906e+01] [-9.58187150e-03 -1.62593851e-04 9.99954080e-01 8.73471368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters 0.02926054516879524 Centerline is valid? [True, True] Translation: X:178.92, Y:-18.09, Z:0.87 [[ 9.68216462e-01 2.50027064e-01 6.58405091e-03 1.78917780e+02] [-2.50022208e-01 9.68238839e-01 -1.56376195e-03 -1.80918340e+01] [-6.76591662e-03 -1.32098888e-04 9.99977102e-01 8.70078403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters 0.029254642544634273 Centerline is valid? [True, True] Translation: X:178.98, Y:-18.11, Z:0.87 [[ 9.68259137e-01 2.49823463e-01 7.90445257e-03 1.78978673e+02] [-2.49816428e-01 9.68291389e-01 -1.88115337e-03 -1.81073791e+01] [-8.12376961e-03 -1.53218167e-04 9.99966990e-01 8.69250649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters 0.028631141160320995 Centerline is valid? [True, True] Translation: X:179.04, Y:-18.12, Z:0.87 [[ 9.69203589e-01 2.46145715e-01 7.52932926e-03 1.79039229e+02] [-2.46139193e-01 9.69232828e-01 -1.79527982e-03 -1.81216406e+01] [-7.73957352e-03 -1.13271390e-04 9.99970043e-01 8.73214703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters 0.028433818647449687 Centerline is valid? [True, True] Translation: X:179.10, Y:-18.14, Z:0.88 [[ 9.69634158e-01 2.44401783e-01 8.79594621e-03 1.79100715e+02] [-2.44392767e-01 9.69674046e-01 -2.10219615e-03 -1.81359947e+01] [-9.04298124e-03 -1.11304437e-04 9.99959105e-01 8.75213789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters 0.028098491722251543 Centerline is valid? [True, True] Translation: X:179.16, Y:-18.15, Z:0.87 [[ 9.70425012e-01 2.41276587e-01 7.80411843e-03 1.79161152e+02] [-2.41269358e-01 9.70456390e-01 -1.86891519e-03 -1.81493934e+01] [-8.02448207e-03 -6.92526027e-05 9.99967801e-01 8.72636995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters 0.028008233282115613 Centerline is valid? [True, True] Translation: X:179.22, Y:-18.17, Z:0.87 [[ 9.71280070e-01 2.37803730e-01 8.02564117e-03 1.79220387e+02] [-2.37795934e-01 9.71313227e-01 -1.92591311e-03 -1.81698545e+01] [-8.25340075e-03 -3.78638219e-05 9.99965939e-01 8.73761562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters 0.027687643615853325 Centerline is valid? [True, True] Translation: X:179.28, Y:-18.19, Z:0.88 [[ 9.72316683e-01 2.33617057e-01 4.83098320e-03 1.79279854e+02] [-2.33614164e-01 9.72328685e-01 -1.16264547e-03 -1.81874035e+01] [-4.96891735e-03 1.87349028e-06 9.99987655e-01 8.76970233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters 0.027740722143736123 Centerline is valid? [True, True] Translation: X:179.34, Y:-18.20, Z:0.87 [[ 9.72772976e-01 2.31599837e-01 8.61700026e-03 1.79339856e+02] [-2.31590537e-01 9.72811140e-01 -2.07572451e-03 -1.82016576e+01] [-8.86345131e-03 2.35929981e-05 9.99960719e-01 8.74164349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters 0.02774499578127817 Centerline is valid? [True, True] Translation: X:179.40, Y:-18.22, Z:0.88 [[ 9.72136749e-01 2.34309151e-01 7.02586510e-03 1.79398216e+02] [-2.34303009e-01 9.72162138e-01 -1.69651629e-03 -1.82227827e+01] [-7.22778932e-03 3.06450358e-06 9.99973879e-01 8.75830311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters 0.027801712555671595 Centerline is valid? [True, True] Translation: X:179.46, Y:-18.24, Z:0.88 [[ 9.70778439e-01 2.39894327e-01 6.31928212e-03 1.79460010e+02] [-2.39889449e-01 9.70799006e-01 -1.53015870e-03 -1.82368704e+01] [-6.50182920e-03 -3.04840341e-05 9.99978862e-01 8.78212939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters 0.027971116603748427 Centerline is valid? [True, True] Translation: X:179.52, Y:-18.25, Z:0.88 [[ 9.69494971e-01 2.45030683e-01 6.28210965e-03 1.79520562e+02] [-2.45025953e-01 9.69515322e-01 -1.52381092e-03 -1.82492634e+01] [-6.46398199e-03 -6.19528730e-05 9.99979106e-01 8.76666797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters 0.028218746359152565 Centerline is valid? [True, True] Translation: X:179.58, Y:-18.27, Z:0.88 [[ 9.69372520e-01 2.45496753e-01 6.94701049e-03 1.79581038e+02] [-2.45490952e-01 9.69397411e-01 -1.68905525e-03 -1.82671809e+01] [-7.14907156e-03 -6.81044760e-05 9.99974443e-01 8.77522054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters 0.02813731184574784 Centerline is valid? [True, True] Translation: X:179.64, Y:-18.28, Z:0.88 [[ 9.69468611e-01 2.45074822e-01 8.30329449e-03 1.79643410e+02] [-2.45066484e-01 9.69504165e-01 -2.02298405e-03 -1.82770976e+01] [-8.54586105e-03 -7.36396470e-05 9.99963481e-01 8.79147620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters 0.028227367742140824 Centerline is valid? [True, True] Translation: X:179.70, Y:-18.29, Z:0.88 [[ 9.69548823e-01 2.44653459e-01 1.09436784e-02 1.79703526e+02] [-2.44638901e-01 9.69610580e-01 -2.67035955e-03 -1.82919237e+01] [-1.12644191e-02 -8.82054995e-05 9.99936551e-01 8.78518757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters 0.02782821650766347 Centerline is valid? [True, True] Translation: X:179.76, Y:-18.31, Z:0.88 [[ 9.71070902e-01 2.38624635e-01 8.92111389e-03 1.79762753e+02] [-2.38614702e-01 9.71111880e-01 -2.17729811e-03 -1.83105188e+01] [-9.18295665e-03 -1.43980898e-05 9.99957836e-01 8.77823568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters 0.028057689478000455 Centerline is valid? [True, True] Translation: X:179.82, Y:-18.33, Z:0.88 [[ 9.72883116e-01 2.31048098e-01 1.07339913e-02 1.79821665e+02] [-2.31033180e-01 9.72942327e-01 -2.62652441e-03 -1.83326938e+01] [-1.10504079e-02 7.53931065e-05 9.99938940e-01 8.78735383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters 0.027908612044449298 Centerline is valid? [True, True] Translation: X:179.88, Y:-18.35, Z:0.88 [[ 9.73666479e-01 2.27793555e-01 9.14795028e-03 1.79882330e+02] [-2.27782521e-01 9.73709446e-01 -2.24428572e-03 -1.83510535e+01] [-9.41867943e-03 1.01442596e-04 9.99955638e-01 8.78352906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters 0.028110921299398548 Centerline is valid? [True, True] Translation: X:179.94, Y:-18.38, Z:0.88 [[ 9.73888660e-01 2.26806679e-01 9.98034723e-03 1.79938668e+02] [-2.26793450e-01 9.73939790e-01 -2.45286086e-03 -1.83825006e+01] [-1.02765825e-02 1.25335997e-04 9.99947187e-01 8.77295250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters 0.02811816242263489 Centerline is valid? [True, True] Translation: X:180.00, Y:-18.41, Z:0.88 [[ 9.73834670e-01 2.27114270e-01 8.07115283e-03 1.79995770e+02] [-2.27105592e-01 9.73868111e-01 -1.98805271e-03 -1.84085040e+01] [-8.31175350e-03 1.03030712e-04 9.99965451e-01 8.79582522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters 0.02793880369088097 Centerline is valid? [True, True] Translation: X:180.05, Y:-18.43, Z:0.88 [[ 9.73205687e-01 2.29794073e-01 8.08552563e-03 1.80053553e+02] [-2.29785422e-01 9.73239270e-01 -1.99563173e-03 -1.84345970e+01] [-8.32773541e-03 8.42242200e-05 9.99965320e-01 8.80951331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters 0.02797016411676131 Centerline is valid? [True, True] Translation: X:180.11, Y:-18.47, Z:0.88 [[ 9.72023753e-01 2.34677333e-01 9.81701913e-03 1.80109736e+02] [-2.34664775e-01 9.72073323e-01 -2.42845571e-03 -1.84680235e+01] [-1.01127659e-02 5.68080531e-05 9.99948863e-01 8.78089200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters 0.028014909933576068 Centerline is valid? [True, True] Translation: X:180.17, Y:-18.49, Z:0.88 [[ 9.70297104e-01 2.41639881e-01 1.15627978e-02 1.80167821e+02] [-2.41622881e-01 9.70365997e-01 -2.86625368e-03 -1.84946274e+01] [-1.19127470e-02 -1.27188870e-05 9.99929041e-01 8.80891532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters 0.028834730077882863 Centerline is valid? [True, True] Translation: X:180.22, Y:-18.52, Z:0.88 [[ 9.67047060e-01 2.54486572e-01 7.52120856e-03 1.80224556e+02] [-2.54479735e-01 9.67076302e-01 -1.86859150e-03 -1.85222666e+01] [-7.74911400e-03 -1.06979236e-04 9.99969969e-01 8.79782327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters 0.030100855972037825 Centerline is valid? [True, True] Translation: X:180.28, Y:-18.54, Z:0.88 [[ 9.64202355e-01 2.64986317e-01 9.80151562e-03 1.80283109e+02] [-2.64975266e-01 9.64252140e-01 -2.43302804e-03 -1.85407111e+01] [-1.00958515e-02 -2.51227842e-04 9.99949004e-01 8.82228109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters 0.031079913191878 Centerline is valid? [True, True] Translation: X:180.34, Y:-18.56, Z:0.88 [[ 9.62490590e-01 2.71231729e-01 6.72401867e-03 1.80342866e+02] [-2.71226671e-01 9.62514053e-01 -1.67040423e-03 -1.85589539e+01] [-6.92502909e-03 -2.15984845e-04 9.99975998e-01 8.83947902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662320588 meters 0.03254784044737789 Centerline is valid? [True, True] Translation: X:180.40, Y:-18.57, Z:0.88 [[ 9.60655815e-01 2.77642644e-01 7.41403056e-03 1.80403755e+02] [-2.77636687e-01 9.60684380e-01 -1.84150725e-03 -1.85674188e+01] [-7.63382429e-03 -2.89352235e-04 9.99970820e-01 8.82444224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters 0.03312056685292871 Centerline is valid? [True, True] Translation: X:180.46, Y:-18.58, Z:0.88 [[ 9.59287023e-01 2.82365981e-01 6.15307489e-03 1.80464722e+02] [-2.82361947e-01 9.59306719e-01 -1.53271800e-03 -1.85777160e+01] [-6.33547351e-03 -2.67077717e-04 9.99979895e-01 8.83731783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters 0.03292950126406443 Centerline is valid? [True, True] Translation: X:180.53, Y:-18.58, Z:0.89 [[ 9.59081465e-01 2.83099008e-01 4.20652044e-03 1.80528528e+02] [-2.83097116e-01 9.59090673e-01 -1.05110549e-03 -1.85835397e+01] [-4.33200144e-03 -1.82758008e-04 9.99990600e-01 8.85842753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters 0.03320920905477534 Centerline is valid? [True, True] Translation: X:180.59, Y:-18.59, Z:0.88 [[ 9.59184027e-01 2.82643919e-01 8.85535415e-03 1.80591233e+02] [-2.82635497e-01 9.59224829e-01 -2.21458165e-03 -1.85932648e+01] [-9.12021360e-03 -3.78646070e-04 9.99958338e-01 8.84775728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters 0.03361665216868763 Centerline is valid? [True, True] Translation: X:180.65, Y:-18.60, Z:0.89 [[ 9.58574439e-01 2.84702450e-01 8.91967844e-03 1.80652140e+02] [-2.84693964e-01 9.58615855e-01 -2.23382844e-03 -1.86035532e+01] [-9.18652160e-03 -3.98087773e-04 9.99957724e-01 8.85873075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters 0.03416231214488786 Centerline is valid? [True, True] Translation: X:180.71, Y:-18.61, Z:0.89 [[ 9.57893488e-01 2.87068062e-01 5.65620896e-03 1.80714056e+02] [-2.87064671e-01 9.57910151e-01 -1.41991945e-03 -1.86113213e+01] [-5.82575351e-03 -2.63566173e-04 9.99982995e-01 8.86806037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters 0.03348734176862862 Centerline is valid? [True, True] Translation: X:180.78, Y:-18.61, Z:0.89 [[ 9.58026378e-01 2.86498877e-01 1.01907646e-02 1.80777476e+02] [-2.86487842e-01 9.58080463e-01 -2.55797756e-03 -1.86122578e+01] [-1.04964301e-02 -4.68920170e-04 9.99944801e-01 8.86465077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters 0.033098484380611304 Centerline is valid? [True, True] Translation: X:180.84, Y:-18.62, Z:0.89 [[ 9.59410200e-01 2.81853817e-01 9.51287324e-03 1.80838017e+02] [-2.81843974e-01 9.59457281e-01 -2.38767474e-03 -1.86218225e+01] [-9.80017073e-03 -3.90386500e-04 9.99951901e-01 8.89156857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters 0.032226397771741445 Centerline is valid? [True, True] Translation: X:180.90, Y:-18.62, Z:0.89 [[ 9.59921374e-01 2.80101604e-01 9.69782582e-03 1.80902916e+02] [-2.80091223e-01 9.59970287e-01 -2.44031399e-03 -1.86180194e+01] [-9.99316050e-03 -3.73766345e-04 9.99949997e-01 8.87254347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202320588 meters 0.031834412240430834 Centerline is valid? [True, True] Translation: X:180.97, Y:-18.62, Z:0.89 [[ 9.60046573e-01 2.79615736e-01 1.12079297e-02 1.80966710e+02] [-2.79601769e-01 9.60111901e-01 -2.82619147e-03 -1.86233149e+01] [-1.15511143e-02 -4.20481539e-04 9.99933195e-01 8.90085208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters 0.031007975790055212 Centerline is valid? [True, True] Translation: X:181.03, Y:-18.63, Z:0.89 [[ 9.61603796e-01 2.74204148e-01 1.14115940e-02 1.81028970e+02] [-2.74189299e-01 9.61671437e-01 -2.87657551e-03 -1.86286535e+01] [-1.17629729e-02 -3.62811027e-04 9.99930748e-01 8.90406457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters 0.02971361774055023 Centerline is valid? [True, True] Translation: X:181.09, Y:-18.63, Z:0.89 [[ 9.63877766e-01 2.66012281e-01 1.33085906e-02 1.81091837e+02] [-2.65991293e-01 9.63969591e-01 -3.35541650e-03 -1.86311891e+01] [-1.37216587e-02 -3.05757866e-04 9.99905807e-01 8.88626424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters 0.028988418136428613 Centerline is valid? [True, True] Translation: X:181.15, Y:-18.64, Z:0.89 [[ 9.65674936e-01 2.59501699e-01 1.14361508e-02 1.81152834e+02] [-2.59485735e-01 9.65742634e-01 -2.88416682e-03 -1.86402828e+01] [-1.17928246e-02 -1.82350396e-04 9.99930446e-01 8.90254367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442320588 meters 0.02867930265013949 Centerline is valid? [True, True] Translation: X:181.21, Y:-18.65, Z:0.89 [[ 9.66402191e-01 2.56805214e-01 1.08576461e-02 1.81213927e+02] [-2.56790571e-01 9.66463173e-01 -2.74563381e-03 -1.86516735e+01] [-1.11986082e-02 -1.34754609e-04 9.99937285e-01 8.89762418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters 0.028577025183579397 Centerline is valid? [True, True] Translation: X:181.28, Y:-18.66, Z:0.89 [[ 9.66630095e-01 2.55797858e-01 1.39181706e-02 1.81275930e+02] [-2.55773605e-01 9.66730279e-01 -3.52565686e-03 -1.86587105e+01] [-1.43569725e-02 -1.51894651e-04 9.99896922e-01 8.88816813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters 0.028801978433528885 Centerline is valid? [True, True] Translation: X:181.34, Y:-18.67, Z:0.89 [[ 9.67071908e-01 2.54115208e-01 1.40494088e-02 1.81336029e+02] [-2.54090218e-01 9.67173948e-01 -3.56578107e-03 -1.86737964e+01] [-1.44943414e-02 -1.21450646e-04 9.99894944e-01 8.89694331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters 0.028430299634147452 Centerline is valid? [True, True] Translation: X:181.40, Y:-18.68, Z:0.89 [[ 9.67017342e-01 2.54419952e-01 1.21633936e-02 1.81398377e+02] [-2.54401167e-01 9.67093831e-01 -3.09337132e-03 -1.86807503e+01] [-1.25501583e-02 -1.03037829e-04 9.99921238e-01 8.91938326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters 0.028867077264272734 Centerline is valid? [True, True] Translation: X:181.46, Y:-18.69, Z:0.89 [[ 9.66636469e-01 2.55592192e-01 1.69283255e-02 1.81460254e+02] [-2.55555854e-01 9.66784674e-01 -4.31261172e-03 -1.86908720e+01] [-1.74683155e-02 -1.57404921e-04 9.99847405e-01 8.88567609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters 0.028391178612320905 Centerline is valid? [True, True] Translation: X:181.52, Y:-18.70, Z:0.89 [[ 9.67541296e-01 2.52172567e-01 1.65177762e-02 1.81522610e+02] [-2.52137332e-01 9.67682277e-01 -4.21622821e-03 -1.86988679e+01] [-1.70471764e-02 -8.53731169e-05 9.99854683e-01 8.91028835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters 0.02821447080911736 Centerline is valid? [True, True] Translation: X:181.58, Y:-18.71, Z:0.89 [[ 9.68504467e-01 2.48592438e-01 1.41738108e-02 1.81583198e+02] [-2.48566003e-01 9.68608176e-01 -3.62530919e-03 -1.87117611e+01] [-1.46300935e-02 -1.19993581e-05 9.99892974e-01 8.90120209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters 0.028184060769296533 Centerline is valid? [True, True] Translation: X:181.64, Y:-18.73, Z:0.89 [[ 9.68246302e-01 2.49557116e-01 1.48440209e-02 1.81643784e+02] [-2.49528099e-01 9.68360081e-01 -3.80551055e-03 -1.87281024e+01] [-1.53240495e-02 -1.93287911e-05 9.99882580e-01 8.91207618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters 0.028176305605310904 Centerline is valid? [True, True] Translation: X:181.70, Y:-18.74, Z:0.89 [[ 9.67280896e-01 2.53432828e-01 1.18097094e-02 1.81703361e+02] [-2.53414676e-01 9.67352985e-01 -3.03373552e-03 -1.87444874e+01] [-1.21930058e-02 -5.82792576e-05 9.99925661e-01 8.92449640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters 0.02824933636586033 Centerline is valid? [True, True] Translation: X:181.76, Y:-18.76, Z:0.89 [[ 9.66848085e-01 2.55020247e-01 1.30174877e-02 1.81764060e+02] [-2.54998253e-01 9.66935710e-01 -3.35018688e-03 -1.87579376e+01] [-1.34414392e-02 -8.03148497e-05 9.99909657e-01 8.92411833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters 0.02802718390478178 Centerline is valid? [True, True] Translation: X:181.82, Y:-18.77, Z:0.89 [[ 9.66408975e-01 2.56840963e-01 9.29582382e-03 1.81824559e+02] [-2.56829780e-01 9.66453680e-01 -2.39771516e-03 -1.87730829e+01] [-9.59981461e-03 -7.02709361e-05 9.99953918e-01 8.94371633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters 0.0283272364123691 Centerline is valid? [True, True] Translation: X:181.89, Y:-18.79, Z:0.90 [[ 9.64783035e-01 2.62801341e-01 1.13644323e-02 1.81885588e+02] [-2.62784981e-01 9.64849953e-01 -2.93632813e-03 -1.87867697e+01] [-1.17366429e-02 -1.53482556e-04 9.99931111e-01 8.96889301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters 0.029021883597173496 Centerline is valid? [True, True] Translation: X:181.95, Y:-18.80, Z:0.89 [[ 9.63034877e-01 2.69053797e-01 1.31863332e-02 1.81945632e+02] [-2.69032276e-01 9.63125114e-01 -3.41300445e-03 -1.88038376e+01] [-1.36183705e-02 -2.60706901e-04 9.99907232e-01 8.93801890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters 0.029375359846616232 Centerline is valid? [True, True] Translation: X:182.01, Y:-18.81, Z:0.90 [[ 9.61262334e-01 2.75487783e-01 9.01152324e-03 1.82007192e+02] [-2.75477967e-01 9.61304544e-01 -2.33747007e-03 -1.88147918e+01] [-9.30676268e-03 -2.35554160e-04 9.99956663e-01 8.98012116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters 0.030420820444309306 Centerline is valid? [True, True] Translation: X:182.07, Y:-18.83, Z:0.90 [[ 9.59224502e-01 2.82473204e-01 9.86122979e-03 1.82067533e+02] [-2.82461833e-01 9.59275132e-01 -2.55631565e-03 -1.88259206e+01] [-1.01817232e-02 -3.33340440e-04 9.99948109e-01 8.98063667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters 0.031484916705767245 Centerline is valid? [True, True] Translation: X:182.13, Y:-18.83, Z:0.90 [[ 9.57189231e-01 2.89215070e-01 1.19757660e-02 1.82128767e+02] [-2.89198813e-01 9.57264019e-01 -3.10549545e-03 -1.88334562e+01] [-1.23621259e-02 -4.90830501e-04 9.99923466e-01 8.99283233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters 0.03241636953879848 Centerline is valid? [True, True] Translation: X:182.19, Y:-18.84, Z:0.90 [[ 9.55572239e-01 2.94620675e-01 8.96403169e-03 1.82191191e+02] [-2.94611752e-01 9.55614193e-01 -2.33008923e-03 -1.88391220e+01] [-9.25264837e-03 -4.14340498e-04 9.99957107e-01 9.02033642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters 0.03262235081568363 Centerline is valid? [True, True] Translation: X:182.25, Y:-18.84, Z:0.90 [[ 9.54470531e-01 2.98208284e-01 7.60425278e-03 1.82254660e+02] [-2.98201949e-01 9.54500747e-01 -1.98012806e-03 -1.88404910e+01] [-7.84875555e-03 -3.77629113e-04 9.99969127e-01 9.00448251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters 0.03289896192565939 Centerline is valid? [True, True] Translation: X:182.32, Y:-18.84, Z:0.90 [[ 9.54132783e-01 2.99149440e-01 1.18425352e-02 1.82317354e+02] [-2.99134099e-01 9.54206087e-01 -3.08767645e-03 -1.88444368e+01] [-1.22238958e-02 -5.96452764e-04 9.99925108e-01 9.03612552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters 0.03262039359181684 Centerline is valid? [True, True] Translation: X:182.38, Y:-18.84, Z:0.90 [[ 9.54096648e-01 2.99354537e-01 9.29766691e-03 1.82382080e+02] [-2.99345045e-01 9.54141836e-01 -2.42897276e-03 -1.88420812e+01] [-9.59841700e-03 -4.65735754e-04 9.99953826e-01 9.01734263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters 0.0316749150982481 Centerline is valid? [True, True] Translation: X:182.45, Y:-18.85, Z:0.90 [[ 9.54660891e-01 2.97593533e-01 7.78925409e-03 1.82445500e+02] [-2.97586781e-01 9.54692595e-01 -2.03884360e-03 -1.88456365e+01] [-8.04308987e-03 -3.71574804e-04 9.99967585e-01 9.02283536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters 0.030353210572333245 Centerline is valid? [True, True] Translation: X:182.51, Y:-18.85, Z:0.90 [[ 9.56660683e-01 2.91111722e-01 7.36904064e-03 1.82507407e+02] [-2.91105499e-01 9.56689017e-01 -1.92714988e-03 -1.88505783e+01] [-7.61089617e-03 -3.01539732e-04 9.99970991e-01 9.04611900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters 0.029063922807244333 Centerline is valid? [True, True] Translation: X:182.57, Y:-18.85, Z:0.90 [[ 9.58901859e-01 2.83482340e-01 1.20411248e-02 1.82571519e+02] [-2.83465105e-01 9.58977377e-01 -3.15046057e-03 -1.88505505e+01] [-1.24402662e-02 -3.92256199e-04 9.99922540e-01 9.03935368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters 0.02783010954700177 Centerline is valid? [True, True] Translation: X:182.63, Y:-18.86, Z:0.90 [[ 9.61035812e-01 2.76325537e-01 7.37332876e-03 1.82632200e+02] [-2.76318857e-01 9.61064079e-01 -1.93014252e-03 -1.88633855e+01] [-7.61958908e-03 -1.82453691e-04 9.99970954e-01 9.02345475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters 0.027455496529072313 Centerline is valid? [True, True] Translation: X:182.69, Y:-18.88, Z:0.90 [[ 9.61599691e-01 2.74387693e-01 6.11784392e-03 1.82692743e+02] [-2.74383047e-01 9.61619142e-01 -1.60262629e-03 -1.88772950e+01] [-6.32277675e-03 -1.37547715e-04 9.99980002e-01 9.02747703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters 0.027079776761322012 Centerline is valid? [True, True] Translation: X:182.76, Y:-18.88, Z:0.91 [[ 9.61944927e-01 2.73039140e-01 1.05634277e-02 1.82756134e+02] [-2.73025196e-01 9.62002900e-01 -2.76820413e-03 -1.88823218e+01] [-1.09178762e-02 -2.21222005e-04 9.99940374e-01 9.06045042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters 0.027347257157588435 Centerline is valid? [True, True] Translation: X:182.82, Y:-18.89, Z:0.91 [[ 9.60725402e-01 2.77303847e-01 1.04536280e-02 1.82818091e+02] [-2.77290428e-01 9.60782237e-01 -2.74093597e-03 -1.88901705e+01] [-1.08037322e-02 -2.65404164e-04 9.99941603e-01 9.05926940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters 0.02757937633130189 Centerline is valid? [True, True] Translation: X:182.88, Y:-18.90, Z:0.91 [[ 9.59982705e-01 2.79834968e-01 1.12069907e-02 1.82880408e+02] [-2.79819699e-01 9.60048068e-01 -2.94000317e-03 -1.88970588e+01] [-1.15819655e-02 -3.13584570e-04 9.99932878e-01 9.07742070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters 0.02749449458631803 Centerline is valid? [True, True] Translation: X:182.94, Y:-18.90, Z:0.91 [[ 9.60494806e-01 2.78143163e-01 9.27950418e-03 1.82943802e+02] [-2.78132602e-01 9.60539600e-01 -2.43578850e-03 -1.89012212e+01] [-9.59082915e-03 -2.41370448e-04 9.99953978e-01 9.05410722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters 0.02706006222264691 Centerline is valid? [True, True] Translation: X:183.01, Y:-18.90, Z:0.91 [[ 9.61392678e-01 2.74957570e-01 1.10658174e-02 1.83006328e+02] [-2.74942337e-01 9.61456329e-01 -2.90498790e-03 -1.89027774e+01] [-1.14380486e-02 -2.49627605e-04 9.99934552e-01 9.07668347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters 0.026486755652485292 Centerline is valid? [True, True] Translation: X:183.07, Y:-18.91, Z:0.91 [[ 9.63176293e-01 2.68730924e-01 8.66714642e-03 1.83066945e+02] [-2.68721330e-01 9.63215278e-01 -2.27501976e-03 -1.89095858e+01] [-8.95969601e-03 -1.37802009e-04 9.99959852e-01 9.06655155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters 0.026035951126616937 Centerline is valid? [True, True] Translation: X:183.13, Y:-18.91, Z:0.91 [[ 9.65682001e-01 2.59493943e-01 1.10075391e-02 1.83126170e+02] [-2.59477956e-01 9.65744732e-01 -2.88129746e-03 -1.89141256e+01] [-1.13781521e-02 -7.37966455e-05 9.99935264e-01 9.06711246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters 0.025813562902391844 Centerline is valid? [True, True] Translation: X:183.18, Y:-18.92, Z:0.91 [[ 9.67630243e-01 2.52095843e-01 1.18067238e-02 1.83184797e+02] [-2.52076968e-01 9.67702271e-01 -3.08478200e-03 -1.89224037e+01] [-1.22030541e-02 8.72522890e-06 9.99925540e-01 9.09616077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters 0.025905317488382738 Centerline is valid? [True, True] Translation: X:183.24, Y:-18.94, Z:0.91 [[ 9.68931717e-01 2.47027980e-01 1.21862790e-02 1.83242615e+02] [-2.47007546e-01 9.69008345e-01 -3.17805810e-03 -1.89355565e+01] [-1.25936753e-02 6.92184112e-05 9.99920694e-01 9.06730265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters 0.026043999758502332 Centerline is valid? [True, True] Translation: X:183.30, Y:-18.95, Z:0.91 [[ 9.69709194e-01 2.43803727e-01 1.49606852e-02 1.83300187e+02] [-2.43772520e-01 9.69824584e-01 -3.90316886e-03 -1.89502853e+01] [-1.54608474e-02 1.37934799e-04 9.99880464e-01 9.08987311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters 0.02582952231512015 Centerline is valid? [True, True] Translation: X:183.36, Y:-18.97, Z:0.91 [[ 9.70006346e-01 2.42722095e-01 1.31785304e-02 1.83357636e+02] [-2.42697777e-01 9.70095854e-01 -3.43851161e-03 -1.89681319e+01] [-1.36190404e-02 1.36978051e-04 9.99907247e-01 9.09697019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters 0.025624581908744507 Centerline is valid? [True, True] Translation: X:183.42, Y:-18.99, Z:0.91 [[ 9.70085376e-01 2.42471137e-01 1.19210710e-02 1.83415991e+02] [-2.42451219e-01 9.70158612e-01 -3.11041821e-03 -1.89858502e+01] [-1.23195163e-02 1.27093027e-04 9.99924104e-01 9.08332452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters 0.025602294187099285 Centerline is valid? [True, True] Translation: X:183.47, Y:-19.00, Z:0.91 [[ 9.70149204e-01 2.41977619e-01 1.60422404e-02 1.83473366e+02] [-2.41941493e-01 9.70281815e-01 -4.18497872e-03 -1.90032768e+01] [-1.65781653e-02 1.78770185e-04 9.99862557e-01 9.11810327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters 0.02530388888678327 Centerline is valid? [True, True] Translation: X:183.53, Y:-19.03, Z:0.91 [[ 9.70015298e-01 2.42785718e-01 1.11989426e-02 1.83531938e+02] [-2.42768133e-01 9.70079936e-01 -2.92439517e-03 -1.90273068e+01] [-1.15738709e-02 1.17961672e-04 9.99933014e-01 9.09043930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters 0.025293802538604356 Centerline is valid? [True, True] Translation: X:183.59, Y:-19.05, Z:0.91 [[ 9.70007451e-01 2.42634094e-01 1.46369566e-02 1.83589688e+02] [-2.42604034e-01 9.70117865e-01 -3.82241750e-03 -1.90479947e+01] [-1.51270219e-02 1.56788741e-04 9.99885568e-01 9.11243876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters 0.025012882581797336 Centerline is valid? [True, True] Translation: X:183.65, Y:-19.07, Z:0.91 [[ 9.69686111e-01 2.44007330e-01 1.30103520e-02 1.83648266e+02] [-2.43983674e-01 9.69773380e-01 -3.39984179e-03 -1.90686602e+01] [-1.34466793e-02 1.22465889e-04 9.99909582e-01 9.12175999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters 0.025143843730866245 Centerline is valid? [True, True] Translation: X:183.71, Y:-19.09, Z:0.91 [[ 9.69159643e-01 2.45892927e-01 1.63172919e-02 1.83705543e+02] [-2.45855947e-01 9.69296989e-01 -4.26612639e-03 -1.90947344e+01] [-1.68653122e-02 1.22854284e-04 9.99857763e-01 9.10874785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters 0.02497042714302548 Centerline is valid? [True, True] Translation: X:183.77, Y:-19.11, Z:0.91 [[ 9.69206248e-01 2.45707316e-01 1.63451522e-02 1.83765860e+02] [-2.45670119e-01 9.69344056e-01 -4.27721360e-03 -1.91129377e+01] [-1.68950188e-02 1.29986647e-04 9.99857261e-01 9.10547447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters 0.024651710097771694 Centerline is valid? [True, True] Translation: X:183.82, Y:-19.14, Z:0.91 [[ 9.69372767e-01 2.45313391e-01 1.17379416e-02 1.83822983e+02] [-2.45294161e-01 9.69443825e-01 -3.07317630e-03 -1.91388753e+01] [-1.21331663e-02 9.98048734e-05 9.99926385e-01 9.13417417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters 0.02492711148487592 Centerline is valid? [True, True] Translation: X:183.88, Y:-19.16, Z:0.91 [[ 9.69235194e-01 2.45667811e-01 1.51811152e-02 1.83881576e+02] [-2.45635656e-01 9.69354069e-01 -3.97659795e-03 -1.91591069e+01] [-1.56927979e-02 1.25235486e-04 9.99876853e-01 9.12934578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters 0.024823323220529513 Centerline is valid? [True, True] Translation: X:183.94, Y:-19.18, Z:0.91 [[ 9.69407849e-01 2.45066324e-01 1.38173726e-02 1.83940475e+02] [-2.45039598e-01 9.69506308e-01 -3.62139511e-03 -1.91814134e+01] [-1.42835118e-02 1.24805437e-04 9.99897978e-01 9.11922943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters 0.02470069815954525 Centerline is valid? [True, True] Translation: X:184.00, Y:-19.20, Z:0.92 [[ 9.69285796e-01 2.45564603e-01 1.35303874e-02 1.83999886e+02] [-2.45538997e-01 9.69380221e-01 -3.54810409e-03 -1.91982208e+01] [-1.39873787e-02 1.16889140e-04 9.99902165e-01 9.15818526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters 0.024765278088933185 Centerline is valid? [True, True] Translation: X:184.06, Y:-19.22, Z:0.91 [[ 9.68788961e-01 2.47409321e-01 1.53810288e-02 1.84057929e+02] [-2.47376429e-01 9.68911047e-01 -4.03548693e-03 -1.92213015e+01] [-1.59012658e-02 1.04631218e-04 9.99873561e-01 9.13154090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters 0.024765360789536114 Centerline is valid? [True, True] Translation: X:184.12, Y:-19.24, Z:0.91 [[ 9.68636044e-01 2.48026660e-01 1.50661957e-02 1.84117842e+02] [-2.47995142e-01 9.68753202e-01 -3.95501546e-03 -1.92369209e+01] [-1.55763746e-02 9.46271831e-05 9.99878676e-01 9.11411057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters 0.024623165179554336 Centerline is valid? [True, True] Translation: X:184.18, Y:-19.25, Z:0.91 [[ 9.68574364e-01 2.48203921e-01 1.60784080e-02 1.84177478e+02] [-2.48168013e-01 9.68707801e-01 -4.22297533e-03 -1.92541306e+01] [-1.66234383e-02 1.00119078e-04 9.99861816e-01 9.13762552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters 0.024709896610079413 Centerline is valid? [True, True] Translation: X:184.24, Y:-19.27, Z:0.91 [[ 9.68981532e-01 2.46686833e-01 1.48457543e-02 1.84237776e+02] [-2.46656009e-01 9.69095244e-01 -3.90136869e-03 -1.92680893e+01] [-1.53493662e-02 1.18559699e-04 9.99882185e-01 9.12393717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters 0.025143909477018823 Centerline is valid? [True, True] Translation: X:184.30, Y:-19.29, Z:0.91 [[ 9.69696267e-01 2.43697313e-01 1.73427123e-02 1.84295648e+02] [-2.43654727e-01 9.69851319e-01 -4.55990276e-03 -1.92935247e+01] [-1.79310885e-02 1.96086835e-04 9.99839206e-01 9.09487959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters 0.0249191861999719 Centerline is valid? [True, True] Translation: X:184.36, Y:-19.31, Z:0.91 [[ 9.69974140e-01 2.42868512e-01 1.28473096e-02 1.84355090e+02] [-2.42844962e-01 9.70059204e-01 -3.38609627e-03 -1.93115577e+01] [-1.32850271e-02 1.64521395e-04 9.99911737e-01 9.12018106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters 0.02456313916346502 Centerline is valid? [True, True] Translation: X:184.41, Y:-19.33, Z:0.91 [[ 9.68365360e-01 2.49236745e-01 1.22300236e-02 1.84413997e+02] [-2.49215909e-01 9.68442584e-01 -3.22355648e-03 -1.93316733e+01] [-1.26475044e-02 7.36639703e-05 9.99920014e-01 9.12803860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters 0.024891146127270086 Centerline is valid? [True, True] Translation: X:184.47, Y:-19.35, Z:0.91 [[ 9.68041308e-01 2.50265874e-01 1.62178161e-02 1.84472889e+02] [-2.50229342e-01 9.68177146e-01 -4.27675930e-03 -1.93535131e+01] [-1.67720458e-02 8.19062062e-05 9.99859336e-01 9.10817507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters 0.0249512269583818 Centerline is valid? [True, True] Translation: X:184.53, Y:-19.37, Z:0.91 [[ 9.68733038e-01 2.47771616e-01 1.28657522e-02 1.84532546e+02] [-2.47748296e-01 9.68818463e-01 -3.40102503e-03 -1.93702837e+01] [-1.33072557e-02 1.07217133e-04 9.99911449e-01 9.12584069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters 0.024914320306807018 Centerline is valid? [True, True] Translation: X:184.59, Y:-19.39, Z:0.91 [[ 9.69011046e-01 2.46615964e-01 1.40769068e-02 1.84592354e+02] [-2.46587827e-01 9.69113278e-01 -3.72793292e-03 -1.93860097e+01] [-1.45614850e-02 1.41214335e-04 9.99893966e-01 9.12107278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters 0.025244999444932345 Centerline is valid? [True, True] Translation: X:184.65, Y:-19.41, Z:0.91 [[ 9.69867541e-01 2.43125804e-01 1.57097345e-02 1.84650877e+02] [-2.43090181e-01 9.69994739e-01 -4.16778575e-03 -1.94091122e+01] [-1.62516561e-02 2.23317920e-04 9.99867908e-01 9.14492494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters 0.0255222147238572 Centerline is valid? [True, True] Translation: X:184.71, Y:-19.43, Z:0.92 [[ 9.70444968e-01 2.40977237e-01 1.29048689e-02 1.84710526e+02] [-2.40952902e-01 9.70530743e-01 -3.43168313e-03 -1.94314706e+01] [-1.33515296e-02 2.20794000e-04 9.99910840e-01 9.15459887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters 0.025823171724977688 Centerline is valid? [True, True] Translation: X:184.77, Y:-19.46, Z:0.91 [[ 9.70651767e-01 2.40112905e-01 1.34513982e-02 1.84768044e+02] [-2.40086298e-01 9.70744936e-01 -3.58309081e-03 -1.94561517e+01] [-1.39182230e-02 2.48437031e-04 9.99903106e-01 9.12393457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters 0.02554382328250036 Centerline is valid? [True, True] Translation: X:184.83, Y:-19.48, Z:0.92 [[ 9.69922852e-01 2.43062582e-01 1.30476917e-02 1.84825545e+02] [-2.43037728e-01 9.70010587e-01 -3.48195730e-03 -1.94823216e+01] [-1.35027326e-02 2.06148612e-04 9.99908813e-01 9.16963483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters 0.025163667760675544 Centerline is valid? [True, True] Translation: X:184.88, Y:-19.50, Z:0.92 [[ 9.68599556e-01 2.48320424e-01 1.23234722e-02 1.84884775e+02] [-2.48298667e-01 9.68677940e-01 -3.28949606e-03 -1.95030131e+01] [-1.27543247e-02 1.26302712e-04 9.99918652e-01 9.20190504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters 0.025160725652568678 Centerline is valid? [True, True] Translation: X:184.94, Y:-19.52, Z:0.92 [[ 9.67910685e-01 2.51061748e-01 1.08122253e-02 1.84943484e+02] [-2.51045091e-01 9.67971070e-01 -2.89326623e-03 -1.95243794e+01] [-1.11923097e-02 8.60672228e-05 9.99937360e-01 9.15179723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters 0.025633968707202637 Centerline is valid? [True, True] Translation: X:185.00, Y:-19.54, Z:0.92 [[ 9.67992326e-01 2.50658086e-01 1.27035658e-02 1.85002570e+02] [-2.50634978e-01 9.68075674e-01 -3.40535210e-03 -1.95431001e+01] [-1.31515921e-02 1.12396752e-04 9.99913508e-01 9.17319099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters 0.02571277371003007 Centerline is valid? [True, True] Translation: X:185.06, Y:-19.56, Z:0.92 [[ 9.67812519e-01 2.51292837e-01 1.38143907e-02 1.85062491e+02] [-2.51265458e-01 9.67911099e-01 -3.71134407e-03 -1.95624616e+01] [-1.43037363e-02 1.20806045e-04 9.99897689e-01 9.19950344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters 0.025735121589895313 Centerline is valid? [True, True] Translation: X:185.12, Y:-19.58, Z:0.92 [[ 9.67563748e-01 2.52431043e-01 9.94799426e-03 1.85120726e+02] [-2.52416849e-01 9.67614883e-01 -2.67804993e-03 -1.95839571e+01] [-1.03018502e-02 8.01426583e-05 9.99946931e-01 9.17470876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters 0.025855474052120315 Centerline is valid? [True, True] Translation: X:185.18, Y:-19.60, Z:0.92 [[ 9.66903113e-01 2.54881498e-01 1.15668886e-02 1.85180531e+02] [-2.54862404e-01 9.66972294e-01 -3.12056659e-03 -1.96025434e+01] [-1.19802354e-02 6.93205278e-05 9.99928232e-01 9.17174189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters 0.02576695648036177 Centerline is valid? [True, True] Translation: X:185.24, Y:-19.62, Z:0.92 [[ 9.65712213e-01 2.59431828e-01 9.74925052e-03 1.85239432e+02] [-2.59418444e-01 9.65761423e-01 -2.63523788e-03 -1.96220828e+01] [-1.00991146e-02 1.57460050e-05 9.99949003e-01 9.19767268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters 0.025976515379863375 Centerline is valid? [True, True] Translation: X:185.30, Y:-19.64, Z:0.92 [[ 9.63537933e-01 2.67374464e-01 1.02736569e-02 1.85298932e+02] [-2.67359998e-01 9.63592700e-01 -2.78211289e-03 -1.96388399e+01] [-1.06434867e-02 -6.60935827e-05 9.99943354e-01 9.18477854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters 0.02645749360663781 Centerline is valid? [True, True] Translation: X:185.36, Y:-19.65, Z:0.92 [[ 9.60646303e-01 2.77613577e-01 9.45420601e-03 1.85359075e+02] [-2.77601773e-01 9.60692811e-01 -2.56506718e-03 -1.96535429e+01] [-9.79468522e-03 -1.60382046e-04 9.99952018e-01 9.21319193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters 0.026940114463829348 Centerline is valid? [True, True] Translation: X:185.42, Y:-19.67, Z:0.92 [[ 9.59825792e-01 2.80370275e-01 1.12675531e-02 1.85420218e+02] [-2.80353639e-01 9.59891901e-01 -3.06211588e-03 -1.96657867e+01] [-1.16741593e-02 -2.19801723e-04 9.99931831e-01 9.18602896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters 0.026713145771121913 Centerline is valid? [True, True] Translation: X:185.48, Y:-19.68, Z:0.92 [[ 9.59930048e-01 2.79983875e-01 1.19721809e-02 1.85481694e+02] [-2.79964977e-01 9.60004677e-01 -3.26051475e-03 -1.96786920e+01] [-1.24062412e-02 -2.21925272e-04 9.99923015e-01 9.18551887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters 0.026267172624226672 Centerline is valid? [True, True] Translation: X:185.54, Y:-19.69, Z:0.92 [[ 9.60540065e-01 2.77959870e-01 1.00545565e-02 1.85544455e+02] [-2.77946427e-01 9.60592673e-01 -2.73862879e-03 -1.96863448e+01] [-1.04195622e-02 -1.64065366e-04 9.99945701e-01 9.23867870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters 0.025980446098334005 Centerline is valid? [True, True] Translation: X:185.61, Y:-19.70, Z:0.92 [[ 9.61446469e-01 2.74842657e-01 9.06644768e-03 1.85605946e+02] [-2.74831530e-01 9.61489210e-01 -2.47563851e-03 -1.96983073e+01] [-9.39770269e-03 -1.11551777e-04 9.99955834e-01 9.21988722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters 0.025668280566018224 Centerline is valid? [True, True] Translation: X:185.67, Y:-19.71, Z:0.92 [[ 9.62604593e-01 2.70713775e-01 1.03173860e-02 1.85667648e+02] [-2.70699076e-01 9.62659881e-01 -2.82210663e-03 -1.97074062e+01] [-1.06961167e-02 -7.63340607e-05 9.99942792e-01 9.22837840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters 0.025341418122780443 Centerline is valid? [True, True] Translation: X:185.73, Y:-19.71, Z:0.92 [[ 9.64203325e-01 2.64959264e-01 1.04180918e-02 1.85730096e+02] [-2.64943881e-01 9.64259606e-01 -2.85504883e-03 -1.97134994e+01] [-1.08022168e-02 -7.36210670e-06 9.99941654e-01 9.24005937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters 0.025448623120125014 Centerline is valid? [True, True] Translation: X:185.79, Y:-19.73, Z:0.92 [[ 9.66321121e-01 2.57121694e-01 1.05794528e-02 1.85790429e+02] [-2.57105302e-01 9.66379029e-01 -2.90455464e-03 -1.97291207e+01] [-1.09705854e-02 8.66990802e-05 9.99939818e-01 9.23930410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters 0.025730349441590958 Centerline is valid? [True, True] Translation: X:185.85, Y:-19.74, Z:0.93 [[ 9.67898891e-01 2.51117701e-01 1.05658597e-02 1.85850983e+02] [-2.51100936e-01 9.67956546e-01 -2.90608474e-03 -1.97440245e+01] [-1.09570623e-02 1.59698945e-04 9.99939957e-01 9.25199274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters 0.02577677655445398 Centerline is valid? [True, True] Translation: X:185.91, Y:-19.76, Z:0.92 [[ 9.68174034e-01 2.50113947e-01 9.05837519e-03 1.85911141e+02] [-2.50101526e-01 9.68216396e-01 -2.49724527e-03 -1.97622991e+01] [-9.39506325e-03 1.52254565e-04 9.99955854e-01 9.22640407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters 0.025555282878979766 Centerline is valid? [True, True] Translation: X:185.97, Y:-19.79, Z:0.92 [[ 9.67429424e-01 2.52867462e-01 1.17625105e-02 1.85970216e+02] [-2.52846649e-01 9.67500914e-01 -3.24866137e-03 -1.97853453e+01] [-1.22017204e-02 1.68739239e-04 9.99925542e-01 9.21639448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters 0.025535162115159406 Centerline is valid? [True, True] Translation: X:186.03, Y:-19.80, Z:0.92 [[ 9.66356431e-01 2.56867363e-01 1.32062587e-02 1.86030528e+02] [-2.56841401e-01 9.66446656e-01 -3.65463801e-03 -1.98045405e+01] [-1.37019017e-02 1.39768966e-04 9.99906115e-01 9.22608159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters 0.02545340372867404 Centerline is valid? [True, True] Translation: X:186.09, Y:-19.83, Z:0.92 [[ 9.64945519e-01 2.62220253e-01 1.09856676e-02 1.86088776e+02] [-2.62202570e-01 9.65008049e-01 -3.04577833e-03 -1.98265890e+01] [-1.13999224e-02 5.85398777e-05 9.99935017e-01 9.22463013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters 0.025036120450917743 Centerline is valid? [True, True] Translation: X:186.15, Y:-19.84, Z:0.92 [[ 9.63208629e-01 2.68449774e-01 1.28006514e-02 1.86148895e+02] [-2.68426215e-01 9.63293682e-01 -3.55650564e-03 -1.98440540e+01] [-1.32855298e-02 -1.03734806e-05 9.99911743e-01 9.23059082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters 0.025030533995903888 Centerline is valid? [True, True] Translation: X:186.21, Y:-19.86, Z:0.92 [[ 9.61573572e-01 2.74324010e-01 1.10726086e-02 1.86211004e+02] [-2.74306691e-01 9.61637319e-01 -3.08333858e-03 -1.98574856e+01] [-1.14936674e-02 -7.24337172e-05 9.99933943e-01 9.22305126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters 0.025033724438517334 Centerline is valid? [True, True] Translation: X:186.27, Y:-19.88, Z:0.93 [[ 9.60626560e-01 2.77529750e-01 1.31852128e-02 1.86270270e+02] [-2.77505416e-01 9.60717035e-01 -3.67730782e-03 -1.98761801e+01] [-1.36878208e-02 -1.26448389e-04 9.99906309e-01 9.26276695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters 0.02484012998462054 Centerline is valid? [True, True] Translation: X:186.33, Y:-19.89, Z:0.93 [[ 9.60687586e-01 2.77294796e-01 1.36732777e-02 1.86331898e+02] [-2.77268486e-01 9.60784878e-01 -3.82163128e-03 -1.98910865e+01] [-1.41967969e-02 -1.19775279e-04 9.99899213e-01 9.26278272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters 0.02458619730871241 Centerline is valid? [True, True] Translation: X:186.39, Y:-19.90, Z:0.93 [[ 9.60323818e-01 2.78674036e-01 1.09062206e-02 1.86393234e+02] [-2.78657321e-01 9.60385740e-01 -3.05398871e-03 -1.99009102e+01] [-1.13252461e-02 -1.06280112e-04 9.99935862e-01 9.25010968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters 0.024621757996766767 Centerline is valid? [True, True] Translation: X:186.45, Y:-19.92, Z:0.92 [[ 9.60601172e-01 2.77479742e-01 1.58234202e-02 1.86452316e+02] [-2.77444282e-01 9.60731480e-01 -4.43778199e-03 -1.99192009e+01] [-1.64334525e-02 -1.27178869e-04 9.99864954e-01 9.24911607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters 0.024511491905478158 Centerline is valid? [True, True] Translation: X:186.51, Y:-19.94, Z:0.93 [[ 9.60998578e-01 2.76097483e-01 1.58717479e-02 1.86512827e+02] [-2.76061459e-01 9.61129633e-01 -4.46094589e-03 -1.99377302e+01] [-1.64864631e-02 -9.46152156e-05 9.99864085e-01 9.26017321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters 0.024163324396533892 Centerline is valid? [True, True] Translation: X:186.57, Y:-19.96, Z:0.93 [[ 9.62514619e-01 2.70947808e-01 1.23650226e-02 1.86572984e+02] [-2.70925506e-01 9.62594040e-01 -3.47629870e-03 -1.99552283e+01] [-1.28443926e-02 -4.01170019e-06 9.99917507e-01 9.27008286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters 0.0242865603723333 Centerline is valid? [True, True] Translation: X:186.63, Y:-19.98, Z:0.92 [[ 9.63054668e-01 2.69081436e-01 1.09949224e-02 1.86631247e+02] [-2.69063595e-01 9.63117428e-01 -3.09861564e-03 -1.99760356e+01] [-1.14231814e-02 2.58028982e-05 9.99934753e-01 9.24209957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters 0.02436054380525682 Centerline is valid? [True, True] Translation: X:186.69, Y:-20.00, Z:0.92 [[ 9.62821552e-01 2.69934394e-01 1.04919914e-02 1.86688691e+02] [-2.69918126e-01 9.62878716e-01 -2.96354239e-03 -2.00043672e+01] [-1.09024773e-02 2.13838228e-05 9.99940566e-01 9.23846187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters 0.024277044208820472 Centerline is valid? [True, True] Translation: X:186.75, Y:-20.03, Z:0.92 [[ 9.62525415e-01 2.71048472e-01 8.80633579e-03 1.86746074e+02] [-2.71037016e-01 9.62565700e-01 -2.49203020e-03 -2.00284421e+01] [-9.15213774e-03 1.17994255e-05 9.99958118e-01 9.23893754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters 0.02432926562147065 Centerline is valid? [True, True] Translation: X:186.80, Y:-20.05, Z:0.92 [[ 9.61930854e-01 2.73068979e-01 1.10618828e-02 1.86804495e+02] [-2.73050978e-01 9.61994456e-01 -3.13546620e-03 -2.00503219e+01] [-1.14976684e-02 -4.35622915e-06 9.99933900e-01 9.24565100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters 0.02435313023413728 Centerline is valid? [True, True] Translation: X:186.86, Y:-20.07, Z:0.93 [[ 9.61210885e-01 2.75631699e-01 1.00399431e-02 1.86863035e+02] [-2.75616941e-01 9.61263318e-01 -2.85233286e-03 -2.00745348e+01] [-1.04372224e-02 -2.54850216e-05 9.99945530e-01 9.27280703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters 0.024332574391326727 Centerline is valid? [True, True] Translation: X:186.92, Y:-20.10, Z:0.92 [[ 9.60765928e-01 2.77044467e-01 1.32360854e-02 1.86919884e+02] [-2.77018875e-01 9.60857097e-01 -3.76586984e-03 -2.01009952e+01] [-1.37613000e-02 -4.85260693e-05 9.99905308e-01 9.24762354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters 0.024604309087649538 Centerline is valid? [True, True] Translation: X:186.98, Y:-20.13, Z:0.93 [[ 9.59029351e-01 2.83010603e-01 1.29499975e-02 1.86977248e+02] [-2.82986560e-01 9.59116772e-01 -3.69104629e-03 -2.01250597e+01] [-1.34651650e-02 -1.24853513e-04 9.99909333e-01 9.27206097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters 0.02477414211206777 Centerline is valid? [True, True] Translation: X:187.04, Y:-20.15, Z:0.93 [[ 9.57913055e-01 2.86867116e-01 1.04803123e-02 1.87037026e+02] [-2.86851524e-01 9.57970375e-01 -2.99405452e-03 -2.01453898e+01] [-1.08987245e-02 -1.38249651e-04 9.99940598e-01 9.29211422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters 0.025235346410848288 Centerline is valid? [True, True] Translation: X:187.10, Y:-20.16, Z:0.93 [[ 9.56638349e-01 2.91000487e-01 1.27195384e-02 1.87096056e+02] [-2.90977813e-01 9.56722880e-01 -3.63922373e-03 -2.01649801e+01] [-1.32280893e-02 -2.19682498e-04 9.99912481e-01 9.30107212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters 0.025777797160753273 Centerline is valid? [True, True] Translation: X:187.16, Y:-20.18, Z:0.93 [[ 9.55229114e-01 2.95633248e-01 1.17610604e-02 1.87156830e+02] [-2.95614142e-01 9.55301479e-01 -3.37085624e-03 -2.01788403e+01] [-1.22318956e-02 -2.56795764e-04 9.99925155e-01 9.26598107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters 0.026056104250763913 Centerline is valid? [True, True] Translation: X:187.22, Y:-20.19, Z:0.93 [[ 9.54171208e-01 2.99039965e-01 1.15067516e-02 1.87218340e+02] [-2.99021856e-01 9.54240544e-01 -3.30359616e-03 -2.01894715e+01] [-1.19681161e-02 -2.88573872e-04 9.99928338e-01 9.27858337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters 0.02593286166137539 Centerline is valid? [True, True] Translation: X:187.28, Y:-20.20, Z:0.93 [[ 9.54693717e-01 2.97368377e-01 1.14871452e-02 1.87279690e+02] [-2.97350141e-01 9.54762787e-01 -3.30356669e-03 -2.02009077e+01] [-1.19498750e-02 -2.61809876e-04 9.99928563e-01 9.28623911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters 0.025987789226884536 Centerline is valid? [True, True] Translation: X:187.34, Y:-20.21, Z:0.93 [[ 9.54188959e-01 2.98979364e-01 1.16090965e-02 1.87342372e+02] [-2.98960791e-01 9.54259536e-01 -3.34426363e-03 -2.02083117e+01] [-1.20779568e-02 -2.79605234e-04 9.99927020e-01 9.27303614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters 0.026053436133113585 Centerline is valid? [True, True] Translation: X:187.41, Y:-20.21, Z:0.93 [[ 9.53584210e-01 3.01029204e-01 7.65333002e-03 1.87405390e+02] [-3.01021161e-01 9.53614901e-01 -2.20927040e-03 -2.02144186e+01] [-7.96338446e-03 -1.97088916e-04 9.99968272e-01 9.27331178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters 0.025862321774695593 Centerline is valid? [True, True] Translation: X:187.47, Y:-20.22, Z:0.93 [[ 9.53818032e-01 3.00283119e-01 7.82374232e-03 1.87467003e+02] [-3.00274658e-01 9.53850099e-01 -2.26223903e-03 -2.02242035e+01] [-8.14198958e-03 -1.91507172e-04 9.99966835e-01 9.30242323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters 0.02541737879177641 Centerline is valid? [True, True] Translation: X:187.53, Y:-20.23, Z:0.93 [[ 9.54601884e-01 2.97594079e-01 1.31532033e-02 1.87530912e+02] [-2.97569825e-01 9.54692457e-01 -3.80949562e-03 -2.02309102e+01] [-1.36909473e-02 -2.77444706e-04 9.99906236e-01 9.31066775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters 0.025099181716657874 Centerline is valid? [True, True] Translation: X:187.59, Y:-20.24, Z:0.93 [[ 9.55146959e-01 2.95989817e-01 9.18232096e-03 1.87594782e+02] [-2.95977917e-01 9.55191079e-01 -2.66001518e-03 -2.02358102e+01] [-9.55820847e-03 -1.77058819e-04 9.99954304e-01 9.32300836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters 0.024293335020226767 Centerline is valid? [True, True] Translation: X:187.66, Y:-20.25, Z:0.93 [[ 9.57217861e-01 2.89171112e-01 1.06787160e-02 1.87655224e+02] [-2.89154516e-01 9.57277417e-01 -3.10034329e-03 -2.02492628e+01] [-1.11190234e-02 -1.20094979e-04 9.99938175e-01 9.34432126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters 0.024490716728606986 Centerline is valid? [True, True] Translation: X:187.71, Y:-20.27, Z:0.93 [[ 9.58608072e-01 2.84314879e-01 1.53497545e-02 1.87714076e+02] [-2.84279854e-01 9.58730954e-01 -4.46339065e-03 -2.02683449e+01] [-1.59852931e-02 -8.49836539e-05 9.99872223e-01 9.33509112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters 0.02427342680861158 Centerline is valid? [True, True] Translation: X:187.77, Y:-20.28, Z:0.93 [[ 9.59762803e-01 2.80595812e-01 1.10159656e-02 1.87774444e+02] [-2.80577515e-01 9.59826021e-01 -3.20435714e-03 -2.02849691e+01] [-1.14725396e-02 -1.54094662e-05 9.99934188e-01 9.32877625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters 0.024008650601807097 Centerline is valid? [True, True] Translation: X:187.83, Y:-20.31, Z:0.94 [[ 9.59121364e-01 2.82905877e-01 7.10444808e-03 1.87832128e+02] [-2.82898289e-01 9.59147676e-01 -2.07216592e-03 -2.03096605e+01] [-7.40044279e-03 -2.23775993e-05 9.99972616e-01 9.35446797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters 0.024817668718865142 Centerline is valid? [True, True] Translation: X:187.89, Y:-20.33, Z:0.93 [[ 9.56062059e-01 2.92880115e-01 1.29064938e-02 1.87890079e+02] [-2.92856003e-01 9.56149154e-01 -3.76254068e-03 -2.03331019e+01] [-1.34425065e-02 -1.82521792e-04 9.99909629e-01 9.34405761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters 0.02622635364240039 Centerline is valid? [True, True] Translation: X:187.95, Y:-20.36, Z:0.94 [[ 9.52243894e-01 3.05177697e-01 9.90651235e-03 1.87947682e+02] [-3.05164138e-01 9.52295385e-01 -2.88952383e-03 -2.03571849e+01] [-1.03157442e-02 -2.71580872e-04 9.99946754e-01 9.38232583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters 0.027027115251439554 Centerline is valid? [True, True] Translation: X:188.01, Y:-20.37, Z:0.94 [[ 9.50479676e-01 3.10615569e-01 1.03128355e-02 1.88008224e+02] [-3.10601129e-01 9.50535562e-01 -3.01413746e-03 -2.03694403e+01] [-1.07389549e-02 -3.38301934e-04 9.99942279e-01 9.37805929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters 0.02744548701729989 Centerline is valid? [True, True] Translation: X:188.07, Y:-20.38, Z:0.94 [[ 9.49438914e-01 3.13731974e-01 1.17472476e-02 1.88068992e+02] [-3.13713408e-01 9.49511491e-01 -3.43886118e-03 -2.03842177e+01] [-1.22330273e-02 -4.20280453e-04 9.99925085e-01 9.36965043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters 0.028180146783502343 Centerline is valid? [True, True] Translation: X:188.13, Y:-20.40, Z:0.94 [[ 9.48297174e-01 3.17137636e-01 1.24976003e-02 1.88128556e+02] [-3.17116918e-01 9.48379395e-01 -3.65843745e-03 -2.04014393e+01] [-1.30126948e-02 -4.93914586e-04 9.99915209e-01 9.37087762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters 0.03060964542675294 Centerline is valid? [True, True] Translation: X:188.19, Y:-20.41, Z:0.94 [[ 9.44404364e-01 3.28522256e-01 1.31728803e-02 1.88189819e+02] [-3.28500344e-01 9.44495980e-01 -3.85578977e-03 -2.04077829e+01] [-1.37084453e-02 -6.85871032e-04 9.99905800e-01 9.40142764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters 0.03118656963812864 Centerline is valid? [True, True] Translation: X:188.25, Y:-20.42, Z:0.94 [[ 9.43425789e-01 3.31335088e-01 1.28389735e-02 1.88252013e+02] [-3.31314424e-01 9.43512887e-01 -3.76614283e-03 -2.04166044e+01] [-1.33615922e-02 -7.00660842e-04 9.99910484e-01 9.38041780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters 0.02995001944222824 Centerline is valid? [True, True] Translation: X:188.31, Y:-20.42, Z:0.94 [[ 9.45143529e-01 3.26507752e-01 9.81825126e-03 1.88314587e+02] [-3.26495426e-01 9.45194399e-01 -2.87834052e-03 -2.04177203e+01] [-1.02199566e-02 -4.85169210e-04 9.99947657e-01 9.38455709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters 0.029440328493438927 Centerline is valid? [True, True] Translation: X:188.38, Y:-20.43, Z:0.94 [[ 9.45608029e-01 3.25200645e-01 8.36641105e-03 1.88375602e+02] [-3.25191589e-01 9.45644957e-01 -2.45891851e-03 -2.04307071e+01] [-8.71129630e-03 -3.95513420e-04 9.99961978e-01 9.38278922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters 0.028482665908439644 Centerline is valid? [True, True] Translation: X:188.44, Y:-20.44, Z:0.94 [[ 9.46838965e-01 3.21479102e-01 1.21310226e-02 1.88437502e+02] [-3.21459697e-01 9.46916531e-01 -3.57014164e-03 -2.04416018e+01] [-1.26347918e-02 -5.19285637e-04 9.99920043e-01 9.37914087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters 0.027472824203123303 Centerline is valid? [True, True] Translation: X:188.50, Y:-20.44, Z:0.94 [[ 9.48508694e-01 3.16473260e-01 1.32639758e-02 1.88500514e+02] [-3.16449589e-01 9.48601302e-01 -3.90231506e-03 -2.04446297e+01] [-1.38172031e-02 -4.95999920e-04 9.99904415e-01 9.37678999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters 0.0268328517427545 Centerline is valid? [True, True] Translation: X:188.56, Y:-20.45, Z:0.94 [[ 9.50029766e-01 3.11859576e-01 1.36765657e-02 1.88562842e+02] [-3.11833908e-01 9.50128102e-01 -4.02533088e-03 -2.04518881e+01] [-1.42498274e-02 -4.40632754e-04 9.99898369e-01 9.36671616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters 0.02586998149373629 Centerline is valid? [True, True] Translation: X:188.62, Y:-20.46, Z:0.94 [[ 9.52225193e-01 3.05110981e-01 1.32087766e-02 1.88624779e+02] [-3.05086358e-01 9.52316745e-01 -3.88990172e-03 -2.04597597e+01] [-1.37657909e-02 -3.25755137e-04 9.99905194e-01 9.38341891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters 0.02538079216980341 Centerline is valid? [True, True] Translation: X:188.69, Y:-20.47, Z:0.94 [[ 9.54125817e-01 2.98996537e-01 1.56523706e-02 1.88686046e+02] [-2.98961101e-01 9.54254155e-01 -4.61163788e-03 -2.04721126e+01] [-1.63152034e-02 -2.79367179e-04 9.99866859e-01 9.37249261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters 0.02504088846471177 Centerline is valid? [True, True] Translation: X:188.75, Y:-20.48, Z:0.94 [[ 9.54526399e-01 2.97893524e-01 1.17814631e-02 1.88749184e+02] [-2.97873341e-01 9.54599084e-01 -3.47305374e-03 -2.04775930e+01] [-1.22811741e-02 -1.94262300e-04 9.99924565e-01 9.40238921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters 0.025144665949563702 Centerline is valid? [True, True] Translation: X:188.81, Y:-20.49, Z:0.94 [[ 9.53873117e-01 2.99979527e-01 1.17626744e-02 1.88810866e+02] [-2.99959546e-01 9.53945615e-01 -3.46921820e-03 -2.04890672e+01] [-1.22616461e-02 -2.19132500e-04 9.99924799e-01 9.40628874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters 0.02530191498354285 Centerline is valid? [True, True] Translation: X:188.87, Y:-20.50, Z:0.94 [[ 9.54179038e-01 2.98888134e-01 1.44307622e-02 1.88872358e+02] [-2.98857906e-01 9.54288122e-01 -4.25809966e-03 -2.05009835e+01] [-1.50438004e-02 -2.49757922e-04 9.99886804e-01 9.39828298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters 0.0249407547692635 Centerline is valid? [True, True] Translation: X:188.93, Y:-20.51, Z:0.94 [[ 9.55505117e-01 2.94787288e-01 1.05084409e-02 1.88933833e+02] [-2.94771004e-01 9.55562890e-01 -3.10133455e-03 -2.05082536e+01] [-1.09557102e-02 -1.34242639e-04 9.99939975e-01 9.37399799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters 0.024801352266011236 Centerline is valid? [True, True] Translation: X:188.99, Y:-20.53, Z:0.94 [[ 9.57003032e-01 2.89746238e-01 1.38677054e-02 1.88991437e+02] [-2.89717356e-01 9.57103499e-01 -4.09228367e-03 -2.05251126e+01] [-1.44585532e-02 -1.01387054e-04 9.99895465e-01 9.38811794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters 0.02465635508590886 Centerline is valid? [True, True] Translation: X:189.05, Y:-20.54, Z:0.94 [[ 9.57936827e-01 2.86669924e-01 1.33187896e-02 1.89051910e+02] [-2.86642985e-01 9.58029411e-01 -3.93030165e-03 -2.05352775e+01] [-1.38864915e-02 -5.27569251e-05 9.99903577e-01 9.40528255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters 0.024697038310511853 Centerline is valid? [True, True] Translation: X:189.11, Y:-20.55, Z:0.94 [[ 9.58430876e-01 2.85001059e-01 1.35887137e-02 1.89110548e+02] [-2.84972849e-01 9.58527201e-01 -4.00995475e-03 -2.05519022e+01] [-1.41679930e-02 -2.91500138e-05 9.99899629e-01 9.40912330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters 0.024767382069046173 Centerline is valid? [True, True] Translation: X:189.17, Y:-20.57, Z:0.94 [[ 9.60287646e-01 2.78636405e-01 1.44703512e-02 1.89167907e+02] [-2.78603702e-01 9.60396662e-01 -4.26943175e-03 -2.05695755e+01] [-1.50868962e-02 6.83891306e-05 9.99886184e-01 9.40944511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters 0.025020076400275242 Centerline is valid? [True, True] Translation: X:189.23, Y:-20.59, Z:0.94 [[ 9.61194801e-01 2.75469390e-01 1.48717792e-02 1.89225562e+02] [-2.75434443e-01 9.61309836e-01 -4.38944636e-03 -2.05911001e+01] [-1.55055457e-02 1.22912797e-04 9.99879774e-01 9.43005224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters 0.02479406949803511 Centerline is valid? [True, True] Translation: X:189.28, Y:-20.61, Z:0.94 [[ 9.60669736e-01 2.77417273e-01 1.23820898e-02 1.89284352e+02] [-2.77393198e-01 9.60749526e-01 -3.65554310e-03 -2.06098751e+01] [-1.29101977e-02 7.70621499e-05 9.99916657e-01 9.43119872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters 0.024755377330099207 Centerline is valid? [True, True] Translation: X:189.34, Y:-20.63, Z:0.94 [[ 9.59177513e-01 2.82554825e-01 1.18856385e-02 1.89341520e+02] [-2.82533025e-01 9.59251151e-01 -3.50983526e-03 -2.06339312e+01] [-1.23930333e-02 8.46966565e-06 9.99923203e-01 9.39694045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters 0.024811100593339287 Centerline is valid? [True, True] Translation: X:189.40, Y:-20.65, Z:0.94 [[ 9.58995446e-01 2.83068595e-01 1.41387618e-02 1.89399401e+02] [-2.83037787e-01 9.59099667e-01 -4.17614089e-03 -2.06543962e+01] [-1.47426161e-02 3.09624267e-06 9.99891322e-01 9.39570371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters 0.024724498768613903 Centerline is valid? [True, True] Translation: X:189.46, Y:-20.68, Z:0.94 [[ 9.58252330e-01 2.85652919e-01 1.24451676e-02 1.89457494e+02] [-2.85629240e-01 9.58333141e-01 -3.67810416e-03 -2.06766613e+01] [-1.29772778e-02 -3.01518914e-05 9.99915791e-01 9.40240375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters 0.024934663494583526 Centerline is valid? [True, True] Translation: X:189.52, Y:-20.70, Z:0.94 [[ 9.57747726e-01 2.87336720e-01 1.25260724e-02 1.89515275e+02] [-2.87312860e-01 9.57829633e-01 -3.70321453e-03 -2.06988260e+01] [-1.30619129e-02 -5.21564100e-05 9.99914688e-01 9.36636058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters 0.025170389077948677 Centerline is valid? [True, True] Translation: X:189.57, Y:-20.72, Z:0.94 [[ 9.55920488e-01 2.93269894e-01 1.44495313e-02 1.89573343e+02] [-2.93238788e-01 9.56029678e-01 -4.27403745e-03 -2.07223953e+01] [-1.50676272e-02 -1.51523057e-04 9.99886465e-01 9.38620013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters 0.02594849367292569 Centerline is valid? [True, True] Translation: X:189.63, Y:-20.74, Z:0.94 [[ 9.52170852e-01 3.05222346e-01 1.44909449e-02 1.89631924e+02] [-3.05192383e-01 9.52281054e-01 -4.28997587e-03 -2.07422365e+01] [-1.51088488e-02 -3.37736016e-04 9.99885798e-01 9.41604464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters 0.02614247555671866 Centerline is valid? [True, True] Translation: X:189.69, Y:-20.76, Z:0.94 [[ 9.51651821e-01 3.06845410e-01 1.43075108e-02 1.89691898e+02] [-3.06816359e-01 9.51759301e-01 -4.23736880e-03 -2.07571953e+01] [-1.49175237e-02 -3.57278652e-04 9.99888664e-01 9.42065652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters 0.02633769376574212 Centerline is valid? [True, True] Translation: X:189.75, Y:-20.78, Z:0.94 [[ 9.51433563e-01 3.07488519e-01 1.49995451e-02 1.89751326e+02] [-3.07456636e-01 9.51551714e-01 -4.44447752e-03 -2.07754985e+01] [-1.56394686e-02 -3.83084581e-04 9.99877623e-01 9.40371178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters 0.02613725285179415 Centerline is valid? [True, True] Translation: X:189.81, Y:-20.78, Z:0.94 [[ 9.52010838e-01 3.05838280e-01 1.17605902e-02 1.89813898e+02] [-3.05818531e-01 9.52083436e-01 -3.48660850e-03 -2.07825468e+01] [-1.22634015e-02 -2.77317347e-04 9.99924763e-01 9.42418785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters 0.025920741452356184 Centerline is valid? [True, True] Translation: X:189.87, Y:-20.80, Z:0.94 [[ 9.52449734e-01 3.04516693e-01 1.04444927e-02 1.89873248e+02] [-3.04501020e-01 9.52506972e-01 -3.09804358e-03 -2.08024101e+01] [-1.08918581e-02 -2.29627905e-04 9.99940656e-01 9.40758358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters 0.02590113879030088 Centerline is valid? [True, True] Translation: X:189.93, Y:-20.81, Z:0.94 [[ 9.52963985e-01 3.02779757e-01 1.35669621e-02 1.89933924e+02] [-3.02753130e-01 9.53060515e-01 -4.02465382e-03 -2.08128825e+01] [-1.41487195e-02 -2.72090078e-04 9.99899865e-01 9.41183006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters 0.026021067969672743 Centerline is valid? [True, True] Translation: X:189.99, Y:-20.83, Z:0.94 [[ 9.52600495e-01 3.03951172e-01 1.28833868e-02 1.89993884e+02] [-3.03927237e-01 9.52687573e-01 -3.82411928e-03 -2.08280314e+01] [-1.34361880e-02 -2.72754220e-04 9.99909693e-01 9.41239696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters 0.02633126748863274 Centerline is valid? [True, True] Translation: X:190.05, Y:-20.84, Z:0.94 [[ 9.52080688e-01 3.05641529e-01 1.12080153e-02 1.90054026e+02] [-3.05623525e-01 9.52146622e-01 -3.32737556e-03 -2.08400623e+01] [-1.16886581e-02 -2.57503135e-04 9.99931652e-01 9.40026610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters 0.02625256351541641 Centerline is valid? [True, True] Translation: X:190.11, Y:-20.85, Z:0.94 [[ 9.52715789e-01 3.03657691e-01 1.11638898e-02 1.90113078e+02] [-3.03639697e-01 9.52781167e-01 -3.31392709e-03 -2.08549649e+01] [-1.16430434e-02 -2.32569446e-04 9.99932190e-01 9.43247861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters 0.025906013506755952 Centerline is valid? [True, True] Translation: X:190.17, Y:-20.87, Z:0.94 [[ 9.54093099e-01 2.99196993e-01 1.36937001e-02 1.90171661e+02] [-2.99169595e-01 9.54191337e-01 -4.05533037e-03 -2.08656101e+01] [-1.42797527e-02 -2.27575997e-04 9.99898013e-01 9.43584846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters 0.026009797002151003 Centerline is valid? [True, True] Translation: X:190.23, Y:-20.87, Z:0.94 [[ 9.54347562e-01 2.98479710e-01 1.14277250e-02 1.90230211e+02] [-2.98460652e-01 9.54415962e-01 -3.37810566e-03 -2.08741319e+01] [-1.19150992e-02 -1.86839367e-04 9.99928995e-01 9.40445094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters 0.02593733375913582 Centerline is valid? [True, True] Translation: X:190.29, Y:-20.89, Z:0.94 [[ 9.54381114e-01 2.98332629e-01 1.24230488e-02 1.90287481e+02] [-2.98310172e-01 9.54461943e-01 -3.66626002e-03 -2.08880569e+01] [-1.29510923e-02 -2.06912505e-04 9.99916110e-01 9.40947102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters 0.025841064393461396 Centerline is valid? [True, True] Translation: X:190.34, Y:-20.91, Z:0.94 [[ 9.54630178e-01 2.97612465e-01 1.03944258e-02 1.90343214e+02] [-2.97596763e-01 9.54686750e-01 -3.06193892e-03 -2.09067345e+01] [-1.08346918e-02 -1.70328172e-04 9.99941288e-01 9.42782812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters 0.025926109019647155 Centerline is valid? [True, True] Translation: X:190.40, Y:-20.92, Z:0.94 [[ 9.55206475e-01 2.95620450e-01 1.37528248e-02 1.90401396e+02] [-2.95592843e-01 9.55305453e-01 -4.04504141e-03 -2.09169275e+01] [-1.43339455e-02 -2.01386822e-04 9.99897243e-01 9.41776097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters 0.02607344382681709 Centerline is valid? [True, True] Translation: X:190.46, Y:-20.93, Z:0.94 [[ 9.54865303e-01 2.96660980e-01 1.49838728e-02 1.90460042e+02] [-2.96628451e-01 9.54982829e-01 -4.39980526e-03 -2.09261547e+01] [-1.56145918e-02 -2.43421612e-04 9.99878055e-01 9.43125925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters 0.025922241228016108 Centerline is valid? [True, True] Translation: X:190.52, Y:-20.94, Z:0.94 [[ 9.55022417e-01 2.96281550e-01 1.22239845e-02 1.90517156e+02] [-2.96259955e-01 9.55100625e-01 -3.58276233e-03 -2.09412436e+01] [-1.27366416e-02 -1.99858755e-04 9.99918866e-01 9.44403599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters 0.025731861864408703 Centerline is valid? [True, True] Translation: X:190.58, Y:-20.95, Z:0.94 [[ 9.56513905e-01 2.91354467e-01 1.39184725e-02 1.90575186e+02] [-2.91326044e-01 9.56615152e-01 -4.07267829e-03 -2.09508521e+01] [-1.45012147e-02 -1.59240120e-04 9.99894839e-01 9.44021358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters 0.02522044177073694 Centerline is valid? [True, True] Translation: X:190.63, Y:-20.97, Z:0.95 [[ 9.57710614e-01 2.87376935e-01 1.43134921e-02 1.90631533e+02] [-2.87346537e-01 9.57817564e-01 -4.18115968e-03 -2.09667465e+01] [-1.49112830e-02 -1.08591401e-04 9.99888815e-01 9.47681614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters 0.025226226431846393 Centerline is valid? [True, True] Translation: X:190.69, Y:-20.98, Z:0.95 [[ 9.58853951e-01 2.83640366e-01 1.21344131e-02 1.90689206e+02] [-2.83618302e-01 9.58930727e-01 -3.53813908e-03 -2.09804023e+01] [-1.26396207e-02 -4.89830229e-05 9.99920116e-01 9.47135100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters 0.025327139056957836 Centerline is valid? [True, True] Translation: X:190.75, Y:-21.00, Z:0.94 [[ 9.60284567e-01 2.78617209e-01 1.50333067e-02 1.90745176e+02] [-2.78582735e-01 9.60402234e-01 -4.38284303e-03 -2.09967391e+01] [-1.56591569e-02 2.07568077e-05 9.99877388e-01 9.43202886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters 0.02546883149620542 Centerline is valid? [True, True] Translation: X:190.80, Y:-21.02, Z:0.94 [[ 9.61491074e-01 2.74427033e-01 1.49905912e-02 1.90798978e+02] [-2.74392407e-01 9.61607923e-01 -4.36002032e-03 -2.10200373e+01] [-1.56115787e-02 7.88162138e-05 9.99878129e-01 9.44619444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters 0.025402668783314236 Centerline is valid? [True, True] Translation: X:190.86, Y:-21.04, Z:0.95 [[ 9.61179558e-01 2.75614994e-01 1.30473440e-02 1.90855458e+02] [-2.75588960e-01 9.61268107e-01 -3.78842130e-03 -2.10354256e+01] [-1.35861414e-02 4.56491464e-05 9.99907703e-01 9.46780478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters 0.025285994932364497 Centerline is valid? [True, True] Translation: X:190.91, Y:-21.06, Z:0.95 [[ 9.59437923e-01 2.81703660e-01 1.10417290e-02 1.90910466e+02] [-2.81685485e-01 9.59501457e-01 -3.20017671e-03 -2.10553435e+01] [-1.14960565e-02 -3.99238901e-05 9.99933917e-01 9.47436049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters 0.02553874144056684 Centerline is valid? [True, True] Translation: X:190.97, Y:-21.07, Z:0.95 [[ 9.58311172e-01 2.85456829e-01 1.24135168e-02 1.90966623e+02] [-2.85434248e-01 9.58391563e-01 -3.59186216e-03 -2.10713344e+01] [-1.29223314e-02 -1.01121212e-04 9.99916498e-01 9.49049426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters 0.025304633847946727 Centerline is valid? [True, True] Translation: X:191.02, Y:-21.09, Z:0.95 [[ 9.59424038e-01 2.81677278e-01 1.27838652e-02 1.91022675e+02] [-2.81653095e-01 9.59509201e-01 -3.69136888e-03 -2.10876360e+01] [-1.33060110e-02 -5.90271743e-05 9.99911469e-01 9.49928592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters 0.0254017520923712 Centerline is valid? [True, True] Translation: X:191.08, Y:-21.10, Z:0.95 [[ 9.60777194e-01 2.77099243e-01 1.10992162e-02 1.91079402e+02] [-2.77080766e-01 9.60841303e-01 -3.19989437e-03 -2.11049127e+01] [-1.15512737e-02 -9.93792516e-07 9.99933282e-01 9.50720755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters 0.025343976006806313 Centerline is valid? [True, True] Translation: X:191.14, Y:-21.12, Z:0.95 [[ 9.61512826e-01 2.74508829e-01 1.17468634e-02 1.91135155e+02] [-2.74488012e-01 9.61584579e-01 -3.38072879e-03 -2.11221662e+01] [-1.22236426e-02 2.62409141e-05 9.99925288e-01 9.47133578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters 0.02526266906275041 Centerline is valid? [True, True] Translation: X:191.19, Y:-21.14, Z:0.95 [[ 9.62146283e-01 2.72380958e-01 9.11832880e-03 1.91189854e+02] [-2.72368367e-01 9.62189489e-01 -2.61916765e-03 -2.11448657e+01] [-9.48697152e-03 3.64780915e-05 9.99954997e-01 9.49003248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters 0.025305177442659 Centerline is valid? [True, True] Translation: X:191.25, Y:-21.16, Z:0.95 [[ 9.62165390e-01 2.72228462e-01 1.13765829e-02 1.91245654e+02] [-2.72208911e-01 9.62232645e-01 -3.26279043e-03 -2.11646127e+01] [-1.18351439e-02 4.25367725e-05 9.99929961e-01 9.49435334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters 0.025181671494955437 Centerline is valid? [True, True] Translation: X:191.30, Y:-21.18, Z:0.95 [[ 9.61917414e-01 2.73120891e-01 1.09484179e-02 1.91300539e+02] [-2.73102918e-01 9.61979718e-01 -3.13329776e-03 -2.11833920e+01] [-1.13879251e-02 2.39287914e-05 9.99935155e-01 9.49346351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters 0.025021836537806236 Centerline is valid? [True, True] Translation: X:191.35, Y:-21.21, Z:0.95 [[ 9.60290808e-01 2.78783443e-01 1.10161981e-02 1.91353929e+02] [-2.78765692e-01 9.60353992e-01 -3.14638931e-03 -2.12059688e+01] [-1.14566111e-02 -4.94893647e-05 9.99934370e-01 9.53075891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters 0.02523417623494486 Centerline is valid? [True, True] Translation: X:191.41, Y:-21.22, Z:0.95 [[ 9.58993360e-01 2.83136892e-01 1.28543897e-02 1.91409309e+02] [-2.83113111e-01 9.59079500e-01 -3.67149966e-03 -2.12244110e+01] [-1.33679186e-02 -1.18302462e-04 9.99910638e-01 9.53598087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters 0.025695759789527824 Centerline is valid? [True, True] Translation: X:191.47, Y:-21.24, Z:0.95 [[ 9.56108228e-01 2.92775075e-01 1.18242158e-02 1.91466345e+02] [-2.92755692e-01 9.56181312e-01 -3.37687065e-03 -2.12428051e+01] [-1.22947577e-02 -2.32952660e-04 9.99924389e-01 9.52072231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters 0.02608586260913024 Centerline is valid? [True, True] Translation: X:191.52, Y:-21.26, Z:0.95 [[ 9.54815832e-01 2.96836912e-01 1.46483382e-02 1.91524330e+02] [-2.96807784e-01 9.54928121e-01 -4.17406443e-03 -2.12550128e+01] [-1.52271265e-02 -3.62278016e-04 9.99883995e-01 9.54589655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters 0.02665613842967511 Centerline is valid? [True, True] Translation: X:191.58, Y:-21.27, Z:0.96 [[ 9.53126070e-01 3.02084023e-01 1.72028584e-02 1.91582326e+02] [-3.02044693e-01 9.53281160e-01 -4.90246099e-03 -2.12671189e+01] [-1.78801160e-02 -5.23368719e-04 9.99840001e-01 9.56639479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters 0.027146275145078315 Centerline is valid? [True, True] Translation: X:191.64, Y:-21.28, Z:0.95 [[ 9.52313044e-01 3.04781769e-01 1.44200791e-02 1.91640101e+02] [-3.04754582e-01 9.52422088e-01 -4.10022131e-03 -2.12787438e+01] [-1.49836746e-02 -4.89890945e-04 9.99887618e-01 9.52361586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters 0.02734005486088821 Centerline is valid? [True, True] Translation: X:191.70, Y:-21.28, Z:0.95 [[ 9.51761538e-01 3.06654583e-01 1.06273825e-02 1.91698635e+02] [-3.06640010e-01 9.51820789e-01 -3.01483946e-03 -2.12838595e+01] [-1.10398779e-02 -3.89372427e-04 9.99938983e-01 9.53068000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters 0.02767924141570688 Centerline is valid? [True, True] Translation: X:191.76, Y:-21.29, Z:0.96 [[ 9.50574325e-01 3.10326255e-01 1.02989412e-02 1.91758097e+02] [-3.10312784e-01 9.50630023e-01 -2.92165442e-03 -2.12876901e+01] [-1.06971488e-02 -4.18643444e-04 9.99942696e-01 9.59292792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters 0.027273331087833922 Centerline is valid? [True, True] Translation: X:191.82, Y:-21.29, Z:0.96 [[ 9.51705193e-01 3.06736593e-01 1.30341325e-02 1.91817377e+02] [-3.06714784e-01 9.51794319e-01 -3.68982492e-03 -2.12932788e+01] [-1.35376176e-02 -4.86135602e-04 9.99908244e-01 9.55273950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters 0.026401941612245582 Centerline is valid? [True, True] Translation: X:191.88, Y:-21.30, Z:0.96 [[ 9.54465290e-01 2.98060883e-01 1.24788025e-02 1.91878375e+02] [-2.98040129e-01 9.54546798e-01 -3.53429349e-03 -2.12975852e+01] [-1.29650357e-02 -3.45823458e-04 9.99915891e-01 9.55525302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters 0.025452895414153135 Centerline is valid? [True, True] Translation: X:191.94, Y:-21.31, Z:0.96 [[ 9.57169778e-01 2.89306501e-01 1.13033352e-02 1.91938083e+02] [-2.89288872e-01 9.57236494e-01 -3.20037587e-03 -2.13061502e+01] [-1.17458545e-02 -2.06626040e-04 9.99930994e-01 9.58724016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters 0.024993660713872465 Centerline is valid? [True, True] Translation: X:192.00, Y:-21.31, Z:0.96 [[ 9.59823370e-01 2.80353364e-01 1.18781021e-02 1.91996986e+02] [-2.80333309e-01 9.59896859e-01 -3.35508275e-03 -2.13147606e+01] [-1.23423616e-02 -1.09540832e-04 9.99923824e-01 9.55646666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters 0.025048399548946935 Centerline is valid? [True, True] Translation: X:192.05, Y:-21.32, Z:0.95 [[ 9.62656669e-01 2.70350857e-01 1.42320732e-02 1.92054599e+02] [-2.70321087e-01 9.62761868e-01 -4.01200741e-03 -2.13240219e+01] [-1.47867470e-02 1.49561856e-05 9.99890670e-01 9.54811857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters 0.025094150376022303 Centerline is valid? [True, True] Translation: X:192.11, Y:-21.34, Z:0.96 [[ 9.63494235e-01 2.67343109e-01 1.43708622e-02 1.92110999e+02] [-2.67312539e-01 9.63601400e-01 -4.04322828e-03 -2.13385576e+01] [-1.49287122e-02 5.41154761e-05 9.99888559e-01 9.55597205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters 0.025556929229574126 Centerline is valid? [True, True] Translation: X:192.17, Y:-21.36, Z:0.96 [[ 9.65952308e-01 2.58408007e-01 1.27058891e-02 1.92166193e+02] [-2.58383415e-01 9.66035856e-01 -3.56872662e-03 -2.13590577e+01] [-1.31965320e-02 1.64228707e-04 9.99912908e-01 9.55728694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters 0.0256651862588145 Centerline is valid? [True, True] Translation: X:192.22, Y:-21.38, Z:0.96 [[ 9.66624257e-01 2.55941182e-01 1.14741482e-02 1.92221331e+02] [-2.55921035e-01 9.66692341e-01 -3.21596283e-03 -2.13781675e+01] [-1.19150685e-02 1.72151796e-04 9.99928998e-01 9.57869161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters 0.02478121983718305 Centerline is valid? [True, True] Translation: X:192.28, Y:-21.40, Z:0.96 [[ 9.64917061e-01 2.62354472e-01 1.02564790e-02 1.92276933e+02] [-2.62338788e-01 9.64971567e-01 -2.86981009e-03 -2.13972212e+01] [-1.06501181e-02 7.84564640e-05 9.99943283e-01 9.58073708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters 0.024580691883606683 Centerline is valid? [True, True] Translation: X:192.33, Y:-21.42, Z:0.96 [[ 9.63020796e-01 2.69266007e-01 9.31472897e-03 1.92331565e+02] [-2.69253439e-01 9.63065843e-01 -2.60153045e-03 -2.14209675e+01] [-9.67120103e-03 -2.69489247e-06 9.99953233e-01 9.57953891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters 0.02477793877607805 Centerline is valid? [True, True] Translation: X:192.39, Y:-21.43, Z:0.96 [[ 9.61994115e-01 2.72850522e-01 1.09506060e-02 1.92388779e+02] [-2.72833442e-01 9.62056438e-01 -3.05332004e-03 -2.14333926e+01] [-1.13682009e-02 -5.04156030e-05 9.99935379e-01 9.58187137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters 0.02490061488935979 Centerline is valid? [True, True] Translation: X:192.45, Y:-21.44, Z:0.96 [[ 9.60465933e-01 2.78154554e-01 1.16290886e-02 1.92446262e+02] [-2.78135747e-01 9.60536323e-01 -3.23694168e-03 -2.14449042e+01] [-1.20705320e-02 -1.25493029e-04 9.99927141e-01 9.57865704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters 0.024941956651559263 Centerline is valid? [True, True] Translation: X:192.50, Y:-21.46, Z:0.96 [[ 9.60158863e-01 2.79260817e-01 1.04092765e-02 1.92502529e+02] [-2.79245885e-01 9.60215277e-01 -2.89078083e-03 -2.14587986e+01] [-1.08024282e-02 -1.31138804e-04 9.99941643e-01 9.58865094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters 0.024817089666148606 Centerline is valid? [True, True] Translation: X:192.56, Y:-21.47, Z:0.96 [[ 9.61121380e-01 2.75896142e-01 1.12699409e-02 1.92558881e+02] [-2.75878478e-01 9.61187447e-01 -3.12375319e-03 -2.14726283e+01] [-1.16943572e-02 -1.06828164e-04 9.99931613e-01 9.59481656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters 0.024783841579033777 Centerline is valid? [True, True] Translation: X:192.62, Y:-21.48, Z:0.96 [[ 9.62411431e-01 2.71220553e-01 1.42705826e-02 1.92617918e+02] [-2.71191805e-01 9.62517224e-01 -3.94943994e-03 -2.14782220e+01] [-1.48068508e-02 -6.90789055e-05 9.99890370e-01 9.59310189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters 0.02455194825179825 Centerline is valid? [True, True] Translation: X:192.67, Y:-21.49, Z:0.96 [[ 9.63282466e-01 2.68231206e-01 1.17860246e-02 1.92674685e+02] [-2.68211448e-01 9.63354566e-01 -3.25568589e-03 -2.14949108e+01] [-1.22273972e-02 -2.50015934e-05 9.99925242e-01 9.61504727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters 0.024572997335062293 Centerline is valid? [True, True] Translation: X:192.73, Y:-21.51, Z:0.96 [[ 9.64538017e-01 2.63758024e-01 9.90552218e-03 1.92732872e+02] [-2.63743885e-01 9.64588879e-01 -2.73100517e-03 -2.15056739e+01] [-1.02750811e-02 2.16374053e-05 9.99947210e-01 9.60756584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters 0.024716415276435533 Centerline is valid? [True, True] Translation: X:192.79, Y:-21.52, Z:0.96 [[ 9.65686191e-01 2.59556994e-01 8.96366809e-03 1.92789493e+02] [-2.59545287e-01 9.65727790e-01 -2.46580768e-03 -2.15167173e+01] [-9.29648100e-03 5.47186199e-05 9.99956785e-01 9.60124276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters 0.02501780628524897 Centerline is valid? [True, True] Translation: X:192.85, Y:-21.54, Z:0.96 [[ 9.66332710e-01 2.57132134e-01 9.17378552e-03 1.92845475e+02] [-2.57119801e-01 9.66376252e-01 -2.51961986e-03 -2.15353542e+01] [-9.51320370e-03 7.60291876e-05 9.99954746e-01 9.59975281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters 0.025015053829577572 Centerline is valid? [True, True] Translation: X:192.90, Y:-21.55, Z:0.96 [[ 9.66501533e-01 2.56450912e-01 1.03786840e-02 1.92903189e+02] [-2.56435136e-01 9.66557252e-01 -2.84592354e-03 -2.15484086e+01] [-1.07614320e-02 8.91302218e-05 9.99942090e-01 9.60229076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters 0.024904793133348698 Centerline is valid? [True, True] Translation: X:192.96, Y:-21.56, Z:0.96 [[ 9.66919322e-01 2.54896951e-01 9.72463727e-03 1.92959977e+02] [-2.54883080e-01 9.66968218e-01 -2.66084003e-03 -2.15614729e+01] [-1.00816552e-02 9.41721365e-05 9.99949174e-01 9.62627295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters 0.02545501610001163 Centerline is valid? [True, True] Translation: X:193.02, Y:-21.58, Z:0.96 [[ 9.68588160e-01 2.48577059e-01 6.81343415e-03 1.93016380e+02] [-2.48570120e-01 9.68612117e-01 -1.86056990e-03 -2.15784131e+01] [-7.06206987e-03 1.08509829e-04 9.99975057e-01 9.62976677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters 0.026749958703113065 Centerline is valid? [True, True] Translation: X:193.07, Y:-21.60, Z:0.96 [[ 9.70508032e-01 2.40844662e-01 1.03927704e-02 1.93073246e+02] [-2.40828045e-01 9.70563643e-01 -2.84050314e-03 -2.15957580e+01] [-1.07709651e-02 2.53860534e-04 9.99941959e-01 9.63630214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters 0.026823458117389797 Centerline is valid? [True, True] Translation: X:193.13, Y:-21.62, Z:0.96 [[ 9.71051129e-01 2.38785861e-01 6.40449957e-03 1.93127479e+02] [-2.38779544e-01 9.71072235e-01 -1.74466773e-03 -2.16152189e+01] [-6.63583370e-03 1.64898079e-04 9.99977969e-01 9.62765055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters 0.026518434207365108 Centerline is valid? [True, True] Translation: X:193.18, Y:-21.63, Z:0.96 [[ 9.70628009e-01 2.40494390e-01 6.61178833e-03 1.93182899e+02] [-2.40487715e-01 9.70650516e-01 -1.79847306e-03 -2.16348906e+01] [-6.85025844e-03 1.55594458e-04 9.99976525e-01 9.62718026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters 0.02617765162513569 Centerline is valid? [True, True] Translation: X:193.24, Y:-21.66, Z:0.96 [[ 9.70234211e-01 2.42059965e-01 7.24913747e-03 1.93237792e+02] [-2.42052009e-01 9.70261279e-01 -1.96869827e-03 -2.16555945e+01] [-7.51010043e-03 1.55430122e-04 9.99971787e-01 9.62972182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters 0.026033908541757644 Centerline is valid? [True, True] Translation: X:193.29, Y:-21.67, Z:0.96 [[ 9.70306299e-01 2.41788518e-01 6.63320042e-03 1.93292845e+02] [-2.41781878e-01 9.70328961e-01 -1.79736502e-03 -2.16747027e+01] [-6.87096870e-03 1.40206946e-04 9.99976385e-01 9.61681723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters 0.02553790432328532 Centerline is valid? [True, True] Translation: X:193.35, Y:-21.70, Z:0.96 [[ 9.69348558e-01 2.45462855e-01 1.05526953e-02 1.93347713e+02] [-2.45446301e-01 9.69405980e-01 -2.85630768e-03 -2.16958092e+01] [-1.09309634e-02 1.78637698e-04 9.99940239e-01 9.64561923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters 0.024964468206756078 Centerline is valid? [True, True] Translation: X:193.40, Y:-21.72, Z:0.96 [[ 9.67628598e-01 2.52153194e-01 1.06612609e-02 1.93403454e+02] [-2.52136759e-01 9.67687324e-01 -2.88065024e-03 -2.17159863e+01] [-1.10431322e-02 9.93037840e-05 9.99939018e-01 9.63864639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters 0.024781978320847324 Centerline is valid? [True, True] Translation: X:193.46, Y:-21.73, Z:0.96 [[ 9.66915783e-01 2.54869411e-01 1.07448622e-02 1.93459770e+02] [-2.54852942e-01 9.66975480e-01 -2.89805185e-03 -2.17327311e+01] [-1.11286431e-02 6.38123221e-05 9.99938073e-01 9.63667066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters 0.024538704390613945 Centerline is valid? [True, True] Translation: X:193.51, Y:-21.76, Z:0.97 [[ 9.66996778e-01 2.54614978e-01 9.40451448e-03 1.93513530e+02] [-2.54602397e-01 9.67042507e-01 -2.53174070e-03 -2.17583576e+01] [-9.73918436e-03 5.37731690e-05 9.99952572e-01 9.65455019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters 0.02443724789054364 Centerline is valid? [True, True] Translation: X:193.57, Y:-21.78, Z:0.97 [[ 9.66518538e-01 2.56381166e-01 1.05172390e-02 1.93568533e+02] [-2.56365601e-01 9.66575758e-01 -2.82526329e-03 -2.17770541e+01] [-1.08900526e-02 3.44110370e-05 9.99940701e-01 9.66491078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters 0.02463735743363522 Centerline is valid? [True, True] Translation: X:193.62, Y:-21.79, Z:0.96 [[ 9.64931321e-01 2.62055520e-01 1.53117962e-02 1.93624214e+02] [-2.62023233e-01 9.65052798e-01 -4.11368334e-03 -2.17949226e+01] [-1.58547051e-02 -4.26244434e-05 9.99874305e-01 9.64864096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters 0.024795737491664797 Centerline is valid? [True, True] Translation: X:193.68, Y:-21.82, Z:0.96 [[ 9.63701776e-01 2.66594012e-01 1.43707997e-02 1.93678205e+02] [-2.66566225e-01 9.63808912e-01 -3.85091035e-03 -2.18181007e+01] [-1.48773344e-02 -1.19640665e-04 9.99889319e-01 9.63040067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters 0.024686296066290303 Centerline is valid? [True, True] Translation: X:193.74, Y:-21.83, Z:0.96 [[ 9.63425833e-01 2.67684906e-01 1.24681913e-02 1.93735059e+02] [-2.67664161e-01 9.63506500e-01 -3.33485956e-03 -2.18344466e+01] [-1.29058749e-02 -1.24398114e-04 9.99916708e-01 9.63867994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters 0.0246602369477334 Centerline is valid? [True, True] Translation: X:193.79, Y:-21.84, Z:0.97 [[ 9.62875835e-01 2.69630338e-01 1.30233394e-02 1.93792700e+02] [-2.69607967e-01 9.62963890e-01 -3.47709980e-03 -2.18448253e+01] [-1.34785371e-02 -1.63180677e-04 9.99909147e-01 9.68818929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters 0.024781090156131537 Centerline is valid? [True, True] Translation: X:193.85, Y:-21.86, Z:0.97 [[ 9.62375980e-01 2.71409897e-01 1.30053796e-02 1.93849280e+02] [-2.71387838e-01 9.62463833e-01 -3.46578028e-03 -2.18607766e+01] [-1.34578546e-02 -1.94118165e-04 9.99909420e-01 9.66619595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters 0.024847788147152754 Centerline is valid? [True, True] Translation: X:193.91, Y:-21.88, Z:0.97 [[ 9.62534781e-01 2.70833858e-01 1.32595621e-02 1.93905197e+02] [-2.70810979e-01 9.62626087e-01 -3.52577682e-03 -2.18773353e+01] [-1.37189001e-02 -1.97152180e-04 9.99905872e-01 9.65729046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters 0.024699175140761698 Centerline is valid? [True, True] Translation: X:193.96, Y:-21.89, Z:0.97 [[ 9.63486429e-01 2.67393582e-01 1.39489527e-02 1.93962910e+02] [-2.67367993e-01 9.63587384e-01 -3.70272156e-03 -2.18885860e+01] [-1.44311188e-02 -1.61981506e-04 9.99895853e-01 9.66268364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters 0.02439182945365667 Centerline is valid? [True, True] Translation: X:194.02, Y:-21.90, Z:0.97 [[ 9.64270481e-01 2.64686362e-01 1.11161578e-02 1.94020573e+02] [-2.64670002e-01 9.64334547e-01 -2.94466779e-03 -2.19007028e+01] [-1.14991084e-02 -1.02657283e-04 9.99933878e-01 9.68598246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters 0.024270532198075873 Centerline is valid? [True, True] Translation: X:194.08, Y:-21.91, Z:0.97 [[ 9.64992367e-01 2.62087140e-01 1.00031250e-02 1.94077955e+02] [-2.62073806e-01 9.65044209e-01 -2.64461373e-03 -2.19144490e+01] [-1.03465771e-02 -6.95249780e-05 9.99946470e-01 9.67807934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters 0.02450661542419599 Centerline is valid? [True, True] Translation: X:194.13, Y:-21.93, Z:0.97 [[ 9.65244824e-01 2.60889872e-01 1.54565244e-02 1.94133967e+02] [-2.60857982e-01 9.65368565e-01 -4.08011993e-03 -2.19323042e+01] [-1.59857047e-02 -9.36431041e-05 9.99872216e-01 9.66459298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters 0.02449073624953865 Centerline is valid? [True, True] Translation: X:194.19, Y:-21.94, Z:0.97 [[ 9.65111735e-01 2.61506657e-01 1.31760440e-02 1.94191153e+02] [-2.61483634e-01 9.65201668e-01 -3.47125875e-03 -2.19448982e+01] [-1.36252969e-02 -9.51673098e-05 9.99907167e-01 9.67953090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters 0.02450338120639839 Centerline is valid? [True, True] Translation: X:194.25, Y:-21.96, Z:0.97 [[ 9.64462705e-01 2.63914167e-01 1.26887005e-02 1.94248756e+02] [-2.63893106e-01 9.64546160e-01 -3.33662540e-03 -2.19572889e+01] [-1.31194200e-02 -1.30409828e-04 9.99913928e-01 9.68955043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters 0.024789291439105656 Centerline is valid? [True, True] Translation: X:194.31, Y:-21.97, Z:0.97 [[ 9.64075690e-01 2.65246017e-01 1.42342829e-02 1.94305616e+02] [-2.65219758e-01 9.64180751e-01 -3.73623659e-03 -2.19707646e+01] [-1.47154434e-02 -1.73198196e-04 9.99891707e-01 9.69699487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters 0.02475943281805073 Centerline is valid? [True, True] Translation: X:194.36, Y:-21.98, Z:0.97 [[ 9.63959158e-01 2.65860864e-01 1.00371041e-02 1.94363211e+02] [-2.65847900e-01 9.64011402e-01 -2.62891897e-03 -2.19831748e+01] [-1.03748095e-02 -1.34172539e-04 9.99946171e-01 9.69605272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters 0.025155064527273355 Centerline is valid? [True, True] Translation: X:194.42, Y:-21.99, Z:0.97 [[ 9.63380739e-01 2.67792896e-01 1.35836756e-02 1.94421944e+02] [-2.67769425e-01 9.63476475e-01 -3.55202650e-03 -2.19904007e+01] [-1.40387594e-02 -2.15339088e-04 9.99901429e-01 9.71066324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters 0.025215170997635063 Centerline is valid? [True, True] Translation: X:194.48, Y:-22.00, Z:0.97 [[ 9.62854424e-01 2.69592610e-01 1.52046794e-02 1.94479908e+02] [-2.69563538e-01 9.62974427e-01 -3.96875327e-03 -2.20001371e+01] [-1.57116640e-02 -2.77295544e-04 9.99876526e-01 9.72405734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters 0.025195742733201087 Centerline is valid? [True, True] Translation: X:194.54, Y:-22.01, Z:0.97 [[ 9.63138527e-01 2.68666684e-01 1.35051990e-02 1.94537653e+02] [-2.68643753e-01 9.63233178e-01 -3.51834182e-03 -2.20103682e+01] [-1.39539170e-02 -2.39436783e-04 9.99902611e-01 9.70482008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters 0.025125988476129603 Centerline is valid? [True, True] Translation: X:194.60, Y:-22.01, Z:0.97 [[ 9.64496490e-01 2.63556661e-01 1.68643591e-02 1.94596035e+02] [-2.63520283e-01 9.64643893e-01 -4.38414110e-03 -2.20140761e+01] [-1.74235706e-02 -2.15611974e-04 9.99848175e-01 9.70138316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters 0.02468242583017238 Centerline is valid? [True, True] Translation: X:194.65, Y:-22.03, Z:0.97 [[ 9.65704401e-01 2.59221187e-01 1.48117076e-02 1.94653424e+02] [-2.59192714e-01 9.65817975e-01 -3.84410385e-03 -2.20289869e+01] [-1.53018866e-02 -1.26818679e-04 9.99882911e-01 9.70889207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters 0.024778093769980334 Centerline is valid? [True, True] Translation: X:194.71, Y:-22.04, Z:0.97 [[ 9.66984796e-01 2.54532040e-01 1.24034149e-02 1.94710203e+02] [-2.54511770e-01 9.67064340e-01 -3.21253749e-03 -2.20434014e+01] [-1.28125940e-02 -5.03401719e-05 9.99917914e-01 9.70304664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters 0.02488746573928349 Centerline is valid? [True, True] Translation: X:194.77, Y:-22.05, Z:0.97 [[ 9.67469861e-01 2.52519123e-01 1.53675126e-02 1.94768307e+02] [-2.52487862e-01 9.67591903e-01 -3.97345344e-03 -2.20531787e+01] [-1.58728537e-02 -3.59139458e-05 9.99874018e-01 9.70031942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters 0.024826763153137033 Centerline is valid? [True, True] Translation: X:194.82, Y:-22.07, Z:0.97 [[ 9.68574649e-01 2.48291287e-01 1.46487503e-02 1.94824804e+02] [-2.48262529e-01 9.68685417e-01 -3.77893443e-03 -2.20656783e+01] [-1.51283073e-02 2.34442945e-05 9.99885560e-01 9.70838599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters 0.024968908871308794 Centerline is valid? [True, True] Translation: X:194.88, Y:-22.08, Z:0.97 [[ 9.70085133e-01 2.42489622e-01 1.15592898e-02 1.94880994e+02] [-2.42471370e-01 9.70153996e-01 -2.97628775e-03 -2.20820775e+01] [-1.19360101e-02 8.44556474e-05 9.99928760e-01 9.69453083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters 0.025729116949732074 Centerline is valid? [True, True] Translation: X:194.94, Y:-22.10, Z:0.97 [[ 9.71430345e-01 2.36803153e-01 1.57274135e-02 1.94936713e+02] [-2.36768624e-01 9.71557627e-01 -4.04918011e-03 -2.20990300e+01] [-1.62389472e-02 2.09738381e-04 9.99868118e-01 9.69797306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters 0.025870825339710864 Centerline is valid? [True, True] Translation: X:194.99, Y:-22.11, Z:0.97 [[ 9.72127012e-01 2.34164290e-01 1.16686865e-02 1.94993005e+02] [-2.34145178e-01 9.72197023e-01 -2.99719314e-03 -2.21141412e+01] [-1.20460979e-02 1.81485729e-04 9.99927427e-01 9.70474914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters 0.025680287828139393 Centerline is valid? [True, True] Translation: X:195.05, Y:-22.14, Z:0.97 [[ 9.71948469e-01 2.34949694e-01 1.07152138e-02 1.95047473e+02] [-2.34933682e-01 9.72007520e-01 -2.74712741e-03 -2.21391708e+01] [-1.10607052e-02 1.52701630e-04 9.99938817e-01 9.70620006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters 0.02568838767104365 Centerline is valid? [True, True] Translation: X:195.10, Y:-22.17, Z:0.97 [[ 9.71369956e-01 2.37109556e-01 1.48144378e-02 1.95100806e+02] [-2.37079295e-01 9.71482902e-01 -3.79194577e-03 -2.21665740e+01] [-1.52910796e-02 1.71185728e-04 9.99883070e-01 9.71581451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters 0.025183601803115248 Centerline is valid? [True, True] Translation: X:195.16, Y:-22.19, Z:0.97 [[ 9.70532437e-01 2.40606692e-01 1.32366111e-02 1.95156548e+02] [-2.40582947e-01 9.70622692e-01 -3.38159250e-03 -2.21856018e+01] [-1.36613889e-02 9.74422976e-05 9.99906674e-01 9.72533140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters 0.02485591525184653 Centerline is valid? [True, True] Translation: X:195.21, Y:-22.21, Z:0.97 [[ 9.67770520e-01 2.51491174e-01 1.31304883e-02 1.95210104e+02] [-2.51468911e-01 9.67859590e-01 -3.34685686e-03 -2.22089450e+01] [-1.35501740e-02 -6.29201866e-05 9.99908190e-01 9.72458473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters 0.0255492694964063 Centerline is valid? [True, True] Translation: X:195.27, Y:-22.23, Z:0.97 [[ 9.64767671e-01 2.62686089e-01 1.48107925e-02 1.95265573e+02] [-2.62659176e-01 9.64881316e-01 -3.76871587e-03 -2.22296245e+01] [-1.52806462e-02 -2.54255332e-04 9.99883212e-01 9.71469978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters 0.02629543533287242 Centerline is valid? [True, True] Translation: X:195.32, Y:-22.25, Z:0.97 [[ 9.63261350e-01 2.68132107e-01 1.52559711e-02 1.95322122e+02] [-2.68104350e-01 9.63382087e-01 -3.87458591e-03 -2.22454149e+01] [-1.57362302e-02 -3.57953358e-04 9.99876114e-01 9.72779493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters 0.026789684477560693 Centerline is valid? [True, True] Translation: X:195.38, Y:-22.26, Z:0.97 [[ 9.61316413e-01 2.75081557e-01 1.41735797e-02 1.95380657e+02] [-2.75058330e-01 9.61420796e-01 -3.60124559e-03 -2.22570434e+01] [-1.46174105e-02 -4.36624671e-04 9.99893065e-01 9.74882392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters 0.02793852920558021 Centerline is valid? [True, True] Translation: X:195.44, Y:-22.27, Z:0.97 [[ 9.59009877e-01 2.83063471e-01 1.32335802e-02 1.95440280e+02] [-2.83043995e-01 9.59101037e-01 -3.36129146e-03 -2.22655581e+01] [-1.36437993e-02 -5.22173684e-04 9.99906783e-01 9.72515157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters 0.028426468268670697 Centerline is valid? [True, True] Translation: X:195.50, Y:-22.28, Z:0.97 [[ 9.57871634e-01 2.86796733e-01 1.51514866e-02 1.95498157e+02] [-2.86771694e-01 9.57991231e-01 -3.84673967e-03 -2.22774233e+01] [-1.56182237e-02 -6.60334682e-04 9.99877810e-01 9.73246317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters 0.029042212829513834 Centerline is valid? [True, True] Translation: X:195.56, Y:-22.28, Z:0.98 [[ 9.56624213e-01 2.90930759e-01 1.51462192e-02 1.95558222e+02] [-2.90906268e-01 9.56743833e-01 -3.84452878e-03 -2.22845532e+01] [-1.56095435e-02 -7.28360775e-04 9.99877898e-01 9.75288771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters 0.028808301624574602 Centerline is valid? [True, True] Translation: X:195.62, Y:-22.29, Z:0.97 [[ 9.57079534e-01 2.89563402e-01 1.23207858e-02 1.95616773e+02] [-2.89547184e-01 9.57158659e-01 -3.11935237e-03 -2.22915514e+01] [-1.26961971e-02 -5.81980538e-04 9.99919231e-01 9.73985472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters 0.028345240314858973 Centerline is valid? [True, True] Translation: X:195.68, Y:-22.30, Z:0.97 [[ 9.58122447e-01 2.86016152e-01 1.40049324e-02 1.95675319e+02] [-2.85994914e-01 9.58224600e-01 -3.53918981e-03 -2.22987736e+01] [-1.44321362e-02 -6.14362235e-04 9.99895663e-01 9.74623207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters 0.02820838914146135 Centerline is valid? [True, True] Translation: X:195.73, Y:-22.31, Z:0.98 [[ 9.58787180e-01 2.83704321e-01 1.54596713e-02 1.95733394e+02] [-2.83678258e-01 9.58911591e-01 -3.89952726e-03 -2.23074645e+01] [-1.59307707e-02 -6.46755865e-04 9.99872888e-01 9.76323226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters 0.027513027587852214 Centerline is valid? [True, True] Translation: X:195.79, Y:-22.31, Z:0.98 [[ 9.60120569e-01 2.79294921e-01 1.27608594e-02 1.95793092e+02] [-2.79276764e-01 9.60205251e-01 -3.21952293e-03 -2.23143186e+01] [-1.31522406e-02 -4.72681348e-04 9.99913394e-01 9.75144332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters 0.02730108847688438 Centerline is valid? [True, True] Translation: X:195.85, Y:-22.32, Z:0.98 [[ 9.61470102e-01 2.74644846e-01 1.20602938e-02 1.95851703e+02] [-2.74628354e-01 9.61545659e-01 -3.03540623e-03 -2.23241650e+01] [-1.24301818e-02 -3.93646296e-04 9.99922665e-01 9.75034094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters 0.026895743968300127 Centerline is valid? [True, True] Translation: X:195.91, Y:-22.33, Z:0.98 [[ 9.62060716e-01 2.72602986e-01 1.12601228e-02 1.95910320e+02] [-2.72588536e-01 9.62126546e-01 -2.82831610e-03 -2.23308047e+01] [-1.16046705e-02 -3.48368581e-04 9.99932603e-01 9.78454919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters 0.026383468399136 Centerline is valid? [True, True] Translation: X:195.97, Y:-22.34, Z:0.98 [[ 9.63310380e-01 2.68112555e-01 1.21971099e-02 1.95969588e+02] [-2.68095305e-01 9.63387540e-01 -3.05850707e-03 -2.23379088e+01] [-1.25705678e-02 -3.23696286e-04 9.99920935e-01 9.80396744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters 0.026283119997210443 Centerline is valid? [True, True] Translation: X:196.03, Y:-22.35, Z:0.98 [[ 9.64061724e-01 2.65379027e-01 1.26081152e-02 1.96027150e+02] [-2.65360442e-01 9.64144118e-01 -3.15534821e-03 -2.23494484e+01] [-1.29934033e-02 -3.03744588e-04 9.99915536e-01 9.78326765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters 0.026015765648071194 Centerline is valid? [True, True] Translation: X:196.09, Y:-22.36, Z:0.98 [[ 9.64660530e-01 2.63280245e-01 1.06571550e-02 1.96085081e+02] [-2.63266898e-01 9.64719367e-01 -2.66164668e-03 -2.23580930e+01] [-1.09819228e-02 -2.38090636e-04 9.99939669e-01 9.78725033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters 0.025816618658719967 Centerline is valid? [True, True] Translation: X:196.14, Y:-22.36, Z:0.98 [[ 9.65322311e-01 2.60889895e-01 9.44979012e-03 1.96143574e+02] [-2.60879333e-01 9.65368544e-01 -2.35531998e-03 -2.23648993e+01] [-9.73700932e-03 -1.91612018e-04 9.99952576e-01 9.80343923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters 0.02580362684877684 Centerline is valid? [True, True] Translation: X:196.20, Y:-22.38, Z:0.98 [[ 9.66053813e-01 2.58100302e-01 1.11474239e-02 1.96200624e+02] [-2.58085489e-01 9.66118106e-01 -2.77239565e-03 -2.23766262e+01] [-1.14852843e-02 -1.98704970e-04 9.99934022e-01 9.79910499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters 0.025345010549771757 Centerline is valid? [True, True] Translation: X:196.26, Y:-22.39, Z:0.98 [[ 9.67428557e-01 2.52902665e-01 1.10557531e-02 1.96258621e+02] [-2.52887811e-01 9.67491717e-01 -2.74462640e-03 -2.23851141e+01] [-1.13904728e-02 -1.40635231e-04 9.99935117e-01 9.78954795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters 0.025310087095105356 Centerline is valid? [True, True] Translation: X:196.32, Y:-22.39, Z:0.98 [[ 9.67659281e-01 2.51997944e-01 1.15131383e-02 1.96315586e+02] [-2.51981848e-01 9.67727759e-01 -2.85167221e-03 -2.23948308e+01] [-1.18601991e-02 -1.41654799e-04 9.99929655e-01 9.79706087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters 0.02504900440716128 Centerline is valid? [True, True] Translation: X:196.37, Y:-22.41, Z:0.98 [[ 9.68244323e-01 2.49843179e-01 9.01754270e-03 1.96373015e+02] [-2.49833254e-01 9.68286309e-01 -2.22899975e-03 -2.24081314e+01] [-9.28846353e-03 -9.46656769e-05 9.99956857e-01 9.80973660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters 0.02522976020977278 Centerline is valid? [True, True] Translation: X:196.43, Y:-22.42, Z:0.98 [[ 9.69074581e-01 2.46474797e-01 1.20262704e-02 1.96430513e+02] [-2.46456945e-01 9.69149197e-01 -2.96771248e-03 -2.24222286e+01] [-1.23867166e-02 -8.80231413e-05 9.99923278e-01 9.78696520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters 0.02514361993722568 Centerline is valid? [True, True] Translation: X:196.49, Y:-22.43, Z:0.98 [[ 9.70274389e-01 2.41751303e-01 1.11317979e-02 1.96488380e+02] [-2.41735759e-01 9.70338243e-01 -2.74156953e-03 -2.24335077e+01] [-1.14643872e-02 -3.08789147e-05 9.99934281e-01 9.79106165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters 0.024749694935090435 Centerline is valid? [True, True] Translation: X:196.54, Y:-22.45, Z:0.98 [[ 9.71440132e-01 2.37152365e-01 7.92627316e-03 1.96544477e+02] [-2.37144367e-01 9.71472468e-01 -1.94770610e-03 -2.24521529e+01] [-8.16205926e-03 1.24088315e-05 9.99966690e-01 9.79465255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters 0.024619794862571587 Centerline is valid? [True, True] Translation: X:196.60, Y:-22.47, Z:0.98 [[ 9.71827512e-01 2.35577506e-01 7.38415573e-03 1.96599518e+02] [-2.35570553e-01 9.71855565e-01 -1.81000513e-03 -2.24706401e+01] [-7.60272933e-03 1.95231276e-05 9.99971099e-01 9.79797020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters 0.024461964269560443 Centerline is valid? [True, True] Translation: X:196.65, Y:-22.49, Z:0.98 [[ 9.71505647e-01 2.36916327e-01 6.88715472e-03 1.96654557e+02] [-2.36910340e-01 9.71530058e-01 -1.68428837e-03 -2.24889819e+01] [-7.09011324e-03 4.65749572e-06 9.99974865e-01 9.80727047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters 0.024364158849746458 Centerline is valid? [True, True] Translation: X:196.71, Y:-22.51, Z:0.98 [[ 9.70459597e-01 2.41155897e-01 7.21139522e-03 1.96708635e+02] [-2.41149478e-01 9.70486390e-01 -1.75976514e-03 -2.25102664e+01] [-7.42293866e-03 -3.12432257e-05 9.99972449e-01 9.81450890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters 0.02471105048081344 Centerline is valid? [True, True] Translation: X:196.76, Y:-22.53, Z:0.98 [[ 9.69184445e-01 2.46241454e-01 6.83061050e-03 1.96764483e+02] [-2.46235842e-01 9.69208513e-01 -1.66382384e-03 -2.25296296e+01] [-7.02998825e-03 -6.93889466e-05 9.99975287e-01 9.81209386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters 0.024723409057690427 Centerline is valid? [True, True] Translation: X:196.82, Y:-22.54, Z:0.98 [[ 9.68417932e-01 2.49228355e-01 7.20661316e-03 1.96821267e+02] [-2.49222188e-01 9.68444742e-01 -1.75580283e-03 -2.25427500e+01] [-7.41680247e-03 -9.56969522e-05 9.99972491e-01 9.81048359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters 0.024671812143294402 Centerline is valid? [True, True] Translation: X:196.88, Y:-22.56, Z:0.98 [[ 9.67905482e-01 2.51170959e-01 8.49280711e-03 1.96877550e+02] [-2.51162517e-01 9.67942731e-01 -2.06376569e-03 -2.25581969e+01] [-8.73890892e-03 -1.35544690e-04 9.99961806e-01 9.82612976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters 0.02491504766589531 Centerline is valid? [True, True] Translation: X:196.93, Y:-22.58, Z:0.99 [[ 9.67347376e-01 2.53279061e-01 9.42182678e-03 1.96933430e+02] [-2.53268813e-01 9.67393243e-01 -2.28522390e-03 -2.25758951e+01] [-9.69341092e-03 -1.75649536e-04 9.99953002e-01 9.86271668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters 0.025149670253164325 Centerline is valid? [True, True] Translation: X:196.99, Y:-22.59, Z:0.98 [[ 9.67778259e-01 2.51614642e-01 9.76283846e-03 1.96990026e+02] [-2.51603610e-01 9.67827486e-01 -2.36230278e-03 -2.25868986e+01] [-1.00431334e-02 -1.70180129e-04 9.99949552e-01 9.82255051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters 0.024880320960605582 Centerline is valid? [True, True] Translation: X:197.05, Y:-22.60, Z:0.98 [[ 9.67871330e-01 2.51264787e-01 9.54438939e-03 1.97047262e+02] [-2.51254278e-01 9.67918374e-01 -2.30413508e-03 -2.25980340e+01] [-9.81713787e-03 -1.67962381e-04 9.99951797e-01 9.83485237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters 0.024969099707586387 Centerline is valid? [True, True] Translation: X:197.10, Y:-22.61, Z:0.99 [[ 9.68240497e-01 2.49859057e-01 8.98835089e-03 1.97103549e+02] [-2.49849715e-01 9.68282205e-01 -2.16573392e-03 -2.26147632e+01] [-9.24438845e-03 -1.48785627e-04 9.99957259e-01 9.85546492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters 0.02516415496315693 Centerline is valid? [True, True] Translation: X:197.16, Y:-22.63, Z:0.98 [[ 9.68950505e-01 2.47018464e-01 1.08072512e-02 1.97159541e+02] [-2.47004847e-01 9.69010761e-01 -2.59811587e-03 -2.26284041e+01] [-1.11141253e-02 -1.51997738e-04 9.99938225e-01 9.82286478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters 0.024831207455372147 Centerline is valid? [True, True] Translation: X:197.22, Y:-22.64, Z:0.98 [[ 9.70178218e-01 2.42123948e-01 1.14113187e-02 1.97216935e+02] [-2.42108485e-01 9.70245321e-01 -2.73841025e-03 -2.26391843e+01] [-1.17348133e-02 -1.06031113e-04 9.99931139e-01 9.81762051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters 0.024865037338593826 Centerline is valid? [True, True] Translation: X:197.28, Y:-22.65, Z:0.99 [[ 9.70532362e-01 2.40762408e-01 1.00198290e-02 1.97275067e+02] [-2.40750466e-01 9.70584080e-01 -2.39943196e-03 -2.26497874e+01] [-1.03027795e-02 -8.35521285e-05 9.99946921e-01 9.85037424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters 0.024743300884910814 Centerline is valid? [True, True] Translation: X:197.33, Y:-22.67, Z:0.98 [[ 9.71102896e-01 2.38483962e-01 9.19594991e-03 1.97332095e+02] [-2.38473839e-01 9.71146434e-01 -2.19805138e-03 -2.26658386e+01] [-9.45481397e-03 -5.84594181e-05 9.99955301e-01 9.84792726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters 0.024844703186984347 Centerline is valid? [True, True] Translation: X:197.39, Y:-22.68, Z:0.98 [[ 9.72250321e-01 2.33678026e-01 1.11307107e-02 1.97388206e+02] [-2.33662939e-01 9.72314033e-01 -2.65545091e-03 -2.26823305e+01] [-1.14430667e-02 -1.90715720e-05 9.99934526e-01 9.83290599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters 0.024999484847628987 Centerline is valid? [True, True] Translation: X:197.45, Y:-22.70, Z:0.99 [[ 9.74033049e-01 2.26229042e-01 8.94646660e-03 1.97445722e+02] [-2.26219019e-01 9.74074134e-01 -2.13015273e-03 -2.26964397e+01] [-9.19642412e-03 5.09782619e-05 9.99957711e-01 9.86211049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters 0.02502786718262325 Centerline is valid? [True, True] Translation: X:197.50, Y:-22.72, Z:0.99 [[ 9.74548504e-01 2.23986548e-01 9.23249053e-03 1.97501597e+02] [-2.23975815e-01 9.74592233e-01 -2.19377180e-03 -2.27160094e+01] [-9.48928894e-03 7.00824295e-05 9.99954973e-01 9.85608250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters 0.025035342065680737 Centerline is valid? [True, True] Translation: X:197.56, Y:-22.73, Z:0.99 [[ 9.74644433e-01 2.23488630e-01 1.10028229e-02 1.97558220e+02] [-2.23473408e-01 9.74706533e-01 -2.60976948e-03 -2.27337385e+01] [-1.13077771e-02 8.47589691e-05 9.99936061e-01 9.86694578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters 0.024967673420864464 Centerline is valid? [True, True] Translation: X:197.61, Y:-22.75, Z:0.99 [[ 9.74525254e-01 2.24073702e-01 9.56582911e-03 1.97613805e+02] [-2.24062272e-01 9.74572200e-01 -2.26411667e-03 -2.27542737e+01] [-9.82992012e-03 6.30974691e-05 9.99951683e-01 9.87178215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters 0.024777027448922857 Centerline is valid? [True, True] Translation: X:197.67, Y:-22.78, Z:0.99 [[ 9.74016178e-01 2.26324416e-01 8.35120965e-03 1.97668481e+02] [-2.26315824e-01 9.74051979e-01 -1.97233390e-03 -2.27784340e+01] [-8.58089960e-03 3.10742384e-05 9.99963183e-01 9.87475054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters 0.02509173204816295 Centerline is valid? [True, True] Translation: X:197.72, Y:-22.80, Z:0.99 [[ 9.73907314e-01 2.26769516e-01 8.95153094e-03 1.97723407e+02] [-2.26759709e-01 9.73948451e-01 -2.10915252e-03 -2.27983563e+01] [-9.19662119e-03 2.42725204e-05 9.99957710e-01 9.87117693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters 0.025004708685784655 Centerline is valid? [True, True] Translation: X:197.78, Y:-22.82, Z:0.99 [[ 9.72955529e-01 2.30775400e-01 1.00126076e-02 1.97777338e+02] [-2.30763395e-01 9.73007047e-01 -2.35400506e-03 -2.28198256e+01] [-1.02855842e-02 -2.02010937e-05 9.99947102e-01 9.87062041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters 0.02519919994871355 Centerline is valid? [True, True] Translation: X:197.83, Y:-22.84, Z:0.99 [[ 9.71461226e-01 2.36960016e-01 1.06318498e-02 1.97833667e+02] [-2.36946899e-01 9.71519398e-01 -2.49506624e-03 -2.28382524e+01] [-1.09202793e-02 -9.53237405e-05 9.99940367e-01 9.89383239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters 0.0253041179401511 Centerline is valid? [True, True] Translation: X:197.89, Y:-22.85, Z:0.99 [[ 9.70464528e-01 2.41036994e-01 9.98839168e-03 1.97890946e+02] [-2.41025683e-01 9.70515919e-01 -2.33916232e-03 -2.28524904e+01] [-1.02577178e-02 -1.37384870e-04 9.99947379e-01 9.89582691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters 0.02590329347378018 Centerline is valid? [True, True] Translation: X:197.95, Y:-22.87, Z:0.99 [[ 9.68813139e-01 2.47595232e-01 9.88447407e-03 1.97947407e+02] [-2.47584543e-01 9.68863539e-01 -2.31013573e-03 -2.28678823e+01] [-1.01486851e-02 -2.09153151e-04 9.99948479e-01 9.87491620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters 0.02594246829590801 Centerline is valid? [True, True] Translation: X:198.00, Y:-22.88, Z:0.99 [[ 9.68295338e-01 2.49542471e-01 1.15193093e-02 1.98004927e+02] [-2.49528152e-01 9.68363817e-01 -2.68706738e-03 -2.28816247e+01] [-1.18254197e-02 -2.72517140e-04 9.99930040e-01 9.88975006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters 0.026360016729919535 Centerline is valid? [True, True] Translation: X:198.06, Y:-22.89, Z:0.99 [[ 9.67698210e-01 2.51846716e-01 1.15501935e-02 1.98063317e+02] [-2.51832550e-01 9.67767088e-01 -2.68869256e-03 -2.28916508e+01] [-1.18550356e-02 -3.06871718e-04 9.99929680e-01 9.91105471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters 0.026578768591478674 Centerline is valid? [True, True] Translation: X:198.12, Y:-22.90, Z:0.99 [[ 9.67608343e-01 2.52156628e-01 1.22934757e-02 1.98121695e+02] [-2.52140678e-01 9.67686376e-01 -2.85600284e-03 -2.28998835e+01] [-1.26163890e-02 -3.36193111e-04 9.99920354e-01 9.89574971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters 0.026326025743881314 Centerline is valid? [True, True] Translation: X:198.18, Y:-22.91, Z:0.99 [[ 9.67785333e-01 2.51573710e-01 1.01102448e-02 1.98179974e+02] [-2.51562945e-01 9.67838102e-01 -2.34359419e-03 -2.29092647e+01] [-1.03746668e-02 -2.75266874e-04 9.99946144e-01 9.88937658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters 0.026006627062113142 Centerline is valid? [True, True] Translation: X:198.24, Y:-22.92, Z:0.99 [[ 9.68629681e-01 2.48275119e-01 1.07706080e-02 1.98239206e+02] [-2.48262713e-01 9.68689527e-01 -2.49515699e-03 -2.29158850e+01] [-1.10528606e-02 -2.57057253e-04 9.99938882e-01 9.89990691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters 0.024953212152390346 Centerline is valid? [True, True] Translation: X:198.30, Y:-22.93, Z:0.99 [[ 9.70927395e-01 2.39158040e-01 1.01698571e-02 1.98297716e+02] [-2.39146537e-01 9.70980643e-01 -2.35044052e-03 -2.29259417e+01] [-1.04368611e-02 -1.49979006e-04 9.99945523e-01 9.90921576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters 0.02468355057076 Centerline is valid? [True, True] Translation: X:198.36, Y:-22.94, Z:0.99 [[ 9.72645338e-01 2.32118402e-01 9.06061454e-03 1.98356236e+02] [-2.32109005e-01 9.72687536e-01 -2.08976633e-03 -2.29359411e+01] [-9.29822005e-03 -7.04487555e-05 9.99956768e-01 9.90168480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters 0.024518661872190144 Centerline is valid? [True, True] Translation: X:198.41, Y:-22.95, Z:0.99 [[ 9.74818771e-01 2.22776260e-01 9.95495016e-03 1.98412928e+02] [-2.22764487e-01 9.74869600e-01 -2.29033842e-03 -2.29497686e+01] [-1.02150113e-02 1.50555173e-05 9.99947825e-01 9.90957086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters 0.02475098462820965 Centerline is valid? [True, True] Translation: X:198.47, Y:-22.97, Z:0.99 [[ 9.76279339e-01 2.16374980e-01 7.77943405e-03 1.98468192e+02] [-2.16367625e-01 9.76310332e-01 -1.78506147e-03 -2.29672994e+01] [-7.98138448e-03 5.95009651e-05 9.99968146e-01 9.91799311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters 0.024719181607227157 Centerline is valid? [True, True] Translation: X:198.52, Y:-22.98, Z:0.99 [[ 9.76746331e-01 2.14208295e-01 9.02284461e-03 1.98524378e+02] [-2.14198340e-01 9.76788001e-01 -2.06688979e-03 -2.29845919e+01] [-9.25615129e-03 8.61486829e-05 9.99957157e-01 9.91533494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters 0.025151237977637003 Centerline is valid? [True, True] Translation: X:198.58, Y:-23.01, Z:0.99 [[ 9.76957650e-01 2.13197999e-01 1.00181721e-02 1.98580222e+02] [-2.13185719e-01 9.77009009e-01 -2.29051269e-03 -2.30057805e+01] [-1.02761771e-02 1.02002684e-04 9.99947193e-01 9.91414594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters 0.02482774942551944 Centerline is valid? [True, True] Translation: X:198.64, Y:-23.03, Z:0.99 [[ 9.76537995e-01 2.15108198e-01 1.00998383e-02 1.98635926e+02] [-2.15095868e-01 9.76590220e-01 -2.30451370e-03 -2.30259955e+01] [-1.03591231e-02 7.80116935e-05 9.99946340e-01 9.91248816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters 0.024637267239044497 Centerline is valid? [True, True] Translation: X:198.69, Y:-23.04, Z:0.99 [[ 9.75831133e-01 2.18228497e-01 1.13983491e-02 1.98691190e+02] [-2.18213078e-01 9.75897700e-01 -2.59456946e-03 -2.30445744e+01] [-1.16898317e-02 4.45928074e-05 9.99931671e-01 9.91280913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters 0.024971568837543288 Centerline is valid? [True, True] Translation: X:198.75, Y:-23.06, Z:0.99 [[ 9.74305049e-01 2.24879139e-01 1.26112418e-02 1.98746632e+02] [-2.24860887e-01 9.74386664e-01 -2.86537979e-03 -2.30644453e+01] [-1.29325900e-02 -4.40210194e-05 9.99916370e-01 9.90159194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters 0.02502406094880049 Centerline is valid? [True, True] Translation: X:198.80, Y:-23.08, Z:0.99 [[ 9.73248939e-01 2.29398793e-01 1.27552345e-02 1.98803354e+02] [-2.29380589e-01 9.73332513e-01 -2.89200437e-03 -2.30810624e+01] [-1.30785068e-02 -1.11163034e-04 9.99914466e-01 9.90436073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters 0.02562491428624573 Centerline is valid? [True, True] Translation: X:198.86, Y:-23.10, Z:0.99 [[ 9.71561306e-01 2.36602177e-01 9.38291002e-03 1.98860114e+02] [-2.36592711e-01 9.71606600e-01 -2.12227692e-03 -2.30952243e+01] [-9.61863264e-03 -1.58005979e-04 9.99953727e-01 9.90279060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters 0.02568293874338546 Centerline is valid? [True, True] Translation: X:198.92, Y:-23.10, Z:0.99 [[ 9.70331855e-01 2.41607991e-01 9.03714389e-03 1.98918336e+02] [-2.41599468e-01 9.70373916e-01 -2.03962174e-03 -2.31045749e+01] [-9.26219762e-03 -2.04259212e-04 9.99957084e-01 9.91662894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters 0.02603164327973205 Centerline is valid? [True, True] Translation: X:198.98, Y:-23.12, Z:0.99 [[ 9.70030671e-01 2.42781361e-01 9.88472466e-03 1.98975648e+02] [-2.42771272e-01 9.70081003e-01 -2.22630435e-03 -2.31170058e+01] [-1.01294888e-02 -2.40143684e-04 9.99948667e-01 9.91158919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters 0.025931465659981823 Centerline is valid? [True, True] Translation: X:199.04, Y:-23.12, Z:0.99 [[ 9.69966603e-01 2.43020443e-01 1.02884674e-02 1.99035222e+02] [-2.43009578e-01 9.70021133e-01 -2.31232462e-03 -2.31215685e+01] [-1.05419730e-02 -2.57318480e-04 9.99944399e-01 9.92267532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters 0.025919668746782802 Centerline is valid? [True, True] Translation: X:199.09, Y:-23.13, Z:0.99 [[ 9.70154057e-01 2.42195060e-01 1.19440057e-02 1.99092632e+02] [-2.42180421e-01 9.70227533e-01 -2.67899513e-03 -2.31336665e+01] [-1.22372425e-02 -2.93566325e-04 9.99925079e-01 9.91774171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters 0.025941130335452114 Centerline is valid? [True, True] Translation: X:199.15, Y:-23.14, Z:0.99 [[ 9.70716900e-01 2.40014048e-01 1.00973826e-02 1.99150935e+02] [-2.40003522e-01 9.70769388e-01 -2.25953276e-03 -2.31430440e+01] [-1.03445495e-02 -2.30040753e-04 9.99946467e-01 9.92302028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters 0.02579742905472626 Centerline is valid? [True, True] Translation: X:199.21, Y:-23.15, Z:0.99 [[ 9.71125718e-01 2.38330610e-01 1.06470647e-02 1.99209023e+02] [-2.38318872e-01 9.71184054e-01 -2.37641819e-03 -2.31499099e+01] [-1.09066326e-02 -2.29595628e-04 9.99940495e-01 9.92449027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters 0.02562261158282508 Centerline is valid? [True, True] Translation: X:199.27, Y:-23.16, Z:0.99 [[ 9.71118399e-01 2.38402469e-01 9.66009917e-03 1.99266922e+02] [-2.38392865e-01 9.71166421e-01 -2.15054590e-03 -2.31553396e+01] [-9.89425939e-03 -2.14464026e-04 9.99951028e-01 9.93753303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters 0.02593585637019336 Centerline is valid? [True, True] Translation: X:199.32, Y:-23.17, Z:0.99 [[ 9.71355315e-01 2.37455975e-01 9.13851369e-03 1.99323730e+02] [-2.37447390e-01 9.71398281e-01 -2.02901236e-03 -2.31669257e+01] [-9.35893760e-03 -1.99024279e-04 9.99956184e-01 9.93108053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters 0.025737199968907137 Centerline is valid? [True, True] Translation: X:199.38, Y:-23.18, Z:0.99 [[ 9.71355514e-01 2.37417904e-01 1.00600030e-02 1.99381663e+02] [-2.37407540e-01 9.71407581e-01 -2.22957542e-03 -2.31770259e+01] [-1.03017043e-02 -2.22610183e-04 9.99946911e-01 9.94246140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters 0.02589289465098112 Centerline is valid? [True, True] Translation: X:199.44, Y:-23.18, Z:0.99 [[ 9.70840885e-01 2.39621606e-01 7.03290638e-03 1.99441483e+02] [-2.39616628e-01 9.70866342e-01 -1.55463221e-03 -2.31795339e+01] [-7.20053556e-03 -1.75900797e-04 9.99974060e-01 9.93183420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters 0.026209699863243296 Centerline is valid? [True, True] Translation: X:199.50, Y:-23.19, Z:0.99 [[ 9.70278723e-01 2.41827711e-01 8.86329595e-03 1.99499919e+02] [-2.41819928e-01 9.70319173e-01 -1.95565665e-03 -2.31885226e+01] [-9.07315797e-03 -2.45789548e-04 9.99958808e-01 9.93420198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters 0.025988395227416788 Centerline is valid? [True, True] Translation: X:199.56, Y:-23.20, Z:1.00 [[ 9.70584685e-01 2.40661113e-01 6.89905933e-03 1.99557646e+02] [-2.40656395e-01 9.70609187e-01 -1.51844386e-03 -2.31975932e+01] [-7.06172076e-03 -1.86524398e-04 9.99975048e-01 9.95742792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters 0.025782520871011932 Centerline is valid? [True, True] Translation: X:199.62, Y:-23.20, Z:1.00 [[ 9.71284030e-01 2.37802140e-01 7.58125672e-03 1.99616481e+02] [-2.37796382e-01 9.71313599e-01 -1.66518577e-03 -2.32048954e+01] [-7.75976249e-03 -1.85427073e-04 9.99969875e-01 9.95170444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters 0.025762650313757688 Centerline is valid? [True, True] Translation: X:199.68, Y:-23.21, Z:1.00 [[ 9.71583218e-01 2.36615118e-01 6.27181350e-03 1.99675059e+02] [-2.36611174e-01 9.71603450e-01 -1.37415636e-03 -2.32113719e+01] [-6.41886180e-03 -1.48873898e-04 9.99979388e-01 9.96489776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters 0.026060966619493732 Centerline is valid? [True, True] Translation: X:199.73, Y:-23.22, Z:1.00 [[ 9.70936530e-01 2.39285413e-01 4.97457740e-03 1.99733845e+02] [-2.39282981e-01 9.70949264e-01 -1.08713630e-03 -2.32156079e+01] [-5.09019812e-03 -1.34791365e-04 9.99987036e-01 9.97481025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters 0.02640425332232195 Centerline is valid? [True, True] Translation: X:199.79, Y:-23.22, Z:1.00 [[ 9.70340653e-01 2.41676606e-01 5.60661292e-03 1.99793454e+02] [-2.41673571e-01 9.70356836e-01 -1.22290252e-03 -2.32190992e+01] [-5.73596211e-03 -1.68338132e-04 9.99983535e-01 9.97030208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters 0.02652659569251409 Centerline is valid? [True, True] Translation: X:199.85, Y:-23.23, Z:1.00 [[ 9.70515884e-01 2.40950421e-01 6.46633876e-03 1.99851114e+02] [-2.40946390e-01 9.70537407e-01 -1.40687607e-03 -2.32253522e+01] [-6.61481104e-03 -1.92645408e-04 9.99978103e-01 9.96404217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters 0.02598633723795527 Centerline is valid? [True, True] Translation: X:199.91, Y:-23.22, Z:1.00 [[ 9.71926659e-01 2.34999244e-01 1.15725774e-02 1.99912091e+02] [-2.34985948e-01 9.71995514e-01 -2.51483841e-03 -2.32221837e+01] [-1.18394785e-02 -2.75154584e-04 9.99929873e-01 9.99098895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters 0.025442190536008585 Centerline is valid? [True, True] Translation: X:199.97, Y:-23.23, Z:1.00 [[ 9.73159097e-01 2.30009732e-01 7.54290027e-03 1.99970817e+02] [-2.30003944e-01 9.73188319e-01 -1.63786244e-03 -2.32309868e+01] [-7.71738673e-03 -1.40996074e-04 9.99970211e-01 9.98828529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters 0.02516092082080541 Centerline is valid? [True, True] Translation: X:200.03, Y:-23.23, Z:1.00 [[ 9.74374099e-01 2.24753078e-01 9.00939482e-03 2.00030861e+02] [-2.24744644e-01 9.74415742e-01 -1.95106303e-03 -2.32299751e+01] [-9.21740356e-03 -1.23747954e-04 9.99957511e-01 9.99265242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters 0.024893019677644557 Centerline is valid? [True, True] Translation: X:200.09, Y:-23.24, Z:1.00 [[ 9.75485140e-01 2.19876505e-01 9.11397403e-03 2.00089693e+02] [-2.19867700e-01 9.75527711e-01 -1.96948405e-03 -2.32364468e+01] [-9.32397750e-03 -8.26660881e-05 9.99956527e-01 9.98321380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters 0.02452705931724846 Centerline is valid? [True, True] Translation: X:200.15, Y:-23.25, Z:1.00 [[ 9.77750685e-01 2.09641623e-01 7.34770413e-03 2.00148038e+02] [-2.09635640e-01 9.77778293e-01 -1.58388879e-03 -2.32455830e+01] [-7.51647462e-03 8.30768525e-06 9.99971751e-01 9.97613933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters 0.025184654874857163 Centerline is valid? [True, True] Translation: X:200.21, Y:-23.25, Z:1.00 [[ 9.79558320e-01 2.00995662e-01 8.13891174e-03 2.00205926e+02] [-2.00988051e-01 9.79592128e-01 -1.75095298e-03 -2.32536838e+01] [-8.32474782e-03 7.93365579e-05 9.99965346e-01 9.97575242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters 0.025627938775642452 Centerline is valid? [True, True] Translation: X:200.26, Y:-23.26, Z:1.00 [[ 9.80804519e-01 1.94835333e-01 7.85422597e-03 2.00264617e+02] [-1.94828076e-01 9.80835959e-01 -1.68614344e-03 -2.32608972e+01] [-8.03222758e-03 1.23553365e-04 9.99967734e-01 9.99264909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters 0.02550496785302456 Centerline is valid? [True, True] Translation: X:200.32, Y:-23.28, Z:1.00 [[ 9.80869308e-01 1.94589514e-01 5.50644202e-03 2.00321800e+02] [-1.94585960e-01 9.80884761e-01 -1.17905457e-03 -2.32753433e+01] [-5.63061672e-03 8.50221296e-05 9.99984144e-01 9.99687561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters 0.025680213161288226 Centerline is valid? [True, True] Translation: X:200.38, Y:-23.29, Z:1.00 [[ 9.80868735e-01 1.94343689e-01 1.12718542e-02 2.00378115e+02] [-1.94328814e-01 9.80933484e-01 -2.41075879e-03 -2.32914426e+01] [-1.15254550e-02 1.74191864e-04 9.99933565e-01 9.99970262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters 0.026117970038956762 Centerline is valid? [True, True] Translation: X:200.44, Y:-23.30, Z:1.00 [[ 9.81271105e-01 1.92221707e-01 1.25632112e-02 2.00435656e+02] [-1.92203124e-01 9.81351501e-01 -2.68160639e-03 -2.33046459e+01] [-1.28443891e-02 2.16694433e-04 9.99917484e-01 1.00026527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters 0.026438787010262792 Centerline is valid? [True, True] Translation: X:200.49, Y:-23.32, Z:1.00 [[ 9.82049687e-01 1.88417303e-01 8.79389640e-03 2.00491634e+02] [-1.88408094e-01 9.82089042e-01 -1.87162553e-03 -2.33183190e+01] [-8.98903592e-03 1.81188001e-04 9.99959581e-01 1.00054843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters 0.026493272578735138 Centerline is valid? [True, True] Translation: X:200.55, Y:-23.33, Z:1.00 [[ 9.82262110e-01 1.87267237e-01 9.59838632e-03 2.00548122e+02] [-1.87256247e-01 9.82308984e-01 -2.03916288e-03 -2.33348610e+01] [-9.81044951e-03 2.05634631e-04 9.99951855e-01 9.99225517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters 0.026458772121587152 Centerline is valid? [True, True] Translation: X:200.60, Y:-23.35, Z:1.00 [[ 9.82148962e-01 1.87803003e-01 1.06511946e-02 2.00603665e+02] [-1.87789561e-01 9.82206692e-01 -2.25738328e-03 -2.33529472e+01] [-1.08856179e-02 2.16903490e-04 9.99940726e-01 9.99680019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters 0.025416183830239823 Centerline is valid? [True, True] Translation: X:200.66, Y:-23.37, Z:1.00 [[ 9.81127905e-01 1.93201663e-01 7.81993248e-03 2.00659799e+02] [-1.93194616e-01 9.81159062e-01 -1.65390143e-03 -2.33730670e+01] [-7.99213412e-03 1.11919993e-04 9.99968056e-01 1.00084826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters 0.024997330528922425 Centerline is valid? [True, True] Translation: X:200.71, Y:-23.39, Z:1.00 [[ 9.80135205e-01 1.97933529e-01 1.25418681e-02 2.00714262e+02] [-1.97915863e-01 9.80215438e-01 -2.64682657e-03 -2.33934592e+01] [-1.28176284e-02 1.12013263e-04 9.99917845e-01 9.97845514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters 0.024900851176236156 Centerline is valid? [True, True] Translation: X:200.77, Y:-23.41, Z:1.00 [[ 9.79680940e-01 2.00249649e-01 1.11952968e-02 2.00770729e+02] [-2.00235782e-01 9.79744902e-01 -2.35758140e-03 -2.34115496e+01] [-1.14406398e-02 6.79785522e-05 9.99934551e-01 9.98292357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters 0.024902462933959073 Centerline is valid? [True, True] Translation: X:200.83, Y:-23.42, Z:1.00 [[ 9.78803507e-01 2.04377833e-01 1.31680249e-02 2.00827658e+02] [-2.04359098e-01 9.78892078e-01 -2.76731178e-03 -2.34246747e+01] [-1.34556524e-02 1.76487877e-05 9.99909468e-01 1.00091446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters 0.024664765644445384 Centerline is valid? [True, True] Translation: X:200.88, Y:-23.44, Z:1.00 [[ 9.78212610e-01 2.07176752e-01 1.33372827e-02 2.00884512e+02] [-2.07157893e-01 9.78303528e-01 -2.79549422e-03 -2.34368418e+01] [-1.36270721e-02 -2.83356685e-05 9.99907147e-01 1.00162376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters 0.02486334731738873 Centerline is valid? [True, True] Translation: X:200.94, Y:-23.45, Z:1.00 [[ 9.77629605e-01 2.09866771e-01 1.40105132e-02 2.00941231e+02] [-2.09846322e-01 9.77729990e-01 -2.93060590e-03 -2.34542528e+01] [-1.43135357e-02 -7.50075673e-05 9.99897553e-01 9.99432337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters 0.024841573815548527 Centerline is valid? [True, True] Translation: X:201.00, Y:-23.46, Z:1.00 [[ 9.77610640e-01 2.09920219e-01 1.45237214e-02 2.00998581e+02] [-2.09898369e-01 9.77718515e-01 -3.02994563e-03 -2.34646533e+01] [-1.48361582e-02 -8.63983520e-05 9.99889934e-01 1.00208910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters 0.0249791018376572 Centerline is valid? [True, True] Translation: X:201.06, Y:-23.47, Z:1.00 [[ 9.77477602e-01 2.10595514e-01 1.36772389e-02 2.01055563e+02] [-2.10576306e-01 9.77573281e-01 -2.84591566e-03 -2.34737619e+01] [-1.39698404e-02 -9.82836405e-05 9.99902412e-01 1.00305820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters 0.025075939156676715 Centerline is valid? [True, True] Translation: X:201.11, Y:-23.49, Z:1.00 [[ 9.77673371e-01 2.09615460e-01 1.47016868e-02 2.01113112e+02] [-2.09593250e-01 9.77783897e-01 -3.05283348e-03 -2.34866614e+01] [-1.50149937e-02 -9.67003181e-05 9.99887264e-01 1.00292400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters 0.02485387316462588 Centerline is valid? [True, True] Translation: X:201.17, Y:-23.50, Z:1.00 [[ 9.78487961e-01 2.05616699e-01 1.68250754e-02 2.01170109e+02] [-2.05587147e-01 9.78632603e-01 -3.48626518e-03 -2.34991380e+01] [-1.71824016e-02 -4.77507359e-05 9.99852370e-01 1.00300573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters 0.024813714157544638 Centerline is valid? [True, True] Translation: X:201.23, Y:-23.51, Z:1.00 [[ 9.79501255e-01 2.00869270e-01 1.51270442e-02 2.01227187e+02] [-2.00844927e-01 9.79618056e-01 -3.12722925e-03 -2.35113932e+01] [-1.54468899e-02 2.49348818e-05 9.99880689e-01 1.00456310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters 0.02483419713377989 Centerline is valid? [True, True] Translation: X:201.28, Y:-23.53, Z:1.01 [[ 9.80411378e-01 1.96408692e-01 1.47362259e-02 2.01283046e+02] [-1.96385207e-01 9.80522115e-01 -3.03840319e-03 -2.35250213e+01] [-1.50459642e-02 8.49082826e-05 9.99886799e-01 1.00641035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters 0.024824326026264807 Centerline is valid? [True, True] Translation: X:201.34, Y:-23.54, Z:1.01 [[ 9.80857634e-01 1.94192743e-01 1.44041809e-02 2.01339480e+02] [-1.94170177e-01 9.80963387e-01 -2.96239459e-03 -2.35395062e+01] [-1.47052497e-02 1.08824982e-04 9.99891866e-01 1.00615797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters 0.02488927934296853 Centerline is valid? [True, True] Translation: X:201.40, Y:-23.56, Z:1.00 [[ 9.81054406e-01 1.93058240e-01 1.61483337e-02 2.01395401e+02] [-1.93029835e-01 9.81187290e-01 -3.31434160e-03 -2.35604993e+01] [-1.64844007e-02 1.34439241e-04 9.99864114e-01 1.00463277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters 0.024626774060822483 Centerline is valid? [True, True] Translation: X:201.45, Y:-23.58, Z:1.00 [[ 9.80278987e-01 1.97176296e-01 1.32142637e-02 2.01452337e+02] [-1.97157728e-01 9.80368046e-01 -2.70634006e-03 -2.35771847e+01] [-1.34884680e-02 4.76740829e-05 9.99909025e-01 1.00311879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters 0.024562381787968487 Centerline is valid? [True, True] Translation: X:201.51, Y:-23.59, Z:1.00 [[ 9.79385791e-01 2.01479137e-01 1.44785956e-02 2.01509537e+02] [-2.01457413e-01 9.79492806e-01 -2.95864637e-03 -2.35908733e+01] [-1.47777858e-02 -1.91641976e-05 9.99890802e-01 1.00297056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters 0.02477289503230136 Centerline is valid? [True, True] Translation: X:201.57, Y:-23.61, Z:1.00 [[ 9.78262078e-01 2.06623315e-01 1.76100342e-02 2.01566578e+02] [-2.06592147e-01 9.78420559e-01 -3.59092199e-03 -2.36059995e+01] [-1.79719877e-02 -1.25231967e-04 9.99838483e-01 1.00428873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters 0.024817624158668106 Centerline is valid? [True, True] Translation: X:201.62, Y:-23.62, Z:1.00 [[ 9.78282991e-01 2.06467869e-01 1.82594982e-02 2.01624280e+02] [-2.06434489e-01 9.78453372e-01 -3.71496339e-03 -2.36183739e+01] [-1.86330882e-02 -1.35104689e-04 9.99826380e-01 1.00427777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters 0.024927181710309436 Centerline is valid? [True, True] Translation: X:201.68, Y:-23.63, Z:1.00 [[ 9.78234625e-01 2.06608574e-01 1.92331815e-02 2.01680761e+02] [-2.06571740e-01 9.78423668e-01 -3.90423784e-03 -2.36346072e+01] [-1.96248490e-02 -1.53771113e-04 9.99807402e-01 1.00425411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters 0.024996066013804556 Centerline is valid? [True, True] Translation: X:201.74, Y:-23.64, Z:1.01 [[ 9.78153989e-01 2.07021068e-01 1.88957838e-02 2.01738413e+02] [-2.06985789e-01 9.78336470e-01 -3.82545378e-03 -2.36435104e+01] [-1.92783840e-02 -1.69275854e-04 9.99814140e-01 1.00524789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters 0.024911341842284267 Centerline is valid? [True, True] Translation: X:201.80, Y:-23.66, Z:1.00 [[ 9.78720619e-01 2.04391231e-01 1.81707141e-02 2.01795774e+02] [-2.04358307e-01 9.78889274e-01 -3.67049965e-03 -2.36562252e+01] [-1.85373350e-02 -1.20942665e-04 9.99828162e-01 1.00424173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters 0.024886854822838846 Centerline is valid? [True, True] Translation: X:201.85, Y:-23.67, Z:1.00 [[ 9.79989105e-01 1.98161555e-01 1.87976809e-02 2.01851248e+02] [-1.98125370e-01 9.80169372e-01 -3.78680877e-03 -2.36718358e+01] [-1.91753110e-02 -1.32661432e-05 9.99816137e-01 1.00132839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters 0.02490355939011251 Centerline is valid? [True, True] Translation: X:201.91, Y:-23.69, Z:1.00 [[ 9.80725908e-01 1.94676005e-01 1.66717154e-02 2.01908047e+02] [-1.94647169e-01 9.80867601e-01 -3.35080805e-03 -2.36853409e+01] [-1.70050674e-02 4.11220470e-05 9.99855403e-01 1.00197243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters 0.02480616197372856 Centerline is valid? [True, True] Translation: X:201.97, Y:-23.70, Z:1.01 [[ 9.81224665e-01 1.92067830e-01 1.75529351e-02 2.01965875e+02] [-1.92035588e-01 9.81381649e-01 -3.52007056e-03 -2.36956438e+01] [-1.79022207e-02 8.31918299e-05 9.99839739e-01 1.00671329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters 0.02484946537803561 Centerline is valid? [True, True] Translation: X:202.02, Y:-23.71, Z:1.01 [[ 9.81525964e-01 1.90703880e-01 1.54535725e-02 2.02023332e+02] [-1.90678837e-01 9.81647606e-01 -3.09172161e-03 -2.37097446e+01] [-1.57595658e-02 8.79357906e-05 9.99875806e-01 1.00616211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters 0.02498259379668674 Centerline is valid? [True, True] Translation: X:202.08, Y:-23.73, Z:1.00 [[ 9.81685268e-01 1.89705670e-01 1.74869267e-02 2.02080231e+02] [-1.89673581e-01 9.81840999e-01 -3.49086598e-03 -2.37258758e+01] [-1.78316186e-02 1.10123703e-04 9.99840998e-01 1.00409718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters 0.025272148453618446 Centerline is valid? [True, True] Translation: X:202.14, Y:-23.74, Z:1.01 [[ 9.82193705e-01 1.87206317e-01 1.57899094e-02 2.02137427e+02] [-1.87179949e-01 9.82320608e-01 -3.14474157e-03 -2.37377390e+01] [-1.60994689e-02 1.33190946e-04 9.99870386e-01 1.00576108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters 0.025107441645729006 Centerline is valid? [True, True] Translation: X:202.19, Y:-23.75, Z:1.01 [[ 9.82461308e-01 1.85726308e-01 1.65987001e-02 2.02194877e+02] [-1.85697085e-01 9.82601503e-01 -3.29839572e-03 -2.37511869e+01] [-1.69225065e-02 1.58215957e-04 9.99856792e-01 1.00617748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters 0.025318513870578735 Centerline is valid? [True, True] Translation: X:202.25, Y:-23.77, Z:1.01 [[ 9.82820229e-01 1.83885967e-01 1.58224342e-02 2.02250977e+02] [-1.83859314e-01 9.82947568e-01 -3.13551054e-03 -2.37665561e+01] [-1.61291996e-02 1.72541292e-04 9.99869901e-01 1.00540875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters 0.025383823752970033 Centerline is valid? [True, True] Translation: X:202.31, Y:-23.78, Z:1.01 [[ 9.82805485e-01 1.83859729e-01 1.69993817e-02 2.02308521e+02] [-1.83829084e-01 9.82952475e-01 -3.36150240e-03 -2.37798421e+01] [-1.73276292e-02 1.78722236e-04 9.99849849e-01 1.00562378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters 0.02522091519349663 Centerline is valid? [True, True] Translation: X:202.37, Y:-23.79, Z:1.00 [[ 9.83036555e-01 1.82781703e-01 1.51651293e-02 2.02365837e+02] [-1.82757297e-01 9.83153508e-01 -2.99169323e-03 -2.37936690e+01] [-1.54564768e-02 1.69405766e-04 9.99880527e-01 1.00490078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters 0.025421458467439456 Centerline is valid? [True, True] Translation: X:202.42, Y:-23.81, Z:1.00 [[ 9.83544067e-01 1.80102806e-01 1.42844858e-02 2.02422077e+02] [-1.80080986e-01 9.83647774e-01 -2.80995644e-03 -2.38075741e+01] [-1.45569837e-02 1.91351695e-04 9.99894023e-01 1.00411324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters 0.025654594829840782 Centerline is valid? [True, True] Translation: X:202.48, Y:-23.83, Z:1.01 [[ 9.83916822e-01 1.78111916e-01 1.35584840e-02 2.02477562e+02] [-1.78092166e-01 9.84010216e-01 -2.66005776e-03 -2.38255603e+01] [-1.38154747e-02 2.02615798e-04 9.99904541e-01 1.00624215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters 0.025696009014614603 Centerline is valid? [True, True] Translation: X:202.53, Y:-23.85, Z:1.01 [[ 9.84121000e-01 1.77037263e-01 1.27931405e-02 2.02532864e+02] [-1.77019677e-01 9.84204129e-01 -2.50322093e-03 -2.38451763e+01] [-1.30342251e-02 1.98834687e-04 9.99915031e-01 1.00543285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters 0.025536631559694413 Centerline is valid? [True, True] Translation: X:202.59, Y:-23.86, Z:1.01 [[ 9.84274203e-01 1.76225979e-01 1.21941342e-02 2.02589345e+02] [-1.76210018e-01 9.84349718e-01 -2.37964277e-03 -2.38584234e+01] [-1.24226474e-02 1.93492391e-04 9.99922817e-01 1.00654965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters 0.0257687689811721 Centerline is valid? [True, True] Translation: X:202.64, Y:-23.88, Z:1.01 [[ 9.84274476e-01 1.76258673e-01 1.16891134e-02 2.02644471e+02] [-1.76244083e-01 9.84343867e-01 -2.27491219e-03 -2.38796215e+01] [-1.19070801e-02 1.79000928e-04 9.99929092e-01 1.00684613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters 0.025928667463516093 Centerline is valid? [True, True] Translation: X:202.70, Y:-23.90, Z:1.01 [[ 9.84372219e-01 1.75565752e-01 1.37113823e-02 2.02701746e+02] [-1.75545684e-01 9.84467684e-01 -2.66310604e-03 -2.38950187e+01] [-1.39659630e-02 2.14513622e-04 9.99902448e-01 1.00757985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters 0.025881128534180734 Centerline is valid? [True, True] Translation: X:202.76, Y:-23.92, Z:1.01 [[ 9.84491269e-01 1.74951786e-01 1.29928476e-02 2.02756850e+02] [-1.74933808e-01 9.84576981e-01 -2.51641705e-03 -2.39165087e+01] [-1.32327103e-02 2.04502316e-04 9.99912423e-01 1.00543712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters 0.02586879733361501 Centerline is valid? [True, True] Translation: X:202.81, Y:-23.94, Z:1.01 [[ 9.84420830e-01 1.75234757e-01 1.44363648e-02 2.02812876e+02] [-1.75212679e-01 9.84526654e-01 -2.79002841e-03 -2.39373839e+01] [-1.47018959e-02 2.17127927e-04 9.99891898e-01 1.00861571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters 0.02558101790682874 Centerline is valid? [True, True] Translation: X:202.87, Y:-23.95, Z:1.01 [[ 9.84080232e-01 1.77236096e-01 1.31705508e-02 2.02869750e+02] [-1.77217982e-01 9.84168349e-01 -2.53921778e-03 -2.39515001e+01] [-1.34120803e-02 1.64735584e-04 9.99910040e-01 1.01056144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters 0.02564576234472889 Centerline is valid? [True, True] Translation: X:202.93, Y:-23.97, Z:1.01 [[ 9.83846366e-01 1.78419271e-01 1.45908125e-02 2.02925539e+02] [-1.78397286e-01 9.83954541e-01 -2.80522717e-03 -2.39683692e+01] [-1.48572028e-02 1.56951217e-04 9.99889613e-01 1.00857103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters 0.025727098740818705 Centerline is valid? [True, True] Translation: X:202.98, Y:-23.99, Z:1.01 [[ 9.83662585e-01 1.79394864e-01 1.50134100e-02 2.02981058e+02] [-1.79371819e-01 9.83777141e-01 -2.87870054e-03 -2.39878789e+01] [-1.52862737e-02 1.38687343e-04 9.99883148e-01 1.00797203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters 0.025535566232306538 Centerline is valid? [True, True] Translation: X:203.04, Y:-24.01, Z:1.01 [[ 9.83815551e-01 1.78760282e-01 1.23175995e-02 2.03037354e+02] [-1.78744788e-01 9.83892651e-01 -2.35642409e-03 -2.40091588e+01] [-1.25404307e-02 1.16579955e-04 9.99921359e-01 1.00833827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters 0.02539476252391849 Centerline is valid? [True, True] Translation: X:203.09, Y:-24.03, Z:1.01 [[ 9.83464184e-01 1.80717971e-01 1.17988870e-02 2.03093271e+02] [-1.80703964e-01 9.83534955e-01 -2.25150246e-03 -2.40271552e+01] [-1.20115047e-02 8.21663886e-05 9.99927856e-01 1.00868259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters 0.025273662547260493 Centerline is valid? [True, True] Translation: X:203.15, Y:-24.05, Z:1.01 [[ 9.82216844e-01 1.87316112e-01 1.27571435e-02 2.03148258e+02] [-1.87300385e-01 9.82299686e-01 -2.42727457e-03 -2.40470239e+01] [-1.29860057e-02 -5.30792378e-06 9.99915678e-01 1.00995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters 0.025441190966328776 Centerline is valid? [True, True] Translation: X:203.20, Y:-24.06, Z:1.01 [[ 9.80835909e-01 1.94376161e-01 1.33726226e-02 2.03204510e+02] [-1.94359538e-01 9.80927060e-01 -2.54412195e-03 -2.40633596e+01] [-1.36120841e-02 -1.03730597e-04 9.99907346e-01 1.00937782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters 0.02596821139561922 Centerline is valid? [True, True] Translation: X:203.26, Y:-24.08, Z:1.01 [[ 9.78971222e-01 2.03530917e-01 1.38025952e-02 2.03262110e+02] [-2.03514228e-01 9.79068489e-01 -2.61795368e-03 -2.40761432e+01] [-1.40465205e-02 -2.46123181e-04 9.99901312e-01 1.00998808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters 0.02648160942695961 Centerline is valid? [True, True] Translation: X:203.32, Y:-24.09, Z:1.01 [[ 9.77634310e-01 2.09755903e-01 1.52845120e-02 2.03320635e+02] [-2.09736189e-01 9.77753713e-01 -2.89957199e-03 -2.40856807e+01] [-1.55526907e-02 -3.70994232e-04 9.99878981e-01 1.01307874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters 0.026819831956799448 Centerline is valid? [True, True] Translation: X:203.38, Y:-24.09, Z:1.01 [[ 9.77233887e-01 2.11655724e-01 1.46895905e-02 2.03379213e+02] [-2.11637862e-01 9.77344207e-01 -2.77783975e-03 -2.40907899e+01] [-1.49447319e-02 -3.94274378e-04 9.99888244e-01 1.01300181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters 0.026861953712050232 Centerline is valid? [True, True] Translation: X:203.44, Y:-24.10, Z:1.01 [[ 9.77259341e-01 2.11558919e-01 1.43876740e-02 2.03436648e+02] [-2.11541894e-01 9.77365167e-01 -2.71246589e-03 -2.40970314e+01] [-1.46358577e-02 -3.92813177e-04 9.99892813e-01 1.01051230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters 0.026688118011368025 Centerline is valid? [True, True] Translation: X:203.50, Y:-24.10, Z:1.01 [[ 9.77550105e-01 2.09956157e-01 1.77258323e-02 2.03495745e+02] [-2.09930187e-01 9.77710693e-01 -3.33431913e-03 -2.41004673e+01] [-1.80307966e-02 -4.61723290e-04 9.99837325e-01 1.01436679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters 0.02587419928361953 Centerline is valid? [True, True] Translation: X:203.56, Y:-24.10, Z:1.01 [[ 9.79124621e-01 2.02684349e-01 1.52980573e-02 2.03555297e+02] [-2.02664227e-01 9.79244081e-01 -2.87060591e-03 -2.41041409e+01] [-1.55623589e-02 -2.89688031e-04 9.99878857e-01 1.01324321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters 0.02563508743595695 Centerline is valid? [True, True] Translation: X:203.61, Y:-24.11, Z:1.01 [[ 9.80259721e-01 1.97153872e-01 1.48737852e-02 2.03614252e+02] [-1.97134314e-01 9.80372536e-01 -2.78434982e-03 -2.41112911e+01] [-1.51307958e-02 -2.02747455e-04 9.99885502e-01 1.01219809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters 0.025257659078360774 Centerline is valid? [True, True] Translation: X:203.67, Y:-24.12, Z:1.01 [[ 9.82081881e-01 1.87767259e-01 1.60821430e-02 2.03673387e+02] [-1.87743259e-01 9.82213547e-01 -3.00285174e-03 -2.41154566e+01] [-1.63599359e-02 -7.02676510e-05 9.99866165e-01 1.01373497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters 0.025133261631977433 Centerline is valid? [True, True] Translation: X:203.73, Y:-24.13, Z:1.01 [[ 9.83294839e-01 1.81361298e-01 1.54706033e-02 2.03731312e+02] [-1.81338410e-01 9.83416534e-01 -2.88137411e-03 -2.41275690e+01] [-1.57366168e-02 2.78256863e-05 9.99876171e-01 1.01119093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters 0.025858262655992777 Centerline is valid? [True, True] Translation: X:203.79, Y:-24.14, Z:1.01 [[ 9.85228016e-01 1.70432376e-01 1.66901493e-02 2.03788032e+02] [-1.70404295e-01 9.85369352e-01 -3.10091085e-03 -2.41444535e+01] [-1.69744572e-02 2.11031128e-04 9.99855901e-01 1.01060268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters 0.026127319662905976 Centerline is valid? [True, True] Translation: X:203.84, Y:-24.16, Z:1.01 [[ 9.86099867e-01 1.65356731e-01 1.62543592e-02 2.03844839e+02] [-1.65329530e-01 9.86233781e-01 -3.01250604e-03 -2.41601821e+01] [-1.65287363e-02 2.83306241e-04 9.99863351e-01 1.01250199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters 0.02625141398349186 Centerline is valid? [True, True] Translation: X:203.90, Y:-24.18, Z:1.01 [[ 9.86382994e-01 1.63606617e-01 1.67769204e-02 2.03901763e+02] [-1.63577513e-01 9.86525608e-01 -3.10189334e-03 -2.41767235e+01] [-1.70583518e-02 3.15327932e-04 9.99854446e-01 1.01143308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters 0.025936024677111407 Centerline is valid? [True, True] Translation: X:203.96, Y:-24.20, Z:1.01 [[ 9.86215915e-01 1.64686563e-01 1.60157931e-02 2.03957334e+02] [-1.64660302e-01 9.86345913e-01 -2.95378280e-03 -2.42010153e+01] [-1.62835604e-02 2.75902270e-04 9.99867376e-01 1.01173164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters 0.02553918933372749 Centerline is valid? [True, True] Translation: X:204.01, Y:-24.22, Z:1.01 [[ 9.85744238e-01 1.67683965e-01 1.37979981e-02 2.04013249e+02] [-1.67664758e-01 9.85840783e-01 -2.54547070e-03 -2.42248462e+01] [-1.40294639e-02 1.95745052e-04 9.99901563e-01 1.01347178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters 0.025113880289016142 Centerline is valid? [True, True] Translation: X:204.07, Y:-24.24, Z:1.02 [[ 9.85413168e-01 1.69713767e-01 1.25748284e-02 2.04069375e+02] [-1.69698079e-01 9.85493387e-01 -2.31196677e-03 -2.42442191e+01] [-1.27847828e-02 1.44318271e-04 9.99918261e-01 1.01598066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters 0.024687642082263036 Centerline is valid? [True, True] Translation: X:204.13, Y:-24.27, Z:1.02 [[ 9.84531000e-01 1.74722673e-01 1.30651541e-02 2.04126365e+02] [-1.74706164e-01 9.84617682e-01 -2.40330316e-03 -2.42659892e+01] [-1.32840933e-02 8.35635133e-05 9.99911759e-01 1.01549880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters 0.02472941448258978 Centerline is valid? [True, True] Translation: X:204.18, Y:-24.28, Z:1.01 [[ 9.83241195e-01 1.81770646e-01 1.40065800e-02 2.04184439e+02] [-1.81752381e-01 9.83340954e-01 -2.57683163e-03 -2.42845082e+01] [-1.42416360e-02 -1.20822408e-05 9.99898583e-01 1.01365587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters 0.024575262012284323 Centerline is valid? [True, True] Translation: X:204.24, Y:-24.30, Z:1.02 [[ 9.82321436e-01 1.86740525e-01 1.31366604e-02 2.04243575e+02] [-1.86724885e-01 9.82409268e-01 -2.41801897e-03 -2.43005999e+01] [-1.33571190e-02 -7.76695321e-05 9.99910787e-01 1.01657797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters 0.024901470160652132 Centerline is valid? [True, True] Translation: X:204.30, Y:-24.31, Z:1.02 [[ 9.81167239e-01 1.92721919e-01 1.30042412e-02 2.04303278e+02] [-1.92707097e-01 9.81253401e-01 -2.39516693e-03 -2.43124725e+01] [-1.32220571e-02 -1.55950252e-04 9.99912573e-01 1.01882431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters 0.025154181662021494 Centerline is valid? [True, True] Translation: X:204.36, Y:-24.32, Z:1.02 [[ 9.80598702e-01 1.95328640e-01 1.65199467e-02 2.04363269e+02] [-1.95305102e-01 9.80737816e-01 -3.04205169e-03 -2.43214164e+01] [-1.67959362e-02 -2.43397928e-04 9.99858909e-01 1.01718669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters 0.025273250574980432 Centerline is valid? [True, True] Translation: X:204.42, Y:-24.33, Z:1.02 [[ 9.80340896e-01 1.96797708e-01 1.42264033e-02 2.04424289e+02] [-1.96780388e-01 9.80444088e-01 -2.62101544e-03 -2.43276575e+01] [-1.44640028e-02 -2.29988538e-04 9.99895364e-01 1.01629932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters 0.025401818526118138 Centerline is valid? [True, True] Translation: X:204.48, Y:-24.33, Z:1.02 [[ 9.80358609e-01 1.96750320e-01 1.36495054e-02 2.04483247e+02] [-1.96734394e-01 9.80453600e-01 -2.51313272e-03 -2.43342166e+01] [-1.38771664e-02 -2.21555872e-04 9.99903683e-01 1.01616209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters 0.02521698485261281 Centerline is valid? [True, True] Translation: X:204.54, Y:-24.33, Z:1.02 [[ 9.81055976e-01 1.92980051e-01 1.69667633e-02 2.04543026e+02] [-1.92955054e-01 9.81202656e-01 -3.11373107e-03 -2.43344436e+01] [-1.72487212e-02 -2.19078240e-04 9.99851206e-01 1.01591546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters 0.02497788067777747 Centerline is valid? [True, True] Translation: X:204.60, Y:-24.34, Z:1.02 [[ 9.82929842e-01 1.83406277e-01 1.45280295e-02 2.04602557e+02] [-1.83386892e-01 9.83037200e-01 -2.66688046e-03 -2.43410218e+01] [-1.47707161e-02 -4.28937891e-05 9.99890906e-01 1.01540273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters 0.025011328496493193 Centerline is valid? [True, True] Translation: X:204.66, Y:-24.35, Z:1.02 [[ 9.84516189e-01 1.74421272e-01 1.74669235e-02 2.04661160e+02] [-1.74392017e-01 9.84671118e-01 -3.19607308e-03 -2.43487207e+01] [-1.77566382e-02 1.00493673e-04 9.99842333e-01 1.01539960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters 0.025754872266907522 Centerline is valid? [True, True] Translation: X:204.72, Y:-24.36, Z:1.02 [[ 9.86556576e-01 1.62813445e-01 1.40678177e-02 2.04720280e+02] [-1.62793259e-01 9.86656840e-01 -2.57601503e-03 -2.43607092e+01] [-1.42995184e-02 2.51238685e-04 9.99897725e-01 1.01631958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters 0.026045123490192588 Centerline is valid? [True, True] Translation: X:204.78, Y:-24.37, Z:1.01 [[ 9.87034104e-01 1.59951171e-01 1.33903415e-02 2.04778227e+02] [-1.59932636e-01 9.87124889e-01 -2.45075529e-03 -2.43733820e+01] [-1.36099406e-02 2.77426436e-04 9.99907342e-01 1.01487323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters 0.026645094627150544 Centerline is valid? [True, True] Translation: X:204.84, Y:-24.39, Z:1.02 [[ 9.87784090e-01 1.55334852e-01 1.23965634e-02 2.04836269e+02] [-1.55318612e-01 9.87861825e-01 -2.26805618e-03 -2.43861970e+01] [-1.25983999e-02 3.14932790e-04 9.99920587e-01 1.01571772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters 0.02757401018659418 Centerline is valid? [True, True] Translation: X:204.89, Y:-24.41, Z:1.02 [[ 9.88260899e-01 1.51416021e-01 2.03367692e-02 2.04893545e+02] [-1.51371488e-01 9.88469944e-01 -3.72049589e-03 -2.44080129e+01] [-2.06656278e-02 5.98413605e-04 9.99786264e-01 1.01610358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters 0.02746898841804021 Centerline is valid? [True, True] Translation: X:204.95, Y:-24.43, Z:1.01 [[ 9.88465454e-01 1.50659778e-01 1.54168094e-02 2.04953244e+02] [-1.50634043e-01 9.88585561e-01 -2.82378543e-03 -2.44295998e+01] [-1.56662660e-02 4.68918017e-04 9.99877167e-01 1.01359801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters 0.02706949489976856 Centerline is valid? [True, True] Translation: X:205.01, Y:-24.45, Z:1.01 [[ 9.88072386e-01 1.53305050e-01 1.45093737e-02 2.05012738e+02] [-1.53282524e-01 9.88178830e-01 -2.65871391e-03 -2.44474935e+01] [-1.47454502e-02 4.02968390e-04 9.99891199e-01 1.01375181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters 0.02648271895265821 Centerline is valid? [True, True] Translation: X:205.07, Y:-24.47, Z:1.02 [[ 9.87408236e-01 1.57513012e-01 1.46501141e-02 2.05071730e+02] [-1.57490469e-01 9.87516851e-01 -2.68717022e-03 -2.44732400e+01] [-1.48904988e-02 3.46080655e-04 9.99889070e-01 1.01515613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters 0.025566219953865547 Centerline is valid? [True, True] Translation: X:205.13, Y:-24.50, Z:1.01 [[ 9.86271055e-01 1.64454867e-01 1.49667459e-02 2.05130688e+02] [-1.64432110e-01 9.86384578e-01 -2.74704553e-03 -2.44975552e+01] [-1.52147323e-02 2.48317897e-04 9.99884218e-01 1.01363837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters 0.025042943241899096 Centerline is valid? [True, True] Translation: X:205.19, Y:-24.51, Z:1.02 [[ 9.85334950e-01 1.69984150e-01 1.48467425e-02 2.05190659e+02] [-1.69962353e-01 9.85446783e-01 -2.72700282e-03 -2.45133788e+01] [-1.50942219e-02 1.63623895e-04 9.99886062e-01 1.01519772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters 0.024640817325831805 Centerline is valid? [True, True] Translation: X:205.25, Y:-24.54, Z:1.02 [[ 9.83691904e-01 1.79419367e-01 1.26066625e-02 2.05249474e+02] [-1.79404402e-01 9.83772682e-01 -2.31737609e-03 -2.45372375e+01] [-1.28178723e-02 1.78933552e-05 9.99917848e-01 1.01811439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters 0.02488556545235131 Centerline is valid? [True, True] Translation: X:205.31, Y:-24.55, Z:1.02 [[ 9.82967015e-01 1.83401783e-01 1.18166769e-02 2.05309250e+02] [-1.83388902e-01 9.83038039e-01 -2.17384197e-03 -2.45549708e+01] [-1.20149294e-02 -3.02324443e-05 9.99927818e-01 1.01835532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters 0.025098320811234472 Centerline is valid? [True, True] Translation: X:205.37, Y:-24.57, Z:1.02 [[ 9.82714658e-01 1.84736659e-01 1.20111426e-02 2.05369266e+02] [-1.84723414e-01 9.82788057e-01 -2.21250514e-03 -2.45747778e+01] [-1.22131383e-02 -4.44780503e-05 9.99925416e-01 1.01777820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters 0.025410678548575177 Centerline is valid? [True, True] Translation: X:205.43, Y:-24.59, Z:1.02 [[ 9.82118781e-01 1.87835557e-01 1.26690046e-02 2.05429828e+02] [-1.87821063e-01 9.82200487e-01 -2.33504386e-03 -2.45911475e+01] [-1.28821067e-02 -8.62154715e-05 9.99917019e-01 1.01686883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters 0.02548803811060961 Centerline is valid? [True, True] Translation: X:205.49, Y:-24.61, Z:1.02 [[ 9.81366392e-01 1.91832056e-01 1.09757761e-02 2.05491791e+02] [-1.91821397e-01 9.81427760e-01 -2.02569019e-03 -2.46052208e+01] [-1.11605237e-02 -1.17444432e-04 9.99937713e-01 1.01921001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters 0.026053630046155764 Centerline is valid? [True, True] Translation: X:205.55, Y:-24.62, Z:1.02 [[ 9.80430160e-01 1.96616420e-01 9.93398238e-03 2.05552018e+02] [-1.96607922e-01 9.80480474e-01 -1.83457420e-03 -2.46225749e+01] [-1.01007832e-02 -1.54427757e-04 9.99948974e-01 1.01865523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters 0.02600870550957021 Centerline is valid? [True, True] Translation: X:205.61, Y:-24.64, Z:1.02 [[ 9.80325456e-01 1.97152486e-01 9.63838135e-03 2.05613806e+02] [-1.97144488e-01 9.80372824e-01 -1.78238916e-03 -2.46363049e+01] [-9.80060960e-03 -1.52832290e-04 9.99951961e-01 1.01867050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters 0.025917280992873194 Centerline is valid? [True, True] Translation: X:205.67, Y:-24.65, Z:1.02 [[ 9.80749829e-01 1.95055655e-01 9.11402065e-03 2.05674907e+02] [-1.95048404e-01 9.80792168e-01 -1.68641084e-03 -2.46488851e+01] [-9.26790404e-03 -1.23728035e-04 9.99957044e-01 1.01951902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters 0.025628614161890835 Centerline is valid? [True, True] Translation: X:205.74, Y:-24.66, Z:1.02 [[ 9.81032456e-01 1.93655296e-01 8.54086059e-03 2.05735949e+02] [-1.93648865e-01 9.81069628e-01 -1.58160474e-03 -2.46597683e+01] [-8.68546506e-03 -1.02322376e-04 9.99962275e-01 1.02025873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters 0.025618242887178403 Centerline is valid? [True, True] Translation: X:205.80, Y:-24.67, Z:1.02 [[ 9.81205796e-01 1.92641529e-01 1.11547197e-02 2.05796767e+02] [-1.92630484e-01 9.81269192e-01 -2.06643831e-03 -2.46700194e+01] [-1.13438646e-02 -1.21137806e-04 9.99935649e-01 1.02073960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters 0.025343850160299046 Centerline is valid? [True, True] Translation: X:205.86, Y:-24.68, Z:1.02 [[ 9.82045072e-01 1.88453829e-01 8.52235338e-03 2.05857803e+02] [-1.88447211e-01 9.82082049e-01 -1.58028737e-03 -2.46816913e+01] [-8.66746148e-03 -5.41002991e-05 9.99962435e-01 1.02098189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters 0.02533191677711907 Centerline is valid? [True, True] Translation: X:205.92, Y:-24.69, Z:1.02 [[ 9.82654130e-01 1.85256957e-01 8.40950065e-03 2.05918553e+02] [-1.85250386e-01 9.82690114e-01 -1.56055441e-03 -2.46942309e+01] [-8.55303671e-03 -2.43780053e-05 9.99963422e-01 1.02114823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters 0.025391170839030384 Centerline is valid? [True, True] Translation: X:205.98, Y:-24.71, Z:1.02 [[ 9.83274931e-01 1.81889650e-01 9.30405721e-03 2.05980586e+02] [-1.81881434e-01 9.83318949e-01 -1.72881915e-03 -2.47054581e+01] [-9.46331006e-03 7.66926079e-06 9.99955222e-01 1.02267565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters 0.025255047505897892 Centerline is valid? [True, True] Translation: X:206.04, Y:-24.72, Z:1.02 [[ 9.83225543e-01 1.82183885e-01 8.75012069e-03 2.06041266e+02] [-1.82176621e-01 9.83264477e-01 -1.62680557e-03 -2.47175730e+01] [-8.90006060e-03 5.44936501e-06 9.99960394e-01 1.02335587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters 0.025290239979854405 Centerline is valid? [True, True] Translation: X:206.10, Y:-24.73, Z:1.02 [[ 9.82768248e-01 1.84623702e-01 8.98102164e-03 2.06102403e+02] [-1.84616132e-01 9.82809284e-01 -1.67196160e-03 -2.47318738e+01] [-9.13531519e-03 -1.48907045e-05 9.99958272e-01 1.02242132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters 0.025349730944628446 Centerline is valid? [True, True] Translation: X:206.16, Y:-24.74, Z:1.02 [[ 9.82220234e-01 1.87508165e-01 9.17057960e-03 2.06163509e+02] [-1.87500389e-01 9.82263043e-01 -1.70818009e-03 -2.47423931e+01] [-9.32821914e-03 -4.16781907e-05 9.99956490e-01 1.02403040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters 0.02559668735477268 Centerline is valid? [True, True] Translation: X:206.23, Y:-24.75, Z:1.02 [[ 9.81844118e-01 1.89525650e-01 7.88394014e-03 2.06225181e+02] [-1.89519951e-01 9.81875769e-01 -1.47062852e-03 -2.47532050e+01] [-8.01977161e-03 -5.02359831e-05 9.99967840e-01 1.02227989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters 0.02544550130563233 Centerline is valid? [True, True] Translation: X:206.29, Y:-24.76, Z:1.02 [[ 9.81819119e-01 1.89579177e-01 9.53692368e-03 2.06286737e+02] [-1.89570832e-01 9.81865435e-01 -1.77974413e-03 -2.47645589e+01] [-9.70137814e-03 -6.05357405e-05 9.99952939e-01 1.02308178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters 0.02565088332070212 Centerline is valid? [True, True] Translation: X:206.35, Y:-24.77, Z:1.02 [[ 9.81629051e-01 1.90539045e-01 9.96389793e-03 2.06349281e+02] [-1.90529972e-01 9.81679615e-01 -1.86078436e-03 -2.47685549e+01] [-1.01359076e-02 -7.18212073e-05 9.99948628e-01 1.02321269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters 0.025593472004405496 Centerline is valid? [True, True] Translation: X:206.41, Y:-24.78, Z:1.02 [[ 9.81979812e-01 1.88737394e-01 9.68739418e-03 2.06410422e+02] [-1.88728717e-01 9.82027593e-01 -1.81052249e-03 -2.47809612e+01] [-9.85500168e-03 -5.03929399e-05 9.99951437e-01 1.02415015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters 0.02548094139068983 Centerline is valid? [True, True] Translation: X:206.47, Y:-24.79, Z:1.02 [[ 9.82587848e-01 1.85442783e-01 1.14933008e-02 2.06471164e+02] [-1.85430325e-01 9.82655064e-01 -2.14953702e-03 -2.47936342e+01] [-1.16925664e-02 -1.90975565e-05 9.99931639e-01 1.02445221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters 0.025438991540103213 Centerline is valid? [True, True] Translation: X:206.53, Y:-24.80, Z:1.02 [[ 9.83116208e-01 1.82604308e-01 1.17553800e-02 2.06533737e+02] [-1.82591039e-01 9.83186486e-01 -2.20138475e-03 -2.48032472e+01] [-1.19597131e-02 1.77899818e-05 9.99928480e-01 1.02474175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters 0.025241457450751268 Centerline is valid? [True, True] Translation: X:206.59, Y:-24.82, Z:1.03 [[ 9.83439749e-01 1.80812435e-01 1.23743171e-02 2.06594371e+02] [-1.80797573e-01 9.83517596e-01 -2.31859757e-03 -2.48188562e+01] [-1.25895898e-02 4.29545198e-05 9.99920747e-01 1.02570359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters 0.0252145581235138 Centerline is valid? [True, True] Translation: X:206.65, Y:-24.84, Z:1.02 [[ 9.83740159e-01 1.79158660e-01 1.25488529e-02 2.06654320e+02] [-1.79143220e-01 9.83820192e-01 -2.35301877e-03 -2.48380537e+01] [-1.27673785e-02 6.67171586e-05 9.99918491e-01 1.02417446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters 0.025101150038009803 Centerline is valid? [True, True] Translation: X:206.72, Y:-24.85, Z:1.02 [[ 9.83625794e-01 1.79756544e-01 1.29569700e-02 2.06715937e+02] [-1.79740095e-01 9.83711127e-01 -2.43259445e-03 -2.48515265e+01] [-1.31831903e-02 6.38756334e-05 9.99913096e-01 1.02341477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters 0.02514408164440875 Centerline is valid? [True, True] Translation: X:206.78, Y:-24.87, Z:1.02 [[ 9.83394883e-01 1.80707790e-01 1.67092478e-02 2.06776065e+02] [-1.80680543e-01 9.83536827e-01 -3.13872330e-03 -2.48672834e+01] [-1.70013523e-02 6.75684816e-05 9.99855464e-01 1.02297004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters 0.0252832922186918 Centerline is valid? [True, True] Translation: X:206.84, Y:-24.88, Z:1.02 [[ 9.82271269e-01 1.86621017e-01 1.77693511e-02 2.06836814e+02] [-1.86590955e-01 9.82431980e-01 -3.34966920e-03 -2.48838013e+01] [-1.80822974e-02 -2.53163685e-05 9.99836502e-01 1.02283320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters 0.025291058301466666 Centerline is valid? [True, True] Translation: X:206.90, Y:-24.90, Z:1.02 [[ 9.81127789e-01 1.92805148e-01 1.46436499e-02 2.06896837e+02] [-1.92785404e-01 9.81237057e-01 -2.76157608e-03 -2.49035626e+01] [-1.49013380e-02 -1.13622922e-04 9.99888962e-01 1.02106367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters 0.025450118836845677 Centerline is valid? [True, True] Translation: X:206.96, Y:-24.91, Z:1.02 [[ 9.80113604e-01 1.97838798e-01 1.53991081e-02 2.06957781e+02] [-1.97817443e-01 9.80234550e-01 -2.91306313e-03 -2.49147768e+01] [-1.56710547e-02 -1.91079380e-04 9.99877183e-01 1.02206831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters 0.026204393272925293 Centerline is valid? [True, True] Translation: X:207.02, Y:-24.93, Z:1.02 [[ 9.78553671e-01 2.05282692e-01 1.70800889e-02 2.07018975e+02] [-2.05257545e-01 9.78702661e-01 -3.23141265e-03 -2.49270109e+01] [-1.73796816e-02 -3.43706411e-04 9.99848903e-01 1.02232341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters 0.02722512772833446 Centerline is valid? [True, True] Translation: X:207.08, Y:-24.94, Z:1.02 [[ 9.76846957e-01 2.13241079e-01 1.72703622e-02 2.07080986e+02] [-2.13216569e-01 9.76999490e-01 -3.26971779e-03 -2.49352352e+01] [-1.75703732e-02 -4.88313497e-04 9.99845510e-01 1.02070227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters 0.02760888591560062 Centerline is valid? [True, True] Translation: X:207.14, Y:-24.94, Z:1.02 [[ 9.75930260e-01 2.17378022e-01 1.75192129e-02 2.07143184e+02] [-2.17353292e-01 9.76087332e-01 -3.32653825e-03 -2.49427208e+01] [-1.78233981e-02 -5.61389261e-04 9.99840993e-01 1.02112886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters 0.02750410028661339 Centerline is valid? [True, True] Translation: X:207.20, Y:-24.95, Z:1.02 [[ 9.75962719e-01 2.17056708e-01 1.95743831e-02 2.07204955e+02] [-2.17025596e-01 9.76158804e-01 -3.72555652e-03 -2.49487810e+01] [-1.99163635e-02 -6.12137889e-04 9.99801462e-01 1.02131848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters 0.02699984219585351 Centerline is valid? [True, True] Translation: X:207.27, Y:-24.95, Z:1.02 [[ 9.76706796e-01 2.13658154e-01 1.98501379e-02 2.07267587e+02] [-2.13625270e-01 9.76908338e-01 -3.78732516e-03 -2.49542251e+01] [-2.02009581e-02 -5.41384857e-04 9.99795793e-01 1.02082763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters 0.02683335774936921 Centerline is valid? [True, True] Translation: X:207.33, Y:-24.96, Z:1.02 [[ 9.77017212e-01 2.12279394e-01 1.93604411e-02 2.07330110e+02] [-2.12247661e-01 9.77208891e-01 -3.70307804e-03 -2.49601428e+01] [-1.97052824e-02 -4.91237364e-04 9.99805711e-01 1.01995643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters 0.02615115877675177 Centerline is valid? [True, True] Translation: X:207.39, Y:-24.97, Z:1.02 [[ 9.78000717e-01 2.07805870e-01 1.82021144e-02 2.07391981e+02] [-2.07776884e-01 9.78170018e-01 -3.49028893e-03 -2.49672883e+01] [-1.85300651e-02 -3.68473531e-04 9.99828236e-01 1.01870539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters 0.025553786279912404 Centerline is valid? [True, True] Translation: X:207.45, Y:-24.98, Z:1.02 [[ 9.79411686e-01 2.01188492e-01 1.66114397e-02 2.07453683e+02] [-2.01163370e-01 9.79552521e-01 -3.18687621e-03 -2.49773928e+01] [-1.69129405e-02 -2.20349407e-04 9.99856942e-01 1.02018787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters 0.02550121053401105 Centerline is valid? [True, True] Translation: X:207.51, Y:-24.99, Z:1.02 [[ 9.80181267e-01 1.97415542e-01 1.64859959e-02 2.07514937e+02] [-1.97390228e-01 9.80319887e-01 -3.16499467e-03 -2.49882589e+01] [-1.67863688e-02 -1.51906010e-04 9.99859087e-01 1.02085341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters 0.025254267305768928 Centerline is valid? [True, True] Translation: X:207.58, Y:-25.00, Z:1.02 [[ 9.80251713e-01 1.97180931e-01 1.50419510e-02 2.07575586e+02] [-1.97159797e-01 9.80367106e-01 -2.88992388e-03 -2.50019214e+01] [-1.53164719e-02 -1.32815180e-04 9.99882687e-01 1.01986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters 0.024988700536480793 Centerline is valid? [True, True] Translation: X:207.64, Y:-25.01, Z:1.02 [[ 9.80020479e-01 1.98495893e-01 1.26190954e-02 2.07637119e+02] [-1.98481104e-01 9.80101711e-01 -2.42630787e-03 -2.50111400e+01] [-1.28496092e-02 -1.26820588e-04 9.99917432e-01 1.02101149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters 0.02512957483013818 Centerline is valid? [True, True] Translation: X:207.70, Y:-25.03, Z:1.02 [[ 9.79896564e-01 1.99085275e-01 1.29528544e-02 2.07697743e+02] [-1.99069721e-01 9.79982160e-01 -2.49229809e-03 -2.50264416e+01] [-1.31897461e-02 -1.36326779e-04 9.99913002e-01 1.02321577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters 0.02514392286370119 Centerline is valid? [True, True] Translation: X:207.76, Y:-25.04, Z:1.02 [[ 9.80027085e-01 1.98432460e-01 1.30947100e-02 2.07759773e+02] [-1.98416463e-01 9.80114556e-01 -2.52275500e-03 -2.50359430e+01] [-1.33349124e-02 -1.25837806e-04 9.99911078e-01 1.02365756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters 0.02502588134066145 Centerline is valid? [True, True] Translation: X:207.82, Y:-25.05, Z:1.02 [[ 9.80319091e-01 1.96924508e-01 1.39720581e-02 2.07821872e+02] [-1.96906101e-01 9.80418648e-01 -2.69469412e-03 -2.50464138e+01] [-1.42291176e-02 -1.09523382e-04 9.99898755e-01 1.02169376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters 0.025153269496893255 Centerline is valid? [True, True] Translation: X:207.88, Y:-25.06, Z:1.02 [[ 9.80624298e-01 1.95246510e-01 1.59620536e-02 2.07882916e+02] [-1.95222235e-01 9.80754195e-01 -3.08022380e-03 -2.50602827e+01] [-1.62562540e-02 -9.56054841e-05 9.99867854e-01 1.02287465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters 0.024951293571211824 Centerline is valid? [True, True] Translation: X:207.94, Y:-25.07, Z:1.02 [[ 9.80916901e-01 1.94051640e-01 1.20828258e-02 2.07943891e+02] [-1.94037617e-01 9.80991314e-01 -2.33350639e-03 -2.50743348e+01] [-1.23059679e-02 -5.55468610e-05 9.99924277e-01 1.02308668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters 0.025049821118542304 Centerline is valid? [True, True] Translation: X:208.00, Y:-25.09, Z:1.02 [[ 9.80718170e-01 1.95108928e-01 1.11524818e-02 2.08004792e+02] [-1.95097031e-01 9.80781577e-01 -2.15546724e-03 -2.50862328e+01] [-1.13586996e-02 -6.19102004e-05 9.99935486e-01 1.02349761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters 0.025129847609642812 Centerline is valid? [True, True] Translation: X:208.07, Y:-25.10, Z:1.03 [[ 9.80237041e-01 1.97233617e-01 1.53050519e-02 2.08065664e+02] [-1.97211451e-01 9.80356510e-01 -2.95923755e-03 -2.50963485e+01] [-1.55880684e-02 -1.17577238e-04 9.99878492e-01 1.02504969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters 0.025369505332551875 Centerline is valid? [True, True] Translation: X:208.13, Y:-25.11, Z:1.02 [[ 9.80022858e-01 1.98379178e-01 1.41739277e-02 2.08126846e+02] [-1.98360256e-01 9.80125342e-01 -2.74275905e-03 -2.51094504e+01] [-1.44363321e-02 -1.23577361e-04 9.99895783e-01 1.02372486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters 0.025274923948238458 Centerline is valid? [True, True] Translation: X:208.19, Y:-25.12, Z:1.03 [[ 9.80457032e-01 1.96351450e-01 1.22522257e-02 2.08187932e+02] [-1.96337130e-01 9.80533580e-01 -2.37270136e-03 -2.51203871e+01] [-1.24796021e-02 -7.92350890e-05 9.99922124e-01 1.02569681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters 0.025556089042954457 Centerline is valid? [True, True] Translation: X:208.25, Y:-25.13, Z:1.03 [[ 9.80125726e-01 1.97908841e-01 1.36254193e-02 2.08249009e+02] [-1.97891255e-01 9.80220424e-01 -2.64046743e-03 -2.51337306e+01] [-1.38784861e-02 -1.08361274e-04 9.99903683e-01 1.02616259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters 0.0256939560896856 Centerline is valid? [True, True] Translation: X:208.31, Y:-25.15, Z:1.03 [[ 9.78929695e-01 2.03672209e-01 1.46384542e-02 2.08310208e+02] [-2.03652525e-01 9.79039116e-01 -2.83877581e-03 -2.51450790e+01] [-1.49097990e-02 -2.02196233e-04 9.99888822e-01 1.02585258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters 0.02611197074883717 Centerline is valid? [True, True] Translation: X:208.37, Y:-25.16, Z:1.03 [[ 9.78155225e-01 2.07286884e-01 1.56366282e-02 2.08371253e+02] [-2.07264851e-01 9.78280161e-01 -3.03445441e-03 -2.51566274e+01] [-1.59260058e-02 -2.72755987e-04 9.99873136e-01 1.02715651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters 0.02616221132106525 Centerline is valid? [True, True] Translation: X:208.43, Y:-25.17, Z:1.03 [[ 9.77736714e-01 2.09189363e-01 1.64538015e-02 2.08432297e+02] [-2.09165199e-01 9.77875099e-01 -3.19527276e-03 -2.51661020e+01] [-1.67581798e-02 -3.17427184e-04 9.99859521e-01 1.02935419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters 0.026221084657166417 Centerline is valid? [True, True] Translation: X:208.50, Y:-25.17, Z:1.03 [[ 9.77367921e-01 2.10920698e-01 1.62605695e-02 2.08495308e+02] [-2.10897301e-01 9.77503117e-01 -3.16000265e-03 -2.51694330e+01] [-1.65612673e-02 -3.40825001e-04 9.99862795e-01 1.02911711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters 0.02615778143850488 Centerline is valid? [True, True] Translation: X:208.56, Y:-25.18, Z:1.03 [[ 9.77299076e-01 2.11350460e-01 1.47478573e-02 2.08556684e+02] [-2.11331231e-01 9.77410295e-01 -2.86811646e-03 -2.51773915e+01] [-1.50208853e-02 -3.13675269e-04 9.99887131e-01 1.03261190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters 0.025678804901140172 Centerline is valid? [True, True] Translation: X:208.62, Y:-25.18, Z:1.03 [[ 9.77805048e-01 2.09030888e-01 1.42610076e-02 2.08619402e+02] [-2.09012623e-01 9.77909002e-01 -2.77609767e-03 -2.51831710e+01] [-1.45262579e-02 -2.66248285e-04 9.99894453e-01 1.03193066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters 0.025784339233104935 Centerline is valid? [True, True] Translation: X:208.68, Y:-25.19, Z:1.03 [[ 9.77993293e-01 2.08118147e-01 1.46954373e-02 2.08680682e+02] [-2.08098620e-01 9.78103660e-01 -2.86253319e-03 -2.51915034e+01] [-1.49694061e-02 -2.58561949e-04 9.99887919e-01 1.03041962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters 0.025454728359897972 Centerline is valid? [True, True] Translation: X:208.74, Y:-25.20, Z:1.03 [[ 9.79013118e-01 2.03348055e-01 1.35234756e-02 2.08743396e+02] [-2.03331036e-01 9.79106501e-01 -2.63620070e-03 -2.51966957e+01] [-1.37769892e-02 -1.68867247e-04 9.99905079e-01 1.03054237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters 0.025176438312476297 Centerline is valid? [True, True] Translation: X:208.81, Y:-25.20, Z:1.03 [[ 9.80255270e-01 1.97282912e-01 1.33812534e-02 2.08805383e+02] [-1.97265659e-01 9.80346595e-01 -2.61035101e-03 -2.52023608e+01] [-1.36332439e-02 -8.08514404e-05 9.99907060e-01 1.03191445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters 0.025117132947425434 Centerline is valid? [True, True] Translation: X:208.87, Y:-25.22, Z:1.03 [[ 9.80993786e-01 1.93437354e-01 1.52703185e-02 2.08865928e+02] [-1.93414386e-01 9.81112628e-01 -2.98089446e-03 -2.52159078e+01] [-1.55585186e-02 -2.92603349e-05 9.99878958e-01 1.03084024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters 0.02523240530254817 Centerline is valid? [True, True] Translation: X:208.93, Y:-25.23, Z:1.03 [[ 9.82321912e-01 1.86716556e-01 1.34383451e-02 2.08926982e+02] [-1.86698113e-01 9.82413825e-01 -2.62522844e-03 -2.52255918e+01] [-1.36921896e-02 6.99057436e-05 9.99906255e-01 1.03227385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters 0.0255082850121777 Centerline is valid? [True, True] Translation: X:208.99, Y:-25.24, Z:1.03 [[ 9.83434555e-01 1.80829940e-01 1.25302770e-02 2.08986639e+02] [-1.80813405e-01 9.83514368e-01 -2.44958523e-03 -2.52442971e+01] [-1.27666659e-02 1.43364703e-04 9.99918493e-01 1.03013626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters 0.025482407294425562 Centerline is valid? [True, True] Translation: X:209.05, Y:-25.26, Z:1.03 [[ 9.83528380e-01 1.80191523e-01 1.42457005e-02 2.09046965e+02] [-1.80170057e-01 9.83631529e-01 -2.78676877e-03 -2.52609409e+01] [-1.45146723e-02 1.74217504e-04 9.99894641e-01 1.03133864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters 0.02543161488208397 Centerline is valid? [True, True] Translation: X:209.11, Y:-25.28, Z:1.03 [[ 9.82936141e-01 1.83393478e-01 1.42609511e-02 2.09106996e+02] [-1.83372274e-01 9.83039580e-01 -2.79170949e-03 -2.52755291e+01] [-1.45310607e-02 1.29009127e-04 9.99894410e-01 1.03110616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters 0.02533406700150608 Centerline is valid? [True, True] Translation: X:209.17, Y:-25.29, Z:1.03 [[ 9.82205147e-01 1.87234264e-01 1.47098245e-02 2.09167506e+02] [-1.87212104e-01 9.82315288e-01 -2.88157206e-03 -2.52923563e+01] [-1.49892145e-02 7.64377198e-05 9.99887652e-01 1.03031745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters 0.0252798461204618 Centerline is valid? [True, True] Translation: X:209.23, Y:-25.31, Z:1.03 [[ 9.80953263e-01 1.93701610e-01 1.45045396e-02 2.09226967e+02] [-1.93680741e-01 9.81060490e-01 -2.84338673e-03 -2.53118746e+01] [-1.47805993e-02 -2.00204855e-05 9.99890761e-01 1.02907421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters 0.025202842235646568 Centerline is valid? [True, True] Translation: X:209.29, Y:-25.33, Z:1.03 [[ 9.79586963e-01 2.00451528e-01 1.51184246e-02 2.09287926e+02] [-2.00429625e-01 9.79703613e-01 -2.96580531e-03 -2.53262779e+01] [-1.54060754e-02 -1.24915963e-04 9.99881312e-01 1.03119325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters 0.02552825945422115 Centerline is valid? [True, True] Translation: X:209.35, Y:-25.34, Z:1.03 [[ 9.78296886e-01 2.06535277e-01 1.66847846e-02 2.09349013e+02] [-2.06509445e-01 9.78439125e-01 -3.27533786e-03 -2.53367149e+01] [-1.70015188e-02 -2.41312768e-04 9.99855435e-01 1.03165034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters 0.026337217578150194 Centerline is valid? [True, True] Translation: X:209.41, Y:-25.35, Z:1.03 [[ 9.76239287e-01 2.16120885e-01 1.57676337e-02 2.09409582e+02] [-2.16098995e-01 9.76366538e-01 -3.09953814e-03 -2.53490723e+01] [-1.60648648e-02 -3.81478884e-04 9.99870879e-01 1.03213169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters 0.027060306883022526 Centerline is valid? [True, True] Translation: X:209.47, Y:-25.36, Z:1.03 [[ 9.75090355e-01 2.21269279e-01 1.54501166e-02 2.09471245e+02] [-2.21248880e-01 9.75212643e-01 -3.03877063e-03 -2.53573920e+01] [-1.57395356e-02 -4.55245070e-04 9.99876022e-01 1.03135421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters 0.027096198930073638 Centerline is valid? [True, True] Translation: X:209.53, Y:-25.37, Z:1.03 [[ 9.74644069e-01 2.23113927e-01 1.70033798e-02 2.09532687e+02] [-2.23089462e-01 9.74792231e-01 -3.34650764e-03 -2.53669827e+01] [-1.73214150e-02 -5.31621037e-04 9.99849832e-01 1.03298509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters 0.027034299835174653 Centerline is valid? [True, True] Translation: X:209.59, Y:-25.37, Z:1.03 [[ 9.74694521e-01 2.23099039e-01 1.40502667e-02 2.09594570e+02] [-2.23082303e-01 9.74795685e-01 -2.76734702e-03 -2.53747174e+01] [-1.43135318e-02 -4.37047880e-04 9.99897461e-01 1.03359133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters 0.02682834847135005 Centerline is valid? [True, True] Translation: X:209.66, Y:-25.38, Z:1.04 [[ 9.74934360e-01 2.21927150e-01 1.58535219e-02 2.09657866e+02] [-2.21905631e-01 9.75063136e-01 -3.12599790e-03 -2.53804416e+01] [-1.61519286e-02 -4.70343022e-04 9.99869438e-01 1.03615454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters 0.02658309797063934 Centerline is valid? [True, True] Translation: X:209.72, Y:-25.39, Z:1.04 [[ 9.75088643e-01 2.21143102e-01 1.72587932e-02 2.09720105e+02] [-2.21117416e-01 9.75241244e-01 -3.40651239e-03 -2.53888107e+01] [-1.75848137e-02 -4.94568222e-04 9.99845253e-01 1.03753578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters 0.0264623196360606 Centerline is valid? [True, True] Translation: X:209.78, Y:-25.40, Z:1.04 [[ 9.75366498e-01 2.20201134e-01 1.31017195e-02 2.09781749e+02] [-2.20186225e-01 9.75454422e-01 -2.58768388e-03 -2.53970104e+01] [-1.33499411e-02 -3.60877981e-04 9.99910820e-01 1.03574863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters 0.026337463819872915 Centerline is valid? [True, True] Translation: X:209.84, Y:-25.40, Z:1.04 [[ 9.75379146e-01 2.20013783e-01 1.51478526e-02 2.09843660e+02] [-2.19993799e-01 9.75496676e-01 -2.99381279e-03 -2.54045340e+01] [-1.54353600e-02 -4.12331086e-04 9.99880783e-01 1.03705047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters 0.026300540025460062 Centerline is valid? [True, True] Translation: X:209.90, Y:-25.41, Z:1.04 [[ 9.75487059e-01 2.19641480e-01 1.35135925e-02 2.09904803e+02] [-2.19625514e-01 9.75580591e-01 -2.67276208e-03 -2.54141061e+01] [-1.37706479e-02 -3.60684863e-04 9.99905115e-01 1.03884226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters 0.026686862242243932 Centerline is valid? [True, True] Translation: X:209.97, Y:-25.42, Z:1.04 [[ 9.74868908e-01 2.22480361e-01 1.15369258e-02 2.09965902e+02] [-2.22468903e-01 9.74937112e-01 -2.28349890e-03 -2.54236515e+01] [-1.17558108e-02 -3.40495148e-04 9.99930840e-01 1.03600393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters 0.02757950306649779 Centerline is valid? [True, True] Translation: X:210.03, Y:-25.42, Z:1.04 [[ 9.73493476e-01 2.28216557e-01 1.50882199e-02 2.10028555e+02] [-2.28197638e-01 9.73610249e-01 -2.98686910e-03 -2.54242417e+01] [-1.53716985e-02 -5.35398566e-04 9.99881705e-01 1.03883795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters 0.028085697520656913 Centerline is valid? [True, True] Translation: X:210.09, Y:-25.43, Z:1.04 [[ 9.72773015e-01 2.31287212e-01 1.47948356e-02 2.10090536e+02] [-2.31269341e-01 9.72885348e-01 -2.93111955e-03 -2.54323452e+01] [-1.50716092e-02 -5.70277879e-04 9.99886254e-01 1.03839693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters 0.027977918697016553 Centerline is valid? [True, True] Translation: X:210.15, Y:-25.43, Z:1.04 [[ 9.72785351e-01 2.31117164e-01 1.65383358e-02 2.10153762e+02] [-2.31094772e-01 9.72925720e-01 -3.27868800e-03 -2.54345729e+01] [-1.68483334e-02 -6.32463287e-04 9.99857857e-01 1.03763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters 0.028098200003134715 Centerline is valid? [True, True] Translation: X:210.22, Y:-25.44, Z:1.04 [[ 9.72704870e-01 2.31502038e-01 1.58758685e-02 2.10216883e+02] [-2.31481420e-01 9.72834227e-01 -3.14953215e-03 -2.54375924e+01] [-1.61737114e-02 -6.11403327e-04 9.99869010e-01 1.03715917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters 0.028196365056428335 Centerline is valid? [True, True] Translation: X:210.28, Y:-25.43, Z:1.04 [[ 9.72365329e-01 2.32928543e-01 1.58101261e-02 2.10278859e+02] [-2.32908317e-01 9.72493646e-01 -3.13443475e-03 -2.54326432e+01] [-1.61053465e-02 -6.34494180e-04 9.99870099e-01 1.03854808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters 0.02775483424109454 Centerline is valid? [True, True] Translation: X:210.34, Y:-25.43, Z:1.04 [[ 9.73528719e-01 2.27767814e-01 1.90697742e-02 2.10339018e+02] [-2.27737611e-01 9.73715241e-01 -3.76967291e-03 -2.54312553e+01] [-1.94271399e-02 -6.73019981e-04 9.99811049e-01 1.03741349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters 0.02729275973438781 Centerline is valid? [True, True] Translation: X:210.40, Y:-25.44, Z:1.04 [[ 9.74519878e-01 2.23452098e-01 1.94978857e-02 2.10398713e+02] [-2.23419645e-01 9.74714728e-01 -3.85503167e-03 -2.54374520e+01] [-1.98662913e-02 -5.99405719e-04 9.99802466e-01 1.03653890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters 0.02684723950676577 Centerline is valid? [True, True] Translation: X:210.46, Y:-25.43, Z:1.04 [[ 9.75786362e-01 2.17848245e-01 1.95734153e-02 2.10459494e+02] [-2.17814473e-01 9.75982532e-01 -3.86693366e-03 -2.54319509e+01] [-1.99457161e-02 -4.90072013e-04 9.99800944e-01 1.03524279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters 0.026770460048687373 Centerline is valid? [True, True] Translation: X:210.52, Y:-25.44, Z:1.04 [[ 9.76286840e-01 2.15659501e-01 1.88410836e-02 2.10518852e+02] [-2.15628005e-01 9.76468528e-01 -3.71165912e-03 -2.54350598e+01] [-1.91981797e-02 -4.39021319e-04 9.99815602e-01 1.03599029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters 0.02645227498282892 Centerline is valid? [True, True] Translation: X:210.58, Y:-25.44, Z:1.04 [[ 9.76568489e-01 2.14452872e-01 1.79986414e-02 2.10577670e+02] [-2.14424068e-01 9.76734254e-01 -3.53789406e-03 -2.54431132e+01] [-1.83386011e-02 -4.04346051e-04 9.99831752e-01 1.03624122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters 0.026319448577953652 Centerline is valid? [True, True] Translation: X:210.64, Y:-25.45, Z:1.04 [[ 9.77057038e-01 2.12280348e-01 1.72220365e-02 2.10636719e+02] [-2.12253789e-01 9.77208743e-01 -3.37673885e-03 -2.54477486e+01] [-1.75463400e-02 -3.56176045e-04 9.99845988e-01 1.03645418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters 0.026035202768173026 Centerline is valid? [True, True] Translation: X:210.70, Y:-25.45, Z:1.04 [[ 9.78102436e-01 2.07211724e-01 1.94660178e-02 2.10697441e+02] [-2.07176965e-01 9.78296073e-01 -3.80776732e-03 -2.54455671e+01] [-1.98325428e-02 -3.08523997e-04 9.99803268e-01 1.03580923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters 0.025836321526624687 Centerline is valid? [True, True] Translation: X:210.76, Y:-25.45, Z:1.04 [[ 9.79268791e-01 2.01667669e-01 1.90469612e-02 2.10755660e+02] [-2.01633517e-01 9.79453986e-01 -3.71671573e-03 -2.54516820e+01] [-1.94051635e-02 -2.00842061e-04 9.99811682e-01 1.03547347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters 0.02550407382082835 Centerline is valid? [True, True] Translation: X:210.81, Y:-25.46, Z:1.04 [[ 9.80230158e-01 1.97022526e-01 1.81923542e-02 2.10814107e+02] [-1.96990729e-01 9.80398955e-01 -3.54134487e-03 -2.54579421e+01] [-1.85334898e-02 -1.12392087e-04 9.99828234e-01 1.03706419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters 0.025457152635063585 Centerline is valid? [True, True] Translation: X:210.87, Y:-25.46, Z:1.04 [[ 9.81759534e-01 1.89385341e-01 1.67752610e-02 2.10873120e+02] [-1.89357327e-01 9.81902843e-01 -3.25740132e-03 -2.54639939e+01] [-1.70885805e-02 2.14662218e-05 9.99853979e-01 1.03536665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters 0.025745352071430208 Centerline is valid? [True, True] Translation: X:210.93, Y:-25.47, Z:1.04 [[ 9.82576371e-01 1.85100207e-01 1.67805804e-02 2.10929873e+02] [-1.85071708e-01 9.82719648e-01 -3.24920042e-03 -2.54742145e+01] [-1.70920337e-02 8.69768825e-05 9.99853917e-01 1.03532234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters 0.025658292819384258 Centerline is valid? [True, True] Translation: X:210.99, Y:-25.49, Z:1.04 [[ 9.83012423e-01 1.82826871e-01 1.61527718e-02 2.10986544e+02] [-1.82800298e-01 9.83145118e-01 -3.11908104e-03 -2.54857776e+01] [-1.64507706e-02 1.13363904e-04 9.99864670e-01 1.03680175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters 0.02595593281797331 Centerline is valid? [True, True] Translation: X:211.04, Y:-25.50, Z:1.04 [[ 9.83248072e-01 1.81382043e-01 1.79939830e-02 2.11044445e+02] [-1.81348965e-01 9.83412697e-01 -3.46695623e-03 -2.54973663e+01] [-1.83243549e-02 1.45687841e-04 9.99832084e-01 1.03619244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters 0.02596493750264528 Centerline is valid? [True, True] Translation: X:211.10, Y:-25.51, Z:1.04 [[ 9.83302812e-01 1.81100676e-01 1.78360647e-02 2.11100760e+02] [-1.81068303e-01 9.83464552e-01 -3.42696955e-03 -2.55092488e+01] [-1.81617639e-02 1.40202837e-04 9.99835052e-01 1.03565623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters 0.025791657455804806 Centerline is valid? [True, True] Translation: X:211.16, Y:-25.52, Z:1.04 [[ 9.83506798e-01 1.80351358e-01 1.37027862e-02 2.11158533e+02] [-1.80332270e-01 9.83602244e-01 -2.62626669e-03 -2.55201900e+01] [-1.39517420e-02 1.11896610e-04 9.99902663e-01 1.03659458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters 0.02570194093847468 Centerline is valid? [True, True] Translation: X:211.22, Y:-25.53, Z:1.04 [[ 9.83144008e-01 1.82102265e-01 1.63286374e-02 2.11215976e+02] [-1.82075521e-01 9.83279592e-01 -3.12228986e-03 -2.55311620e+01] [-1.66241920e-02 9.66154044e-05 9.99861804e-01 1.03632617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters 0.025971423259274887 Centerline is valid? [True, True] Translation: X:211.27, Y:-25.54, Z:1.04 [[ 9.82985388e-01 1.82805066e-01 1.79453118e-02 2.11273839e+02] [-1.82773029e-01 9.83149175e-01 -3.42335395e-03 -2.55392644e+01] [-1.82687250e-02 8.51879211e-05 9.99833109e-01 1.03552130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters 0.025728181907620468 Centerline is valid? [True, True] Translation: X:211.33, Y:-25.55, Z:1.03 [[ 9.82997182e-01 1.82910789e-01 1.61301953e-02 2.11330972e+02] [-1.82885044e-01 9.83129513e-01 -3.06951535e-03 -2.55540135e+01] [-1.64195185e-02 6.73534634e-05 9.99865188e-01 1.03279435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters 0.0256208470266374 Centerline is valid? [True, True] Translation: X:211.39, Y:-25.56, Z:1.04 [[ 9.83169230e-01 1.82017072e-01 1.57496246e-02 2.11389265e+02] [-1.81992553e-01 9.83295368e-01 -2.98838296e-03 -2.55594923e+01] [-1.60304697e-02 7.17717817e-05 9.99871501e-01 1.03507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters 0.025840920319504503 Centerline is valid? [True, True] Translation: X:211.45, Y:-25.57, Z:1.03 [[ 9.83142642e-01 1.82082047e-01 1.66335102e-02 2.11447802e+02] [-1.82054831e-01 9.83283338e-01 -3.14877325e-03 -2.55675759e+01] [-1.69287885e-02 6.74823675e-05 9.99856696e-01 1.03487992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters 0.02590923944049582 Centerline is valid? [True, True] Translation: X:211.51, Y:-25.58, Z:1.03 [[ 9.82925478e-01 1.83150259e-01 1.77055863e-02 2.11505575e+02] [-1.83119739e-01 9.83084931e-01 -3.34373588e-03 -2.55796399e+01] [-1.80185012e-02 4.44008401e-05 9.99837653e-01 1.03448957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters 0.02575634860627586 Centerline is valid? [True, True] Translation: X:211.56, Y:-25.58, Z:1.04 [[ 9.83209771e-01 1.81852128e-01 1.51112441e-02 2.11564374e+02] [-1.81829856e-01 9.83325887e-01 -2.84652652e-03 -2.55845019e+01] [-1.53769244e-02 5.10573529e-05 9.99881767e-01 1.03768972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters 0.025978010006446218 Centerline is valid? [True, True] Translation: X:211.62, Y:-25.59, Z:1.04 [[ 9.83812626e-01 1.78532442e-01 1.54558974e-02 2.11622372e+02] [-1.78508843e-01 9.83934021e-01 -2.90439922e-03 -2.55924661e+01] [-1.57261127e-02 9.83702612e-05 9.99876332e-01 1.03581968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters 0.02623121530391854 Centerline is valid? [True, True] Translation: X:211.68, Y:-25.60, Z:1.04 [[ 9.84062654e-01 1.77044460e-01 1.66118177e-02 2.11679791e+02] [-1.77017005e-01 9.84202846e-01 -3.12053822e-03 -2.56026989e+01] [-1.69018723e-02 1.30230900e-04 9.99857145e-01 1.03680167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters 0.026247554212628386 Centerline is valid? [True, True] Translation: X:211.74, Y:-25.61, Z:1.04 [[ 9.84632986e-01 1.73951667e-01 1.54499297e-02 2.11736894e+02] [-1.73927693e-01 9.84754178e-01 -2.89237406e-03 -2.56095813e+01] [-1.57175161e-02 1.60756279e-04 9.99876459e-01 1.03835268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters 0.026884706611266688 Centerline is valid? [True, True] Translation: X:211.80, Y:-25.62, Z:1.03 [[ 9.85259364e-01 1.70260111e-01 1.65975940e-02 2.11795096e+02] [-1.70232037e-01 9.85399128e-01 -3.10020131e-03 -2.56189565e+01] [-1.68830953e-02 2.29060126e-04 9.99857444e-01 1.03474609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters 0.02747946683996816 Centerline is valid? [True, True] Translation: X:211.85, Y:-25.63, Z:1.04 [[ 9.86221317e-01 1.64506556e-01 1.74673018e-02 2.11851887e+02] [-1.64474697e-01 9.86375932e-01 -3.25498366e-03 -2.56334481e+01] [-1.77647922e-02 3.37205116e-04 9.99842137e-01 1.03713024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters 0.028505040489484722 Centerline is valid? [True, True] Translation: X:211.91, Y:-25.65, Z:1.04 [[ 9.87606257e-01 1.56401468e-01 1.31324857e-02 2.11908961e+02] [-1.56382828e-01 9.87693502e-01 -2.44083647e-03 -2.56479992e+01] [-1.33526212e-02 3.56890127e-04 9.99910786e-01 1.03897944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters 0.028737890446148343 Centerline is valid? [True, True] Translation: X:211.97, Y:-25.67, Z:1.04 [[ 9.87578843e-01 1.56455095e-01 1.44855798e-02 2.11965190e+02] [-1.56432511e-01 9.87684997e-01 -2.68619986e-03 -2.56660383e+01] [-1.47274595e-02 3.86818528e-04 9.99891470e-01 1.03835606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters 0.028139407079862008 Centerline is valid? [True, True] Translation: X:212.02, Y:-25.68, Z:1.04 [[ 9.87053411e-01 1.59666371e-01 1.52385647e-02 2.12021915e+02] [-1.59641863e-01 9.87170972e-01 -2.81927722e-03 -2.56824556e+01] [-1.54932125e-02 3.50064335e-04 9.99879912e-01 1.03935319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters 0.02715605083944464 Centerline is valid? [True, True] Translation: X:212.08, Y:-25.70, Z:1.04 [[ 9.86297429e-01 1.64289836e-01 1.50409688e-02 2.12078054e+02] [-1.64266589e-01 9.86412073e-01 -2.77661826e-03 -2.57029573e+01] [-1.52927634e-02 2.67842811e-04 9.99883023e-01 1.04008392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters 0.02688750711138226 Centerline is valid? [True, True] Translation: X:212.14, Y:-25.72, Z:1.04 [[ 9.85670729e-01 1.68042071e-01 1.46655085e-02 2.12135307e+02] [-1.68020490e-01 9.85779805e-01 -2.70029402e-03 -2.57159536e+01] [-1.49107251e-02 1.97494842e-04 9.99888809e-01 1.03920982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters 0.026780136256305032 Centerline is valid? [True, True] Translation: X:212.19, Y:-25.73, Z:1.04 [[ 9.85549872e-01 1.68794320e-01 1.41395830e-02 2.12192844e+02] [-1.68774430e-01 9.85651281e-01 -2.59697211e-03 -2.57293154e+01] [-1.43750522e-02 1.73045473e-04 9.99896659e-01 1.04094077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters 0.02674940925285521 Centerline is valid? [True, True] Translation: X:212.25, Y:-25.75, Z:1.04 [[ 9.85673590e-01 1.68098092e-01 1.38059953e-02 2.12248354e+02] [-1.68079166e-01 9.85770258e-01 -2.52821138e-03 -2.57458706e+01] [-1.40345271e-02 1.71491015e-04 9.99901496e-01 1.03926691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters 0.026812054098352012 Centerline is valid? [True, True] Translation: X:212.30, Y:-25.76, Z:1.04 [[ 9.85846497e-01 1.67120252e-01 1.33231044e-02 2.12304132e+02] [-1.67102633e-01 9.85936505e-01 -2.43275309e-03 -2.57613223e+01] [-1.35422973e-02 1.71995277e-04 9.99908284e-01 1.04129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters 0.02690977618078841 Centerline is valid? [True, True] Translation: X:212.36, Y:-25.78, Z:1.04 [[ 9.86253779e-01 1.64715300e-01 1.31283367e-02 2.12360262e+02] [-1.64698055e-01 9.86341133e-01 -2.39149264e-03 -2.57810085e+01] [-1.33429340e-02 1.96407120e-04 9.99910960e-01 1.04415224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters 0.026942966113646206 Centerline is valid? [True, True] Translation: X:212.42, Y:-25.80, Z:1.04 [[ 9.86488124e-01 1.63330554e-01 1.28184229e-02 2.12415842e+02] [-1.63314089e-01 9.86571381e-01 -2.32797669e-03 -2.57990985e+01] [-1.30265189e-02 2.03092306e-04 9.99915131e-01 1.04291215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters 0.026778953310111504 Centerline is valid? [True, True] Translation: X:212.47, Y:-25.81, Z:1.04 [[ 9.86423913e-01 1.63886409e-01 1.04455400e-02 2.12473282e+02] [-1.63875560e-01 9.86479204e-01 -1.89211917e-03 -2.58139450e+01] [-1.06144006e-02 1.54662883e-04 9.99943654e-01 1.04284323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters 0.026680226982479533 Centerline is valid? [True, True] Translation: X:212.53, Y:-25.84, Z:1.04 [[ 9.86129504e-01 1.65310764e-01 1.48644964e-02 2.12528576e+02] [-1.65289041e-01 9.86241509e-01 -2.68671811e-03 -2.58362106e+01] [-1.51041268e-02 1.92513641e-04 9.99885908e-01 1.04318169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters 0.02641111184100569 Centerline is valid? [True, True] Translation: X:212.58, Y:-25.86, Z:1.04 [[ 9.85693251e-01 1.68044542e-01 1.30325134e-02 2.12584510e+02] [-1.68028166e-01 9.85779395e-01 -2.34931237e-03 -2.58552186e+01] [-1.32419723e-02 1.25872019e-04 9.99912313e-01 1.04375264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters 0.026011032894835993 Centerline is valid? [True, True] Translation: X:212.64, Y:-25.87, Z:1.04 [[ 9.85263636e-01 1.70580887e-01 1.25589720e-02 2.12640880e+02] [-1.70565962e-01 9.85343673e-01 -2.25794227e-03 -2.58718010e+01] [-1.27600654e-02 8.25352723e-05 9.99918584e-01 1.04402315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters 0.025917610416522876 Centerline is valid? [True, True] Translation: X:212.70, Y:-25.88, Z:1.05 [[ 9.84286170e-01 1.75727066e-01 1.73417112e-02 2.12698207e+02] [-1.75699534e-01 9.84438926e-01 -3.11055697e-03 -2.58848771e+01] [-1.76184646e-02 1.47476285e-05 9.99844783e-01 1.04632837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters 0.025741375282406036 Centerline is valid? [True, True] Translation: X:212.76, Y:-25.90, Z:1.05 [[ 9.83473014e-01 1.80432220e-01 1.50014938e-02 2.12757771e+02] [-1.80412114e-01 9.83587419e-01 -2.69414925e-03 -2.59000091e+01] [-1.52413919e-02 -5.68281152e-05 9.99883842e-01 1.04622577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters 0.025791355917327292 Centerline is valid? [True, True] Translation: X:212.82, Y:-25.92, Z:1.05 [[ 9.83008325e-01 1.82885579e-01 1.57320933e-02 2.12815888e+02] [-1.82863809e-01 9.83134200e-01 -2.82359582e-03 -2.59154542e+01] [-1.59831539e-02 -1.01212298e-04 9.99872256e-01 1.04673750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters 0.02583997392231646 Centerline is valid? [True, True] Translation: X:212.87, Y:-25.93, Z:1.05 [[ 9.83133527e-01 1.82094195e-01 1.70344337e-02 2.12874578e+02] [-1.82068546e-01 9.83281087e-01 -3.05770684e-03 -2.59309706e+01] [-1.73064272e-02 -9.53004701e-05 9.99850228e-01 1.04686930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters 0.025912686995592245 Centerline is valid? [True, True] Translation: X:212.93, Y:-25.94, Z:1.05 [[ 9.83124575e-01 1.82144122e-01 1.70173065e-02 2.12934546e+02] [-1.82118506e-01 9.83271839e-01 -3.05612297e-03 -2.59427656e+01] [-1.72892931e-02 -9.46168364e-05 9.99850525e-01 1.04810987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters 0.025971440830060318 Centerline is valid? [True, True] Translation: X:213.00, Y:-25.95, Z:1.05 [[ 9.83152838e-01 1.82054432e-01 1.63303603e-02 2.12995195e+02] [-1.82030812e-01 9.83288450e-01 -2.93387974e-03 -2.59546616e+01] [-1.65915805e-02 -8.81765519e-05 9.99862346e-01 1.04776586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters 0.02590678836424344 Centerline is valid? [True, True] Translation: X:213.06, Y:-25.97, Z:1.05 [[ 9.82838171e-01 1.83508058e-01 1.88128108e-02 2.13055353e+02] [-1.83476952e-01 9.83018197e-01 -3.38109851e-03 -2.59682905e+01] [-1.91137942e-02 -1.28644514e-04 9.99817306e-01 1.04783253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters 0.025897911097883388 Centerline is valid? [True, True] Translation: X:213.12, Y:-25.98, Z:1.05 [[ 9.82838938e-01 1.83608924e-01 1.77590566e-02 2.13116982e+02] [-1.83581172e-01 9.82999363e-01 -3.19450333e-03 -2.59787277e+01] [-1.80436807e-02 -1.20546173e-04 9.99837192e-01 1.04742540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters 0.025909005050345806 Centerline is valid? [True, True] Translation: X:213.18, Y:-25.99, Z:1.05 [[ 9.82656629e-01 1.84253574e-01 2.08942439e-02 2.13177441e+02] [-1.84215245e-01 9.82878730e-01 -3.76118438e-03 -2.59927151e+01] [-2.12295195e-02 -1.53085479e-04 9.99774617e-01 1.04604451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters 0.025758360356492635 Centerline is valid? [True, True] Translation: X:213.24, Y:-26.00, Z:1.05 [[ 9.82524632e-01 1.85046200e-01 2.00811399e-02 2.13238350e+02] [-1.85010905e-01 9.82729809e-01 -3.61759554e-03 -2.60030952e+01] [-2.04037571e-02 -1.60853134e-04 9.99791809e-01 1.04679267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters 0.025901823608347457 Centerline is valid? [True, True] Translation: X:213.30, Y:-26.01, Z:1.05 [[ 9.82481002e-01 1.85415954e-01 1.87618024e-02 2.13299776e+02] [-1.85385163e-01 9.82660114e-01 -3.38251485e-03 -2.60143226e+01] [-1.90636471e-02 -1.54903208e-04 9.99818260e-01 1.04600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters 0.026243817346957098 Centerline is valid? [True, True] Translation: X:213.36, Y:-26.02, Z:1.05 [[ 9.82403680e-01 1.85586520e-01 2.09917433e-02 2.13361353e+02] [-1.85547953e-01 9.82627912e-01 -3.78733545e-03 -2.60232504e+01] [-2.13299513e-02 -1.74282718e-04 9.99772476e-01 1.04620246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters 0.025916464791290818 Centerline is valid? [True, True] Translation: X:213.42, Y:-26.03, Z:1.05 [[ 9.83059361e-01 1.82349068e-01 1.85232268e-02 2.13422376e+02] [-1.82318415e-01 9.83233853e-01 -3.34458118e-03 -2.60348060e+01] [-1.88225450e-02 -8.92035190e-05 9.99822836e-01 1.04602465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters 0.025932493788367404 Centerline is valid? [True, True] Translation: X:213.48, Y:-26.05, Z:1.05 [[ 9.83368888e-01 1.80478343e-01 2.03272732e-02 2.13483061e+02] [-1.80440971e-01 9.83578957e-01 -3.67306518e-03 -2.60476411e+01] [-2.06563869e-02 -5.58948827e-05 9.99786633e-01 1.04626262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters 0.02586362916770212 Centerline is valid? [True, True] Translation: X:213.54, Y:-26.06, Z:1.05 [[ 9.83391179e-01 1.80460131e-01 1.93889294e-02 2.13543927e+02] [-1.80426073e-01 9.83582299e-01 -3.50619099e-03 -2.60593213e+01] [-1.97033354e-02 -5.03110947e-05 9.99805869e-01 1.04726950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters 0.026126320469259556 Centerline is valid? [True, True] Translation: X:213.60, Y:-26.07, Z:1.05 [[ 9.82493486e-01 1.85221846e-01 1.99854118e-02 2.13604723e+02] [-1.85186591e-01 9.82696721e-01 -3.61672597e-03 -2.60739370e+01] [-2.03094953e-02 -1.47620570e-04 9.99793730e-01 1.04717201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters 0.026265482196623027 Centerline is valid? [True, True] Translation: X:213.67, Y:-26.09, Z:1.05 [[ 9.81764925e-01 1.88876313e-01 2.15260647e-02 2.13665736e+02] [-1.88836226e-01 9.82000856e-01 -3.89840030e-03 -2.60852989e+01] [-2.18749295e-02 -2.37588155e-04 9.99760687e-01 1.04720982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters 0.02637204728336447 Centerline is valid? [True, True] Translation: X:213.73, Y:-26.10, Z:1.05 [[ 9.81083480e-01 1.92723664e-01 1.82426347e-02 2.13726971e+02] [-1.92695492e-01 9.81253033e-01 -3.30634988e-03 -2.60960171e+01] [-1.85378525e-02 -2.71468207e-04 9.99828122e-01 1.04544183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters 0.026604688400633146 Centerline is valid? [True, True] Translation: X:213.79, Y:-26.11, Z:1.05 [[ 9.80587979e-01 1.95260331e-01 1.79058517e-02 2.13788655e+02] [-1.95233566e-01 9.80751399e-01 -3.24778803e-03 -2.61054645e+01] [-1.81953533e-02 -3.11081395e-04 9.99834402e-01 1.04628631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters 0.027043351682711006 Centerline is valid? [True, True] Translation: X:213.85, Y:-26.11, Z:1.05 [[ 9.79169447e-01 2.02120091e-01 1.93562038e-02 2.13849414e+02] [-2.02090151e-01 9.79360630e-01 -3.51093857e-03 -2.61105270e+01] [-1.96663351e-02 -4.73894366e-04 9.99806487e-01 1.04900857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters 0.02744591155393508 Centerline is valid? [True, True] Translation: X:213.91, Y:-26.12, Z:1.05 [[ 9.78301559e-01 2.06431358e-01 1.76678738e-02 2.13910810e+02] [-2.06407091e-01 9.78460952e-01 -3.20609977e-03 -2.61156863e+01] [-1.79491642e-02 -5.10242029e-04 9.99838771e-01 1.04881696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters 0.027720848563167637 Centerline is valid? [True, True] Translation: X:213.97, Y:-26.12, Z:1.05 [[ 9.78276623e-01 2.06560108e-01 1.75434176e-02 2.13970175e+02] [-2.06536235e-01 9.78433779e-01 -3.18164947e-03 -2.61212315e+01] [-1.78222742e-02 -5.10818121e-04 9.99841040e-01 1.04790175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters 0.027237430097548213 Centerline is valid? [True, True] Translation: X:214.03, Y:-26.12, Z:1.05 [[ 9.79644608e-01 2.00010013e-01 1.71007752e-02 2.14029684e+02] [-1.99986377e-01 9.79793778e-01 -3.09868114e-03 -2.61240563e+01] [-1.73750004e-02 -3.84315799e-04 9.99848969e-01 1.04938576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters 0.02664077205576791 Centerline is valid? [True, True] Translation: X:214.09, Y:-26.13, Z:1.05 [[ 9.80890824e-01 1.93930347e-01 1.56272754e-02 2.14088072e+02] [-1.93909981e-01 9.81015266e-01 -2.82261322e-03 -2.61309330e+01] [-1.58779861e-02 -2.61609274e-04 9.99873903e-01 1.04926661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters 0.026520609886882953 Centerline is valid? [True, True] Translation: X:214.15, Y:-26.14, Z:1.05 [[ 9.81653469e-01 1.89966809e-01 1.64035918e-02 2.14146292e+02] [-1.89943944e-01 9.81790490e-01 -2.95513926e-03 -2.61378877e+01] [-1.66662688e-02 -2.14840211e-04 9.99861085e-01 1.04948369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters 0.026196381042041923 Centerline is valid? [True, True] Translation: X:214.20, Y:-26.15, Z:1.05 [[ 9.82762374e-01 1.84209600e-01 1.56505391e-02 2.14204267e+02] [-1.84188176e-01 9.82886977e-01 -2.81190934e-03 -2.61473205e+01] [-1.59006917e-02 -1.19205548e-04 9.99873569e-01 1.05061743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters 0.02607878218328013 Centerline is valid? [True, True] Translation: X:214.26, Y:-26.16, Z:1.05 [[ 9.83647516e-01 1.79539961e-01 1.42466764e-02 2.14261714e+02] [-1.79521820e-01 9.83750680e-01 -2.55257349e-03 -2.61573201e+01] [-1.44734665e-02 -4.67567095e-05 9.99895253e-01 1.04989528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters 0.026221905624553083 Centerline is valid? [True, True] Translation: X:214.32, Y:-26.17, Z:1.05 [[ 9.84597502e-01 1.74162379e-01 1.53370301e-02 2.14319443e+02] [-1.74140811e-01 9.84716947e-01 -2.74096855e-03 -2.61672516e+01] [-1.55800071e-02 2.79479310e-05 9.99878624e-01 1.05056077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters 0.02588502477358338 Centerline is valid? [True, True] Translation: X:214.38, Y:-26.18, Z:1.05 [[ 9.85211807e-01 1.70553673e-01 1.64054927e-02 2.14376787e+02] [-1.70528619e-01 9.85348384e-01 -2.92442114e-03 -2.61817190e+01] [-1.66638965e-02 8.35682212e-05 9.99861144e-01 1.05178168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters 0.026149814438421265 Centerline is valid? [True, True] Translation: X:214.43, Y:-26.20, Z:1.05 [[ 9.85937812e-01 1.66446374e-01 1.49075550e-02 2.14434727e+02] [-1.66425205e-01 9.86050498e-01 -2.65819343e-03 -2.61959227e+01] [-1.51420487e-02 1.39820526e-04 9.99885343e-01 1.05150412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters 0.02657986404080376 Centerline is valid? [True, True] Translation: X:214.49, Y:-26.21, Z:1.05 [[ 9.86752028e-01 1.61503334e-01 1.53983120e-02 2.14492198e+02] [-1.61480162e-01 9.86872142e-01 -2.74470485e-03 -2.62128483e+01] [-1.56394441e-02 2.21821172e-04 9.99877672e-01 1.05047810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters 0.026686558529393313 Centerline is valid? [True, True] Translation: X:214.55, Y:-26.23, Z:1.05 [[ 9.87003608e-01 1.59876928e-01 1.62248233e-02 2.14551736e+02] [-1.59850954e-01 9.87136920e-01 -2.89375427e-03 -2.62287036e+01] [-1.64787666e-02 2.62592432e-04 9.99864181e-01 1.05029820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters 0.026473975665169798 Centerline is valid? [True, True] Translation: X:214.61, Y:-26.25, Z:1.05 [[ 9.87246171e-01 1.58609028e-01 1.37176715e-02 2.14610756e+02] [-1.58590308e-01 9.87341439e-01 -2.44877036e-03 -2.62524502e+01] [-1.39324226e-02 2.42049402e-04 9.99902910e-01 1.05263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters 0.026351111326639382 Centerline is valid? [True, True] Translation: X:214.67, Y:-26.27, Z:1.05 [[ 9.87030063e-01 1.59906837e-01 1.41936056e-02 2.14669938e+02] [-1.59886921e-01 9.87132083e-01 -2.53431513e-03 -2.62699788e+01] [-1.44162178e-02 2.32073326e-04 9.99896054e-01 1.05375055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters 0.026066820574642956 Centerline is valid? [True, True] Translation: X:214.73, Y:-26.29, Z:1.05 [[ 9.86713338e-01 1.61822062e-01 1.45054881e-02 2.14729138e+02] [-1.61801435e-01 9.86819931e-01 -2.59224186e-03 -2.62917608e+01] [-1.47337867e-02 2.10790818e-04 9.99891430e-01 1.05276318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters 0.02559445350134731 Centerline is valid? [True, True] Translation: X:214.79, Y:-26.32, Z:1.06 [[ 9.86095614e-01 1.65471581e-01 1.53165462e-02 2.14788619e+02] [-1.65448982e-01 9.86214544e-01 -2.73984926e-03 -2.63152060e+01] [-1.55587678e-02 1.67646368e-04 9.99878941e-01 1.05534044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters 0.025260394383569203 Centerline is valid? [True, True] Translation: X:214.85, Y:-26.34, Z:1.05 [[ 9.85215129e-01 1.70613576e-01 1.55614136e-02 2.14847260e+02] [-1.70590859e-01 9.85338013e-01 -2.78557349e-03 -2.63389004e+01] [-1.58085091e-02 8.97542320e-05 9.99875034e-01 1.05417438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters 0.02517725028723374 Centerline is valid? [True, True] Translation: X:214.91, Y:-26.35, Z:1.05 [[ 9.84124476e-01 1.76680897e-01 1.68189108e-02 2.14907651e+02] [-1.76655206e-01 9.84268185e-01 -3.01292968e-03 -2.63531667e+01] [-1.70866459e-02 -6.05029142e-06 9.99854013e-01 1.05391309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters 0.025546362689192782 Centerline is valid? [True, True] Translation: X:214.97, Y:-26.37, Z:1.05 [[ 9.81694073e-01 1.89683372e-01 1.72326973e-02 2.14967728e+02] [-1.89658358e-01 9.81845285e-01 -3.08935916e-03 -2.63714964e+01] [-1.75058427e-02 -2.35519513e-04 9.99846733e-01 1.05389082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters 0.025941133459121923 Centerline is valid? [True, True] Translation: X:215.03, Y:-26.39, Z:1.05 [[ 9.80220979e-01 1.97151183e-01 1.72697047e-02 2.15027960e+02] [-1.97127177e-01 9.80373029e-01 -3.09836093e-03 -2.63860706e+01] [-1.75415982e-02 -3.67249745e-04 9.99846067e-01 1.05478173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters 0.02668399587208863 Centerline is valid? [True, True] Translation: X:215.09, Y:-26.39, Z:1.05 [[ 9.78879691e-01 2.03729830e-01 1.69913862e-02 2.15089265e+02] [-2.03707553e-01 9.79027032e-01 -3.05002892e-03 -2.63944952e+01] [-1.72564083e-02 -4.75662343e-04 9.99850984e-01 1.05444470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters 0.027462232387398915 Centerline is valid? [True, True] Translation: X:215.15, Y:-26.40, Z:1.06 [[ 9.77765582e-01 2.08873971e-01 1.86045977e-02 2.15151459e+02] [-2.08848143e-01 9.77942372e-01 -3.34223823e-03 -2.64011250e+01] [-1.88923310e-02 -6.17610165e-04 9.99821333e-01 1.05560586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters 0.02743143556550368 Centerline is valid? [True, True] Translation: X:215.21, Y:-26.41, Z:1.06 [[ 9.77606172e-01 2.09762619e-01 1.69061040e-02 2.15213261e+02] [-2.09741385e-01 9.77752174e-01 -3.03944034e-03 -2.64069371e+01] [-1.71675409e-02 -5.74534019e-04 9.99852462e-01 1.05676298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters 0.02724420272623303 Centerline is valid? [True, True] Translation: X:215.28, Y:-26.41, Z:1.06 [[ 9.78161819e-01 2.07073023e-01 1.78946861e-02 2.15275469e+02] [-2.07048740e-01 9.78325331e-01 -3.21953830e-03 -2.64119823e+01] [-1.81735042e-02 -5.55842766e-04 9.99834694e-01 1.05748120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters 0.026727900146714008 Centerline is valid? [True, True] Translation: X:215.34, Y:-26.41, Z:1.06 [[ 9.78964257e-01 2.03264317e-01 1.76805142e-02 2.15338679e+02] [-2.03239946e-01 9.79123787e-01 -3.18341901e-03 -2.64127073e+01] [-1.79584876e-02 -4.76933332e-04 9.99838620e-01 1.05583794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters 0.026506179956645552 Centerline is valid? [True, True] Translation: X:215.40, Y:-26.42, Z:1.06 [[ 9.79335079e-01 2.01391312e-01 1.85564735e-02 2.15400102e+02] [-2.01364083e-01 9.79510758e-01 -3.34365258e-03 -2.64198855e+01] [-1.88496480e-02 -4.62051022e-04 9.99822223e-01 1.05710089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters 0.026318274042623657 Centerline is valid? [True, True] Translation: X:215.46, Y:-26.42, Z:1.06 [[ 9.79520153e-01 2.00487510e-01 1.85749448e-02 2.15463205e+02] [-2.00460016e-01 9.79696158e-01 -3.34955213e-03 -2.64229450e+01] [-1.88693455e-02 -4.42579918e-04 9.99821860e-01 1.05805407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters 0.026238304251836306 Centerline is valid? [True, True] Translation: X:215.53, Y:-26.43, Z:1.06 [[ 9.79993115e-01 1.98365023e-01 1.62730277e-02 2.15525227e+02] [-1.98343579e-01 9.80128153e-01 -2.93751005e-03 -2.64317315e+01] [-1.65323518e-02 -3.48910915e-04 9.99863270e-01 1.05665770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters 0.02612864364411911 Centerline is valid? [True, True] Translation: X:215.59, Y:-26.43, Z:1.06 [[ 9.80640095e-01 1.95092372e-01 1.68513950e-02 2.15587734e+02] [-1.95068870e-01 9.80784826e-01 -3.04328072e-03 -2.64336071e+01] [-1.71213133e-02 -3.02819466e-04 9.99853374e-01 1.05761984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters 0.02599625666009654 Centerline is valid? [True, True] Translation: X:215.65, Y:-26.44, Z:1.06 [[ 9.80823788e-01 1.94124599e-01 1.73302566e-02 2.15649300e+02] [-1.94099546e-01 9.80976837e-01 -3.13228302e-03 -2.64418708e+01] [-1.76086335e-02 -2.91577248e-04 9.99844913e-01 1.05803005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters 0.025908626670451913 Centerline is valid? [True, True] Translation: X:215.71, Y:-26.45, Z:1.06 [[ 9.81549111e-01 1.90563462e-01 1.57133740e-02 2.15709856e+02] [-1.90542397e-01 9.81674857e-01 -2.84087033e-03 -2.64498332e+01] [-1.59667903e-02 -2.05610198e-04 9.99872502e-01 1.05751479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters 0.02582203482225067 Centerline is valid? [True, True] Translation: X:215.77, Y:-26.46, Z:1.06 [[ 9.82526988e-01 1.85390632e-01 1.64630165e-02 2.15769951e+02] [-1.85366763e-01 9.82664896e-01 -2.97750238e-03 -2.64605288e+01] [-1.67296294e-02 -1.26219631e-04 9.99860042e-01 1.05756021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters 0.025747139406583856 Centerline is valid? [True, True] Translation: X:215.83, Y:-26.47, Z:1.06 [[ 9.82972489e-01 1.83045300e-01 1.61091368e-02 2.15831603e+02] [-1.83022113e-01 9.83104476e-01 -2.91461000e-03 -2.64661247e+01] [-1.63704701e-02 -8.33468076e-05 9.99865991e-01 1.05939875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters 0.025818706751972 Centerline is valid? [True, True] Translation: X:215.89, Y:-26.48, Z:1.06 [[ 9.83277882e-01 1.81558509e-01 1.41814677e-02 2.15892249e+02] [-1.81540367e-01 9.83380143e-01 -2.56703133e-03 -2.64780855e+01] [-1.44118402e-02 -5.04037272e-05 9.99896143e-01 1.05795877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters 0.025929434123945872 Centerline is valid? [True, True] Translation: X:215.95, Y:-26.49, Z:1.06 [[ 9.83839533e-01 1.78503001e-01 1.40161448e-02 2.15950755e+02] [-1.78484993e-01 9.83939367e-01 -2.53543952e-03 -2.64880950e+01] [-1.42436202e-02 -7.20587567e-06 9.99898554e-01 1.05988929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters 0.026103136873376592 Centerline is valid? [True, True] Translation: X:216.01, Y:-26.50, Z:1.06 [[ 9.83932241e-01 1.78000363e-01 1.39001906e-02 2.16010336e+02] [-1.77982616e-01 9.84030422e-01 -2.51351645e-03 -2.64960830e+01] [-1.41256173e-02 -8.62414602e-07 9.99900228e-01 1.05863820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters 0.026037401022097645 Centerline is valid? [True, True] Translation: X:216.07, Y:-26.51, Z:1.06 [[ 9.83921449e-01 1.78069371e-01 1.37797550e-02 2.16069378e+02] [-1.78051950e-01 9.84017936e-01 -2.49079558e-03 -2.65052907e+01] [-1.40030605e-02 -2.76504584e-06 9.99901952e-01 1.05944642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters 0.0260440673600551 Centerline is valid? [True, True] Translation: X:216.13, Y:-26.52, Z:1.06 [[ 9.84142330e-01 1.76913784e-01 1.28602610e-02 2.16128515e+02] [-1.76898523e-01 9.84226352e-01 -2.32369738e-03 -2.65152087e+01] [-1.30685019e-02 1.18877719e-05 9.99914603e-01 1.05939887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters 0.026068423794678348 Centerline is valid? [True, True] Translation: X:216.19, Y:-26.53, Z:1.06 [[ 9.84603474e-01 1.74299711e-01 1.32518118e-02 2.16185978e+02] [-1.74283381e-01 9.84692647e-01 -2.38619334e-03 -2.65259249e+01] [-1.34648745e-02 3.98836896e-05 9.99909344e-01 1.06029960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters 0.02606413945030671 Centerline is valid? [True, True] Translation: X:216.24, Y:-26.54, Z:1.06 [[ 9.84883431e-01 1.72743205e-01 1.28223847e-02 2.16244397e+02] [-1.72727770e-01 9.84966894e-01 -2.30992960e-03 -2.65353372e+01] [-1.30286490e-02 6.02294796e-05 9.99915122e-01 1.06017969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters 0.026050335226924643 Centerline is valid? [True, True] Translation: X:216.30, Y:-26.55, Z:1.06 [[ 9.85207705e-01 1.70988688e-01 1.13422558e-02 2.16302380e+02] [-1.70976504e-01 9.85272989e-01 -2.04250181e-03 -2.65490439e+01] [-1.15244630e-02 7.30292846e-05 9.99933589e-01 1.06264969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters 0.02621230321329147 Centerline is valid? [True, True] Translation: X:216.36, Y:-26.57, Z:1.06 [[ 9.85522683e-01 1.69121588e-01 1.19553013e-02 2.16359527e+02] [-1.69107923e-01 9.85595190e-01 -2.15211220e-03 -2.65668414e+01] [-1.21470561e-02 9.92192276e-05 9.99926217e-01 1.06268343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters 0.026299935134635077 Centerline is valid? [True, True] Translation: X:216.42, Y:-26.58, Z:1.06 [[ 9.85666302e-01 1.68283674e-01 1.19392987e-02 2.16418125e+02] [-1.68269980e-01 9.85738603e-01 -2.14956334e-03 -2.65845115e+01] [-1.21307641e-02 1.09726584e-04 9.99926414e-01 1.06210364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters 0.026223376327244946 Centerline is valid? [True, True] Translation: X:216.48, Y:-26.60, Z:1.06 [[ 9.85257733e-01 1.70552910e-01 1.33755004e-02 2.16477449e+02] [-1.70535916e-01 9.85348515e-01 -2.40935986e-03 -2.65989159e+01] [-1.35904528e-02 9.28372187e-05 9.99907641e-01 1.06448093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters 0.026043160529327036 Centerline is valid? [True, True] Translation: X:216.54, Y:-26.62, Z:1.06 [[ 9.83921964e-01 1.78115487e-01 1.31316842e-02 2.16536677e+02] [-1.78099768e-01 9.84009590e-01 -2.36634075e-03 -2.66158144e+01] [-1.33431851e-02 -1.04552686e-05 9.99910976e-01 1.06407915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters 0.026179865889133028 Centerline is valid? [True, True] Translation: X:216.60, Y:-26.63, Z:1.06 [[ 9.82633445e-01 1.85131619e-01 1.25617301e-02 2.16596681e+02] [-1.85117797e-01 9.82713729e-01 -2.26449726e-03 -2.66298677e+01] [-1.27638147e-02 -1.00229055e-04 9.99918534e-01 1.06295642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters 0.02640372967739684 Centerline is valid? [True, True] Translation: X:216.66, Y:-26.64, Z:1.06 [[ 9.81844008e-01 1.89166563e-01 1.40838387e-02 2.16656793e+02] [-1.89149589e-01 9.81945000e-01 -2.53981436e-03 -2.66420395e+01] [-1.43100030e-02 -1.70250799e-04 9.99897592e-01 1.06497065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters 0.02660280824997827 Centerline is valid? [True, True] Translation: X:216.72, Y:-26.65, Z:1.07 [[ 9.81176586e-01 1.92502869e-01 1.53346740e-02 2.16717847e+02] [-1.92483136e-01 9.81296382e-01 -2.76639740e-03 -2.66507710e+01] [-1.55803995e-02 -2.37341791e-04 9.99878590e-01 1.06614028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters 0.02668927921193218 Centerline is valid? [True, True] Translation: X:216.78, Y:-26.66, Z:1.07 [[ 9.80918461e-01 1.93823728e-01 1.52097103e-02 2.16779386e+02] [-1.93804437e-01 9.81036339e-01 -2.74629377e-03 -2.66619658e+01] [-1.54535754e-02 -2.53819081e-04 9.99880554e-01 1.06541789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters 0.026782026506521527 Centerline is valid? [True, True] Translation: X:216.84, Y:-26.67, Z:1.07 [[ 9.80659632e-01 1.94936032e-01 1.75108326e-02 2.16840279e+02] [-1.94910598e-01 9.80815909e-01 -3.16409744e-03 -2.66736629e+01] [-1.77916998e-02 -3.10144215e-04 9.99841667e-01 1.06670142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters 0.026699379105938496 Centerline is valid? [True, True] Translation: X:216.90, Y:-26.68, Z:1.07 [[ 9.80948265e-01 1.93555433e-01 1.66371642e-02 2.16902071e+02] [-1.93532236e-01 9.81089304e-01 -3.00856927e-03 -2.66796318e+01] [-1.69048688e-02 -2.68576789e-04 9.99857066e-01 1.06585530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters 0.02658442317096808 Centerline is valid? [True, True] Translation: X:216.96, Y:-26.69, Z:1.07 [[ 9.81194992e-01 1.92363453e-01 1.58962176e-02 2.16963281e+02] [-1.92342084e-01 9.81323722e-01 -2.87680049e-03 -2.66897662e+01] [-1.61527267e-02 -2.34809381e-04 9.99869509e-01 1.06601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters 0.026415256462093337 Centerline is valid? [True, True] Translation: X:217.03, Y:-26.70, Z:1.07 [[ 9.81285958e-01 1.91722983e-01 1.78931718e-02 2.17025145e+02] [-1.91695758e-01 9.81449049e-01 -3.24055350e-03 -2.66997233e+01] [-1.81825250e-02 -2.50135472e-04 9.99834653e-01 1.06662158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters 0.026297793530792538 Centerline is valid? [True, True] Translation: X:217.09, Y:-26.71, Z:1.07 [[ 9.81953317e-01 1.88427060e-01 1.62149909e-02 2.17087292e+02] [-1.88404214e-01 9.82087173e-01 -2.93894972e-03 -2.67064447e+01] [-1.64783122e-02 -1.69061187e-04 9.99864209e-01 1.06824508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters 0.02616577322257476 Centerline is valid? [True, True] Translation: X:217.15, Y:-26.72, Z:1.07 [[ 9.82480343e-01 1.85820266e-01 1.42550044e-02 2.17149122e+02] [-1.85802305e-01 9.82583746e-01 -2.58575254e-03 -2.67152250e+01] [-1.44872209e-02 -1.08161643e-04 9.99895049e-01 1.06812358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters 0.025927954627903524 Centerline is valid? [True, True] Translation: X:217.21, Y:-26.73, Z:1.07 [[ 9.83632800e-01 1.79554129e-01 1.50608858e-02 2.17209775e+02] [-1.79533335e-01 9.83748095e-01 -2.73258035e-03 -2.67257967e+01] [-1.53067638e-02 -1.60754070e-05 9.99882844e-01 1.06761649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters 0.02587149384394705 Centerline is valid? [True, True] Translation: X:217.27, Y:-26.74, Z:1.07 [[ 9.84380378e-01 1.75480728e-01 1.42050916e-02 2.17270051e+02] [-1.75461792e-01 9.84482865e-01 -2.57828508e-03 -2.67370743e+01] [-1.44371086e-02 4.55624096e-05 9.99895778e-01 1.06962407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters 0.026291484463806622 Centerline is valid? [True, True] Translation: X:217.33, Y:-26.75, Z:1.07 [[ 9.85554677e-01 1.68734246e-01 1.45166196e-02 2.17330041e+02] [-1.68713723e-01 9.85661571e-01 -2.63579686e-03 -2.67487468e+01] [-1.47532233e-02 1.48568972e-04 9.99891154e-01 1.07045120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters 0.02637113270566607 Centerline is valid? [True, True] Translation: X:217.39, Y:-26.76, Z:1.07 [[ 9.86002562e-01 1.66122525e-01 1.42216359e-02 2.17390144e+02] [-1.66102543e-01 9.86105102e-01 -2.58318362e-03 -2.67617312e+01] [-1.44531527e-02 1.84775780e-04 9.99895531e-01 1.06754764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters 0.02691829704258359 Centerline is valid? [True, True] Translation: X:217.45, Y:-26.78, Z:1.07 [[ 9.86440689e-01 1.63245073e-01 1.69059982e-02 2.17450380e+02] [-1.63216369e-01 9.86585512e-01 -3.07326288e-03 -2.67775101e+01] [-1.71809079e-02 2.72255919e-04 9.99852360e-01 1.06742209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters 0.027079129584628044 Centerline is valid? [True, True] Translation: X:217.51, Y:-26.80, Z:1.07 [[ 9.86895700e-01 1.60650572e-01 1.51086519e-02 2.17510482e+02] [-1.60627311e-01 9.87011303e-01 -2.74858546e-03 -2.67959866e+01] [-1.53539720e-02 2.85705051e-04 9.99882080e-01 1.06843980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters 0.026982228135862207 Centerline is valid? [True, True] Translation: X:217.57, Y:-26.81, Z:1.07 [[ 9.87082312e-01 1.59654871e-01 1.33728319e-02 2.17570702e+02] [-1.59636532e-01 9.87172857e-01 -2.43464817e-03 -2.68140669e+01] [-1.35900001e-02 2.68405644e-04 9.99907616e-01 1.06796317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters 0.0269582380053149 Centerline is valid? [True, True] Translation: X:217.63, Y:-26.84, Z:1.07 [[ 9.86906862e-01 1.60654908e-01 1.43124518e-02 2.17630081e+02] [-1.60633979e-01 9.87010600e-01 -2.60758098e-03 -2.68364993e+01] [-1.45454623e-02 2.74373481e-04 9.99894172e-01 1.06754103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters 0.02662043453930745 Centerline is valid? [True, True] Translation: X:217.69, Y:-26.85, Z:1.07 [[ 9.86237032e-01 1.64803251e-01 1.32817767e-02 2.17690673e+02] [-1.64785580e-01 9.86326441e-01 -2.42160672e-03 -2.68515215e+01] [-1.34992562e-02 1.99632948e-04 9.99908861e-01 1.06879722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters 0.026151710928716848 Centerline is valid? [True, True] Translation: X:217.75, Y:-26.87, Z:1.07 [[ 9.84756086e-01 1.73543450e-01 1.17525160e-02 2.17749761e+02] [-1.73530216e-01 9.84826211e-01 -2.14443858e-03 -2.68740701e+01] [-1.19463391e-02 7.23323090e-05 9.99928637e-01 1.06888606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters 0.026001713667064642 Centerline is valid? [True, True] Translation: X:217.81, Y:-26.89, Z:1.07 [[ 9.83796072e-01 1.78687040e-01 1.47047561e-02 2.17809373e+02] [-1.78666867e-01 9.83905962e-01 -2.68498384e-03 -2.68926324e+01] [-1.49478690e-02 1.42238568e-05 9.99888274e-01 1.06998656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters 0.02615131992875047 Centerline is valid? [True, True] Translation: X:217.87, Y:-26.91, Z:1.07 [[ 9.82571249e-01 1.85384045e-01 1.36563429e-02 2.17870351e+02] [-1.85367247e-01 9.82666144e-01 -2.49681538e-03 -2.69071469e+01] [-1.38824956e-02 -7.81396779e-05 9.99903630e-01 1.06838483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters 0.02618196971102781 Centerline is valid? [True, True] Translation: X:217.93, Y:-26.92, Z:1.07 [[ 9.81525913e-01 1.90998989e-01 1.12369189e-02 2.17931356e+02] [-1.90987955e-01 9.81590225e-01 -2.05697991e-03 -2.69249647e+01] [-1.14229309e-02 -1.27137083e-04 9.99934748e-01 1.07038332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters 0.0266159595606257 Centerline is valid? [True, True] Translation: X:217.99, Y:-26.94, Z:1.07 [[ 9.79993033e-01 1.98701055e-01 1.14693419e-02 2.17992117e+02] [-1.98690071e-01 9.80060122e-01 -2.10075834e-03 -2.69362382e+01] [-1.16580675e-02 -2.20115814e-04 9.99932018e-01 1.07424927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters 0.027046069115269637 Centerline is valid? [True, True] Translation: X:218.05, Y:-26.95, Z:1.07 [[ 9.79393854e-01 2.01458228e-01 1.42218176e-02 2.18053413e+02] [-2.01441604e-01 9.79497057e-01 -2.60671652e-03 -2.69473582e+01] [-1.44553730e-02 -3.11863620e-04 9.99895467e-01 1.06997027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters 0.02722450955089678 Centerline is valid? [True, True] Translation: X:218.11, Y:-26.96, Z:1.07 [[ 9.79042060e-01 2.03125933e-01 1.47139395e-02 2.18114589e+02] [-2.03108297e-01 9.79152560e-01 -2.69892160e-03 -2.69584246e+01] [-1.49554125e-02 -3.46165429e-04 9.99888102e-01 1.07167290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters 0.027231622434844054 Centerline is valid? [True, True] Translation: X:218.18, Y:-26.97, Z:1.07 [[ 9.78748514e-01 2.04599620e-01 1.37964348e-02 2.18176243e+02] [-2.04584234e-01 9.78845686e-01 -2.53256613e-03 -2.69685420e+01] [-1.40227428e-02 -3.43787721e-04 9.99901617e-01 1.07475186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters 0.02746525179888571 Centerline is valid? [True, True] Translation: X:218.24, Y:-26.98, Z:1.07 [[ 9.78551759e-01 2.05482514e-01 1.46079179e-02 2.18238054e+02] [-2.05465334e-01 9.78660715e-01 -2.68351340e-03 -2.69776896e+01] [-1.48476104e-02 -3.75463958e-04 9.99889698e-01 1.07372014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters 0.02753683166890812 Centerline is valid? [True, True] Translation: X:218.30, Y:-26.98, Z:1.07 [[ 9.78209031e-01 2.07057813e-01 1.53020849e-02 2.18299978e+02] [-2.07039122e-01 9.78328620e-01 -2.81307764e-03 -2.69836519e+01] [-1.55529373e-02 -4.16352271e-04 9.99878959e-01 1.07168067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters 0.02774157628201783 Centerline is valid? [True, True] Translation: X:218.36, Y:-26.99, Z:1.08 [[ 9.77901275e-01 2.08652500e-01 1.31617225e-02 2.18363030e+02] [-2.08638774e-01 9.77989771e-01 -2.42276516e-03 -2.69910593e+01] [-1.33775459e-02 -3.76820496e-04 9.99910446e-01 1.07500928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters 0.027759167540619252 Centerline is valid? [True, True] Translation: X:218.43, Y:-27.00, Z:1.08 [[ 9.77575293e-01 2.10157512e-01 1.34300768e-02 2.18425358e+02] [-2.10143343e-01 9.77667457e-01 -2.47363733e-03 -2.69964015e+01] [-1.36500025e-02 -4.04074489e-04 9.99906753e-01 1.07565358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters 0.028118140554611995 Centerline is valid? [True, True] Translation: X:218.49, Y:-27.00, Z:1.07 [[ 9.76918733e-01 2.13397362e-01 9.55794606e-03 2.18487418e+02] [-2.13390330e-01 9.76965437e-01 -1.76146249e-03 -2.70000594e+01] [-9.71367439e-03 -3.18767557e-04 9.99952770e-01 1.07394944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters 0.028408496647879835 Centerline is valid? [True, True] Translation: X:218.55, Y:-27.01, Z:1.07 [[ 9.76726912e-01 2.14289210e-01 9.20185363e-03 2.18549042e+02] [-2.14282719e-01 9.76770206e-01 -1.69728562e-03 -2.70063280e+01] [-9.35180647e-03 -3.14013669e-04 9.99956222e-01 1.07447857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters 0.02796665585633095 Centerline is valid? [True, True] Translation: X:218.61, Y:-27.01, Z:1.08 [[ 9.77264732e-01 2.11749382e-01 1.07630544e-02 2.18610329e+02] [-2.11740343e-01 9.77323941e-01 -1.98551201e-03 -2.70120748e+01] [-1.09394217e-02 -3.38601982e-04 9.99940105e-01 1.07704566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters 0.0273389029514816 Centerline is valid? [True, True] Translation: X:218.67, Y:-27.01, Z:1.08 [[ 9.78038657e-01 2.08217607e-01 9.26354297e-03 2.18672227e+02] [-2.08210756e-01 9.78082492e-01 -1.70860304e-03 -2.70116273e+01] [-9.41627043e-03 -2.57689461e-04 9.99955633e-01 1.07713018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters 0.02731130114610539 Centerline is valid? [True, True] Translation: X:218.73, Y:-27.02, Z:1.08 [[ 9.78072067e-01 2.08146371e-01 7.07950761e-03 2.18731583e+02] [-2.08142374e-01 9.78097669e-01 -1.30494526e-03 -2.70173255e+01] [-7.19606950e-03 -1.97215015e-04 9.99974089e-01 1.07760406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters 0.02718968107252312 Centerline is valid? [True, True] Translation: X:218.79, Y:-27.02, Z:1.08 [[ 9.78124586e-01 2.07740970e-01 1.07696084e-02 2.18790430e+02] [-2.07731772e-01 9.78183826e-01 -1.97808741e-03 -2.70210937e+01] [-1.09455866e-02 -3.02373918e-04 9.99940050e-01 1.07923090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters 0.026920555773481274 Centerline is valid? [True, True] Translation: X:218.85, Y:-27.03, Z:1.08 [[ 9.78522632e-01 2.05839945e-01 1.11074469e-02 2.18848669e+02] [-2.05830098e-01 9.78585627e-01 -2.03484172e-03 -2.70268824e+01] [-1.12884396e-02 -2.95108211e-04 9.99936240e-01 1.08023803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters 0.026486649079224833 Centerline is valid? [True, True] Translation: X:218.91, Y:-27.03, Z:1.08 [[ 9.79478728e-01 2.01317159e-01 9.63443169e-03 2.18908779e+02] [-2.01309581e-01 9.79526087e-01 -1.75998115e-03 -2.70268022e+01] [-9.79149158e-03 -2.15639306e-04 9.99952039e-01 1.08083029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters 0.025938815749335105 Centerline is valid? [True, True] Translation: X:218.97, Y:-27.03, Z:1.08 [[ 9.80556702e-01 1.96083573e-01 7.73218335e-03 2.18967789e+02] [-1.96078559e-01 9.80587178e-01 -1.40872011e-03 -2.70332420e+01] [-7.85830673e-03 -1.34785419e-04 9.99969114e-01 1.07952809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters 0.0257368748217863 Centerline is valid? [True, True] Translation: X:219.03, Y:-27.04, Z:1.08 [[ 9.81312271e-01 1.92249738e-01 8.14032085e-03 2.19026951e+02] [-1.92244077e-01 9.81346027e-01 -1.47955673e-03 -2.70391254e+01] [-8.27291592e-03 -1.13021295e-04 9.99965772e-01 1.07993181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters 0.02533982626919604 Centerline is valid? [True, True] Translation: X:219.09, Y:-27.04, Z:1.08 [[ 9.82004754e-01 1.88677608e-01 8.21118879e-03 2.19086257e+02] [-1.88671758e-01 9.82039079e-01 -1.48834984e-03 -2.70433963e+01] [-8.34452657e-03 -8.76528043e-05 9.99965180e-01 1.08124582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters 0.025291196899071253 Centerline is valid? [True, True] Translation: X:219.14, Y:-27.05, Z:1.08 [[ 9.82464041e-01 1.86251007e-01 8.65854343e-03 2.19144344e+02] [-1.86244452e-01 9.82502192e-01 -1.56444915e-03 -2.70492939e+01] [-8.79841813e-03 -7.55906405e-05 9.99961290e-01 1.08140359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters 0.025052017071020973 Centerline is valid? [True, True] Translation: X:219.20, Y:-27.05, Z:1.08 [[ 9.83507677e-01 1.80637072e-01 9.10484791e-03 2.19203377e+02] [-1.80629619e-01 9.83549819e-01 -1.64120607e-03 -2.70507630e+01] [-9.25153418e-03 -3.04664375e-05 9.99957203e-01 1.08053774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters 0.02503785345139738 Centerline is valid? [True, True] Translation: X:219.26, Y:-27.06, Z:1.08 [[ 9.84755482e-01 1.73823428e-01 6.48509143e-03 2.19261555e+02] [-1.73819524e-01 9.84776835e-01 -1.16520726e-03 -2.70590898e+01] [-6.58890813e-03 2.02087299e-05 9.99978293e-01 1.07972328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters 0.025028946202936057 Centerline is valid? [True, True] Translation: X:219.32, Y:-27.06, Z:1.08 [[ 9.85358092e-01 1.70463571e-01 3.40623539e-03 2.19319184e+02] [-1.70462485e-01 9.85363979e-01 -6.08768281e-04 -2.70631495e+01] [-3.46015447e-03 1.92194024e-05 9.99994013e-01 1.08123933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters 0.0250857521169607 Centerline is valid? [True, True] Translation: X:219.38, Y:-27.07, Z:1.08 [[ 9.85961300e-01 1.66824296e-01 7.06884288e-03 2.19377216e+02] [-1.66819526e-01 9.85986638e-01 -1.26327063e-03 -2.70727441e+01] [-7.18052886e-03 6.63149331e-05 9.99974217e-01 1.08450615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters 0.02511314680882409 Centerline is valid? [True, True] Translation: X:219.44, Y:-27.08, Z:1.08 [[ 9.86376741e-01 1.64319428e-01 7.74927317e-03 2.19435063e+02] [-1.64313645e-01 9.86407176e-01 -1.38147942e-03 -2.70840427e+01] [-7.87094258e-03 8.93478480e-05 9.99969020e-01 1.08333806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters 0.02539252102053243 Centerline is valid? [True, True] Translation: X:219.49, Y:-27.10, Z:1.08 [[ 9.87121384e-01 1.59892095e-01 5.08832226e-03 2.19492576e+02] [-1.59889559e-01 9.87134495e-01 -9.04041283e-04 -2.70964218e+01] [-5.16740748e-03 7.88288817e-05 9.99986646e-01 1.08116282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters 0.025985728473267147 Centerline is valid? [True, True] Translation: X:219.55, Y:-27.12, Z:1.08 [[ 9.87802915e-01 1.55519017e-01 7.69651212e-03 2.19548238e+02] [-1.55513099e-01 9.87832887e-01 -1.36506701e-03 -2.71200287e+01] [-7.81516166e-03 1.51508719e-04 9.99969450e-01 1.08229224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters 0.025588866929294313 Centerline is valid? [True, True] Translation: X:219.61, Y:-27.13, Z:1.08 [[ 9.87532368e-01 1.57329937e-01 5.20700721e-03 2.19605101e+02] [-1.57327270e-01 9.87546092e-01 -9.20473412e-04 -2.71334247e+01] [-5.28697764e-03 8.97930608e-05 9.99986020e-01 1.08330536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters 0.02455899784168619 Centerline is valid? [True, True] Translation: X:219.66, Y:-27.16, Z:1.08 [[ 9.85644988e-01 1.68762093e-01 4.82848685e-03 2.19660766e+02] [-1.68759948e-01 9.85656814e-01 -8.51240861e-04 -2.71562276e+01] [-4.90288816e-03 2.41660965e-05 9.99987980e-01 1.08079490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters 0.024431845131631165 Centerline is valid? [True, True] Translation: X:219.72, Y:-27.17, Z:1.08 [[ 9.84563602e-01 1.74897718e-01 6.73067733e-03 2.19716767e+02] [-1.74893715e-01 9.84586608e-01 -1.18334800e-03 -2.71729481e+01] [-6.83389963e-03 -1.20717883e-05 9.99976649e-01 1.08147344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters 0.024442397215867384 Centerline is valid? [True, True] Translation: X:219.77, Y:-27.19, Z:1.08 [[ 9.83296706e-01 1.81980095e-01 3.29120649e-03 2.19772730e+02] [-1.81979188e-01 9.83302214e-01 -5.75483030e-04 -2.71884188e+01] [-3.34097708e-03 -3.30605177e-05 9.99994418e-01 1.08188491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters 0.024702069511818178 Centerline is valid? [True, True] Translation: X:219.83, Y:-27.20, Z:1.08 [[ 9.82342392e-01 1.87086114e-01 1.48664262e-03 2.19830774e+02] [-1.87085937e-01 9.82343517e-01 -2.58068435e-04 -2.71970346e+01] [-1.50867476e-03 -2.46183656e-05 9.99998862e-01 1.08405675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters 0.024986412890988578 Centerline is valid? [True, True] Translation: X:219.89, Y:-27.20, Z:1.08 [[ 9.81660597e-01 1.90616463e-01 2.79952633e-03 2.19888953e+02] [-1.90615842e-01 9.81664587e-01 -4.89130697e-04 -2.72033029e+01] [-2.84143222e-03 -5.34737382e-05 9.99995962e-01 1.08426710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters 0.025423877957577314 Centerline is valid? [True, True] Translation: X:219.95, Y:-27.21, Z:1.09 [[ 9.80863541e-01 1.94504942e-01 8.63370342e-03 2.19947240e+02] [-1.94499230e-01 9.80901517e-01 -1.50452550e-03 -2.72125296e+01] [-8.76145042e-03 -2.03514458e-04 9.99961597e-01 1.08537207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters 0.025518532276597068 Centerline is valid? [True, True] Translation: X:220.00, Y:-27.22, Z:1.09 [[ 9.80943460e-01 1.94068246e-01 9.35112237e-03 2.20004916e+02] [-1.94061576e-01 9.80988005e-01 -1.62422781e-03 -2.72197071e+01] [-9.48854993e-03 -2.21417892e-04 9.99954958e-01 1.08602529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters 0.025412803981640242 Centerline is valid? [True, True] Translation: X:220.06, Y:-27.22, Z:1.09 [[ 9.81122103e-01 1.93159482e-01 9.42512506e-03 2.20063460e+02] [-1.93152713e-01 9.81167349e-01 -1.63194211e-03 -2.72215377e+01] [-9.56285006e-03 -2.19353995e-04 9.99954251e-01 1.08568329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters 0.025487314209983257 Centerline is valid? [True, True] Translation: X:220.12, Y:-27.23, Z:1.09 [[ 9.81338518e-01 1.92004584e-01 1.04380930e-02 2.20121280e+02] [-1.91996273e-01 9.81394000e-01 -1.80189626e-03 -2.72256829e+01] [-1.05898542e-02 -2.35804740e-04 9.99943898e-01 1.08653728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters 0.02528422580270196 Centerline is valid? [True, True] Translation: X:220.18, Y:-27.23, Z:1.09 [[ 9.81805515e-01 1.89677466e-01 8.96607276e-03 2.20180060e+02] [-1.89671276e-01 9.81846436e-01 -1.54347294e-03 -2.72316435e+01] [-9.09606862e-03 -1.85216214e-04 9.99958613e-01 1.08530483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters 0.024805259721319053 Centerline is valid? [True, True] Translation: X:220.24, Y:-27.24, Z:1.08 [[ 9.83046056e-01 1.83170308e-01 8.31198505e-03 2.20239216e+02] [-1.83164787e-01 9.83081189e-01 -1.42714044e-03 -2.72377161e+01] [-8.43276590e-03 -1.19518192e-04 9.99964436e-01 1.08257508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters 0.02457748311654523 Centerline is valid? [True, True] Translation: X:220.30, Y:-27.24, Z:1.09 [[ 9.83520863e-01 1.80720721e-01 5.17037318e-03 2.20298750e+02] [-1.80718569e-01 9.83534451e-01 -8.84244620e-04 -2.72401009e+01] [-5.24504147e-03 -6.47094124e-05 9.99986243e-01 1.08633677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters 0.024586708404613113 Centerline is valid? [True, True] Translation: X:220.36, Y:-27.25, Z:1.08 [[ 9.84508795e-01 1.75293265e-01 3.83460052e-03 2.20357188e+02] [-1.75292050e-01 9.84516262e-01 -6.53348787e-04 -2.72461401e+01] [-3.88975421e-03 -2.89473584e-05 9.99992434e-01 1.08309254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters 0.024145492754586925 Centerline is valid? [True, True] Translation: X:220.42, Y:-27.25, Z:1.09 [[ 9.86029025e-01 1.66548840e-01 -2.87159871e-03 2.20415902e+02] [-1.66548114e-01 9.86033206e-01 4.92052858e-04 -2.72511419e+01] [ 2.91344251e-03 -6.91905167e-06 9.99995756e-01 1.08647780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters 0.02735094292930459 Centerline is valid? [True, True] Translation: X:220.45, Y:-27.41, Z:1.09 [[ 9.90992286e-01 1.33048694e-01 1.52425036e-02 2.20448929e+02] [-1.33024446e-01 9.91109351e-01 -2.59827840e-03 -2.74090983e+01] [-1.54526854e-02 5.47248247e-04 9.99880450e-01 1.08976921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters 0.027557402196795634 Centerline is valid? [True, True] Translation: X:220.51, Y:-27.42, Z:1.09 [[ 9.91086607e-01 1.32537306e-01 1.34610554e-02 2.20509513e+02] [-1.32518313e-01 9.91177895e-01 -2.29719925e-03 -2.74249990e+01] [-1.36467651e-02 4.92887066e-04 9.99906757e-01 1.09005223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters 0.027464140829477627 Centerline is valid? [True, True] Translation: X:220.57, Y:-27.45, Z:1.09 [[ 9.90954968e-01 1.33420660e-01 1.43937023e-02 2.20569335e+02] [-1.33399011e-01 9.91059363e-01 -2.45815481e-03 -2.74467672e+01] [-1.45929821e-02 5.15815070e-04 9.99893384e-01 1.08895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters 0.026465800849572986 Centerline is valid? [True, True] Translation: X:220.63, Y:-27.47, Z:1.09 [[ 9.90029231e-01 1.39757921e-01 1.76024002e-02 2.20629001e+02] [-1.39726374e-01 9.90185562e-01 -3.01554237e-03 -2.74678453e+01] [-1.78510884e-02 5.25955545e-04 9.99840518e-01 1.08981579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters 0.026297222948798337 Centerline is valid? [True, True] Translation: X:220.69, Y:-27.48, Z:1.09 [[ 9.89481478e-01 1.43351447e-01 1.94104848e-02 2.20689563e+02] [-1.43313603e-01 9.89671711e-01 -3.33408882e-03 -2.74811544e+01] [-1.96879541e-02 5.17232625e-04 9.99806040e-01 1.09013558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters 0.025467778513468427 Centerline is valid? [True, True] Translation: X:220.75, Y:-27.50, Z:1.09 [[ 9.88365209e-01 1.50767445e-01 2.00846021e-02 2.20749370e+02] [-1.50728268e-01 9.88569180e-01 -3.45902906e-03 -2.75003271e+01] [-2.03765277e-02 3.91466676e-04 9.99792300e-01 1.09237986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters 0.025185490581964166 Centerline is valid? [True, True] Translation: X:220.81, Y:-27.51, Z:1.09 [[ 9.87893449e-01 1.54247769e-01 1.65577633e-02 2.20809582e+02] [-1.54221494e-01 9.88032161e-01 -2.85990646e-03 -2.75149993e+01] [-1.68007369e-02 2.71719867e-04 9.99858821e-01 1.09248070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters 0.025043972721699035 Centerline is valid? [True, True] Translation: X:220.87, Y:-27.53, Z:1.09 [[ 9.87684310e-01 1.55794278e-01 1.44169189e-02 2.20870682e+02] [-1.55774504e-01 9.87789500e-01 -2.49140237e-03 -2.75295656e+01] [-1.46290273e-02 2.14930635e-04 9.99892967e-01 1.09045883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters 0.024857419023919466 Centerline is valid? [True, True] Translation: X:220.93, Y:-27.55, Z:1.09 [[ 9.86847382e-01 1.60929174e-01 1.52985538e-02 2.20930045e+02] [-1.60907388e-01 9.86965945e-01 -2.65253809e-03 -2.75497879e+01] [-1.55260223e-02 1.55999934e-04 9.99879452e-01 1.08836121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters 0.024755774245356105 Centerline is valid? [True, True] Translation: X:220.99, Y:-27.56, Z:1.09 [[ 9.86361509e-01 1.63864277e-01 1.54749020e-02 2.20991437e+02] [-1.63842207e-01 9.86482886e-01 -2.69204257e-03 -2.75615463e+01] [-1.57068556e-02 1.19885074e-04 9.99876633e-01 1.09023601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters 0.02474006545210766 Centerline is valid? [True, True] Translation: X:221.05, Y:-27.57, Z:1.09 [[ 9.85582872e-01 1.68510758e-01 1.51830881e-02 2.21051993e+02] [-1.68489953e-01 9.85699813e-01 -2.64839627e-03 -2.75748656e+01] [-1.54122504e-02 5.20162090e-05 9.99881223e-01 1.09163666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters 0.024626551990867378 Centerline is valid? [True, True] Translation: X:221.11, Y:-27.59, Z:1.09 [[ 9.85221518e-01 1.70742522e-01 1.36217020e-02 2.21113274e+02] [-1.70725894e-01 9.85315681e-01 -2.38297364e-03 -2.75873813e+01] [-1.38285515e-02 2.21796623e-05 9.99904381e-01 1.09189659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters 0.024753752151409316 Centerline is valid? [True, True] Translation: X:221.17, Y:-27.60, Z:1.09 [[ 9.84731870e-01 1.73560511e-01 1.34124305e-02 2.21174833e+02] [-1.73544542e-01 9.84823207e-01 -2.35436324e-03 -2.76018605e+01] [-1.36174973e-02 -9.23759244e-06 9.99907278e-01 1.09116446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters 0.024965377702942205 Centerline is valid? [True, True] Translation: X:221.24, Y:-27.62, Z:1.09 [[ 9.84068040e-01 1.77141360e-01 1.51997160e-02 2.21235973e+02] [-1.77121176e-01 9.84185417e-01 -2.67474501e-03 -2.76152345e+01] [-1.54331468e-02 -6.00604954e-05 9.99880900e-01 1.09336007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters 0.025173739142785936 Centerline is valid? [True, True] Translation: X:221.30, Y:-27.62, Z:1.10 [[ 9.83164601e-01 1.81816101e-01 1.81734036e-02 2.21297334e+02] [-1.81787890e-01 9.83332539e-01 -3.20633192e-03 -2.76245602e+01] [-1.84534618e-02 -1.51352654e-04 9.99829709e-01 1.09507943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters 0.02527248426551188 Centerline is valid? [True, True] Translation: X:221.36, Y:-27.63, Z:1.10 [[ 9.82606645e-01 1.84777392e-01 1.84796074e-02 2.21358830e+02] [-1.84748582e-01 9.82780380e-01 -3.26908327e-03 -2.76349137e+01] [-1.87654483e-02 -2.01858312e-04 9.99823893e-01 1.09564301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters 0.02551256687031565 Centerline is valid? [True, True] Translation: X:221.42, Y:-27.65, Z:1.09 [[ 9.81677312e-01 1.89893109e-01 1.58196812e-02 2.21420707e+02] [-1.89872509e-01 9.81804739e-01 -2.80786840e-03 -2.76477781e+01] [-1.60650328e-02 -2.47301860e-04 9.99870918e-01 1.09263208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters 0.02602730325319593 Centerline is valid? [True, True] Translation: X:221.48, Y:-27.66, Z:1.10 [[ 9.80396193e-01 1.96157204e-01 1.85918494e-02 2.21481512e+02] [-1.96129877e-01 9.80572375e-01 -3.29990568e-03 -2.76597445e+01] [-1.88779541e-02 -4.11202158e-04 9.99821711e-01 1.09543529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters 0.02643676507317929 Centerline is valid? [True, True] Translation: X:221.54, Y:-27.67, Z:1.09 [[ 9.80000057e-01 1.97985500e-01 2.00407067e-02 2.21543186e+02] [-1.97953903e-01 9.80204836e-01 -3.56814037e-03 -2.76691460e+01] [-2.03504377e-02 -4.70358345e-04 9.99792798e-01 1.09494613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters 0.026913867759063043 Centerline is valid? [True, True] Translation: X:221.61, Y:-27.68, Z:1.09 [[ 9.79459746e-01 2.00892217e-01 1.73471578e-02 2.21605530e+02] [-2.00868827e-01 9.79613247e-01 -3.09835632e-03 -2.76781185e+01] [-1.76159413e-02 -4.49787949e-04 9.99844726e-01 1.09379958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters 0.02726129356064554 Centerline is valid? [True, True] Translation: X:221.67, Y:-27.68, Z:1.09 [[ 9.78910254e-01 2.03707595e-01 1.54249993e-02 2.21667419e+02] [-2.03689340e-01 9.79031677e-01 -2.76207112e-03 -2.76848578e+01] [-1.56642178e-02 -4.38088193e-04 9.99877213e-01 1.09266160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters 0.027328670835129246 Centerline is valid? [True, True] Translation: X:221.73, Y:-27.69, Z:1.10 [[ 9.78873830e-01 2.03653287e-01 1.82034180e-02 2.21729796e+02] [-2.03627706e-01 9.79042941e-01 -3.26756730e-03 -2.76912341e+01] [-1.84873787e-02 -5.08184118e-04 9.99828965e-01 1.09692297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters 0.027096251376263255 Centerline is valid? [True, True] Translation: X:221.79, Y:-27.70, Z:1.10 [[ 9.79275053e-01 2.01713383e-01 1.82231326e-02 2.21792141e+02] [-2.01687381e-01 9.79444480e-01 -3.27267084e-03 -2.76985210e+01] [-1.85086881e-02 -4.70530980e-04 9.99828589e-01 1.09595930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters 0.026989915819842714 Centerline is valid? [True, True] Translation: X:221.86, Y:-27.71, Z:1.09 [[ 9.79274585e-01 2.01640739e-01 1.90341579e-02 2.21855103e+02] [-2.01612128e-01 9.79459434e-01 -3.43018070e-03 -2.77055934e+01] [-1.93348497e-02 -4.78428290e-04 9.99812950e-01 1.09461287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters 0.027002752693822612 Centerline is valid? [True, True] Translation: X:221.92, Y:-27.71, Z:1.10 [[ 9.79289998e-01 2.01487035e-01 1.98513227e-02 2.21917795e+02] [-2.01455674e-01 9.79491061e-01 -3.58785067e-03 -2.77134838e+01] [-2.01670985e-02 -4.85615320e-04 9.99796505e-01 1.09606196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters 0.027014994509205165 Centerline is valid? [True, True] Translation: X:221.98, Y:-27.72, Z:1.10 [[ 9.79315907e-01 2.01279398e-01 2.06629664e-02 2.21980193e+02] [-2.01245143e-01 9.79533748e-01 -3.74550910e-03 -2.77210373e+01] [-2.09939668e-02 -4.90284994e-04 9.99779482e-01 1.09648334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters 0.02691413600565028 Centerline is valid? [True, True] Translation: X:222.04, Y:-27.73, Z:1.10 [[ 9.79364356e-01 2.01148708e-01 1.96126072e-02 2.22042122e+02] [-2.01117645e-01 9.79560611e-01 -3.56397895e-03 -2.77274656e+01] [-1.99286272e-02 -4.54007419e-04 9.99801302e-01 1.09589438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters 0.02682192554570748 Centerline is valid? [True, True] Translation: X:222.10, Y:-27.74, Z:1.09 [[ 9.79741101e-01 1.99580144e-01 1.65873632e-02 2.22103543e+02] [-1.99557563e-01 9.79881444e-01 -3.02234040e-03 -2.77372188e+01] [-1.68568485e-02 -3.49022665e-04 9.99857852e-01 1.09368702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters 0.026692906027213928 Centerline is valid? [True, True] Translation: X:222.17, Y:-27.74, Z:1.09 [[ 9.79934608e-01 1.98689711e-01 1.58291806e-02 2.22165692e+02] [-1.98668911e-01 9.80062397e-01 -2.89171478e-03 -2.77439114e+01] [-1.60881386e-02 -3.11074670e-04 9.99870529e-01 1.09433597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters 0.02657450204687823 Centerline is valid? [True, True] Translation: X:222.23, Y:-27.75, Z:1.10 [[ 9.79951207e-01 1.98551419e-01 1.65216668e-02 2.22228178e+02] [-1.98528585e-01 9.80090422e-01 -3.02739076e-03 -2.77517169e+01] [-1.67938201e-02 -3.13327894e-04 9.99858925e-01 1.09725498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters 0.026561130110015287 Centerline is valid? [True, True] Translation: X:222.29, Y:-27.76, Z:1.10 [[ 9.79880545e-01 1.98974955e-01 1.55911530e-02 2.22289872e+02] [-1.98954560e-01 9.80004531e-01 -2.86410429e-03 -2.77575824e+01] [-1.58492856e-02 -2.95450914e-04 9.99874349e-01 1.09942204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters 0.02630962230941921 Centerline is valid? [True, True] Translation: X:222.35, Y:-27.76, Z:1.10 [[ 9.79827007e-01 1.99459201e-01 1.24524490e-02 2.22351509e+02] [-1.99446149e-01 9.79906103e-01 -2.29394309e-03 -2.77639108e+01] [-1.26597788e-02 -2.35925595e-04 9.99919834e-01 1.09810703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters 0.026215208027543905 Centerline is valid? [True, True] Translation: X:222.41, Y:-27.77, Z:1.10 [[ 9.79862474e-01 1.99273530e-01 1.26329660e-02 2.22413969e+02] [-1.99259988e-01 9.79943880e-01 -2.33448521e-03 -2.77737189e+01] [-1.28447989e-02 -2.29770205e-04 9.99917476e-01 1.09855089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters 0.026186632111676898 Centerline is valid? [True, True] Translation: X:222.47, Y:-27.78, Z:1.10 [[ 9.80053043e-01 1.98128205e-01 1.55321643e-02 2.22474901e+02] [-1.98107498e-01 9.80176080e-01 -2.87599291e-03 -2.77834242e+01] [-1.57940712e-02 -2.58412602e-04 9.99875232e-01 1.09848342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters 0.02596820240982511 Centerline is valid? [True, True] Translation: X:222.54, Y:-27.79, Z:1.10 [[ 9.80499513e-01 1.96012754e-01 1.41317427e-02 2.22536305e+02] [-1.95995291e-01 9.80601326e-01 -2.62387175e-03 -2.77914764e+01] [-1.43719180e-02 -1.97050042e-04 9.99896699e-01 1.10163320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters 0.025704589224667895 Centerline is valid? [True, True] Translation: X:222.60, Y:-27.80, Z:1.10 [[ 9.80987767e-01 1.93589295e-01 1.36449930e-02 2.22598201e+02] [-1.93572776e-01 9.81082647e-01 -2.53374960e-03 -2.77976000e+01] [-1.38773727e-02 -1.55721808e-04 9.99903693e-01 1.10263957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters 0.025591084807014518 Centerline is valid? [True, True] Translation: X:222.66, Y:-27.81, Z:1.10 [[ 9.81011180e-01 1.93434489e-01 1.41479388e-02 2.22660846e+02] [-1.93416666e-01 9.81113181e-01 -2.63046161e-03 -2.78071806e+01] [-1.43895513e-02 -1.55934904e-04 9.99896453e-01 1.10294538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters 0.025562205809998326 Centerline is valid? [True, True] Translation: X:222.72, Y:-27.82, Z:1.10 [[ 9.80630229e-01 1.95308685e-01 1.47942950e-02 2.22722405e+02] [-1.95289384e-01 9.80741802e-01 -2.75231520e-03 -2.78166068e+01] [-1.50469346e-02 -1.90165268e-04 9.99886770e-01 1.10396605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters 0.025386770173996254 Centerline is valid? [True, True] Translation: X:222.78, Y:-27.83, Z:1.10 [[ 9.80578389e-01 1.95730644e-01 1.24714778e-02 2.22783661e+02] [-1.95716939e-01 9.80657681e-01 -2.32203630e-03 -2.78251610e+01] [-1.26847441e-02 -1.63940830e-04 9.99919532e-01 1.10259089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters 0.025286682868528712 Centerline is valid? [True, True] Translation: X:222.85, Y:-27.84, Z:1.10 [[ 9.80376581e-01 1.96761268e-01 1.21145943e-02 2.22845391e+02] [-1.96748378e-01 9.80451414e-01 -2.25853997e-03 -2.78355671e+01] [-1.23221643e-02 -1.69307083e-04 9.99924065e-01 1.10309275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters 0.025357070716817174 Centerline is valid? [True, True] Translation: X:222.91, Y:-27.85, Z:1.10 [[ 9.80409069e-01 1.96638917e-01 1.14539984e-02 2.22907013e+02] [-1.96627370e-01 9.80475962e-01 -2.13671699e-03 -2.78455574e+01] [-1.16505318e-02 -1.57312858e-04 9.99932118e-01 1.10350696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters 0.024975221369326256 Centerline is valid? [True, True] Translation: X:222.97, Y:-27.85, Z:1.10 [[ 9.80486394e-01 1.96275013e-01 1.10702289e-02 2.22968925e+02] [-1.96264186e-01 9.80548876e-01 -2.06668460e-03 -2.78517628e+01] [-1.12605390e-02 -1.46333337e-04 9.99936587e-01 1.10422122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters 0.024927249394803924 Centerline is valid? [True, True] Translation: X:223.03, Y:-27.86, Z:1.11 [[ 9.80613949e-01 1.95755230e-01 8.72766658e-03 2.23030390e+02] [-1.95748468e-01 9.80652782e-01 -1.63072407e-03 -2.78600134e+01] [-8.87803327e-03 -1.09316591e-04 9.99960584e-01 1.10544177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters 0.024667880164640957 Centerline is valid? [True, True] Translation: X:223.09, Y:-27.87, Z:1.11 [[ 9.80879540e-01 1.94491106e-01 6.96692945e-03 2.23092467e+02] [-1.94486757e-01 9.80904279e-01 -1.30287648e-03 -2.78674798e+01] [-7.08728879e-03 -7.70106342e-05 9.99974882e-01 1.10531674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters 0.024785599131446987 Centerline is valid? [True, True] Translation: X:223.15, Y:-27.87, Z:1.11 [[ 9.81115094e-01 1.93195838e-01 9.40960321e-03 2.23154212e+02] [-1.93187835e-01 9.81160211e-01 -1.76076113e-03 -2.78745418e+01] [-9.57249999e-03 -9.03115532e-05 9.99954178e-01 1.10579003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters 0.024875704038259748 Centerline is valid? [True, True] Translation: X:223.22, Y:-27.88, Z:1.11 [[ 9.81063839e-01 1.93335431e-01 1.16256345e-02 2.23215781e+02] [-1.93323208e-01 9.81132712e-01 -2.17689962e-03 -2.78841556e+01] [-1.18271621e-02 -1.11827456e-04 9.99930050e-01 1.10591281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters 0.02476653372487458 Centerline is valid? [True, True] Translation: X:223.28, Y:-27.89, Z:1.11 [[ 9.81349008e-01 1.91798225e-01 1.29447008e-02 2.23278742e+02] [-1.91782897e-01 9.81434374e-01 -2.42690583e-03 -2.78912832e+01] [-1.31698506e-02 -1.00930586e-04 9.99913269e-01 1.10695041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters 0.024243798222897593 Centerline is valid? [True, True] Translation: X:223.34, Y:-27.90, Z:1.11 [[ 9.82012421e-01 1.88491822e-01 1.10652086e-02 2.23340465e+02] [-1.88480396e-01 9.82074758e-01 -2.07589933e-03 -2.79010211e+01] [-1.12581521e-02 -4.70159690e-05 9.99936624e-01 1.10682358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters 0.024496415337819228 Centerline is valid? [True, True] Translation: X:223.40, Y:-27.91, Z:1.11 [[ 9.82131124e-01 1.87769732e-01 1.26879331e-02 2.23401244e+02] [-1.87754627e-01 9.82213076e-01 -2.38201250e-03 -2.79126658e+01] [-1.29095237e-02 -4.27695391e-05 9.99916668e-01 1.10719550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters 0.02430133615014104 Centerline is valid? [True, True] Translation: X:223.46, Y:-27.92, Z:1.11 [[ 9.82493818e-01 1.85882095e-01 1.23994006e-02 2.23462922e+02] [-1.85867497e-01 9.82572057e-01 -2.32959761e-03 -2.79189909e+01] [-1.26163350e-02 -1.58303069e-05 9.99920411e-01 1.10720973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters 0.024362486139263544 Centerline is valid? [True, True] Translation: X:223.52, Y:-27.93, Z:1.11 [[ 9.82525449e-01 1.85713935e-01 1.24127799e-02 2.23524269e+02] [-1.85699254e-01 9.82603854e-01 -2.33509748e-03 -2.79338305e+01] [-1.26305055e-02 -1.07512803e-05 9.99920232e-01 1.10504107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters 0.024022756443709947 Centerline is valid? [True, True] Translation: X:223.59, Y:-27.95, Z:1.11 [[ 9.82363998e-01 1.86597578e-01 1.19297946e-02 2.23585681e+02] [-1.86584066e-01 9.82436432e-01 -2.24559804e-03 -2.79459217e+01] [-1.21392880e-02 -1.99149135e-05 9.99926316e-01 1.10674071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters 0.02390205235638672 Centerline is valid? [True, True] Translation: X:223.65, Y:-27.96, Z:1.11 [[ 9.82720695e-01 1.84878398e-01 8.94506176e-03 2.23646801e+02] [-1.84870717e-01 9.82761404e-01 -1.68519435e-03 -2.79577996e+01] [-9.10241748e-03 2.39537750e-06 9.99958572e-01 1.10822512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters 0.024075007682831134 Centerline is valid? [True, True] Translation: X:223.71, Y:-27.97, Z:1.11 [[ 9.82618671e-01 1.85381010e-01 9.71747324e-03 2.23707635e+02] [-1.85371957e-01 9.82666719e-01 -1.83202406e-03 -2.79725000e+01] [-9.88866002e-03 -1.16598359e-06 9.99951106e-01 1.10675009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters 0.02402315048226139 Centerline is valid? [True, True] Translation: X:223.77, Y:-27.98, Z:1.11 [[ 9.82322061e-01 1.86561585e-01 1.54319221e-02 2.23769193e+02] [-1.86538872e-01 9.82443268e-01 -2.91109903e-03 -2.79834387e+01] [-1.57040872e-02 -1.90165400e-05 9.99876683e-01 1.10788711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters 0.023894014258037787 Centerline is valid? [True, True] Translation: X:223.83, Y:-28.00, Z:1.11 [[ 9.82078601e-01 1.88050151e-01 1.26000587e-02 2.23830191e+02] [-1.88035108e-01 9.82159427e-01 -2.37879834e-03 -2.79959726e+01] [-1.28225998e-02 -3.30864430e-05 9.99917787e-01 1.10917699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters 0.024127944662397153 Centerline is valid? [True, True] Translation: X:223.89, Y:-28.01, Z:1.11 [[ 9.82079196e-01 1.88058498e-01 1.24279950e-02 2.23891769e+02] [-1.88043825e-01 9.82157829e-01 -2.34934090e-03 -2.80088504e+01] [-1.26480661e-02 -2.97688815e-05 9.99920010e-01 1.10862450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters 0.024145579393223118 Centerline is valid? [True, True] Translation: X:223.95, Y:-28.02, Z:1.11 [[ 9.81594690e-01 1.90396953e-01 1.48615259e-02 2.23953039e+02] [-1.90376216e-01 9.81707184e-01 -2.81087011e-03 -2.80199477e+01] [-1.51248478e-02 -7.01458889e-05 9.99885610e-01 1.10885825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters 0.02421305408979774 Centerline is valid? [True, True] Translation: X:224.01, Y:-28.03, Z:1.11 [[ 9.81143542e-01 1.92797102e-01 1.36611676e-02 2.24013925e+02] [-1.92779785e-01 9.81238640e-01 -2.58580346e-03 -2.80320161e+01] [-1.39034009e-02 -9.65525757e-05 9.99903338e-01 1.10917190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters 0.02422776067380963 Centerline is valid? [True, True] Translation: X:224.08, Y:-28.04, Z:1.11 [[ 9.80700021e-01 1.95178980e-01 1.15167139e-02 2.24075455e+02] [-1.95166817e-01 9.80767635e-01 -2.18161557e-03 -2.80417980e+01] [-1.17210258e-02 -1.08169972e-04 9.99931301e-01 1.10923787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters 0.024232627241526392 Centerline is valid? [True, True] Translation: X:224.14, Y:-28.05, Z:1.11 [[ 9.80379252e-01 1.96795561e-01 1.13150375e-02 2.24136986e+02] [-1.96783909e-01 9.80444538e-01 -2.14503585e-03 -2.80509444e+01] [-1.15159002e-02 -1.23668663e-04 9.99933682e-01 1.10866229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters 0.024236239353594063 Centerline is valid? [True, True] Translation: X:224.20, Y:-28.06, Z:1.11 [[ 9.80238248e-01 1.97566118e-01 1.00303025e-02 2.24198996e+02] [-1.97556987e-01 9.80289557e-01 -1.90296727e-03 -2.80572607e+01] [-1.02085626e-02 -1.16195031e-04 9.99947885e-01 1.11151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters 0.02426681048793143 Centerline is valid? [True, True] Translation: X:224.26, Y:-28.07, Z:1.11 [[ 9.80405960e-01 1.96712051e-01 1.04174003e-02 2.24260733e+02] [-1.96702126e-01 9.80461298e-01 -1.97897714e-03 -2.80692054e+01] [-1.06031465e-02 -1.08923799e-04 9.99943779e-01 1.11224194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters 0.024258085087863243 Centerline is valid? [True, True] Translation: X:224.32, Y:-28.08, Z:1.11 [[ 9.80854259e-01 1.94391905e-01 1.16922848e-02 2.24323549e+02] [-1.94379209e-01 9.80923941e-01 -2.22356801e-03 -2.80770646e+01] [-1.19014857e-02 -9.17409167e-05 9.99929171e-01 1.11194073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters 0.024167278148446856 Centerline is valid? [True, True] Translation: X:224.39, Y:-28.09, Z:1.11 [[ 9.81310326e-01 1.92148909e-01 1.04326975e-02 2.24385310e+02] [-1.92138656e-01 9.81365780e-01 -1.98576981e-03 -2.80878169e+01] [-1.06198558e-02 -5.58680564e-05 9.99943606e-01 1.11106169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters 0.02441834459793703 Centerline is valid? [True, True] Translation: X:224.45, Y:-28.10, Z:1.11 [[ 9.81966427e-01 1.88493854e-01 1.45603573e-02 2.24446392e+02] [-1.88473458e-01 9.82074369e-01 -2.77297116e-03 -2.80981420e+01] [-1.48220418e-02 -2.12763089e-05 9.99890147e-01 1.11169234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters 0.02428120238136168 Centerline is valid? [True, True] Translation: X:224.51, Y:-28.11, Z:1.11 [[ 9.82714542e-01 1.84700840e-01 1.25590173e-02 2.24507408e+02] [-1.84685332e-01 9.82794790e-01 -2.39364312e-03 -2.81107772e+01] [-1.27850446e-02 3.28016338e-05 9.99918267e-01 1.11101066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters 0.024577949834337854 Centerline is valid? [True, True] Translation: X:224.57, Y:-28.13, Z:1.11 [[ 9.83111811e-01 1.82462498e-01 1.40927064e-02 2.24567982e+02] [-1.82442715e-01 9.83212811e-01 -2.68780810e-03 -2.81254455e+01] [-1.43465536e-02 7.13042756e-05 9.99897080e-01 1.10993280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters 0.024517355909552757 Centerline is valid? [True, True] Translation: X:224.63, Y:-28.14, Z:1.11 [[ 9.83084844e-01 1.82707257e-01 1.27376666e-02 2.24628536e+02] [-1.82691084e-01 9.83167358e-01 -2.43180696e-03 -2.81424864e+01] [-1.29675668e-02 6.36144585e-05 9.99915916e-01 1.10980020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters 0.024411119283940245 Centerline is valid? [True, True] Translation: X:224.69, Y:-28.16, Z:1.11 [[ 9.82948737e-01 1.83503730e-01 1.17541958e-02 2.24688435e+02] [-1.83489996e-01 9.83019012e-01 -2.24556608e-03 -2.81614266e+01] [-1.19666677e-02 5.04989998e-05 9.99928396e-01 1.10934034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters 0.024462418880593507 Centerline is valid? [True, True] Translation: X:224.75, Y:-28.18, Z:1.11 [[ 9.81812737e-01 1.89402340e-01 1.30576757e-02 2.24748557e+02] [-1.89385890e-01 9.81899564e-01 -2.49634132e-03 -2.81805186e+01] [-1.32941390e-02 -2.19998355e-05 9.99911629e-01 1.10880822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters 0.02455069151542856 Centerline is valid? [True, True] Translation: X:224.81, Y:-28.20, Z:1.11 [[ 9.80403807e-01 1.96568447e-01 1.30084930e-02 2.24808066e+02] [-1.96552726e-01 9.80490098e-01 -2.48875858e-03 -2.81985982e+01] [-1.32439099e-02 -1.16866371e-04 9.99912289e-01 1.10871771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters 0.024708109464840214 Centerline is valid? [True, True] Translation: X:224.87, Y:-28.21, Z:1.11 [[ 9.79515997e-01 2.01048956e-01 1.13017468e-02 2.24868903e+02] [-2.01037368e-01 9.79581183e-01 -2.16389300e-03 -2.82127960e+01] [-1.15060270e-02 -1.52505632e-04 9.99933792e-01 1.10904597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters 0.024828079969214465 Centerline is valid? [True, True] Translation: X:224.93, Y:-28.22, Z:1.11 [[ 9.78677668e-01 2.05232870e-01 8.33610525e-03 2.24929397e+02] [-2.05226706e-01 9.78713159e-01 -1.59742673e-03 -2.82249828e+01] [-8.48650037e-03 -1.47425554e-04 9.99963978e-01 1.11121278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters 0.024954802511450054 Centerline is valid? [True, True] Translation: X:224.99, Y:-28.23, Z:1.11 [[ 9.78075735e-01 2.08245624e-01 -1.27176579e-03 2.24992121e+02] [-2.08245484e-01 9.78076561e-01 2.43086222e-04 -2.82302775e+01] [ 1.29450595e-03 2.70827472e-05 9.99999162e-01 1.10966767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters 0.024624761679233213 Centerline is valid? [True, True] Translation: X:225.05, Y:-28.24, Z:1.11 [[ 9.78786070e-01 2.04879549e-01 1.48295347e-03 2.25053884e+02] [-2.04879352e-01 9.78787193e-01 -2.85165234e-04 -2.82391662e+01] [-1.50992039e-03 -2.47107867e-05 9.99998860e-01 1.11230216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters 0.02422103059875739 Centerline is valid? [True, True] Translation: X:225.12, Y:-28.25, Z:1.11 [[ 9.81493174e-01 1.91421003e-01 5.39889424e-03 2.25115402e+02] [-1.91418194e-01 9.81508023e-01 -1.03713153e-03 -2.82483401e+01] [-5.49758677e-03 -1.55090663e-05 9.99984888e-01 1.11305108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters 0.024038237038009953 Centerline is valid? [True, True] Translation: X:225.18, Y:-28.26, Z:1.11 [[ 9.81478678e-01 1.91485092e-01 5.75013407e-03 2.25177344e+02] [-1.91481898e-01 9.81495522e-01 -1.10612784e-03 -2.82607813e+01] [-5.85553783e-03 -1.54056968e-05 9.99982856e-01 1.11351823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters 0.024054584572297016 Centerline is valid? [True, True] Translation: X:225.24, Y:-28.27, Z:1.11 [[ 9.81155556e-01 1.93126566e-01 5.99203642e-03 2.25238966e+02] [-1.93123120e-01 9.81173853e-01 -1.15388708e-03 -2.82739835e+01] [-6.10207571e-03 -2.50580503e-05 9.99981382e-01 1.11362640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters 0.024348140196691494 Centerline is valid? [True, True] Translation: X:225.30, Y:-28.29, Z:1.12 [[ 9.80119648e-01 1.98135758e-01 1.03777555e-02 2.25299383e+02] [-1.98125699e-01 9.80174582e-01 -1.99877256e-03 -2.82901872e+01] [-1.05680405e-02 -9.70638043e-05 9.99944152e-01 1.11586678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters 0.024370427044509337 Centerline is valid? [True, True] Translation: X:225.36, Y:-28.30, Z:1.12 [[ 9.79666641e-01 2.00376459e-01 1.01265683e-02 2.25360631e+02] [-2.00366986e-01 9.79718971e-01 -1.95184706e-03 -2.83021668e+01] [-1.03122953e-02 -1.16870517e-04 9.99946820e-01 1.11820327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters 0.024561390686615475 Centerline is valid? [True, True] Translation: X:225.42, Y:-28.32, Z:1.12 [[ 9.79096112e-01 2.03062735e-01 1.16760200e-02 2.25421394e+02] [-2.03050315e-01 9.79165715e-01 -2.25202931e-03 -2.83173132e+01] [-1.18900617e-02 -1.65866392e-04 9.99929297e-01 1.11720390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters 0.025021580840753774 Centerline is valid? [True, True] Translation: X:225.48, Y:-28.33, Z:1.12 [[ 9.78731127e-01 2.04786257e-01 1.21642604e-02 2.25482216e+02] [-2.04772888e-01 9.78806698e-01 -2.34790535e-03 -2.83315481e+01] [-1.23872783e-02 -1.92942672e-04 9.99923256e-01 1.11644244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters 0.02538325176263892 Centerline is valid? [True, True] Translation: X:225.54, Y:-28.35, Z:1.12 [[ 9.78023103e-01 2.08175240e-01 1.15706383e-02 2.25542737e+02] [-2.08163362e-01 9.78091519e-01 -2.23496389e-03 -2.83466794e+01] [-1.17824073e-02 -2.22736650e-04 9.99930560e-01 1.11936882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters 0.025129936257363022 Centerline is valid? [True, True] Translation: X:225.60, Y:-28.36, Z:1.12 [[ 9.78403760e-01 2.06406182e-01 1.10711276e-02 2.25604505e+02] [-2.06395176e-01 9.78466377e-01 -2.14002699e-03 -2.83571158e+01] [-1.12744409e-02 -1.91216865e-04 9.99936423e-01 1.11774693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters 0.024947208211666187 Centerline is valid? [True, True] Translation: X:225.67, Y:-28.37, Z:1.12 [[ 9.78968027e-01 2.03721180e-01 1.09216867e-02 2.25665075e+02] [-2.03710285e-01 9.79028935e-01 -2.11268194e-03 -2.83729184e+01] [-1.11230453e-02 -1.56611838e-04 9.99938125e-01 1.11972926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters 0.024395807992135084 Centerline is valid? [True, True] Translation: X:225.73, Y:-28.38, Z:1.12 [[ 9.79542657e-01 2.01105859e-01 7.25373590e-03 2.25726092e+02] [-2.01100972e-01 9.79569511e-01 -1.40440963e-03 -2.83836180e+01] [-7.38797353e-03 -8.30542023e-05 9.99972705e-01 1.11991093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters 0.024513192925372032 Centerline is valid? [True, True] Translation: X:225.79, Y:-28.40, Z:1.12 [[ 9.79754814e-01 1.99997279e-01 9.03283086e-03 2.25786644e+02] [-1.99989644e-01 9.79796448e-01 -1.74997030e-03 -2.83962420e+01] [-9.20032489e-03 -9.19308002e-05 9.99957672e-01 1.11815739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters 0.02438098215447382 Centerline is valid? [True, True] Translation: X:225.85, Y:-28.42, Z:1.12 [[ 9.80421498e-01 1.96415687e-01 1.39486144e-02 2.25846524e+02] [-1.96397095e-01 9.80520714e-01 -2.70392984e-03 -2.84158027e+01] [-1.42079996e-02 -8.84763970e-05 9.99899057e-01 1.12246778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters 0.02467376734699714 Centerline is valid? [True, True] Translation: X:225.91, Y:-28.43, Z:1.12 [[ 9.78696665e-01 2.04790365e-01 1.46199779e-02 2.25907455e+02] [-2.04770741e-01 9.78805835e-01 -2.84286681e-03 -2.84288520e+01] [-1.48923114e-02 -2.11439435e-04 9.99889081e-01 1.12414553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters 0.025777844788212826 Centerline is valid? [True, True] Translation: X:225.97, Y:-28.44, Z:1.12 [[ 9.76446566e-01 2.15005202e-01 1.80240708e-02 2.25967009e+02] [-2.14977150e-01 9.76612798e-01 -3.50261248e-03 -2.84417547e+01] [-1.83556181e-02 -4.54649438e-04 9.99831418e-01 1.12448891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters 0.02678320300283588 Centerline is valid? [True, True] Translation: X:226.03, Y:-28.45, Z:1.12 [[ 9.74778046e-01 2.22509479e-01 1.72421794e-02 2.26028338e+02] [-2.22484814e-01 9.74930365e-01 -3.36015108e-03 -2.84500559e+01] [-1.75575897e-02 -5.60721553e-04 9.99845696e-01 1.12332108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters 0.02721584971453319 Centerline is valid? [True, True] Translation: X:226.09, Y:-28.46, Z:1.12 [[ 9.74032795e-01 2.25767115e-01 1.70095083e-02 2.26090300e+02] [-2.25743466e-01 9.74181116e-01 -3.32286201e-03 -2.84577533e+01] [-1.73205347e-02 -6.03208779e-04 9.99849806e-01 1.12248402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters 0.02719333876418071 Centerline is valid? [True, True] Translation: X:226.15, Y:-28.47, Z:1.12 [[ 9.74063534e-01 2.25810421e-01 1.44874003e-02 2.26152118e+02] [-2.25793252e-01 9.74171130e-01 -2.83140801e-03 -2.84682041e+01] [-1.47525686e-02 -5.13185940e-04 9.99891043e-01 1.12222392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters 0.026337306456613176 Centerline is valid? [True, True] Translation: X:226.21, Y:-28.47, Z:1.12 [[ 9.74755796e-01 2.22999106e-01 1.10696108e-02 2.26213011e+02] [-2.22988897e-01 9.74818583e-01 -2.16388230e-03 -2.84749349e+01] [-1.12734061e-02 -3.59143488e-04 9.99936389e-01 1.12222757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters 0.026417626881435185 Centerline is valid? [True, True] Translation: X:226.28, Y:-28.48, Z:1.12 [[ 9.74916383e-01 2.22090173e-01 1.46287773e-02 2.26275085e+02] [-2.22072207e-01 9.75026023e-01 -2.86185783e-03 -2.84828808e+01] [-1.48990291e-02 -4.58572781e-04 9.99888898e-01 1.12334882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters 0.02613880383137653 Centerline is valid? [True, True] Translation: X:226.34, Y:-28.49, Z:1.13 [[ 9.75086787e-01 2.21272336e-01 1.56304602e-02 2.26336709e+02] [-2.21251687e-01 9.75211940e-01 -3.05988228e-03 -2.84905144e+01] [-1.59200787e-02 -4.74614907e-04 9.99873155e-01 1.12587470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters 0.02612656300299406 Centerline is valid? [True, True] Translation: X:226.40, Y:-28.50, Z:1.13 [[ 9.75348265e-01 2.20164760e-01 1.49412460e-02 2.26397700e+02] [-2.20145730e-01 9.75462603e-01 -2.92702033e-03 -2.85008322e+01] [-1.52190534e-02 -4.34387310e-04 9.99884089e-01 1.12607424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters 0.02567511589787694 Centerline is valid? [True, True] Translation: X:226.46, Y:-28.51, Z:1.13 [[ 9.76029828e-01 2.17343649e-01 1.12921949e-02 2.26459339e+02] [-2.17332509e-01 9.76095106e-01 -2.21927805e-03 -2.85099495e+01] [-1.15046022e-02 -2.88079478e-04 9.99933778e-01 1.12749022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters 0.025223927174095526 Centerline is valid? [True, True] Translation: X:226.52, Y:-28.52, Z:1.13 [[ 9.76793027e-01 2.13882332e-01 1.13898905e-02 2.26520829e+02] [-2.13870765e-01 9.76859399e-01 -2.23838981e-03 -2.85205528e+01] [-1.16050736e-02 -2.49521022e-04 9.99932628e-01 1.12724707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters 0.024928822160056655 Centerline is valid? [True, True] Translation: X:226.58, Y:-28.53, Z:1.13 [[ 9.77717221e-01 2.09358442e-01 1.54298077e-02 2.26582453e+02] [-2.09336619e-01 9.77838930e-01 -3.03426625e-03 -2.85276238e+01] [-1.57231159e-02 -2.63369413e-04 9.99876349e-01 1.12748663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters 0.024660176995337804 Centerline is valid? [True, True] Translation: X:226.64, Y:-28.54, Z:1.13 [[ 9.78307980e-01 2.06760392e-01 1.27920545e-02 2.26644027e+02] [-2.06745146e-01 9.78391592e-01 -2.51744926e-03 -2.85378617e+01] [-1.30361473e-02 -1.81854462e-04 9.99915009e-01 1.12774209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters 0.024801570165510746 Centerline is valid? [True, True] Translation: X:226.71, Y:-28.55, Z:1.12 [[ 9.78828307e-01 2.04235716e-01 1.35247192e-02 2.26705071e+02] [-2.04218406e-01 9.78921727e-01 -2.66352205e-03 -2.85496198e+01] [-1.37836278e-02 -1.54865815e-04 9.99904989e-01 1.12494523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters 0.02467014395201737 Centerline is valid? [True, True] Translation: X:226.77, Y:-28.56, Z:1.12 [[ 9.79246204e-01 2.02120223e-01 1.49762101e-02 2.26766620e+02] [-2.02098698e-01 9.79360708e-01 -2.95284533e-03 -2.85614486e+01] [-1.52639415e-02 -1.35109988e-04 9.99883490e-01 1.12420397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters 0.02440402990154787 Centerline is valid? [True, True] Translation: X:226.83, Y:-28.57, Z:1.13 [[ 9.79669519e-01 2.00259012e-01 1.19983621e-02 2.26827320e+02] [-2.00245037e-01 9.79742987e-01 -2.36725345e-03 -2.85726851e+01] [-1.22293749e-02 -8.34864053e-05 9.99925215e-01 1.12587350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters 0.024338566503183296 Centerline is valid? [True, True] Translation: X:226.89, Y:-28.58, Z:1.12 [[ 9.79956524e-01 1.98797995e-01 1.28283928e-02 2.26889459e+02] [-1.98781855e-01 9.80040485e-01 -2.53405795e-03 -2.85817149e+01] [-1.30761099e-02 -6.67850956e-05 9.99914502e-01 1.12498271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters 0.024524442437704484 Centerline is valid? [True, True] Translation: X:226.95, Y:-28.60, Z:1.13 [[ 9.80418598e-01 1.96202139e-01 1.68550822e-02 2.26949549e+02] [-1.96173863e-01 9.80563470e-01 -3.33115365e-03 -2.85963686e+01] [-1.71810574e-02 -4.06016015e-05 9.99852394e-01 1.12651497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters 0.02438611009758648 Centerline is valid? [True, True] Translation: X:227.01, Y:-28.61, Z:1.13 [[ 9.81045144e-01 1.93191359e-01 1.50838807e-02 2.27009915e+02] [-1.93168324e-01 9.81161097e-01 -2.98327140e-03 -2.86107018e+01] [-1.53760592e-02 1.29959564e-05 9.99881781e-01 1.12647963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters 0.02439494975922393 Centerline is valid? [True, True] Translation: X:227.07, Y:-28.62, Z:1.13 [[ 9.81127971e-01 1.92356203e-01 1.96722189e-02 2.27070558e+02] [-1.92316802e-01 9.81325170e-01 -3.89333072e-03 -2.86244581e+01] [-2.00537499e-02 3.65574531e-05 9.99798903e-01 1.12618361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters 0.024376647865135343 Centerline is valid? [True, True] Translation: X:227.13, Y:-28.64, Z:1.13 [[ 9.80695170e-01 1.94553919e-01 1.96406889e-02 2.27132235e+02] [-1.94514822e-01 9.80891825e-01 -3.90019527e-03 -2.86395565e+01] [-2.00241895e-02 4.49755474e-06 9.99799496e-01 1.12732419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters 0.024138489685406717 Centerline is valid? [True, True] Translation: X:227.19, Y:-28.65, Z:1.13 [[ 9.80687721e-01 1.94971146e-01 1.54222819e-02 2.27192931e+02] [-1.94946971e-01 9.80808978e-01 -3.07023348e-03 -2.86541175e+01] [-1.57249195e-02 4.41313656e-06 9.99876356e-01 1.12547771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters 0.024231030788908675 Centerline is valid? [True, True] Translation: X:227.25, Y:-28.67, Z:1.13 [[ 9.80715916e-01 1.94897712e-01 1.45318067e-02 2.27252198e+02] [-1.94876232e-01 9.80823573e-01 -2.89347137e-03 -2.86734854e+01] [-1.48170695e-02 5.76969018e-06 9.99890221e-01 1.12696755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters 0.023956798430115916 Centerline is valid? [True, True] Translation: X:227.31, Y:-28.69, Z:1.13 [[ 9.80479177e-01 1.96348290e-01 1.03890665e-02 2.27312964e+02] [-1.96337370e-01 9.80534216e-01 -2.07079068e-03 -2.86892822e+01] [-1.05934314e-02 -9.39484403e-06 9.99943888e-01 1.12685662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters 0.024183847131032863 Centerline is valid? [True, True] Translation: X:227.37, Y:-28.70, Z:1.13 [[ 9.79778588e-01 1.99742654e-01 1.16957921e-02 2.27373471e+02] [-1.99729039e-01 9.79848391e-01 -2.33263330e-03 -2.87049361e+01] [-1.19260294e-02 -5.05251501e-05 9.99928881e-01 1.12653862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters 0.024459186293990055 Centerline is valid? [True, True] Translation: X:227.43, Y:-28.72, Z:1.13 [[ 9.78831021e-01 2.04179170e-01 1.41668226e-02 2.27433287e+02] [-2.04159632e-01 9.78933527e-01 -2.82731467e-03 -2.87211078e+01] [-1.44456563e-02 -1.24829973e-04 9.99895648e-01 1.12886696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters 0.02443347903326179 Centerline is valid? [True, True] Translation: X:227.49, Y:-28.74, Z:1.13 [[ 9.78212846e-01 2.07377336e-01 9.70917472e-03 2.27493715e+02] [-2.07368250e-01 9.78261023e-01 -1.94440330e-03 -2.87363798e+01] [-9.90133237e-03 -1.11334285e-04 9.99950974e-01 1.12901818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters 0.02481225578248402 Centerline is valid? [True, True] Translation: X:227.55, Y:-28.75, Z:1.13 [[ 9.77581757e-01 2.10206955e-01 1.21220414e-02 2.27554526e+02] [-2.10193017e-01 9.77656896e-01 -2.42698280e-03 -2.87474425e+01] [-1.23613661e-02 -1.75394353e-04 9.99923580e-01 1.12980772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters 0.02520532507877406 Centerline is valid? [True, True] Translation: X:227.62, Y:-28.76, Z:1.13 [[ 9.76642962e-01 2.14348780e-01 1.49373488e-02 2.27616098e+02] [-2.14328070e-01 9.76757146e-01 -2.99257742e-03 -2.87573242e+01] [-1.52316175e-02 -2.78813460e-04 9.99883953e-01 1.12910106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters 0.025564576633371895 Centerline is valid? [True, True] Translation: X:227.68, Y:-28.77, Z:1.13 [[ 9.76142655e-01 2.16670881e-01 1.41154741e-02 2.27678882e+02] [-2.16652489e-01 9.76244665e-01 -2.83774917e-03 -2.87660480e+01] [-1.43950139e-02 -2.88104579e-04 9.99896345e-01 1.12752536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters 0.025414255706526664 Centerline is valid? [True, True] Translation: X:227.74, Y:-28.77, Z:1.13 [[ 9.76058214e-01 2.17155676e-01 1.24006043e-02 2.27740944e+02] [-2.17141521e-01 9.76136950e-01 -2.49299307e-03 -2.87738302e+01] [-1.26460557e-02 -2.59379713e-04 9.99920002e-01 1.12906528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters 0.025311979926057646 Centerline is valid? [True, True] Translation: X:227.80, Y:-28.78, Z:1.13 [[ 9.76538307e-01 2.15010130e-01 1.19824380e-02 2.27802905e+02] [-2.14996731e-01 9.76611793e-01 -2.41061882e-03 -2.87814672e+01] [-1.22204977e-02 -2.22123373e-04 9.99925302e-01 1.12966261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters 0.024743567617201055 Centerline is valid? [True, True] Translation: X:227.86, Y:-28.79, Z:1.13 [[ 9.78352528e-01 2.06746537e-01 9.06643673e-03 2.27863537e+02] [-2.06738506e-01 9.78394533e-01 -1.82445692e-03 -2.87904739e+01] [-9.24775227e-03 -8.94195401e-05 9.99957235e-01 1.12850401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters 0.024715855171954428 Centerline is valid? [True, True] Translation: X:227.92, Y:-28.80, Z:1.13 [[ 9.79354750e-01 2.01917493e-01 9.67466767e-03 2.27924557e+02] [-2.01908095e-01 9.79402534e-01 -1.94858430e-03 -2.88027569e+01] [-9.86884729e-03 -4.50384321e-05 9.99951301e-01 1.12830024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters 0.024613527084448417 Centerline is valid? [True, True] Translation: X:227.99, Y:-28.81, Z:1.13 [[ 9.80453602e-01 1.96489140e-01 1.01366845e-02 2.27986821e+02] [-1.96478508e-01 9.80506001e-01 -2.04414528e-03 -2.88135282e+01] [-1.03407324e-02 1.25489581e-05 9.99946533e-01 1.13078762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters 0.024682390698600034 Centerline is valid? [True, True] Translation: X:228.05, Y:-28.83, Z:1.13 [[ 9.80980895e-01 1.93913574e-01 8.60284192e-03 2.28046821e+02] [-1.93905808e-01 9.81018616e-01 -1.73582498e-03 -2.88298944e+01] [-8.77614810e-03 3.46701283e-05 9.99961488e-01 1.13137211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters 0.024823616037338254 Centerline is valid? [True, True] Translation: X:228.11, Y:-28.84, Z:1.13 [[ 9.80951440e-01 1.93924906e-01 1.12872698e-02 2.28107757e+02] [-1.93911522e-01 9.81016375e-01 -2.27882934e-03 -2.88436138e+01] [-1.15149183e-02 4.66892515e-05 9.99933700e-01 1.13056398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters 0.02472778786503563 Centerline is valid? [True, True] Translation: X:228.17, Y:-28.86, Z:1.13 [[ 9.80673452e-01 1.95255947e-01 1.24376916e-02 2.28167813e+02] [-1.95239781e-01 9.80752320e-01 -2.51279057e-03 -2.88590124e+01] [-1.26889322e-02 3.58948242e-05 9.99919492e-01 1.13072214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters 0.02485983019701357 Centerline is valid? [True, True] Translation: X:228.23, Y:-28.87, Z:1.13 [[ 9.79767665e-01 1.99855262e-01 1.06393960e-02 2.28228447e+02] [-1.99843687e-01 9.79825430e-01 -2.15104892e-03 -2.88729684e+01] [-1.08546492e-02 -1.86879336e-05 9.99941086e-01 1.13159653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters 0.024585710196622385 Centerline is valid? [True, True] Translation: X:228.29, Y:-28.89, Z:1.13 [[ 9.79396285e-01 2.01837646e-01 6.66950833e-03 2.28289109e+02] [-2.01833135e-01 9.79418993e-01 -1.34963622e-03 -2.88850995e+01] [-6.80465053e-03 -2.42990684e-05 9.99976848e-01 1.13185269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters 0.02450867732828194 Centerline is valid? [True, True] Translation: X:228.35, Y:-28.90, Z:1.13 [[ 9.79191948e-01 2.02800701e-01 7.41650135e-03 2.28350062e+02] [-2.02795143e-01 9.79220034e-01 -1.50176997e-03 -2.88955785e+01] [-7.56694670e-03 -3.35093889e-05 9.99971370e-01 1.13349480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters 0.024530781592074852 Centerline is valid? [True, True] Translation: X:228.41, Y:-28.91, Z:1.13 [[ 9.79404502e-01 2.01624660e-01 1.06919674e-02 2.28410828e+02] [-2.01613026e-01 9.79462861e-01 -2.16624835e-03 -2.89080215e+01] [-1.09091540e-02 -3.40065059e-05 9.99940493e-01 1.13442509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters 0.024572178803903163 Centerline is valid? [True, True] Translation: X:228.47, Y:-28.92, Z:1.13 [[ 9.80681576e-01 1.95389617e-01 9.30295485e-03 2.28471400e+02] [-1.95380514e-01 9.80725699e-01 -1.88623813e-03 -2.89211909e+01] [-9.49219824e-03 3.21828761e-05 9.99954948e-01 1.13383601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters 0.02477592961515372 Centerline is valid? [True, True] Translation: X:228.53, Y:-28.93, Z:1.13 [[ 9.81509675e-01 1.91136900e-01 1.02685490e-02 2.28532711e+02] [-1.91125563e-01 9.81563385e-01 -2.08337295e-03 -2.89324501e+01] [-1.04774412e-02 8.22684828e-05 9.99945107e-01 1.13392227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters 0.02538115549037439 Centerline is valid? [True, True] Translation: X:228.59, Y:-28.95, Z:1.13 [[ 9.82945510e-01 1.83515339e-01 1.18424638e-02 2.28592359e+02] [-1.83499688e-01 9.83016828e-01 -2.40422914e-03 -2.89524691e+01] [-1.20825541e-02 1.90137824e-04 9.99926985e-01 1.13447148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters 0.025661989504426108 Centerline is valid? [True, True] Translation: X:228.65, Y:-28.97, Z:1.13 [[ 9.83517396e-01 1.80325729e-01 1.32726276e-02 2.28652255e+02] [-1.80305756e-01 9.83606916e-01 -2.69627460e-03 -2.89705794e+01] [-1.35412560e-02 2.58701835e-04 9.99908280e-01 1.13397607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters 0.02533271315041865 Centerline is valid? [True, True] Translation: X:228.71, Y:-28.99, Z:1.14 [[ 9.83048330e-01 1.82872347e-01 1.31789693e-02 2.28711071e+02] [-1.82852777e-01 9.83136640e-01 -2.68510490e-03 -2.89911580e+01] [-1.34477590e-02 2.29776753e-04 9.99909548e-01 1.13709467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters 0.025065062516034936 Centerline is valid? [True, True] Translation: X:228.77, Y:-29.01, Z:1.14 [[ 9.82129340e-01 1.87886025e-01 1.09909235e-02 2.28770943e+02] [-1.87872664e-01 9.82190828e-01 -2.24500225e-03 -2.90094528e+01] [-1.12169888e-02 1.39988498e-04 9.99937078e-01 1.13615895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters 0.024721995602300716 Centerline is valid? [True, True] Translation: X:228.83, Y:-29.03, Z:1.14 [[ 9.80605970e-01 1.95424948e-01 1.48667961e-02 2.28831430e+02] [-1.95401247e-01 9.80718657e-01 -3.04455798e-03 -2.90266291e+01] [-1.51751269e-02 8.05212242e-05 9.99884848e-01 1.13606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters 0.024422055157295383 Centerline is valid? [True, True] Translation: X:228.89, Y:-29.04, Z:1.14 [[ 9.79366660e-01 2.01757261e-01 1.16169126e-02 2.28891569e+02] [-2.01743163e-01 9.79435556e-01 -2.38502569e-03 -2.90425871e+01] [-1.18592135e-02 -7.81804802e-06 9.99929677e-01 1.13853903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters 0.024568047563181997 Centerline is valid? [True, True] Translation: X:228.95, Y:-29.06, Z:1.14 [[ 9.78690009e-01 2.05074991e-01 1.04935484e-02 2.28952747e+02] [-2.05063608e-01 9.78746263e-01 -2.16098530e-03 -2.90584319e+01] [-1.07136853e-02 -3.69101815e-05 9.99942606e-01 1.13877221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters 0.02466501875036695 Centerline is valid? [True, True] Translation: X:229.01, Y:-29.07, Z:1.14 [[ 9.77977950e-01 2.08247032e-01 1.38673128e-02 2.29013268e+02] [-2.08227392e-01 9.78076258e-01 -2.86137341e-03 -2.90728575e+01] [-1.41591619e-02 -8.91942600e-05 9.99899750e-01 1.13884676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters 0.024479879192695068 Centerline is valid? [True, True] Translation: X:229.08, Y:-29.08, Z:1.14 [[ 9.77577654e-01 2.10181819e-01 1.28659776e-02 2.29075604e+02] [-2.10164977e-01 9.77662310e-01 -2.66258195e-03 -2.90842974e+01] [-1.31382077e-02 -1.01097272e-04 9.99913685e-01 1.14060448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters 0.024688963286057235 Centerline is valid? [True, True] Translation: X:229.14, Y:-29.10, Z:1.14 [[ 9.77263826e-01 2.11714191e-01 1.15115545e-02 2.29137496e+02] [-2.11700736e-01 9.77331618e-01 -2.38911267e-03 -2.90984179e+01] [-1.17564152e-02 -1.02211166e-04 9.99930886e-01 1.14008338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters 0.024819845917364348 Centerline is valid? [True, True] Translation: X:229.20, Y:-29.11, Z:1.14 [[ 9.76830098e-01 2.13556638e-01 1.40186233e-02 2.29198142e+02] [-2.13536787e-01 9.76930674e-01 -2.91535598e-03 -2.91134651e+01] [-1.43178168e-02 -1.45684322e-04 9.99897484e-01 1.13980583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters 0.024835118204677414 Centerline is valid? [True, True] Translation: X:229.26, Y:-29.13, Z:1.14 [[ 9.76515199e-01 2.14904942e-01 1.52948740e-02 2.29259032e+02] [-2.14881365e-01 9.76634955e-01 -3.18796786e-03 -2.91252644e+01] [-1.56226186e-02 -1.73484317e-04 9.99877944e-01 1.14017827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters 0.024756465082655853 Centerline is valid? [True, True] Translation: X:229.32, Y:-29.14, Z:1.14 [[ 9.76315265e-01 2.15981349e-01 1.26712215e-02 2.29319947e+02] [-2.15965173e-01 9.76397477e-01 -2.64769760e-03 -2.91378306e+01] [-1.29440020e-02 -1.51554961e-04 9.99916211e-01 1.14102497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters 0.024938767251180074 Centerline is valid? [True, True] Translation: X:229.38, Y:-29.15, Z:1.14 [[ 9.75805601e-01 2.18165066e-01 1.44025231e-02 2.29381600e+02] [-2.18144307e-01 9.75911863e-01 -3.01609834e-03 -2.91464191e+01] [-1.47136005e-02 -1.98702778e-04 9.99891729e-01 1.14135437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters 0.025002551356967752 Centerline is valid? [True, True] Translation: X:229.44, Y:-29.16, Z:1.14 [[ 9.75780924e-01 2.18290677e-01 1.41693074e-02 2.29443860e+02] [-2.18270477e-01 9.75883776e-01 -2.97558773e-03 -2.91580688e+01] [-1.44771403e-02 -1.89219742e-04 9.99895183e-01 1.14097106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters 0.02513491764889514 Centerline is valid? [True, True] Translation: X:229.51, Y:-29.17, Z:1.14 [[ 9.75892239e-01 2.17647994e-01 1.62384889e-02 2.29505851e+02] [-2.17621256e-01 9.76027311e-01 -3.41728164e-03 -2.91676611e+01] [-1.65929731e-02 -1.98941714e-04 9.99862307e-01 1.13855635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters 0.02511306792611954 Centerline is valid? [True, True] Translation: X:229.57, Y:-29.18, Z:1.14 [[ 9.75587995e-01 2.18913152e-01 1.74669686e-02 2.29567336e+02] [-2.18882271e-01 9.75744321e-01 -3.68406006e-03 -2.91762470e+01] [-1.78497846e-02 -2.29084984e-04 9.99840654e-01 1.14030982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters 0.024967553338425114 Centerline is valid? [True, True] Translation: X:229.63, Y:-29.19, Z:1.14 [[ 9.76224138e-01 2.15975116e-01 1.84710928e-02 2.29628936e+02] [-2.15939858e-01 9.76398852e-01 -3.90632106e-03 -2.91875626e+01] [-1.88788220e-02 -1.75200254e-04 9.99821764e-01 1.13887753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters 0.025233765769527676 Centerline is valid? [True, True] Translation: X:229.69, Y:-29.20, Z:1.14 [[ 9.76314202e-01 2.15535543e-01 1.88416589e-02 2.29690110e+02] [-2.15498567e-01 9.76495983e-01 -3.99537064e-03 -2.92011144e+01] [-1.92599486e-02 -1.59613407e-04 9.99814497e-01 1.13746196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters 0.025017809246229344 Centerline is valid? [True, True] Translation: X:229.75, Y:-29.22, Z:1.14 [[ 9.76611816e-01 2.14253015e-01 1.80279243e-02 2.29750548e+02] [-2.14218787e-01 9.76778189e-01 -3.83147204e-03 -2.92162469e+01] [-1.84301877e-02 -1.20059214e-04 9.99830142e-01 1.13776432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters 0.025176398736538146 Centerline is valid? [True, True] Translation: X:229.81, Y:-29.23, Z:1.14 [[ 9.75983013e-01 2.17274970e-01 1.57717015e-02 2.29811952e+02] [-2.17249038e-01 9.76110427e-01 -3.36003672e-03 -2.92282793e+01] [-1.61249742e-02 -1.47048218e-04 9.99869973e-01 1.13607911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters 0.025501702649744353 Centerline is valid? [True, True] Translation: X:229.87, Y:-29.24, Z:1.14 [[ 9.74539621e-01 2.23714645e-01 1.49761001e-02 2.29872127e+02] [-2.23691978e-01 9.74654657e-01 -3.19347398e-03 -2.92415517e+01] [-1.53109526e-02 -2.37866523e-04 9.99882752e-01 1.13507184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters 0.02568068122752375 Centerline is valid? [True, True] Translation: X:229.93, Y:-29.26, Z:1.14 [[ 9.74106927e-01 2.25479306e-01 1.65764237e-02 2.29932772e+02] [-2.25451639e-01 9.74247916e-01 -3.54366258e-03 -2.92554379e+01] [-1.69485688e-02 -2.85275616e-04 9.99856322e-01 1.13641714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters 0.025710337309760467 Centerline is valid? [True, True] Translation: X:229.99, Y:-29.27, Z:1.14 [[ 9.73839766e-01 2.26720110e-01 1.53004049e-02 2.29994072e+02] [-2.26696552e-01 9.73959915e-01 -3.27976443e-03 -2.92677053e+01] [-1.56455696e-02 -2.74584012e-04 9.99877563e-01 1.13632308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters 0.0261973478095075 Centerline is valid? [True, True] Translation: X:230.06, Y:-29.27, Z:1.14 [[ 9.72902253e-01 2.30564014e-01 1.73620782e-02 2.30056661e+02] [-2.30534155e-01 9.73057087e-01 -3.72934668e-03 -2.92736508e+01] [-1.77541464e-02 -3.74262229e-04 9.99842313e-01 1.13512655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters 0.02644048854687204 Centerline is valid? [True, True] Translation: X:230.12, Y:-29.28, Z:1.14 [[ 9.72234846e-01 2.33225782e-01 1.91086008e-02 2.30118501e+02] [-2.33189953e-01 9.72422504e-01 -4.11337933e-03 -2.92827755e+01] [-1.95409796e-02 -4.56762998e-04 9.99808952e-01 1.13765403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters 0.027031056247241773 Centerline is valid? [True, True] Translation: X:230.18, Y:-29.29, Z:1.13 [[ 9.71728213e-01 2.35558334e-01 1.60171930e-02 2.30180399e+02] [-2.35533346e-01 9.71860123e-01 -3.45593042e-03 -2.92919713e+01] [-1.63805444e-02 -4.14357962e-04 9.99865744e-01 1.13389470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters 0.0269174718068349 Centerline is valid? [True, True] Translation: X:230.24, Y:-29.30, Z:1.14 [[ 9.71460477e-01 2.36413695e-01 1.93159397e-02 2.30242582e+02] [-2.36377355e-01 9.71652359e-01 -4.17615999e-03 -2.92977699e+01] [-1.97556798e-02 -5.08876347e-04 9.99804708e-01 1.13501161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters 0.026552297094825345 Centerline is valid? [True, True] Translation: X:230.30, Y:-29.31, Z:1.14 [[ 9.71791927e-01 2.35169680e-01 1.77671823e-02 2.30304426e+02] [-2.35138694e-01 9.71954230e-01 -3.84306794e-03 -2.93081396e+01] [-1.81726610e-02 -4.43089644e-04 9.99834765e-01 1.13534039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters 0.026365883237705213 Centerline is valid? [True, True] Translation: X:230.37, Y:-29.32, Z:1.13 [[ 9.72654267e-01 2.31581428e-01 1.77121173e-02 2.30366408e+02] [-2.31549859e-01 9.72815455e-01 -3.84107977e-03 -2.93170805e+01] [-1.81201442e-02 -3.65195643e-04 9.99835750e-01 1.13316856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters 0.025862014000264045 Centerline is valid? [True, True] Translation: X:230.43, Y:-29.32, Z:1.13 [[ 9.73029916e-01 2.30197303e-01 1.48991094e-02 2.30428481e+02] [-2.30174688e-01 9.73143938e-01 -3.23860756e-03 -2.93238648e+01] [-1.52444967e-02 -2.78135805e-04 9.99883757e-01 1.13486186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters 0.025911774873313954 Centerline is valid? [True, True] Translation: X:230.49, Y:-29.33, Z:1.13 [[ 9.73031521e-01 2.29967537e-01 1.80164029e-02 2.30490145e+02] [-2.29934277e-01 9.73198246e-01 -3.92444876e-03 -2.93313639e+01] [-1.84360275e-02 -3.23976230e-04 9.99829990e-01 1.13465367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters 0.02576609592698466 Centerline is valid? [True, True] Translation: X:230.55, Y:-29.34, Z:1.14 [[ 9.73075700e-01 2.29758225e-01 1.82986402e-02 2.30551890e+02] [-2.29723682e-01 9.73247686e-01 -3.99637793e-03 -2.93419982e+01] [-1.87273099e-02 -3.14852732e-04 9.99824579e-01 1.13543820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters 0.025616869994471703 Centerline is valid? [True, True] Translation: X:230.61, Y:-29.35, Z:1.13 [[ 9.74307616e-01 2.24552056e-01 1.73506277e-02 2.30614255e+02] [-2.24520113e-01 9.74462074e-01 -3.79274655e-03 -2.93498082e+01] [-1.77591977e-02 -2.00263032e-04 9.99842273e-01 1.13283365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters 0.025213475766871923 Centerline is valid? [True, True] Translation: X:230.68, Y:-29.36, Z:1.13 [[ 9.74805363e-01 2.22369935e-01 1.74961818e-02 2.30675978e+02] [-2.22337069e-01 9.74962351e-01 -3.82639739e-03 -2.93606947e+01] [-1.79089943e-02 -1.60057077e-04 9.99839608e-01 1.13333665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters 0.025461696281702407 Centerline is valid? [True, True] Translation: X:230.74, Y:-29.37, Z:1.13 [[ 9.74788187e-01 2.22288022e-01 1.93913690e-02 2.30737763e+02] [-2.22247580e-01 9.74981028e-01 -4.24358146e-03 -2.93683110e+01] [-1.98495142e-02 -1.73091741e-04 9.99802964e-01 1.13140410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters 0.025626556452762767 Centerline is valid? [True, True] Translation: X:230.80, Y:-29.38, Z:1.13 [[ 9.74240507e-01 2.24530171e-01 2.10151380e-02 2.30799123e+02] [-2.24482936e-01 9.74467112e-01 -4.61084806e-03 -2.93785745e+01] [-2.15138353e-02 -2.25464928e-04 9.99768525e-01 1.12905369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters 0.02582358580780357 Centerline is valid? [True, True] Translation: X:230.86, Y:-29.39, Z:1.13 [[ 9.73765744e-01 2.26564369e-01 2.11863891e-02 2.30861754e+02] [-2.26516580e-01 9.73996160e-01 -4.66052226e-03 -2.93881778e+01] [-2.16913699e-02 -2.60811455e-04 9.99764681e-01 1.12676909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters 0.026066931319943823 Centerline is valid? [True, True] Translation: X:230.92, Y:-29.40, Z:1.13 [[ 9.73801003e-01 2.26286996e-01 2.24900377e-02 2.30923829e+02] [-2.26232828e-01 9.74060639e-01 -4.95779054e-03 -2.93968835e+01] [-2.30285440e-02 -2.60083434e-04 9.99734774e-01 1.12678602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters 0.025799570999290804 Centerline is valid? [True, True] Translation: X:230.99, Y:-29.40, Z:1.12 [[ 9.73932170e-01 2.25725953e-01 2.24482373e-02 2.30986149e+02] [-2.25671803e-01 9.74190810e-01 -4.95004515e-03 -2.94017429e+01] [-2.29862201e-02 -2.44925974e-04 9.99735752e-01 1.12490123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters 0.025888753982805532 Centerline is valid? [True, True] Translation: X:231.05, Y:-29.41, Z:1.12 [[ 9.74248760e-01 2.24220230e-01 2.37621865e-02 2.31047618e+02] [-2.24159027e-01 9.74538476e-01 -5.24306803e-03 -2.94101675e+01] [-2.43327670e-02 -2.18456077e-04 9.99703891e-01 1.12359211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters 0.026045639353518547 Centerline is valid? [True, True] Translation: X:231.11, Y:-29.42, Z:1.13 [[ 9.75018129e-01 2.20613030e-01 2.58754667e-02 2.31109841e+02] [-2.20539090e-01 9.75361406e-01 -5.71290717e-03 -2.94181586e+01] [-2.64982734e-02 -1.36363843e-04 9.99648850e-01 1.12501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters 0.02577461959425336 Centerline is valid? [True, True] Translation: X:231.17, Y:-29.42, Z:1.12 [[ 9.76173604e-01 2.15883996e-01 2.18905204e-02 2.31172675e+02] [-2.15829613e-01 9.76419019e-01 -4.84540016e-03 -2.94203331e+01] [-2.24203648e-02 5.32917131e-06 9.99748632e-01 1.12341509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters 0.026000922925801105 Centerline is valid? [True, True] Translation: X:231.23, Y:-29.43, Z:1.12 [[ 9.76671322e-01 2.13208244e-01 2.56002578e-02 2.31234128e+02] [-2.13132933e-01 9.77006775e-01 -5.66695155e-03 -2.94280053e+01] [-2.62198661e-02 7.84910187e-05 9.99656197e-01 1.12252989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters 0.025976191177561257 Centerline is valid? [True, True] Translation: X:231.30, Y:-29.43, Z:1.12 [[ 9.77677246e-01 2.08453570e-01 2.63498159e-02 2.31297042e+02] [-2.08371954e-01 9.78032240e-01 -5.83662194e-03 -2.94316848e+01] [-2.69876342e-02 2.15769835e-04 9.99635744e-01 1.12427077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters 0.026492697121225147 Centerline is valid? [True, True] Translation: X:231.36, Y:-29.44, Z:1.12 [[ 9.78995901e-01 2.02413848e-01 2.44061476e-02 2.31360248e+02] [-2.02341818e-01 9.79300008e-01 -5.41145921e-03 -2.94365898e+01] [-2.49962948e-02 3.59412121e-04 9.99687479e-01 1.12155830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters 0.02718995900135112 Centerline is valid? [True, True] Translation: X:231.42, Y:-29.44, Z:1.12 [[ 9.79871991e-01 1.97877177e-01 2.63723999e-02 2.31423169e+02] [-1.97791344e-01 9.80226686e-01 -5.85049070e-03 -2.94412903e+01] [-2.70086088e-02 5.16499548e-04 9.99635068e-01 1.12077148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters 0.027520491732219744 Centerline is valid? [True, True] Translation: X:231.49, Y:-29.45, Z:1.12 [[ 9.80401287e-01 1.95633561e-01 2.32556574e-02 2.31485989e+02] [-1.95566114e-01 9.80676933e-01 -5.16219656e-03 -2.94465088e+01] [-2.38161857e-02 5.13005592e-04 9.99716223e-01 1.12148786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters 0.02716304825900752 Centerline is valid? [True, True] Translation: X:231.55, Y:-29.45, Z:1.12 [[ 9.80360863e-01 1.95916243e-01 2.25699858e-02 2.31547960e+02] [-1.95852721e-01 9.80620509e-01 -5.01296816e-03 -2.94547016e+01] [-2.31147128e-02 4.94124655e-04 9.99732697e-01 1.12087184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters 0.02747383162929638 Centerline is valid? [True, True] Translation: X:231.61, Y:-29.46, Z:1.12 [[ 9.80442248e-01 1.95541910e-01 2.22791481e-02 2.31609977e+02] [-1.95479852e-01 9.80695219e-01 -4.95130775e-03 -2.94622353e+01] [-2.28172422e-02 4.99346718e-04 9.99739528e-01 1.11858400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters 0.02766247296243958 Centerline is valid? [True, True] Translation: X:231.67, Y:-29.47, Z:1.12 [[ 9.80434086e-01 1.95663011e-01 2.15636002e-02 2.31671818e+02] [-1.95604823e-01 9.80671072e-01 -4.79598349e-03 -2.94729239e+01] [-2.20851955e-02 4.84201498e-04 9.99755975e-01 1.11902890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters 0.027281897593496952 Centerline is valid? [True, True] Translation: X:231.73, Y:-29.47, Z:1.12 [[ 9.80311572e-01 1.96498065e-01 1.94353196e-02 2.31734534e+02] [-1.96450944e-01 9.80504122e-01 -4.32348556e-03 -2.94734964e+01] [-1.99059676e-02 4.20276034e-04 9.99801768e-01 1.11976549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters 0.027320440526834525 Centerline is valid? [True, True] Translation: X:231.79, Y:-29.48, Z:1.12 [[ 9.80031501e-01 1.97793628e-01 2.03945733e-02 2.31794817e+02] [-1.97742029e-01 9.80243597e-01 -4.53654183e-03 -2.94808964e+01] [-2.08889490e-02 4.13089595e-04 9.99781717e-01 1.11771005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters 0.027263851024510462 Centerline is valid? [True, True] Translation: X:231.86, Y:-29.49, Z:1.12 [[ 9.79531549e-01 1.99888520e-01 2.37175880e-02 2.31855016e+02] [-1.99819390e-01 9.79818553e-01 -5.27385242e-03 -2.94857712e+01] [-2.42931153e-02 4.26670860e-04 9.99704788e-01 1.11867447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters 0.02733202818173974 Centerline is valid? [True, True] Translation: X:231.92, Y:-29.49, Z:1.12 [[ 9.79587136e-01 1.99963755e-01 2.05801058e-02 2.31915091e+02] [-1.99911753e-01 9.79803226e-01 -4.57480851e-03 -2.94892066e+01] [-2.10792500e-02 3.67218528e-04 9.99777740e-01 1.11762491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters 0.02768545006803358 Centerline is valid? [True, True] Translation: X:231.97, Y:-29.49, Z:1.12 [[ 9.80427469e-01 1.95948568e-01 1.91346817e-02 2.31974874e+02] [-1.95903060e-01 9.80614088e-01 -4.24282882e-03 -2.94915902e+01] [-1.95951146e-02 4.11243233e-04 9.99807913e-01 1.11615927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters 0.028300131416290453 Centerline is valid? [True, True] Translation: X:232.03, Y:-29.50, Z:1.12 [[ 9.81181632e-01 1.92138579e-01 1.91146898e-02 2.32032718e+02] [-1.92092611e-01 9.81367687e-01 -4.22982590e-03 -2.95015350e+01] [-1.95712517e-02 4.78436809e-04 9.99808350e-01 1.11739343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters 0.02954507187439577 Centerline is valid? [True, True] Translation: X:232.09, Y:-29.51, Z:1.12 [[ 9.82703305e-01 1.84461622e-01 1.63745184e-02 2.32092234e+02] [-1.84426825e-01 9.82839569e-01 -3.62334792e-03 -2.95068865e+01] [-1.67618932e-02 5.40775549e-04 9.99859363e-01 1.11722217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters 0.030059809129719825 Centerline is valid? [True, True] Translation: X:232.15, Y:-29.51, Z:1.12 [[ 9.83378574e-01 1.80930263e-01 1.51927721e-02 2.32151057e+02] [-1.80900017e-01 9.83495774e-01 -3.35342371e-03 -2.95134347e+01] [-1.55487630e-02 5.49312296e-04 9.99878960e-01 1.11738010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters 0.030222090191850792 Centerline is valid? [True, True] Translation: X:232.21, Y:-29.53, Z:1.12 [[ 9.83441681e-01 1.80457447e-01 1.66604437e-02 2.32208479e+02] [-1.80421128e-01 9.83582607e-01 -3.67025892e-03 -2.95277737e+01] [-1.70492482e-02 6.03589556e-04 9.99854469e-01 1.11765190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters 0.0302183051012593 Centerline is valid? [True, True] Translation: X:232.27, Y:-29.54, Z:1.12 [[ 9.83645612e-01 1.79624743e-01 1.32763471e-02 2.32266610e+02] [-1.79601690e-01 9.83735084e-01 -2.91853816e-03 -2.95386525e+01] [-1.35846501e-02 4.86352874e-04 9.99907606e-01 1.11770806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters 0.029650542444306704 Centerline is valid? [True, True] Translation: X:232.32, Y:-29.55, Z:1.12 [[ 9.83396236e-01 1.80850203e-01 1.50015494e-02 2.32324715e+02] [-1.80821007e-01 9.83510513e-01 -3.29154328e-03 -2.95498417e+01] [-1.53494578e-02 5.24296007e-04 9.99882053e-01 1.11799640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters 0.029369975747256288 Centerline is valid? [True, True] Translation: X:232.38, Y:-29.56, Z:1.12 [[ 9.82900964e-01 1.83436564e-01 1.60225401e-02 2.32381708e+02] [-1.83403715e-01 9.83031417e-01 -3.50862120e-03 -2.95644195e+01] [-1.63942698e-02 5.10033771e-04 9.99865475e-01 1.11828584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters 0.02823389847901824 Centerline is valid? [True, True] Translation: X:232.44, Y:-29.57, Z:1.12 [[ 9.82240047e-01 1.87217113e-01 1.24194454e-02 2.32439790e+02] [-1.87197685e-01 9.82318499e-01 -2.71912254e-03 -2.95743708e+01] [-1.27089172e-02 3.45939623e-04 9.99919179e-01 1.11677609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters 0.027491994460124923 Centerline is valid? [True, True] Translation: X:232.50, Y:-29.58, Z:1.12 [[ 9.81249129e-01 1.92281612e-01 1.33389604e-02 2.32498898e+02] [-1.92259771e-01 9.81339745e-01 -2.91290588e-03 -2.95796306e+01] [-1.36501502e-02 2.93740891e-04 9.99906789e-01 1.11615440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters 0.02676593348916558 Centerline is valid? [True, True] Translation: X:232.56, Y:-29.58, Z:1.12 [[ 9.80284490e-01 1.97226639e-01 1.19988445e-02 2.32558235e+02] [-1.97209404e-01 9.80357901e-01 -2.61470553e-03 -2.95840795e+01] [-1.22788516e-02 1.96870313e-04 9.99924593e-01 1.11644072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters 0.02652515944498094 Centerline is valid? [True, True] Translation: X:232.62, Y:-29.59, Z:1.12 [[ 9.80354145e-01 1.96897081e-01 1.17170926e-02 2.32616431e+02] [-1.96880701e-01 9.80424145e-01 -2.54683039e-03 -2.95906095e+01] [-1.19891840e-02 1.89926334e-04 9.99928109e-01 1.11522068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters 0.026881316157875784 Centerline is valid? [True, True] Translation: X:232.68, Y:-29.59, Z:1.12 [[ 9.81081239e-01 1.93338339e-01 9.99443336e-03 2.32676062e+02] [-1.93326283e-01 9.81132126e-01 -2.16780850e-03 -2.95930006e+01] [-1.02249801e-02 1.94609601e-04 9.99947705e-01 1.11614584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters 0.02719815887009963 Centerline is valid? [True, True] Translation: X:232.74, Y:-29.60, Z:1.12 [[ 9.81726251e-01 1.90092300e-01 8.85923499e-03 2.32735686e+02] [-1.90082733e-01 9.81766203e-01 -1.91740754e-03 -2.95965114e+01] [-9.06218191e-03 1.98381717e-04 9.99958918e-01 1.11720990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters 0.02702361262421017 Centerline is valid? [True, True] Translation: X:232.80, Y:-29.60, Z:1.12 [[ 9.81904251e-01 1.89311041e-01 5.03704285e-03 2.32795839e+02] [-1.89307953e-01 9.81917164e-01 -1.08729800e-03 -2.95983402e+01] [-5.15179634e-03 1.14070259e-04 9.99986723e-01 1.11865023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters 0.026793104396295158 Centerline is valid? [True, True] Translation: X:232.85, Y:-29.60, Z:1.12 [[ 9.81732177e-01 1.90207403e-01 4.80385454e-03 2.32854702e+02] [-1.90204617e-01 9.81743925e-01 -1.03454512e-03 -2.96026603e+01] [-4.91293315e-03 1.01930925e-04 9.99987926e-01 1.11804923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters 0.026840621566749275 Centerline is valid? [True, True] Translation: X:232.91, Y:-29.61, Z:1.12 [[ 9.81754019e-01 1.90072682e-01 5.60558595e-03 2.32912927e+02] [-1.90068902e-01 9.81770015e-01 -1.20436522e-03 -2.96080124e+01] [-5.73231313e-03 1.16942825e-04 9.99983563e-01 1.11794865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters 0.026324967781975323 Centerline is valid? [True, True] Translation: X:232.97, Y:-29.61, Z:1.12 [[ 9.81144340e-01 1.93217340e-01 4.77944688e-03 2.32972515e+02] [-1.93214640e-01 9.81155978e-01 -1.02467342e-03 -2.96114685e+01] [-4.88736755e-03 8.18934158e-05 9.99988053e-01 1.11848950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters 0.025872569482111373 Centerline is valid? [True, True] Translation: X:233.03, Y:-29.61, Z:1.12 [[ 9.80628092e-01 1.95809139e-01 5.22743048e-03 2.33031854e+02] [-1.95805958e-01 9.80642022e-01 -1.11856042e-03 -2.96141741e+01] [-5.34526235e-03 7.33297419e-05 9.99985711e-01 1.11985449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters 0.02595639078317851 Centerline is valid? [True, True] Translation: X:233.09, Y:-29.62, Z:1.12 [[ 9.80634813e-01 1.95769372e-01 5.45131028e-03 2.33090152e+02] [-1.95765929e-01 9.80649962e-01 -1.16342062e-03 -2.96202266e+01] [-5.57358935e-03 7.37099387e-05 9.99984465e-01 1.11735343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters 0.026227548326868657 Centerline is valid? [True, True] Translation: X:233.15, Y:-29.62, Z:1.12 [[ 9.80723957e-01 1.95217278e-01 8.41038458e-03 2.33150364e+02] [-1.95209079e-01 9.80760012e-01 -1.79288131e-03 -2.96175721e+01] [-8.59857028e-03 1.16538222e-04 9.99963025e-01 1.11523311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters 0.026482435343062223 Centerline is valid? [True, True] Translation: X:233.21, Y:-29.63, Z:1.12 [[ 9.81387551e-01 1.91905872e-01 7.11410424e-03 2.33208291e+02] [-1.91899945e-01 9.81413329e-01 -1.51298959e-03 -2.96251995e+01] [-7.27222831e-03 1.19632938e-04 9.99973550e-01 1.11624999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters 0.027147338328298135 Centerline is valid? [True, True] Translation: X:233.27, Y:-29.63, Z:1.12 [[ 9.82582144e-01 1.85758303e-01 5.11694326e-03 2.33266510e+02] [-1.85755168e-01 9.82595461e-01 -1.08538696e-03 -2.96322317e+01] [-5.22950486e-03 1.15983191e-04 9.99986319e-01 1.11503695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters 0.027666770173641372 Centerline is valid? [True, True] Translation: X:233.32, Y:-29.64, Z:1.12 [[ 9.83201927e-01 1.82376881e-01 7.25566187e-03 2.33324733e+02] [-1.82370502e-01 9.83228681e-01 -1.53684476e-03 -2.96418509e+01] [-7.41425980e-03 1.87810034e-04 9.99972496e-01 1.11539319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters 0.027503277739446892 Centerline is valid? [True, True] Translation: X:233.38, Y:-29.65, Z:1.12 [[ 9.82945680e-01 1.83727173e-01 7.88134649e-03 2.33383326e+02] [-1.83719717e-01 9.82977258e-01 -1.66605644e-03 -2.96501124e+01] [-8.05328421e-03 1.89684237e-04 9.99967554e-01 1.11745362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters 0.027505757005839883 Centerline is valid? [True, True] Translation: X:233.44, Y:-29.66, Z:1.12 [[ 9.82890952e-01 1.84079398e-01 6.33657908e-03 2.33441155e+02] [-1.84074606e-01 9.82911366e-01 -1.33628529e-03 -2.96620692e+01] [-6.47427820e-03 1.47019423e-04 9.99979031e-01 1.11656544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters 0.027566931178779192 Centerline is valid? [True, True] Translation: X:233.50, Y:-29.67, Z:1.12 [[ 9.82890727e-01 1.84015792e-01 8.00042836e-03 2.33498139e+02] [-1.84008182e-01 9.82923270e-01 -1.68344290e-03 -2.96743079e+01] [-8.17358729e-03 1.82496134e-04 9.99966579e-01 1.11721469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters 0.02792139140105223 Centerline is valid? [True, True] Translation: X:233.56, Y:-29.69, Z:1.12 [[ 9.83370262e-01 1.81407844e-01 8.60941350e-03 2.33555974e+02] [-1.81398960e-01 9.83407925e-01 -1.80833142e-03 -2.96856127e+01] [-8.79461097e-03 2.16520688e-04 9.99961303e-01 1.11871857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters 0.02816180888177583 Centerline is valid? [True, True] Translation: X:233.61, Y:-29.70, Z:1.12 [[ 9.83820820e-01 1.79051071e-01 6.10799213e-03 2.33613672e+02] [-1.79046574e-01 9.83839767e-01 -1.27968648e-03 -2.96958167e+01] [-6.23841479e-03 1.65367137e-04 9.99980527e-01 1.11768980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters 0.028317614002776385 Centerline is valid? [True, True] Translation: X:233.67, Y:-29.70, Z:1.12 [[ 9.84103159e-01 1.77518139e-01 5.31812866e-03 2.33671517e+02] [-1.77514722e-01 9.84117517e-01 -1.11160440e-03 -2.97042839e+01] [-5.43099352e-03 1.49887273e-04 9.99985241e-01 1.11776858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters 0.029259278188367325 Centerline is valid? [True, True] Translation: X:233.73, Y:-29.72, Z:1.12 [[ 9.84649452e-01 1.74344163e-01 8.34078791e-03 2.33727733e+02] [-1.74335632e-01 9.84684743e-01 -1.74470045e-03 -2.97199224e+01] [-8.51722494e-03 2.63821805e-04 9.99963693e-01 1.11702166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters 0.030363622017916893 Centerline is valid? [True, True] Translation: X:233.79, Y:-29.73, Z:1.12 [[ 9.85603546e-01 1.68982122e-01 5.54013917e-03 2.33786361e+02] [-1.68978275e-01 9.85619095e-01 -1.15874191e-03 -2.97315037e+01] [-5.65627362e-03 2.05896979e-04 9.99983982e-01 1.11708344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters 0.03182029024584318 Centerline is valid? [True, True] Translation: X:233.84, Y:-29.74, Z:1.12 [[ 9.86589806e-01 1.63198905e-01 2.58305034e-03 2.33844766e+02] [-1.63198050e-01 9.86593181e-01 -5.39941141e-04 -2.97433450e+01] [-2.63653765e-03 1.11151648e-04 9.99996518e-01 1.11885265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters 0.032099689283973346 Centerline is valid? [True, True] Translation: X:233.90, Y:-29.76, Z:1.12 [[ 9.86984835e-01 1.60806112e-01 1.52653271e-03 2.33901464e+02] [-1.60805814e-01 9.86986013e-01 -3.16570950e-04 -2.97589819e+01] [-1.55757297e-03 6.69753920e-05 9.99998785e-01 1.12011049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters 0.03211751847759339 Centerline is valid? [True, True] Translation: X:233.96, Y:-29.78, Z:1.12 [[ 9.87112053e-01 1.60026121e-01 1.19775334e-03 2.33957059e+02] [-1.60025938e-01 9.87112779e-01 -2.47447303e-04 -2.97785617e+01] [-1.22191566e-03 5.25866123e-05 9.99999252e-01 1.12100247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters 0.03171312311010177 Centerline is valid? [True, True] Translation: X:234.01, Y:-29.80, Z:1.12 [[ 9.87025115e-01 1.60530955e-01 3.35189797e-03 2.34013200e+02] [-1.60529519e-01 9.87030795e-01 -6.94764175e-04 -2.97962364e+01] [-3.41995767e-03 1.47671121e-04 9.99994141e-01 1.11985162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters 0.0316785959445568 Centerline is valid? [True, True] Translation: X:234.07, Y:-29.82, Z:1.12 [[ 9.86752460e-01 1.62168026e-01 4.59500118e-03 2.34069291e+02] [-1.62165352e-01 9.86763140e-01 -9.51213281e-04 -2.98164262e+01] [-4.68843417e-03 1.93462064e-04 9.99988991e-01 1.12164017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters 0.03027494912364629 Centerline is valid? [True, True] Translation: X:234.13, Y:-29.84, Z:1.12 [[ 9.86158831e-01 1.65779519e-01 2.81263817e-03 2.34125144e+02] [-1.65778530e-01 9.86162836e-01 -5.82599822e-04 -2.98352778e+01] [-2.87030236e-03 1.08260937e-04 9.99995875e-01 1.12257870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters 0.02944933502394526 Centerline is valid? [True, True] Translation: X:234.18, Y:-29.85, Z:1.12 [[ 9.85498554e-01 1.69640428e-01 3.83745572e-03 2.34181505e+02] [-1.69638618e-01 9.85506016e-01 -7.94613113e-04 -2.98531703e+01] [-3.91663420e-03 1.32109389e-04 9.99992321e-01 1.12163805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters 0.028969867096239877 Centerline is valid? [True, True] Translation: X:234.24, Y:-29.86, Z:1.12 [[ 9.85201244e-01 1.71349817e-01 4.21295699e-03 2.34238639e+02] [-1.71347665e-01 9.85210243e-01 -8.69079364e-04 -2.98648017e+01] [-4.29956497e-03 1.34337726e-04 9.99990748e-01 1.12390679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters 0.029164122460205968 Centerline is valid? [True, True] Translation: X:234.30, Y:-29.88, Z:1.12 [[ 9.85442991e-01 1.70003227e-01 1.00744218e-03 2.34295879e+02] [-1.70003106e-01 9.85443505e-01 -2.05382598e-04 -2.98761792e+01] [-1.02769306e-03 3.11245413e-05 9.99999471e-01 1.12243561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters 0.02924172844156557 Centerline is valid? [True, True] Translation: X:234.35, Y:-29.89, Z:1.12 [[ 9.85669105e-01 1.68686404e-01 1.14584322e-03 2.34352094e+02] [-1.68686244e-01 9.85669770e-01 -2.35447863e-04 -2.98923200e+01] [-1.16913987e-03 3.87856958e-05 9.99999316e-01 1.12404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters 0.029722403975121974 Centerline is valid? [True, True] Translation: X:234.41, Y:-29.91, Z:1.13 [[ 9.86141619e-01 1.65903448e-01 -8.67425140e-04 2.34409664e+02] [-1.65903354e-01 9.86142000e-01 1.80571458e-04 -2.99055613e+01] [ 8.85361791e-04 -3.41602906e-05 9.99999607e-01 1.12523891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters 0.03009184955453712 Centerline is valid? [True, True] Translation: X:234.47, Y:-29.93, Z:1.12 [[ 9.86412696e-01 1.64272644e-01 2.11956089e-03 2.34465545e+02] [-1.64272092e-01 9.86414970e-01 -4.32959839e-04 -2.99251341e+01] [-2.16189005e-03 7.88923797e-05 9.99997660e-01 1.12396957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters 0.0301714627837839 Centerline is valid? [True, True] Translation: X:234.52, Y:-29.94, Z:1.12 [[ 9.86485906e-01 1.63839881e-01 1.43168859e-03 2.34521671e+02] [-1.63839632e-01 9.86486944e-01 -2.90766903e-04 -2.99388097e+01] [-1.45998132e-03 5.22701201e-05 9.99998933e-01 1.12440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters 0.028968461062835602 Centerline is valid? [True, True] Translation: X:234.58, Y:-29.96, Z:1.12 [[ 9.85839508e-01 1.67678045e-01 2.13021426e-03 2.34577025e+02] [-1.67677495e-01 9.85841807e-01 -4.35371708e-04 -2.99600884e+01] [-2.17305655e-03 7.20176401e-05 9.99997636e-01 1.12397057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters 0.028451611048323652 Centerline is valid? [True, True] Translation: X:234.63, Y:-29.97, Z:1.13 [[ 9.85280030e-01 1.70940006e-01 1.66624317e-03 2.34634193e+02] [-1.70939678e-01 9.85281438e-01 -3.38130783e-04 -2.99736037e+01] [-1.69951854e-03 4.83264372e-05 9.99998555e-01 1.12692276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters 0.027577837932999026 Centerline is valid? [True, True] Translation: X:234.69, Y:-29.99, Z:1.13 [[ 9.84801917e-01 1.73674741e-01 1.50647205e-03 2.34691483e+02] [-1.73674477e-01 9.84803068e-01 -3.04849001e-04 -2.99878934e+01] [-1.53652286e-03 3.85801352e-05 9.99998819e-01 1.12929222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters 0.026565858899331888 Centerline is valid? [True, True] Translation: X:234.75, Y:-30.00, Z:1.13 [[ 9.83705948e-01 1.79773408e-01 2.03229130e-03 2.34747949e+02] [-1.79772938e-01 9.83708046e-01 -4.13280670e-04 -3.00046151e+01] [-2.07347818e-03 4.11956756e-05 9.99997849e-01 1.12867392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters 0.026442844610486238 Centerline is valid? [True, True] Translation: X:234.80, Y:-30.02, Z:1.13 [[ 9.83166720e-01 1.82625730e-01 5.57168380e-03 2.34804721e+02] [-1.82622258e-01 9.83182503e-01 -1.13000309e-03 -3.00178940e+01] [-5.68434967e-03 9.34679528e-05 9.99983840e-01 1.12711152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters 0.026409527152772175 Centerline is valid? [True, True] Translation: X:234.86, Y:-30.03, Z:1.13 [[ 9.83342250e-01 1.81718963e-01 4.02965265e-03 2.34861488e+02] [-1.81717151e-01 9.83350504e-01 -8.14304364e-04 -3.00292165e+01] [-4.11053550e-03 6.84828868e-05 9.99991549e-01 1.12812856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters 0.0265222652787373 Centerline is valid? [True, True] Translation: X:234.92, Y:-30.04, Z:1.13 [[ 9.83583095e-01 1.80449424e-01 1.51663393e-03 2.34919293e+02] [-1.80449170e-01 9.83584264e-01 -3.04070547e-04 -3.00369596e+01] [-1.54660663e-03 2.54033160e-05 9.99998804e-01 1.12951750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters 0.026659535877327774 Centerline is valid? [True, True] Translation: X:234.98, Y:-30.05, Z:1.13 [[ 9.83936162e-01 1.78497576e-01 2.87144105e-03 2.34976588e+02] [-1.78496651e-01 9.83940350e-01 -5.77071624e-04 -3.00489547e+01] [-2.92833260e-03 5.52590266e-05 9.99995711e-01 1.12962125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters 0.027638724807010375 Centerline is valid? [True, True] Translation: X:235.03, Y:-30.06, Z:1.13 [[ 9.84899398e-01 1.73074471e-01 4.28998904e-03 2.35033737e+02] [-1.73072352e-01 9.84908735e-01 -8.63248525e-04 -3.00599683e+01] [-4.37465396e-03 1.07734460e-04 9.99990425e-01 1.12878528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters 0.029182589182461912 Centerline is valid? [True, True] Translation: X:235.09, Y:-30.08, Z:1.13 [[ 9.86438851e-01 1.64075921e-01 4.18148439e-03 2.35090708e+02] [-1.64073825e-01 9.86447703e-01 -8.41717072e-04 -3.00782130e+01] [-4.26292118e-03 1.44230283e-04 9.99990903e-01 1.12841273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters 0.030552473570929918 Centerline is valid? [True, True] Translation: X:235.15, Y:-30.10, Z:1.13 [[ 9.87233141e-01 1.59170082e-01 5.96751504e-03 2.35147596e+02] [-1.59165724e-01 9.87251148e-01 -1.20121643e-03 -3.00981575e+01] [-6.08263379e-03 2.36056817e-04 9.99981473e-01 1.12829098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters 0.02975115661070133 Centerline is valid? [True, True] Translation: X:235.20, Y:-30.12, Z:1.13 [[ 9.86865162e-01 1.61481326e-01 4.57521694e-03 2.35202290e+02] [-1.61478807e-01 9.86875754e-01 -9.17102865e-04 -3.01221590e+01] [-4.66326565e-03 1.66256293e-04 9.99989113e-01 1.12955893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters 0.02781093626103155 Centerline is valid? [True, True] Translation: X:235.26, Y:-30.15, Z:1.13 [[ 9.85195202e-01 1.71367386e-01 4.86129828e-03 2.35258375e+02] [-1.71364653e-01 9.85207188e-01 -9.76399064e-04 -3.01478214e+01] [-4.95670897e-03 1.28888981e-04 9.99987707e-01 1.13048030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters 0.026756221477807804 Centerline is valid? [True, True] Translation: X:235.31, Y:-30.17, Z:1.13 [[ 9.84101820e-01 1.77563195e-01 3.86246695e-03 2.35314108e+02] [-1.77561521e-01 9.84109397e-01 -7.74788427e-04 -3.01691615e+01] [-3.93866393e-03 7.66451932e-05 9.99992240e-01 1.12962743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters 0.02561209957970109 Centerline is valid? [True, True] Translation: X:235.37, Y:-30.19, Z:1.13 [[ 9.81842352e-01 1.89668095e-01 3.40727129e-03 2.35369666e+02] [-1.89666867e-01 9.81848264e-01 -6.82947997e-04 -3.01924660e+01] [-3.47495684e-03 2.43007962e-05 9.99993962e-01 1.13209302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters 0.02522032545703 Centerline is valid? [True, True] Translation: X:235.43, Y:-30.21, Z:1.13 [[ 9.80807540e-01 1.94976432e-01 8.71576511e-04 2.35425373e+02] [-1.94976356e-01 9.80807928e-01 -1.72148456e-04 -3.02131890e+01] [-8.88414043e-04 -1.09230890e-06 9.99999605e-01 1.13094945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters 0.025484070543963372 Centerline is valid? [True, True] Translation: X:235.48, Y:-30.23, Z:1.13 [[ 9.79358031e-01 2.02079561e-01 4.65817425e-03 2.35483192e+02] [-2.02077433e-01 9.79369108e-01 -9.27792886e-04 -3.02257701e+01] [-4.74955994e-03 -3.26704838e-05 9.99988720e-01 1.13018977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters 0.025738489368882556 Centerline is valid? [True, True] Translation: X:235.54, Y:-30.24, Z:1.13 [[ 9.78530428e-01 2.06085953e-01 2.60400121e-03 2.35541103e+02] [-2.06085309e-01 9.78533893e-01 -5.16431315e-04 -3.02358045e+01] [-2.65453268e-03 -3.13026375e-05 9.99996476e-01 1.12802689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters 0.02541411530071354 Centerline is valid? [True, True] Translation: X:235.60, Y:-30.24, Z:1.13 [[ 9.79515614e-01 2.01368223e-01 -1.68057838e-05 2.35598972e+02] [-2.01368223e-01 9.79515614e-01 5.70527603e-06 -3.02445245e+01] [ 1.76103891e-05 -2.20425615e-06 1.00000000e+00 1.13134871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters 0.02521486664147856 Centerline is valid? [True, True] Translation: X:235.66, Y:-30.25, Z:1.13 [[ 9.81077249e-01 1.93589326e-01 3.25630995e-03 2.35656342e+02] [-1.93588259e-01 9.81082653e-01 -6.42692823e-04 -3.02522279e+01] [-3.31912768e-03 1.47932963e-07 9.99994492e-01 1.13184568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters 0.02543354764486869 Centerline is valid? [True, True] Translation: X:235.71, Y:-30.26, Z:1.13 [[ 9.82417847e-01 1.86689048e-01 1.54028305e-03 2.35713771e+02] [-1.86688804e-01 9.82419055e-01 -3.01789782e-04 -3.02586029e+01] [-1.56954427e-03 8.93006712e-06 9.99998768e-01 1.13089613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters 0.02543152184771825 Centerline is valid? [True, True] Translation: X:235.77, Y:-30.27, Z:1.13 [[ 9.82702114e-01 1.85192574e-01 -5.16242789e-04 2.35769654e+02] [-1.85192545e-01 9.82702249e-01 1.04388863e-04 -3.02743118e+01] [ 5.26644993e-04 -6.97884086e-06 9.99999861e-01 1.13143541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters 0.025454174538610666 Centerline is valid? [True, True] Translation: X:235.83, Y:-30.28, Z:1.13 [[ 9.82848127e-01 1.84416621e-01 2.62801671e-04 2.35826779e+02] [-1.84416615e-01 9.82848162e-01 -4.90425070e-05 -3.02820923e+01] [-2.67338392e-04 -2.63658302e-07 9.99999964e-01 1.13088401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters 0.025332113366100223 Centerline is valid? [True, True] Translation: X:235.88, Y:-30.30, Z:1.13 [[ 9.82206143e-01 1.87797442e-01 1.79287500e-03 2.35881293e+02] [-1.87797118e-01 9.82207779e-01 -3.48869459e-04 -3.03039483e+01] [-1.82649257e-03 5.96496770e-06 9.99998332e-01 1.13002677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters 0.025257825358520745 Centerline is valid? [True, True] Translation: X:235.94, Y:-30.32, Z:1.13 [[ 9.81430857e-01 1.91799794e-01 2.51223544e-03 2.35937800e+02] [-1.91799172e-01 9.81434073e-01 -4.88542562e-04 -3.03164541e+01] [-2.55929582e-03 -2.37393105e-06 9.99996725e-01 1.13128921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters 0.025303301704935506 Centerline is valid? [True, True] Translation: X:235.99, Y:-30.33, Z:1.13 [[ 9.80255272e-01 1.97719040e-01 2.60456976e-03 2.35994085e+02] [-1.97718394e-01 9.80258732e-01 -5.05735762e-04 -3.03328973e+01] [-2.65314584e-03 -1.92212037e-05 9.99996480e-01 1.13173259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters 0.02541667835167414 Centerline is valid? [True, True] Translation: X:236.05, Y:-30.35, Z:1.13 [[ 9.79357444e-01 2.02131671e-01 1.33605722e-03 2.36051387e+02] [-2.02131507e-01 9.79358355e-01 -2.57644642e-04 -3.03450604e+01] [-1.36055695e-03 -1.77330630e-05 9.99999074e-01 1.13248566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters 0.02553191667028872 Centerline is valid? [True, True] Translation: X:236.11, Y:-30.35, Z:1.14 [[ 9.79608203e-01 2.00858195e-01 4.87381074e-03 2.36109862e+02] [-2.00855985e-01 9.79620326e-01 -9.43700853e-04 -3.03533828e+01] [-4.96403412e-03 -5.44769608e-05 9.99987678e-01 1.13540409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters 0.025465781191230843 Centerline is valid? [True, True] Translation: X:236.17, Y:-30.36, Z:1.13 [[ 9.79409643e-01 2.01881583e-01 7.60282243e-04 2.36166851e+02] [-2.01881532e-01 9.79409938e-01 -1.44448771e-04 -3.03633444e+01] [-7.73789531e-04 -1.20124249e-05 9.99999701e-01 1.13368699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters 0.025780212172929366 Centerline is valid? [True, True] Translation: X:236.23, Y:-30.37, Z:1.13 [[ 9.79031015e-01 2.03645483e-01 5.17588623e-03 2.36225015e+02] [-2.03643057e-01 9.79044693e-01 -9.97038531e-04 -3.03718624e+01] [-5.27046634e-03 -7.79016515e-05 9.99986108e-01 1.13418556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters 0.025902739447991856 Centerline is valid? [True, True] Translation: X:236.28, Y:-30.38, Z:1.14 [[ 9.78603256e-01 2.05724312e-01 3.62981837e-03 2.36282899e+02] [-2.05723142e-01 9.78609985e-01 -6.96765659e-04 -3.03834451e+01] [-3.69551814e-03 -6.48804996e-05 9.99993169e-01 1.13558959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters 0.026231411067829655 Centerline is valid? [True, True] Translation: X:236.34, Y:-30.39, Z:1.14 [[ 9.77677137e-01 2.10109134e-01 1.25212724e-03 2.36341573e+02] [-2.10109001e-01 9.77677938e-01 -2.38248384e-04 -3.03909997e+01] [-1.27423534e-03 -3.01532057e-05 9.99999188e-01 1.13555740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters 0.02649107654982461 Centerline is valid? [True, True] Translation: X:236.40, Y:-30.40, Z:1.14 [[ 9.77498541e-01 2.10924317e-01 2.74487371e-03 2.36399857e+02] [-2.10923677e-01 9.77502393e-01 -5.23730766e-04 -3.03996355e+01] [-2.79358817e-03 -6.70127960e-05 9.99996096e-01 1.13772186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters 0.026434210124028357 Centerline is valid? [True, True] Translation: X:236.46, Y:-30.41, Z:1.14 [[ 9.77387093e-01 2.11457803e-01 -2.59769862e-04 2.36457965e+02] [-2.11457796e-01 9.77387128e-01 5.23472581e-05 -3.04061028e+01] [ 2.64964956e-04 3.76682809e-06 9.99999965e-01 1.13795134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters 0.026381441914600005 Centerline is valid? [True, True] Translation: X:236.52, Y:-30.41, Z:1.14 [[ 9.77726552e-01 2.09858277e-01 3.20833505e-03 2.36515486e+02] [-2.09857408e-01 9.77731813e-01 -6.08682041e-04 -3.04131494e+01] [-3.26462821e-03 -7.81682857e-05 9.99994668e-01 1.13908987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters 0.02615132809230531 Centerline is valid? [True, True] Translation: X:236.57, Y:-30.42, Z:1.14 [[ 9.77997512e-01 2.08616551e-01 2.65639572e-05 2.36573319e+02] [-2.08616551e-01 9.77997513e-01 -2.71157595e-06 -3.04236599e+01] [-2.65451635e-05 -2.88976661e-06 1.00000000e+00 1.13849240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters 0.026502730071934825 Centerline is valid? [True, True] Translation: X:236.63, Y:-30.43, Z:1.14 [[ 9.77633922e-01 2.10264606e-01 4.55092491e-03 2.36631762e+02] [-2.10262877e-01 9.77644507e-01 -8.60581764e-04 -3.04288162e+01] [-4.63013663e-03 -1.15556638e-04 9.99989274e-01 1.13908179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters 0.02719682235252294 Centerline is valid? [True, True] Translation: X:236.69, Y:-30.43, Z:1.14 [[ 9.76039193e-01 2.17593051e-01 8.70273692e-04 2.36691403e+02] [-2.17592990e-01 9.76039581e-01 -1.64437726e-04 -3.04329239e+01] [-8.85202076e-04 -2.88677895e-05 9.99999608e-01 1.13832336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters 0.02729159237211673 Centerline is valid? [True, True] Translation: X:236.75, Y:-30.43, Z:1.14 [[ 9.76074815e-01 2.17428245e-01 1.70717650e-03 2.36750684e+02] [-2.17428017e-01 9.76076306e-01 -3.20404909e-04 -3.04334343e+01] [-1.73599960e-03 -5.84488374e-05 9.99998491e-01 1.14039678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters 0.026768628814976877 Centerline is valid? [True, True] Translation: X:236.81, Y:-30.44, Z:1.14 [[ 9.77118410e-01 2.12667382e-01 3.49261549e-03 2.36809888e+02] [-2.12666393e-01 9.77124646e-01 -6.56269418e-04 -3.04378698e+01] [-3.55228777e-03 -1.01509009e-04 9.99993685e-01 1.13900717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters 0.026275024192519113 Centerline is valid? [True, True] Translation: X:236.87, Y:-30.43, Z:1.14 [[ 9.78027655e-01 2.08447467e-01 3.40003966e-03 2.36870431e+02] [-2.08446510e-01 9.78033561e-01 -6.37220261e-04 -3.04349085e+01] [-3.45817985e-03 -8.55073656e-05 9.99994017e-01 1.13936436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters 0.026026361725302226 Centerline is valid? [True, True] Translation: X:236.93, Y:-30.44, Z:1.14 [[ 9.78225245e-01 2.07521791e-01 3.17438417e-03 2.36928658e+02] [-2.07520960e-01 9.78230392e-01 -5.92776422e-04 -3.04403354e+01] [-3.22829309e-03 -7.88823883e-05 9.99994786e-01 1.13937108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters 0.025976262380668982 Centerline is valid? [True, True] Translation: X:236.99, Y:-30.44, Z:1.14 [[ 9.78590915e-01 2.05765613e-01 4.50918929e-03 2.36986853e+02] [-2.05763922e-01 9.78601299e-01 -8.40668603e-04 -3.04443612e+01] [-4.58567919e-03 -1.05157818e-04 9.99989480e-01 1.13892773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters 0.025757885282657537 Centerline is valid? [True, True] Translation: X:237.05, Y:-30.45, Z:1.14 [[ 9.79054092e-01 2.03506923e-01 6.16581015e-03 2.37046039e+02] [-2.03503727e-01 9.79073498e-01 -1.14798616e-03 -3.04478701e+01] [-6.27040445e-03 -1.30824802e-04 9.99980332e-01 1.13801494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters 0.02565484247312991 Centerline is valid? [True, True] Translation: X:237.10, Y:-30.46, Z:1.14 [[ 9.79384547e-01 2.01922976e-01 5.74646550e-03 2.37103712e+02] [-2.01920189e-01 9.79401398e-01 -1.06711114e-03 -3.04566996e+01] [-5.84357060e-03 -1.15215240e-04 9.99982920e-01 1.13755913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters 0.025109240832989436 Centerline is valid? [True, True] Translation: X:237.16, Y:-30.47, Z:1.14 [[ 9.80008112e-01 1.98867512e-01 5.98433369e-03 2.37162038e+02] [-1.98864449e-01 9.80026378e-01 -1.10861090e-03 -3.04652895e+01] [-6.08527157e-03 -1.03623545e-04 9.99981479e-01 1.13978551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters 0.024457080683441153 Centerline is valid? [True, True] Translation: X:237.22, Y:-30.48, Z:1.14 [[ 9.81715309e-01 1.90271072e-01 5.65431630e-03 2.37219673e+02] [-1.90268211e-01 9.81731591e-01 -1.04465527e-03 -3.04770809e+01] [-5.74978861e-03 -5.02825741e-05 9.99983469e-01 1.14045304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters 0.0241578572500655 Centerline is valid? [True, True] Translation: X:237.28, Y:-30.49, Z:1.14 [[ 9.83950414e-01 1.78368548e-01 5.12290368e-03 2.37276499e+02] [-1.78366051e-01 9.83963750e-01 -9.43878508e-04 -3.04921113e+01] [-5.20910975e-03 1.49775486e-05 9.99986432e-01 1.14215808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters 0.02420709571888294 Centerline is valid? [True, True] Translation: X:237.33, Y:-30.51, Z:1.14 [[ 9.84732901e-01 1.73956083e-01 6.35572423e-03 2.37332752e+02] [-1.73952163e-01 9.84753410e-01 -1.16868842e-03 -3.05130361e+01] [-6.46212157e-03 4.52539647e-05 9.99979119e-01 1.14054599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters 0.024116846141063332 Centerline is valid? [True, True] Translation: X:237.39, Y:-30.54, Z:1.14 [[ 9.85088838e-01 1.72025917e-01 2.65817179e-03 2.37388158e+02] [-1.72025231e-01 9.85092424e-01 -4.86283787e-04 -3.05383130e+01] [-2.70219831e-03 2.17601131e-05 9.99996349e-01 1.14156939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters 0.024075145876004546 Centerline is valid? [True, True] Translation: X:237.44, Y:-30.56, Z:1.14 [[ 9.84886005e-01 1.73090481e-01 6.26436616e-03 2.37443970e+02] [-1.73086692e-01 9.84905926e-01 -1.14617421e-03 -3.05618245e+01] [-6.36820320e-03 4.45725189e-05 9.99979722e-01 1.13932155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters 0.023986566328905987 Centerline is valid? [True, True] Translation: X:237.50, Y:-30.58, Z:1.14 [[ 9.84576598e-01 1.74877438e-01 5.17721163e-03 2.37500839e+02] [-1.74874889e-01 9.84590210e-01 -9.44520441e-04 -3.05796823e+01] [-5.26260720e-03 2.45884147e-05 9.99986152e-01 1.14143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters 0.023917829294948068 Centerline is valid? [True, True] Translation: X:237.56, Y:-30.60, Z:1.14 [[ 9.83919561e-01 1.78545981e-01 4.86101129e-03 2.37556568e+02] [-1.78543794e-01 9.83931569e-01 -8.83765057e-04 -3.05971734e+01] [-4.94069517e-03 1.65032930e-06 9.99987795e-01 1.13988633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters 0.023942018001573657 Centerline is valid? [True, True] Translation: X:237.61, Y:-30.61, Z:1.14 [[ 9.83409831e-01 1.81320067e-01 5.30454825e-03 2.37612171e+02] [-1.81317517e-01 9.83424137e-01 -9.61740868e-04 -3.06149307e+01] [-5.39100371e-03 -1.60220946e-05 9.99985468e-01 1.14169081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters 0.023875453651895032 Centerline is valid? [True, True] Translation: X:237.67, Y:-30.63, Z:1.14 [[ 9.83459751e-01 1.80956789e-01 7.84591331e-03 2.37669218e+02] [-1.80951215e-01 9.83491047e-01 -1.42044308e-03 -3.06275236e+01] [-7.97342432e-03 -2.27789477e-05 9.99968211e-01 1.14392583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters 0.023935410417528624 Centerline is valid? [True, True] Translation: X:237.73, Y:-30.64, Z:1.14 [[ 9.83513434e-01 1.80736703e-01 5.96400928e-03 2.37726986e+02] [-1.80733498e-01 9.83531517e-01 -1.07638945e-03 -3.06405200e+01] [-6.06033417e-03 -1.92527816e-05 9.99981636e-01 1.14248508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters 0.023754263907188693 Centerline is valid? [True, True] Translation: X:237.78, Y:-30.65, Z:1.14 [[ 9.84023789e-01 1.77951343e-01 5.52284648e-03 2.37783710e+02] [-1.77948570e-01 9.84039288e-01 -9.93290828e-04 -3.06512721e+01] [-5.61145535e-03 -5.36083087e-06 9.99984256e-01 1.14340720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters 0.02385996520016439 Centerline is valid? [True, True] Translation: X:237.84, Y:-30.66, Z:1.15 [[ 9.85408505e-01 1.70044933e-01 7.40267074e-03 2.37841780e+02] [-1.70039745e-01 9.85436309e-01 -1.32918838e-03 -3.06615704e+01] [-7.52088228e-03 5.10452852e-05 9.99971716e-01 1.14516898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters 0.024747361533576456 Centerline is valid? [True, True] Translation: X:237.90, Y:-30.68, Z:1.14 [[ 9.87027320e-01 1.60365101e-01 7.75262276e-03 2.37897518e+02] [-1.60359110e-01 9.87057758e-01 -1.39237484e-03 -3.06815005e+01] [-7.87557477e-03 1.31108320e-04 9.99968979e-01 1.14322195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters 0.026023559858858836 Centerline is valid? [True, True] Translation: X:237.95, Y:-30.70, Z:1.14 [[ 9.88437002e-01 1.51481770e-01 6.75024088e-03 2.37954945e+02] [-1.51477021e-01 9.88460036e-01 -1.21229849e-03 -3.06998425e+01] [-6.85598447e-03 1.75774307e-04 9.99976482e-01 1.14333292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters 0.025965404824870458 Centerline is valid? [True, True] Translation: X:238.01, Y:-30.73, Z:1.15 [[ 9.88754539e-01 1.49478649e-01 4.53827219e-03 2.38010502e+02] [-1.49476500e-01 9.88764946e-01 -8.11083076e-04 -3.07250434e+01] [-4.60852406e-03 1.23597031e-04 9.99989373e-01 1.14531616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters 0.025984603454977107 Centerline is valid? [True, True] Translation: X:238.06, Y:-30.75, Z:1.14 [[ 9.88921095e-01 1.48401349e-01 3.47952056e-03 2.38064783e+02] [-1.48400089e-01 9.88927212e-01 -6.19249192e-04 -3.07494852e+01] [-3.53288998e-03 9.60274294e-05 9.99993755e-01 1.14422408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters 0.026171974250589612 Centerline is valid? [True, True] Translation: X:238.12, Y:-30.77, Z:1.14 [[ 9.88953233e-01 1.48123585e-01 5.55943530e-03 2.38120818e+02] [-1.48120365e-01 9.88968847e-01 -9.88715305e-04 -3.07724815e+01] [-5.64456038e-03 1.54327609e-04 9.99984057e-01 1.14304577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters 0.025575575602487837 Centerline is valid? [True, True] Translation: X:238.17, Y:-30.80, Z:1.14 [[ 9.88766142e-01 1.49428036e-01 3.57483738e-03 2.38174801e+02] [-1.49426722e-01 9.88772600e-01 -6.33393486e-04 -3.08031597e+01] [-3.62934800e-03 9.21018013e-05 9.99993410e-01 1.14117888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters 0.025125097008996858 Centerline is valid? [True, True] Translation: X:238.23, Y:-30.82, Z:1.14 [[ 9.88355041e-01 1.52026794e-01 6.49356874e-03 2.38230519e+02] [-1.52022522e-01 9.88376361e-01 -1.14935582e-03 -3.08231134e+01] [-6.59282272e-03 1.48802925e-04 9.99978256e-01 1.14200641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters 0.02462776019880097 Centerline is valid? [True, True] Translation: X:238.29, Y:-30.84, Z:1.14 [[ 9.87467462e-01 1.57483536e-01 1.03415763e-02 2.38286539e+02] [-1.57473035e-01 9.87521597e-01 -1.82701172e-03 -3.08442043e+01] [-1.05002542e-02 1.75595221e-04 9.99944855e-01 1.14409557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters 0.024222790592438002 Centerline is valid? [True, True] Translation: X:238.34, Y:-30.86, Z:1.14 [[ 9.86779231e-01 1.61710207e-01 1.07961878e-02 2.38344498e+02] [-1.61698990e-01 9.86838279e-01 -1.90970315e-03 -3.08617955e+01] [-1.09629099e-02 1.38722744e-04 9.99939896e-01 1.14313158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters 0.023893021689381323 Centerline is valid? [True, True] Translation: X:238.40, Y:-30.88, Z:1.15 [[ 9.86597709e-01 1.62915191e-01 9.14334300e-03 2.38402459e+02] [-1.62907197e-01 9.86640071e-01 -1.61733671e-03 -3.08836815e+01] [-9.28467731e-03 1.06144317e-04 9.99956891e-01 1.14519917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters 0.023811946202054006 Centerline is valid? [True, True] Translation: X:238.46, Y:-30.90, Z:1.15 [[ 9.86175669e-01 1.65451875e-01 9.12285151e-03 2.38461827e+02] [-1.65444025e-01 9.86217862e-01 -1.61371204e-03 -3.08953735e+01] [-9.26411079e-03 8.20822745e-05 9.99957084e-01 1.14633411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters 0.023659213673006295 Centerline is valid? [True, True] Translation: X:238.52, Y:-30.91, Z:1.15 [[ 9.85644544e-01 1.68765523e-01 4.79908021e-03 2.38520511e+02] [-1.68763387e-01 9.85656227e-01 -8.49551077e-04 -3.09142650e+01] [-4.87361822e-03 2.74463527e-05 9.99988123e-01 1.14702973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters 0.02357936685320769 Centerline is valid? [True, True] Translation: X:238.58, Y:-30.93, Z:1.15 [[ 9.84899627e-01 1.73015475e-01 6.19437757e-03 2.38577831e+02] [-1.73012036e-01 9.84919106e-01 -1.09080410e-03 -3.09293893e+01] [-6.28968681e-03 2.63067239e-06 9.99980220e-01 1.14648859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters 0.02358819595590683 Centerline is valid? [True, True] Translation: X:238.64, Y:-30.94, Z:1.15 [[ 9.83951921e-01 1.78355167e-01 5.29641008e-03 2.38635590e+02] [-1.78352723e-01 9.83966175e-01 -9.33993254e-04 -3.09444210e+01] [-5.37807089e-03 -2.56247060e-05 9.99985538e-01 1.14836016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters 0.023988280793912367 Centerline is valid? [True, True] Translation: X:238.69, Y:-30.95, Z:1.15 [[ 9.82817713e-01 1.84385849e-01 8.43805573e-03 2.38694652e+02] [-1.84379872e-01 9.82853931e-01 -1.48762573e-03 -3.09532138e+01] [-8.56767338e-03 -9.37427137e-05 9.99963292e-01 1.14947532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters 0.0244037564657835 Centerline is valid? [True, True] Translation: X:238.75, Y:-30.97, Z:1.15 [[ 9.82244616e-01 1.87530967e-01 5.25847075e-03 2.38754611e+02] [-1.87528686e-01 9.82258688e-01 -9.27976833e-04 -3.09652511e+01] [-5.33920297e-03 -7.46138637e-05 9.99985744e-01 1.14816560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters 0.024267421910044187 Centerline is valid? [True, True] Translation: X:238.81, Y:-30.97, Z:1.15 [[ 9.82686271e-01 1.85124794e-01 7.51690975e-03 2.38813420e+02] [-1.85120073e-01 9.82715016e-01 -1.32517618e-03 -3.09737351e+01] [-7.63230305e-03 -8.92984442e-05 9.99970870e-01 1.14824597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters 0.023931840486822276 Centerline is valid? [True, True] Translation: X:238.87, Y:-30.98, Z:1.15 [[ 9.83925172e-01 1.78464531e-01 6.45498031e-03 2.38872845e+02] [-1.78460904e-01 9.83946345e-01 -1.13826265e-03 -3.09845542e+01] [-6.55449380e-03 -3.19963477e-05 9.99978519e-01 1.15154730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters 0.023940901465035552 Centerline is valid? [True, True] Translation: X:238.93, Y:-30.99, Z:1.15 [[ 9.84867833e-01 1.73065358e-01 9.15062219e-03 2.38931911e+02] [-1.73057845e-01 9.84910342e-01 -1.61262775e-03 -3.09945817e+01] [-9.29163243e-03 4.63824325e-06 9.99956832e-01 1.14826671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters 0.023775606160726527 Centerline is valid? [True, True] Translation: X:238.99, Y:-31.01, Z:1.15 [[ 9.85354202e-01 1.70299913e-01 8.66235413e-03 2.38992678e+02] [-1.70293062e-01 9.85392277e-01 -1.52783606e-03 -3.10050437e+01] [-8.79600721e-03 3.03208737e-05 9.99961314e-01 1.15067964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters 0.023851449589266913 Centerline is valid? [True, True] Translation: X:239.05, Y:-31.02, Z:1.15 [[ 9.85675123e-01 1.68586920e-01 4.79596766e-03 2.39051650e+02] [-1.68584798e-01 9.85686791e-01 -8.46369386e-04 -3.10220801e+01] [-4.87000878e-03 2.57180125e-05 9.99988141e-01 1.15238059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters 0.023905113864318206 Centerline is valid? [True, True] Translation: X:239.11, Y:-31.03, Z:1.15 [[ 9.85762860e-01 1.68105362e-01 3.48862121e-03 2.39110636e+02] [-1.68104239e-01 9.85769033e-01 -6.14832432e-04 -3.10327572e+01] [-3.54233139e-03 1.96269639e-05 9.99993726e-01 1.15090433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters 0.023684121220860086 Centerline is valid? [True, True] Translation: X:239.17, Y:-31.05, Z:1.16 [[ 9.85112627e-01 1.71834802e-01 5.09045903e-03 2.39169181e+02] [-1.71832461e-01 9.85125779e-01 -8.96947479e-04 -3.10463074e+01] [-5.16886921e-03 8.88818580e-06 9.99986641e-01 1.15744489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters 0.023756691230035702 Centerline is valid? [True, True] Translation: X:239.23, Y:-31.06, Z:1.16 [[ 9.85117169e-01 1.71825545e-01 4.48840867e-03 2.39228351e+02] [-1.71823724e-01 9.85127394e-01 -7.91164364e-04 -3.10579603e+01] [-4.55759658e-03 8.17450597e-06 9.99989614e-01 1.15732067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters 0.023912111111241665 Centerline is valid? [True, True] Translation: X:239.29, Y:-31.07, Z:1.16 [[ 9.85143545e-01 1.71673314e-01 4.52419735e-03 2.39287655e+02] [-1.71671462e-01 9.85153934e-01 -7.97472776e-04 -3.10705432e+01] [-4.59393561e-03 8.94958619e-06 9.99989448e-01 1.15610269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters 0.023831487930112583 Centerline is valid? [True, True] Translation: X:239.35, Y:-31.08, Z:1.16 [[ 9.85111344e-01 1.71884308e-01 3.38018177e-03 2.39347039e+02] [-1.71883275e-01 9.85117143e-01 -5.95819044e-04 -3.10797568e+01] [-3.43228695e-03 5.95138507e-06 9.99994110e-01 1.15731853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters 0.02406204399004614 Centerline is valid? [True, True] Translation: X:239.41, Y:-31.10, Z:1.16 [[ 9.84815885e-01 1.73547726e-01 4.34269784e-03 2.39405736e+02] [-1.73546038e-01 9.84825460e-01 -7.65480159e-04 -3.10952587e+01] [-4.40964674e-03 1.99016624e-07 9.99990277e-01 1.15795353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters 0.023877498087925164 Centerline is valid? [True, True] Translation: X:239.47, Y:-31.11, Z:1.16 [[ 9.84883568e-01 1.73192043e-01 2.97885984e-03 2.39465084e+02] [-1.73191247e-01 9.84888073e-01 -5.25078691e-04 -3.11095112e+01] [-3.02478297e-03 1.22892418e-06 9.99995425e-01 1.15578525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters 0.023891015629175717 Centerline is valid? [True, True] Translation: X:239.52, Y:-31.12, Z:1.16 [[ 9.84456110e-01 1.75592748e-01 3.65423323e-03 2.39524956e+02] [-1.75591567e-01 9.84462892e-01 -6.44125641e-04 -3.11206408e+01] [-3.71056081e-03 -7.53911602e-06 9.99993116e-01 1.15944410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters 0.023845531129965517 Centerline is valid? [True, True] Translation: X:239.58, Y:-31.13, Z:1.16 [[ 9.83917095e-01 1.78547315e-01 5.29210377e-03 2.39584450e+02] [-1.78544880e-01 9.83931327e-01 -9.32830370e-04 -3.11296541e+01] [-5.37362104e-03 -2.70502862e-05 9.99985562e-01 1.16023029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters 0.024068982256030467 Centerline is valid? [True, True] Translation: X:239.64, Y:-31.14, Z:1.16 [[ 9.83732215e-01 1.79542210e-01 5.96024241e-03 2.39644468e+02] [-1.79539135e-01 9.83750270e-01 -1.05135722e-03 -3.11438218e+01] [-6.05215308e-03 -3.58427999e-05 9.99981685e-01 1.16092838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters 0.02391257426968607 Centerline is valid? [True, True] Translation: X:239.71, Y:-31.15, Z:1.16 [[ 9.84282982e-01 1.76457383e-01 7.05722234e-03 2.39705453e+02] [-1.76452989e-01 9.84308281e-01 -1.24529460e-03 -3.11506050e+01] [-7.16622382e-03 -1.95457019e-05 9.99974322e-01 1.16058049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters 0.023679196353553096 Centerline is valid? [True, True] Translation: X:239.77, Y:-31.16, Z:1.16 [[ 9.85174261e-01 1.71485688e-01 4.93300408e-03 2.39766182e+02] [-1.71483477e-01 9.85186611e-01 -8.70902616e-04 -3.11582540e+01] [-5.00927690e-03 1.20621501e-05 9.99987453e-01 1.16393591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters 0.02364700720437849 Centerline is valid? [True, True] Translation: X:239.83, Y:-31.17, Z:1.16 [[ 9.85552018e-01 1.69252381e-01 6.39150615e-03 2.39826473e+02] [-1.69248620e-01 9.85572742e-01 -1.12873228e-03 -3.11689791e+01] [-6.49033487e-03 3.06707849e-05 9.99978937e-01 1.16329530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters 0.023975043421299642 Centerline is valid? [True, True] Translation: X:239.89, Y:-31.18, Z:1.16 [[ 9.86255212e-01 1.64928203e-01 9.96722235e-03 2.39886417e+02] [-1.64918831e-01 9.86305571e-01 -1.76068633e-03 -3.11842812e+01] [-1.01211138e-02 9.27034104e-05 9.99948776e-01 1.16347236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters 0.02417614897952388 Centerline is valid? [True, True] Translation: X:239.95, Y:-31.20, Z:1.16 [[ 9.86867294e-01 1.61368896e-01 7.28176958e-03 2.39947419e+02] [-1.61363786e-01 9.86894154e-01 -1.28770356e-03 -3.11983432e+01] [-7.39413113e-03 9.57786189e-05 9.99972658e-01 1.16397011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters 0.024298690548708916 Centerline is valid? [True, True] Translation: X:240.01, Y:-31.21, Z:1.17 [[ 9.87128939e-01 1.59500183e-01 1.16682917e-02 2.40007550e+02] [-1.59486919e-01 9.87197883e-01 -2.06457080e-03 -3.12143985e+01] [-1.18482122e-02 1.77057700e-04 9.99929792e-01 1.16540471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters 0.02452396862228401 Centerline is valid? [True, True] Translation: X:240.07, Y:-31.23, Z:1.17 [[ 9.87336782e-01 1.58155835e-01 1.23616792e-02 2.40068022e+02] [-1.58140821e-01 9.87414143e-01 -2.18887622e-03 -3.12282585e+01] [-1.25522805e-02 2.06271891e-04 9.99921196e-01 1.16539568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters 0.02443414469046537 Centerline is valid? [True, True] Translation: X:240.13, Y:-31.25, Z:1.16 [[ 9.87537687e-01 1.57122750e-01 9.04201659e-03 2.40128174e+02] [-1.57114662e-01 9.87579068e-01 -1.60245431e-03 -3.12472028e+01] [-9.18148835e-03 1.61850647e-04 9.99957836e-01 1.16393064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters 0.024354475716810108 Centerline is valid? [True, True] Translation: X:240.19, Y:-31.27, Z:1.17 [[ 9.87393913e-01 1.57961817e-01 1.00660073e-02 2.40189342e+02] [-1.57951813e-01 9.87445206e-01 -1.78620403e-03 -3.12653581e+01] [-1.02217827e-02 1.73742879e-04 9.99947741e-01 1.16559716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters 0.02438762071308529 Centerline is valid? [True, True] Translation: X:240.25, Y:-31.28, Z:1.17 [[ 9.87378966e-01 1.58079741e-01 9.67331451e-03 2.40250247e+02] [-1.58070489e-01 9.87426335e-01 -1.71851742e-03 -3.12847447e+01] [-9.82334829e-03 1.67762400e-04 9.99951736e-01 1.16569630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters 0.023838952932264686 Centerline is valid? [True, True] Translation: X:240.31, Y:-31.30, Z:1.17 [[ 9.86421535e-01 1.64018114e-01 8.40318937e-03 2.40309951e+02] [-1.64011338e-01 9.86457323e-01 -1.49382029e-03 -3.13035683e+01] [-8.53440127e-03 9.53181688e-05 9.99963577e-01 1.16594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters 0.023590313133248178 Centerline is valid? [True, True] Translation: X:240.37, Y:-31.32, Z:1.17 [[ 9.84822571e-01 1.73352345e-01 8.57138258e-03 2.40369677e+02] [-1.73345638e-01 9.84859870e-01 -1.52491886e-03 -3.13219664e+01] [-8.70595900e-03 1.59627208e-05 9.99962102e-01 1.16637525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters 0.023609339594989013 Centerline is valid? [True, True] Translation: X:240.43, Y:-31.34, Z:1.17 [[ 9.83892759e-01 1.78592771e-01 7.72407872e-03 2.40430819e+02] [-1.78587470e-01 9.83923077e-01 -1.37626358e-03 -3.13376126e+01] [-7.84569002e-03 -2.53279100e-05 9.99969222e-01 1.17008263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters 0.023540985952144017 Centerline is valid? [True, True] Translation: X:240.49, Y:-31.35, Z:1.17 [[ 9.83578503e-01 1.80323458e-01 7.53511285e-03 2.40493498e+02] [-1.80318452e-01 9.83607365e-01 -1.34421123e-03 -3.13477614e+01] [-7.65398532e-03 -3.65826119e-05 9.99970707e-01 1.16889789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters 0.02377498392633117 Centerline is valid? [True, True] Translation: X:240.55, Y:-31.36, Z:1.17 [[ 9.83411451e-01 1.81196043e-01 8.36139148e-03 2.40554405e+02] [-1.81189904e-01 9.83446995e-01 -1.49232849e-03 -3.13613990e+01] [-8.49338934e-03 -4.74267974e-05 9.99963929e-01 1.16764675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters 0.023802225811986343 Centerline is valid? [True, True] Translation: X:240.62, Y:-31.37, Z:1.17 [[ 9.83356991e-01 1.81401324e-01 1.01285479e-02 2.40615627e+02] [-1.81392313e-01 9.83409150e-01 -1.80901307e-03 -3.13706494e+01] [-1.02886641e-02 -5.83350834e-05 9.99947069e-01 1.16833046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters 0.02366036339638964 Centerline is valid? [True, True] Translation: X:240.68, Y:-31.38, Z:1.17 [[ 9.83478640e-01 1.80792128e-01 9.16355186e-03 2.40676408e+02] [-1.80784714e-01 9.83521329e-01 -1.63802284e-03 -3.13827125e+01] [-9.30869033e-03 -4.56696245e-05 9.99956672e-01 1.16951571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters 0.02358583591704822 Centerline is valid? [True, True] Translation: X:240.74, Y:-31.39, Z:1.17 [[ 9.83502474e-01 1.80605379e-01 1.02264432e-02 2.40738437e+02] [-1.80596120e-01 9.83555639e-01 -1.82938964e-03 -3.13903201e+01] [-1.03886735e-02 -4.76467212e-05 9.99946035e-01 1.16999199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters 0.023647986123346395 Centerline is valid? [True, True] Translation: X:240.80, Y:-31.40, Z:1.17 [[ 9.83903919e-01 1.78392869e-01 1.04432781e-02 2.40800563e+02] [-1.78383061e-01 9.83959341e-01 -1.87077035e-03 -3.14002637e+01] [-1.06094931e-02 -2.22456398e-05 9.99943717e-01 1.17191800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters 0.023521677333517076 Centerline is valid? [True, True] Translation: X:240.86, Y:-31.41, Z:1.17 [[ 9.84358775e-01 1.75902285e-01 9.80760944e-03 2.40862026e+02] [-1.75893500e-01 9.84407632e-01 -1.75798046e-03 -3.14103676e+01] [-9.96391836e-03 5.38874222e-06 9.99950359e-01 1.17264770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters 0.023615150769545186 Centerline is valid? [True, True] Translation: X:240.92, Y:-31.42, Z:1.17 [[ 9.85163596e-01 1.71349863e-01 9.58718972e-03 2.40923787e+02] [-1.71341230e-01 9.85210242e-01 -1.72086116e-03 -3.14239739e+01] [-9.74026683e-03 5.26488936e-05 9.99952561e-01 1.17328128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters 0.023490269204491238 Centerline is valid? [True, True] Translation: X:240.99, Y:-31.43, Z:1.18 [[ 9.85518858e-01 1.69348503e-01 8.58287567e-03 2.40986087e+02] [-1.69341491e-01 9.85556229e-01 -1.54248368e-03 -3.14331955e+01] [-8.72012388e-03 6.67097889e-05 9.99961977e-01 1.17549323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters 0.023581253116870458 Centerline is valid? [True, True] Translation: X:241.05, Y:-31.45, Z:1.17 [[ 9.85565056e-01 1.69074278e-01 8.68378571e-03 2.41047017e+02] [-1.69067074e-01 9.85603309e-01 -1.56243400e-03 -3.14493480e+01] [-8.82293533e-03 7.17381127e-05 9.99961075e-01 1.17384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters 0.02376495146035406 Centerline is valid? [True, True] Translation: X:241.11, Y:-31.47, Z:1.17 [[ 9.85427454e-01 1.69647328e-01 1.23498124e-02 2.41107078e+02] [-1.69632790e-01 9.85504833e-01 -2.22297046e-03 -3.14666308e+01] [-1.25479208e-02 9.56429831e-05 9.99921267e-01 1.17411894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters 0.023480873565021446 Centerline is valid? [True, True] Translation: X:241.17, Y:-31.48, Z:1.18 [[ 9.85393698e-01 1.70017390e-01 9.66161722e-03 2.41167066e+02] [-1.70008496e-01 9.85441059e-01 -1.74059100e-03 -3.14837100e+01] [-9.81688505e-03 7.26103855e-05 9.99951811e-01 1.17559740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters 0.023719153768194376 Centerline is valid? [True, True] Translation: X:241.23, Y:-31.50, Z:1.18 [[ 9.85274450e-01 1.70692735e-01 9.91206927e-03 2.41227782e+02] [-1.70683383e-01 9.85324305e-01 -1.78811232e-03 -3.15017594e+01] [-1.00718205e-02 6.99558643e-05 9.99949275e-01 1.17640435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters 0.023626285204994917 Centerline is valid? [True, True] Translation: X:241.29, Y:-31.52, Z:1.18 [[ 9.85121765e-01 1.71480967e-01 1.13748391e-02 2.41287870e+02] [-1.71468691e-01 9.85187430e-01 -2.05309052e-03 -3.15193008e+01] [-1.15584144e-02 7.21153884e-05 9.99933197e-01 1.17660296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters 0.023749788765275132 Centerline is valid? [True, True] Translation: X:241.35, Y:-31.54, Z:1.18 [[ 9.85021605e-01 1.72118108e-01 1.03824397e-02 2.41349389e+02] [-1.72107832e-01 9.85076318e-01 -1.88198247e-03 -3.15355658e+01] [-1.05514187e-02 6.68942091e-05 9.99944330e-01 1.17864193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters 0.023637495944820418 Centerline is valid? [True, True] Translation: X:241.41, Y:-31.55, Z:1.18 [[ 9.84567652e-01 1.74750786e-01 9.41810266e-03 2.41409301e+02] [-1.74742407e-01 9.84612696e-01 -1.71176640e-03 -3.15538974e+01] [-9.57231598e-03 3.96079015e-05 9.99954184e-01 1.17970934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters 0.02363622260636312 Centerline is valid? [True, True] Translation: X:241.47, Y:-31.57, Z:1.18 [[ 9.83767847e-01 1.79278684e-01 7.74446536e-03 2.41470101e+02] [-1.79273124e-01 9.83798330e-01 -1.41187636e-03 -3.15671606e+01] [-7.87211142e-03 5.84064547e-07 9.99969014e-01 1.18056142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters 0.02390718973341498 Centerline is valid? [True, True] Translation: X:241.53, Y:-31.59, Z:1.18 [[ 9.82672298e-01 1.85084915e-01 9.93628696e-03 2.41529491e+02] [-1.85076017e-01 9.82722530e-01 -1.81564963e-03 -3.15859011e+01] [-1.01006624e-02 -5.47798197e-05 9.99948986e-01 1.18306169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters 0.023951581984035086 Centerline is valid? [True, True] Translation: X:241.59, Y:-31.59, Z:1.18 [[ 9.82141691e-01 1.88009591e-01 7.07767940e-03 2.41590888e+02] [-1.88005122e-01 9.82167191e-01 -1.29742277e-03 -3.15948271e+01] [-7.19539241e-03 -5.63869912e-05 9.99974111e-01 1.18073404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters 0.024013955126553188 Centerline is valid? [True, True] Translation: X:241.65, Y:-31.61, Z:1.18 [[ 9.81880777e-01 1.89299025e-01 8.71884143e-03 2.41651556e+02] [-1.89292262e-01 9.81919484e-01 -1.60196407e-03 -3.16109586e+01] [-8.86445051e-03 -7.74714847e-05 9.99960707e-01 1.18098853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters 0.02399976985607015 Centerline is valid? [True, True] Translation: X:241.71, Y:-31.62, Z:1.19 [[ 9.81477333e-01 1.91341542e-01 9.52153943e-03 2.41712256e+02] [-1.91333531e-01 9.81523512e-01 -1.75383719e-03 -3.16233706e+01] [-9.68119674e-03 -1.00438308e-04 9.99953131e-01 1.18552802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters 0.024150233210656836 Centerline is valid? [True, True] Translation: X:241.77, Y:-31.63, Z:1.18 [[ 9.81002766e-01 1.93826366e-01 8.05685280e-03 2.41773934e+02] [-1.93820672e-01 9.81035845e-01 -1.48915336e-03 -3.16340493e+01] [-8.19269858e-03 -1.00721059e-04 9.99966434e-01 1.18154120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters 0.024239183646199522 Centerline is valid? [True, True] Translation: X:241.83, Y:-31.65, Z:1.18 [[ 9.80974791e-01 1.93825812e-01 1.09550675e-02 2.41834870e+02] [-1.93815240e-01 9.81035951e-01 -2.02878993e-03 -3.16469414e+01] [-1.11405469e-02 -1.33067263e-04 9.99937933e-01 1.18229836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters 0.024136501528174734 Centerline is valid? [True, True] Translation: X:241.90, Y:-31.66, Z:1.18 [[ 9.81180360e-01 1.92803264e-01 1.05831432e-02 2.41896186e+02] [-1.92793319e-01 9.81237427e-01 -1.96166273e-03 -3.16598671e+01] [-1.07627912e-02 -1.15614365e-04 9.99942073e-01 1.18434634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters 0.024186957965667277 Centerline is valid? [True, True] Translation: X:241.96, Y:-31.67, Z:1.18 [[ 9.80751439e-01 1.94941148e-01 1.11608086e-02 2.41958186e+02] [-1.94930154e-01 9.80814931e-01 -2.07507600e-03 -3.16678276e+01] [-1.13512055e-02 -1.40444374e-04 9.99935563e-01 1.18415260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters 0.024376777441957 Centerline is valid? [True, True] Translation: X:242.02, Y:-31.68, Z:1.18 [[ 9.80096478e-01 1.98259544e-01 1.02003716e-02 2.42019559e+02] [-1.98250487e-01 9.80149544e-01 -1.90165104e-03 -3.16781622e+01] [-1.03749101e-02 -1.58427157e-04 9.99946167e-01 1.18475865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters 0.024736826126008114 Centerline is valid? [True, True] Translation: X:242.08, Y:-31.69, Z:1.19 [[ 9.79371686e-01 2.01839212e-01 9.59336316e-03 2.42081066e+02] [-2.01831327e-01 9.79418654e-01 -1.79317709e-03 -3.16880906e+01] [-9.75785228e-03 -1.80054343e-04 9.99952375e-01 1.18511356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters 0.02498084320236322 Centerline is valid? [True, True] Translation: X:242.14, Y:-31.69, Z:1.19 [[ 9.78704098e-01 2.05029415e-01 1.00611869e-02 2.42144057e+02] [-2.05020863e-01 9.78755787e-01 -1.88527306e-03 -3.16903109e+01] [-1.02339813e-02 -2.17628743e-04 9.99947608e-01 1.18676264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters 0.025182355965773437 Centerline is valid? [True, True] Translation: X:242.21, Y:-31.70, Z:1.19 [[ 9.78207172e-01 2.07462309e-01 8.37375442e-03 2.42207381e+02] [-2.07456430e-01 9.78242992e-01 -1.57430177e-03 -3.16968289e+01] [-8.51817486e-03 -1.97195910e-04 9.99963700e-01 1.18744897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters 0.02515057146001035 Centerline is valid? [True, True] Translation: X:242.27, Y:-31.70, Z:1.19 [[ 9.77995982e-01 2.08395088e-01 9.76452415e-03 2.42270287e+02] [-2.08387101e-01 9.78044698e-01 -1.83965141e-03 -3.16986482e+01] [-9.93351540e-03 -2.35629190e-04 9.99950634e-01 1.18791329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters 0.024993873485299273 Centerline is valid? [True, True] Translation: X:242.33, Y:-31.70, Z:1.19 [[ 9.78130760e-01 2.07717194e-01 1.06669133e-02 2.42333827e+02] [-2.07707558e-01 9.78188892e-01 -2.01558235e-03 -3.17013245e+01] [-1.08529273e-02 -2.44095420e-04 9.99941075e-01 1.18863261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters 0.025158048003671878 Centerline is valid? [True, True] Translation: X:242.40, Y:-31.71, Z:1.19 [[ 9.78102954e-01 2.07788824e-01 1.17650530e-02 2.42396940e+02] [-2.07777034e-01 9.78173673e-01 -2.22919152e-03 -3.17081439e+01] [-1.19714662e-02 -2.64129010e-04 9.99928305e-01 1.18670004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters 0.02482034318801753 Centerline is valid? [True, True] Translation: X:242.46, Y:-31.71, Z:1.19 [[ 9.78498097e-01 2.05965278e-01 1.09443415e-02 2.42460020e+02] [-2.05954965e-01 9.78559274e-01 -2.07335215e-03 -3.17083738e+01] [-1.11367255e-02 -2.25270343e-04 9.99937959e-01 1.18806477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters 0.024305214974434348 Centerline is valid? [True, True] Translation: X:242.52, Y:-31.71, Z:1.19 [[ 9.79203281e-01 2.02444950e-01 1.33032454e-02 2.42522607e+02] [-2.02429364e-01 9.79293619e-01 -2.52194095e-03 -3.17121088e+01] [-1.35383375e-02 -2.23474655e-04 9.99908328e-01 1.19134280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters 0.02389451618478714 Centerline is valid? [True, True] Translation: X:242.58, Y:-31.72, Z:1.19 [[ 9.80340958e-01 1.97029569e-01 1.05335052e-02 2.42584839e+02] [-1.97019446e-01 9.80397540e-01 -2.00051108e-03 -3.17196193e+01] [-1.07211824e-02 -1.14122408e-04 9.99942520e-01 1.18847489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters 0.02380321281053655 Centerline is valid? [True, True] Translation: X:242.65, Y:-31.73, Z:1.19 [[ 9.80914669e-01 1.94037243e-01 1.24884348e-02 2.42648051e+02] [-1.94022743e-01 9.80994159e-01 -2.37393915e-03 -3.17259623e+01] [-1.27117142e-02 -9.44086350e-05 9.99919198e-01 1.18921229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters 0.02365509763359638 Centerline is valid? [True, True] Translation: X:242.71, Y:-31.74, Z:1.19 [[ 9.81325447e-01 1.91890163e-01 1.33615838e-02 2.42710411e+02] [-1.91873328e-01 9.81416405e-01 -2.54269564e-03 -3.17379107e+01] [-1.36011958e-02 -6.85196173e-05 9.99907497e-01 1.19095122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters 0.023598535340997127 Centerline is valid? [True, True] Translation: X:242.77, Y:-31.75, Z:1.19 [[ 9.81663607e-01 1.90341331e-01 1.03314847e-02 2.42771723e+02] [-1.90331166e-01 9.81717972e-01 -1.96742911e-03 -3.17506211e+01] [-1.05170873e-02 -3.50499760e-05 9.99944693e-01 1.18944813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters 0.023707304552971393 Centerline is valid? [True, True] Translation: X:242.83, Y:-31.76, Z:1.19 [[ 9.82267386e-01 1.87041686e-01 1.28914658e-02 2.42832904e+02] [-1.87025552e-01 9.82351978e-01 -2.45660202e-03 -3.17621185e+01] [-1.31234439e-02 2.00652395e-06 9.99913884e-01 1.18775575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters 0.023724390091270125 Centerline is valid? [True, True] Translation: X:242.89, Y:-31.78, Z:1.19 [[ 9.82334963e-01 1.86729085e-01 1.22584516e-02 2.42893155e+02] [-1.86714451e-01 9.82411446e-01 -2.33773485e-03 -3.17760933e+01] [-1.24793663e-02 7.60861952e-06 9.99922130e-01 1.19040113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters 0.023885739741210343 Centerline is valid? [True, True] Translation: X:242.95, Y:-31.79, Z:1.19 [[ 9.81638661e-01 1.90191122e-01 1.45903005e-02 2.42953268e+02] [-1.90170744e-01 9.81747083e-01 -2.78436831e-03 -3.17929311e+01] [-1.48535471e-02 -4.14047150e-05 9.99889679e-01 1.18845270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters 0.024298329057325558 Centerline is valid? [True, True] Translation: X:243.01, Y:-31.81, Z:1.19 [[ 9.80962078e-01 1.93336488e-01 1.82867176e-02 2.43013888e+02] [-1.93304977e-01 9.81132504e-01 -3.49216532e-03 -3.18069111e+01] [-1.86168560e-02 -1.09231771e-04 9.99826685e-01 1.18933312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters 0.02424417336651864 Centerline is valid? [True, True] Translation: X:243.08, Y:-31.82, Z:1.19 [[ 9.80191758e-01 1.97495277e-01 1.48234142e-02 2.43075445e+02] [-1.97474911e-01 9.80303828e-01 -2.83983075e-03 -3.18158935e+01] [-1.50923028e-02 -1.43673703e-04 9.99886094e-01 1.18898916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters 0.024527214564238155 Centerline is valid? [True, True] Translation: X:243.14, Y:-31.83, Z:1.19 [[ 9.78978953e-01 2.03636829e-01 1.15000579e-02 2.43136910e+02] [-2.03624909e-01 9.79046480e-01 -2.21050306e-03 -3.18285158e+01] [-1.17092311e-02 -1.77662273e-04 9.99931429e-01 1.18854491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters 0.024956740191618955 Centerline is valid? [True, True] Translation: X:243.20, Y:-31.83, Z:1.19 [[ 9.78090759e-01 2.07696000e-01 1.41717382e-02 2.43199303e+02] [-2.07678334e-01 9.78193382e-01 -2.72327568e-03 -3.18334214e+01] [-1.44283140e-02 -2.79552195e-04 9.99895867e-01 1.19055893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters 0.025882392883198716 Centerline is valid? [True, True] Translation: X:243.26, Y:-31.84, Z:1.19 [[ 9.76944028e-01 2.13070331e-01 1.34684738e-02 2.43261602e+02] [-2.13054859e-01 9.77036805e-01 -2.59004052e-03 -3.18377484e+01] [-1.37110554e-02 -3.39199161e-04 9.99905942e-01 1.18950973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters 0.025619418342635546 Centerline is valid? [True, True] Translation: X:243.33, Y:-31.84, Z:1.19 [[ 9.76724481e-01 2.14126701e-01 1.26112898e-02 2.43325465e+02] [-2.14113185e-01 9.76805840e-01 -2.42815232e-03 -3.18414211e+01] [-1.28387137e-02 -3.28607605e-04 9.99917526e-01 1.19123214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters 0.02562626868271887 Centerline is valid? [True, True] Translation: X:243.39, Y:-31.85, Z:1.19 [[ 9.77138066e-01 2.12189944e-01 1.32901515e-02 2.43388148e+02] [-2.12174736e-01 9.77228390e-01 -2.56030493e-03 -3.18455205e+01] [-1.35307843e-02 -3.18062977e-04 9.99908404e-01 1.19206927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters 0.025433148310089713 Centerline is valid? [True, True] Translation: X:243.45, Y:-31.85, Z:1.19 [[ 9.77739450e-01 2.09448639e-01 1.25233717e-02 2.43451550e+02] [-2.09434887e-01 9.77819615e-01 -2.41436118e-03 -3.18466196e+01] [-1.27512831e-02 -2.62214761e-04 9.99918665e-01 1.19197409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters 0.025489292948614354 Centerline is valid? [True, True] Translation: X:243.51, Y:-31.85, Z:1.19 [[ 9.77505475e-01 2.10524933e-01 1.27396952e-02 2.43514531e+02] [-2.10510770e-01 9.77588449e-01 -2.45782871e-03 -3.18489245e+01] [-1.29716131e-02 -2.79302021e-04 9.99915826e-01 1.19211516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters 0.02541515368830872 Centerline is valid? [True, True] Translation: X:243.58, Y:-31.85, Z:1.19 [[ 9.77813735e-01 2.09047165e-01 1.34008640e-02 2.43576869e+02] [-2.09031330e-01 9.77905522e-01 -2.58721595e-03 -3.18528113e+01] [-1.36456291e-02 -2.71385147e-04 9.99906857e-01 1.19256219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters 0.02508449178909282 Centerline is valid? [True, True] Translation: X:243.64, Y:-31.86, Z:1.19 [[ 9.78690328e-01 2.05019732e-01 1.14957144e-02 2.43638790e+02] [-2.05007782e-01 9.78757823e-01 -2.22111881e-03 -3.18603965e+01] [-1.17068936e-02 -1.82923427e-04 9.99931455e-01 1.19364570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters 0.024857964373584368 Centerline is valid? [True, True] Translation: X:243.70, Y:-31.86, Z:1.19 [[ 9.80019412e-01 1.98563723e-01 1.15930885e-02 2.43701287e+02] [-1.98551098e-01 9.80087974e-01 -2.24155243e-03 -3.18646735e+01] [-1.18073376e-02 -1.05055559e-04 9.99930285e-01 1.19288873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters 0.02483796758374808 Centerline is valid? [True, True] Translation: X:243.76, Y:-31.87, Z:1.19 [[ 9.80713444e-01 1.95130623e-01 1.11883926e-02 2.43763049e+02] [-1.95118623e-01 9.80777261e-01 -2.16489084e-03 -3.18732354e+01] [-1.13957576e-02 -5.99262109e-05 9.99935064e-01 1.19333641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters 0.024864740382570923 Centerline is valid? [True, True] Translation: X:243.83, Y:-31.88, Z:1.20 [[ 9.80684188e-01 1.95280923e-01 1.11303735e-02 2.43825130e+02] [-1.95269052e-01 9.80747346e-01 -2.15408696e-03 -3.18775548e+01] [-1.13367364e-02 -6.09384588e-05 9.99935735e-01 1.19668234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters 0.02491312047703396 Centerline is valid? [True, True] Translation: X:243.89, Y:-31.89, Z:1.19 [[ 9.80930002e-01 1.93980176e-01 1.21664754e-02 2.43885095e+02] [-1.93965881e-01 9.81005448e-01 -2.35541689e-03 -3.18893113e+01] [-1.23922828e-02 -4.93820149e-05 9.99923211e-01 1.19407667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters 0.024885028172179215 Centerline is valid? [True, True] Translation: X:243.95, Y:-31.90, Z:1.19 [[ 9.81582151e-01 1.90677010e-01 1.17795854e-02 2.43945217e+02] [-1.90663362e-01 9.81652830e-01 -2.28133974e-03 -3.18989387e+01] [-1.19984624e-02 -6.61297940e-06 9.99928016e-01 1.19437102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters 0.02502032959907701 Centerline is valid? [True, True] Translation: X:244.01, Y:-31.91, Z:1.20 [[ 9.81914197e-01 1.88914783e-01 1.24785904e-02 2.44005251e+02] [-1.88899314e-01 9.81993485e-01 -2.41755427e-03 -3.19120822e+01] [-1.27106062e-02 1.66336974e-05 9.99919217e-01 1.19756162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters 0.025030425406673752 Centerline is valid? [True, True] Translation: X:244.07, Y:-31.92, Z:1.20 [[ 9.81620084e-01 1.90417709e-01 1.27713056e-02 2.44066833e+02] [-1.90401605e-01 9.81703161e-01 -2.47637026e-03 -3.19236052e+01] [-1.30091758e-02 -8.22296086e-07 9.99915377e-01 1.19714034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters 0.024915457180621686 Centerline is valid? [True, True] Translation: X:244.13, Y:-31.94, Z:1.20 [[ 9.81828075e-01 1.89388981e-01 1.20600210e-02 2.44127239e+02] [-1.89374523e-01 9.81902141e-01 -2.34017920e-03 -3.19383910e+01] [-1.22849646e-02 1.37929197e-05 9.99924537e-01 1.19503128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters 0.025040910118754593 Centerline is valid? [True, True] Translation: X:244.19, Y:-31.95, Z:1.20 [[ 9.81971656e-01 1.88602307e-01 1.26821001e-02 2.44187641e+02] [-1.88586231e-01 9.82053547e-01 -2.46260507e-03 -3.19524669e+01] [-1.29189544e-02 2.65389211e-05 9.99916546e-01 1.19631789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters 0.024649733007859508 Centerline is valid? [True, True] Translation: X:244.25, Y:-31.96, Z:1.20 [[ 9.81285477e-01 1.92093104e-01 1.33810380e-02 2.44248313e+02] [-1.92075506e-01 9.81376706e-01 -2.60014203e-03 -3.19640493e+01] [-1.36313083e-02 -1.86880268e-05 9.99907089e-01 1.19773068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters 0.02479410707235734 Centerline is valid? [True, True] Translation: X:244.31, Y:-31.98, Z:1.20 [[ 9.79616155e-01 2.00371124e-01 1.42689139e-02 2.44308902e+02] [-2.00351962e-01 9.79720058e-01 -2.77460979e-03 -3.19762316e+01] [-1.45354929e-02 -1.40752322e-04 9.99894344e-01 1.19911465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters 0.02492838772615118 Centerline is valid? [True, True] Translation: X:244.37, Y:-31.99, Z:1.20 [[ 9.78957799e-01 2.03620072e-01 1.34348228e-02 2.44370053e+02] [-2.03603365e-01 9.79049966e-01 -2.61430736e-03 -3.19851406e+01] [-1.36856882e-02 -1.76078544e-04 9.99906331e-01 1.20037038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters 0.024702821025279646 Centerline is valid? [True, True] Translation: X:244.43, Y:-32.00, Z:1.20 [[ 9.79188989e-01 2.02482826e-01 1.37706080e-02 2.44431411e+02] [-2.02465134e-01 9.79285800e-01 -2.68154848e-03 -3.19966448e+01] [-1.40283284e-02 -1.62325249e-04 9.99901585e-01 1.20141445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters 0.02436188587243455 Centerline is valid? [True, True] Translation: X:244.49, Y:-32.01, Z:1.20 [[ 9.79482082e-01 2.01080007e-01 1.34789592e-02 2.44492878e+02] [-2.01062898e-01 9.79574812e-01 -2.62664030e-03 -3.20070585e+01] [-1.37318137e-02 -1.37371485e-04 9.99905705e-01 1.20241614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters 0.024343830038439786 Centerline is valid? [True, True] Translation: X:244.55, Y:-32.02, Z:1.20 [[ 9.79884621e-01 1.99129905e-01 1.31685129e-02 2.44553783e+02] [-1.99113374e-01 9.79973096e-01 -2.56799353e-03 -3.20187252e+01] [-1.34161526e-02 -1.05689660e-04 9.99909994e-01 1.20171576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters 0.024270594180287555 Centerline is valid? [True, True] Translation: X:244.61, Y:-32.03, Z:1.20 [[ 9.79530739e-01 2.00725793e-01 1.51224295e-02 2.44614184e+02] [-2.00704131e-01 9.79647455e-01 -2.95230176e-03 -3.20310641e+01] [-1.54072527e-02 -1.43263751e-04 9.99881291e-01 1.20302764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters 0.02452823839806168 Centerline is valid? [True, True] Translation: X:244.67, Y:-32.05, Z:1.20 [[ 9.78954706e-01 2.03554116e-01 1.46084122e-02 2.44674587e+02] [-2.03534191e-01 9.79063680e-01 -2.85370303e-03 -3.20464806e+01] [-1.48834488e-02 -1.79665347e-04 9.99889219e-01 1.20265895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters 0.024774114835151014 Centerline is valid? [True, True] Translation: X:244.74, Y:-32.06, Z:1.20 [[ 9.77915532e-01 2.08566825e-01 1.34570623e-02 2.44735397e+02] [-2.08550365e-01 9.78008090e-01 -2.63072739e-03 -3.20605508e+01] [-1.37097982e-02 -2.33846071e-04 9.99905989e-01 1.20371421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters 0.024931705274700185 Centerline is valid? [True, True] Translation: X:244.80, Y:-32.07, Z:1.20 [[ 9.77563114e-01 2.10121709e-01 1.48062552e-02 2.44795916e+02] [-2.10101930e-01 9.77675196e-01 -2.89647335e-03 -3.20735976e+01] [-1.50843204e-02 -2.79337290e-04 9.99886186e-01 1.20426041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters 0.025112621548856302 Centerline is valid? [True, True] Translation: X:244.86, Y:-32.09, Z:1.21 [[ 9.77098207e-01 2.12400776e-01 1.28454074e-02 2.44856910e+02] [-2.12386061e-01 9.77182602e-01 -2.51475457e-03 -3.20878007e+01] [-1.30864444e-02 -2.71023300e-04 9.99914332e-01 1.20555204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters 0.02505390997673226 Centerline is valid? [True, True] Translation: X:244.92, Y:-32.10, Z:1.20 [[ 9.76951020e-01 2.12905152e-01 1.54305251e-02 2.44918067e+02] [-2.12883950e-01 9.77072815e-01 -3.02285898e-03 -3.20996731e+01] [-1.57203288e-02 -3.31725951e-04 9.99876373e-01 1.20447200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters 0.024986813924621508 Centerline is valid? [True, True] Translation: X:244.98, Y:-32.11, Z:1.21 [[ 9.76788026e-01 2.13870686e-01 1.20200947e-02 2.44978043e+02] [-2.13857871e-01 9.76861944e-01 -2.35657800e-03 -3.21147846e+01] [-1.22459760e-02 -2.68714685e-04 9.99924979e-01 1.20661688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters 0.025330831685817713 Centerline is valid? [True, True] Translation: X:245.04, Y:-32.13, Z:1.21 [[ 9.76365869e-01 2.15752074e-01 1.26780461e-02 2.45038832e+02] [-2.15737954e-01 9.76448129e-01 -2.48730045e-03 -3.21287802e+01] [-1.29160946e-02 -3.06620467e-04 9.99916537e-01 1.20698380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters 0.025395558706373444 Centerline is valid? [True, True] Translation: X:245.10, Y:-32.14, Z:1.21 [[ 9.76352481e-01 2.15884655e-01 1.13863620e-02 2.45099592e+02] [-2.15873255e-01 9.76418834e-01 -2.23554591e-03 -3.21399077e+01] [-1.16004784e-02 -2.75330236e-04 9.99932674e-01 1.20764976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters 0.025240218629584955 Centerline is valid? [True, True] Translation: X:245.16, Y:-32.15, Z:1.21 [[ 9.76563247e-01 2.14889686e-01 1.21098266e-02 2.45160658e+02] [-2.14876695e-01 9.76638288e-01 -2.37923632e-03 -3.21540890e+01] [-1.23381936e-02 -2.78644769e-04 9.99923843e-01 1.20682954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters 0.02520051280376387 Centerline is valid? [True, True] Translation: X:245.22, Y:-32.16, Z:1.21 [[ 9.76760637e-01 2.13857084e-01 1.42760681e-02 2.45222288e+02] [-2.13838892e-01 9.76864909e-01 -2.80670680e-03 -3.21644997e+01] [-1.45460241e-02 -3.11297862e-04 9.99894153e-01 1.20786550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters 0.025234340700148097 Centerline is valid? [True, True] Translation: X:245.28, Y:-32.18, Z:1.21 [[ 9.76850145e-01 2.13517209e-01 1.31982904e-02 2.45283340e+02] [-2.13501604e-01 9.76939262e-01 -2.59670438e-03 -3.21754608e+01] [-1.34483692e-02 -2.81265123e-04 9.99909527e-01 1.20702949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters 0.025188516071337458 Centerline is valid? [True, True] Translation: X:245.34, Y:-32.19, Z:1.21 [[ 9.76902583e-01 2.13098865e-01 1.58182533e-02 2.45344310e+02] [-2.13076373e-01 9.77030586e-01 -3.11352008e-03 -3.21851164e+01] [-1.61184049e-02 -3.28890220e-04 9.99870036e-01 1.20866970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters 0.025297808204169863 Centerline is valid? [True, True] Translation: X:245.41, Y:-32.20, Z:1.21 [[ 9.76631797e-01 2.14391486e-01 1.50540538e-02 2.45405299e+02] [-2.14371233e-01 9.76747757e-01 -2.96540285e-03 -3.21957392e+01] [-1.53397704e-02 -3.31049352e-04 9.99882284e-01 1.20884860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters 0.02520959276082171 Centerline is valid? [True, True] Translation: X:245.47, Y:-32.21, Z:1.21 [[ 9.77529754e-01 2.10152414e-01 1.64785691e-02 2.45467064e+02] [-2.10127506e-01 9.77668594e-01 -3.24826151e-03 -3.22056852e+01] [-1.67932095e-02 -2.87328359e-04 9.99858943e-01 1.20863782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters 0.024804342327570825 Centerline is valid? [True, True] Translation: X:245.53, Y:-32.22, Z:1.21 [[ 9.78373129e-01 2.06103353e-01 1.75336167e-02 2.45527791e+02] [-2.06074460e-01 9.78530201e-01 -3.45861308e-03 -3.22172087e+01] [-1.78700052e-02 -2.29416481e-04 9.99840292e-01 1.20799085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters 0.024743222610758175 Centerline is valid? [True, True] Translation: X:245.59, Y:-32.23, Z:1.21 [[ 9.79270023e-01 2.01882614e-01 1.65418284e-02 2.45589777e+02] [-2.01856254e-01 9.79409715e-01 -3.26532939e-03 -3.22261602e+01] [-1.68604407e-02 -1.41432347e-04 9.99857843e-01 1.20749212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters 0.0245402716031582 Centerline is valid? [True, True] Translation: X:245.65, Y:-32.24, Z:1.21 [[ 9.79917142e-01 1.98760121e-01 1.60252915e-02 2.45650235e+02] [-1.98734928e-01 9.80048166e-01 -3.16561977e-03 -3.22421288e+01] [-1.63347565e-02 -8.27400654e-05 9.99866576e-01 1.20855182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters 0.024414216478864048 Centerline is valid? [True, True] Translation: X:245.71, Y:-32.26, Z:1.21 [[ 9.80284242e-01 1.96878252e-01 1.67856613e-02 2.45710844e+02] [-1.96850269e-01 9.80427943e-01 -3.31968850e-03 -3.22579872e+01] [-1.71107059e-02 -5.00236160e-05 9.99853600e-01 1.20943981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters 0.02453927309525876 Centerline is valid? [True, True] Translation: X:245.77, Y:-32.27, Z:1.21 [[ 9.80172644e-01 1.97442273e-01 1.66774516e-02 2.45771919e+02] [-1.97414672e-01 9.80314514e-01 -3.30175338e-03 -3.22716082e+01] [-1.70010536e-02 -5.60852937e-05 9.99855470e-01 1.20993049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters 0.02453562720920487 Centerline is valid? [True, True] Translation: X:245.83, Y:-32.29, Z:1.21 [[ 9.80184695e-01 1.97301534e-01 1.76087568e-02 2.45831961e+02] [-1.97270704e-01 9.80342849e-01 -3.48817215e-03 -3.22892197e+01] [-1.79508405e-02 -5.46388936e-05 9.99838869e-01 1.21094962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters 0.024345677855252004 Centerline is valid? [True, True] Translation: X:245.89, Y:-32.30, Z:1.21 [[ 9.80660860e-01 1.95145115e-01 1.49218575e-02 2.45892693e+02] [-1.95122693e-01 9.80774380e-01 -2.95813316e-03 -3.23038857e+01] [-1.52122408e-02 -1.06676137e-05 9.99884287e-01 1.20874346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters 0.024426884913484825 Centerline is valid? [True, True] Translation: X:245.95, Y:-32.32, Z:1.21 [[ 9.81131274e-01 1.92483076e-01 1.82123330e-02 2.45952282e+02] [-1.92449172e-01 9.81300292e-01 -3.61282662e-03 -3.23231406e+01] [-1.85671756e-02 3.97087920e-05 9.99827614e-01 1.20962129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters 0.024303560310908457 Centerline is valid? [True, True] Translation: X:246.01, Y:-32.34, Z:1.21 [[ 9.80967564e-01 1.93389583e-01 1.74099601e-02 2.46012439e+02] [-1.93358700e-01 9.81122046e-01 -3.45607818e-03 -3.23397060e+01] [-1.77496652e-02 2.39333375e-05 9.99842462e-01 1.21023176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters 0.024263015997530644 Centerline is valid? [True, True] Translation: X:246.07, Y:-32.36, Z:1.21 [[ 9.79991989e-01 1.98371212e-01 1.62654063e-02 2.46073036e+02] [-1.98344892e-01 9.80126961e-01 -3.23189719e-03 -3.23563546e+01] [-1.65832786e-02 -5.89269040e-05 9.99862486e-01 1.20886088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters 0.024203562093725584 Centerline is valid? [True, True] Translation: X:246.13, Y:-32.37, Z:1.21 [[ 9.79010252e-01 2.03149039e-01 1.64132327e-02 2.46132993e+02] [-2.03122873e-01 9.79147818e-01 -3.26340968e-03 -3.23734949e+01] [-1.67339395e-02 -1.38991443e-04 9.99859968e-01 1.21232120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters 0.02419632455174212 Centerline is valid? [True, True] Translation: X:246.19, Y:-32.39, Z:1.21 [[ 9.78571102e-01 2.05236986e-01 1.66246404e-02 2.46192795e+02] [-2.05210404e-01 9.78712291e-01 -3.30776304e-03 -3.23927353e+01] [-1.69496152e-02 -1.74667841e-04 9.99856330e-01 1.21253163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters 0.024397556606870836 Centerline is valid? [True, True] Translation: X:246.25, Y:-32.41, Z:1.21 [[ 9.77977053e-01 2.08071727e-01 1.63413561e-02 2.46252892e+02] [-2.08046399e-01 9.78113546e-01 -3.25370894e-03 -3.24075753e+01] [-1.66607066e-02 -2.17707617e-04 9.99861177e-01 1.21129417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters 0.024841308615487178 Centerline is valid? [True, True] Translation: X:246.31, Y:-32.43, Z:1.21 [[ 9.77237854e-01 2.11352800e-01 1.83349721e-02 2.46312518e+02] [-2.11321445e-01 9.77409792e-01 -3.65315109e-03 -3.24275596e+01] [-1.86928850e-02 -3.04575277e-04 9.99825226e-01 1.21102624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters 0.02523612254654563 Centerline is valid? [True, True] Translation: X:246.37, Y:-32.44, Z:1.21 [[ 9.76512283e-01 2.14565533e-01 1.96314227e-02 2.46373120e+02] [-2.14530013e-01 9.76709520e-01 -3.92258281e-03 -3.24416795e+01] [-2.00158485e-02 -3.81079064e-04 9.99799590e-01 1.21092281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters 0.02561163625616778 Centerline is valid? [True, True] Translation: X:246.43, Y:-32.46, Z:1.21 [[ 9.75232007e-01 2.20414083e-01 1.84435536e-02 2.46433446e+02] [-2.20383610e-01 9.75406284e-01 -3.69407426e-03 -3.24574767e+01] [-1.88041841e-02 -4.62077461e-04 9.99823079e-01 1.21181962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters 0.0261929081532066 Centerline is valid? [True, True] Translation: X:246.49, Y:-32.47, Z:1.21 [[ 9.74212938e-01 2.25046163e-01 1.62288439e-02 2.46494545e+02] [-2.25023079e-01 9.74347985e-01 -3.25842938e-03 -3.24680701e+01] [-1.65458384e-02 -4.77460367e-04 9.99862994e-01 1.21278960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters 0.02674576108699252 Centerline is valid? [True, True] Translation: X:246.56, Y:-32.48, Z:1.21 [[ 9.72993263e-01 2.30098796e-01 1.84025697e-02 2.46555253e+02] [-2.30069875e-01 9.73167070e-01 -3.70233776e-03 -3.24788393e+01] [-1.87606783e-02 -6.31527216e-04 9.99823804e-01 1.21406495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters 0.027481966973033248 Centerline is valid? [True, True] Translation: X:246.62, Y:-32.49, Z:1.22 [[ 9.71960239e-01 2.34588906e-01 1.61659628e-02 2.46616669e+02] [-2.34567154e-01 9.72094466e-01 -3.25560089e-03 -3.24865957e+01] [-1.64785708e-02 -6.27689269e-04 9.99864022e-01 1.21501849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters 0.028297588183963784 Centerline is valid? [True, True] Translation: X:246.68, Y:-32.49, Z:1.21 [[ 9.70616748e-01 2.40128725e-01 1.55346255e-02 2.46678045e+02] [-2.40109296e-01 9.70740809e-01 -3.13160873e-03 -3.24937729e+01] [-1.58320842e-02 -6.90416118e-04 9.99874426e-01 1.21379850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters 0.02893713352939824 Centerline is valid? [True, True] Translation: X:246.74, Y:-32.50, Z:1.21 [[ 9.70111622e-01 2.42166233e-01 1.54582372e-02 2.46739159e+02] [-2.42147227e-01 9.70234507e-01 -3.11784733e-03 -3.25038194e+01] [-1.57531525e-02 -7.18509352e-04 9.99875653e-01 1.21338262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters 0.02929996838543819 Centerline is valid? [True, True] Translation: X:246.80, Y:-32.51, Z:1.21 [[ 9.69454134e-01 2.44870583e-01 1.40385132e-02 2.46801893e+02] [-2.44855164e-01 9.69555527e-01 -2.83336534e-03 -3.25067721e+01] [-1.43049259e-02 -6.90584714e-04 9.99897441e-01 1.21462459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters 0.029289559716651675 Centerline is valid? [True, True] Translation: X:246.86, Y:-32.51, Z:1.21 [[ 9.69594282e-01 2.44232021e-01 1.54158499e-02 2.46864402e+02] [-2.44213317e-01 9.69716538e-01 -3.11329376e-03 -3.25097971e+01] [-1.57093706e-02 -7.46124004e-04 9.99876322e-01 1.21478847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters 0.027864842084169634 Centerline is valid? [True, True] Translation: X:246.93, Y:-32.51, Z:1.22 [[ 9.70964528e-01 2.38704620e-01 1.57476834e-02 2.46926726e+02] [-2.38684364e-01 9.71091991e-01 -3.18101493e-03 -3.25114808e+01] [-1.60517722e-02 -6.70073147e-04 9.99870937e-01 1.21560291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters 0.026353940857794307 Centerline is valid? [True, True] Translation: X:246.99, Y:-32.52, Z:1.22 [[ 9.72912514e-01 2.30784524e-01 1.34068328e-02 2.46987608e+02] [-2.30769086e-01 9.73004775e-01 -2.70850130e-03 -3.25165918e+01] [-1.36699925e-02 -4.58747741e-04 9.99906456e-01 1.21694032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters 0.02553050438155568 Centerline is valid? [True, True] Translation: X:247.05, Y:-32.52, Z:1.22 [[ 9.74515799e-01 2.23761478e-01 1.58037435e-02 2.47049876e+02] [-2.23739070e-01 9.74643844e-01 -3.19469472e-03 -3.25208590e+01] [-1.61178709e-02 -4.22634396e-04 9.99870009e-01 1.21851394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters 0.02477897933869337 Centerline is valid? [True, True] Translation: X:247.11, Y:-32.53, Z:1.22 [[ 9.76021993e-01 2.17111709e-01 1.56068606e-02 2.47109872e+02] [-2.17088991e-01 9.76146716e-01 -3.15584044e-03 -3.25327974e+01] [-1.59197556e-02 -3.07907926e-04 9.99873225e-01 1.21683925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters 0.024624208779065754 Centerline is valid? [True, True] Translation: X:247.17, Y:-32.54, Z:1.22 [[ 9.76791837e-01 2.13691120e-01 1.46223218e-02 2.47171251e+02] [-2.13670758e-01 9.76901249e-01 -2.95917038e-03 -3.25447769e+01] [-1.49169129e-02 -2.33869119e-04 9.99888709e-01 1.21669013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters 0.024355337994884374 Centerline is valid? [True, True] Translation: X:247.23, Y:-32.55, Z:1.22 [[ 9.78298452e-01 2.06853994e-01 1.19818026e-02 2.47232474e+02] [-2.06839787e-01 9.78371818e-01 -2.42661995e-03 -3.25543933e+01] [-1.22246141e-02 -1.04354962e-04 9.99925271e-01 1.21650109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters 0.02429175230533765 Centerline is valid? [True, True] Translation: X:247.29, Y:-32.57, Z:1.22 [[ 9.79000067e-01 2.03349476e-01 1.44173620e-02 2.47292256e+02] [-2.03328497e-01 9.79106218e-01 -2.92177102e-03 -3.25702593e+01] [-1.47102694e-02 -7.10465336e-05 9.99891796e-01 1.21812045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters 0.02441682159898565 Centerline is valid? [True, True] Translation: X:247.35, Y:-32.58, Z:1.22 [[ 9.78968549e-01 2.03572494e-01 1.33723420e-02 2.47353520e+02] [-2.03554441e-01 9.79059873e-01 -2.71191617e-03 -3.25812907e+01] [-1.36443950e-02 -6.71189666e-05 9.99906909e-01 1.21707237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters 0.024324575086812267 Centerline is valid? [True, True] Translation: X:247.41, Y:-32.60, Z:1.22 [[ 9.77962963e-01 2.08376967e-01 1.29415019e-02 2.47414406e+02] [-2.08360454e-01 9.78048579e-01 -2.62636210e-03 -3.25956197e+01] [-1.32046910e-02 -1.28012359e-04 9.99912806e-01 1.21982527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters 0.02452166180092584 Centerline is valid? [True, True] Translation: X:247.48, Y:-32.60, Z:1.22 [[ 9.77357706e-01 2.11208516e-01 1.27623713e-02 2.47475691e+02] [-2.11192675e-01 9.77441014e-01 -2.59181562e-03 -3.26043870e+01] [-1.30218787e-02 -1.62188367e-04 9.99915199e-01 1.21908417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters 0.024666546482908547 Centerline is valid? [True, True] Translation: X:247.54, Y:-32.61, Z:1.22 [[ 9.77108652e-01 2.12373033e-01 1.25050794e-02 2.47537066e+02] [-2.12357897e-01 9.77188654e-01 -2.54132809e-03 -3.26148585e+01] [-1.27595312e-02 -1.72398703e-04 9.99918579e-01 1.21982458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters 0.024705140857310594 Centerline is valid? [True, True] Translation: X:247.60, Y:-32.63, Z:1.22 [[ 9.76800955e-01 2.13762068e-01 1.28714154e-02 2.47597918e+02] [-2.13746129e-01 9.76885736e-01 -2.61758236e-03 -3.26262165e+01] [-1.31334419e-02 -1.94358265e-04 9.99913734e-01 1.22107179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters 0.024830472244894226 Centerline is valid? [True, True] Translation: X:247.66, Y:-32.64, Z:1.22 [[ 9.76642217e-01 2.14435860e-01 1.36836497e-02 2.47659046e+02] [-2.14417886e-01 9.76738049e-01 -2.78462945e-03 -3.26375913e+01] [-1.39624657e-02 -2.14432578e-04 9.99902497e-01 1.22071322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters 0.024888673019480917 Centerline is valid? [True, True] Translation: X:247.72, Y:-32.65, Z:1.22 [[ 9.76858950e-01 2.13484486e-01 1.30754181e-02 2.47720636e+02] [-2.13467964e-01 9.76946436e-01 -2.66271620e-03 -3.26473990e+01] [-1.33424317e-02 -1.90084725e-04 9.99910968e-01 1.22175070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters 0.024579698951396355 Centerline is valid? [True, True] Translation: X:247.78, Y:-32.66, Z:1.22 [[ 9.77401308e-01 2.11010948e-01 1.26910284e-02 2.47781708e+02] [-2.10995151e-01 9.77483687e-01 -2.58622130e-03 -3.26585264e+01] [-1.29509942e-02 -1.49969371e-04 9.99916121e-01 1.22312705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters 0.024539398232291624 Centerline is valid? [True, True] Translation: X:247.84, Y:-32.67, Z:1.22 [[ 9.77719196e-01 2.09593167e-01 1.16566844e-02 2.47842287e+02] [-2.09579719e-01 9.77788674e-01 -2.37714466e-03 -3.26719044e+01] [-1.18960073e-02 -1.18824688e-04 9.99929233e-01 1.22300383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters 0.02454142791165133 Centerline is valid? [True, True] Translation: X:247.90, Y:-32.68, Z:1.22 [[ 9.77759542e-01 2.09464431e-01 1.05323406e-02 2.47902080e+02] [-2.09453441e-01 9.77816261e-01 -2.14830623e-03 -3.26843786e+01] [-1.07486877e-02 -1.05508065e-04 9.99942226e-01 1.22482148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters 0.024568051764682054 Centerline is valid? [True, True] Translation: X:247.96, Y:-32.70, Z:1.23 [[ 9.77470062e-01 2.10865357e-01 9.38506332e-03 2.47961753e+02] [-2.10856689e-01 9.77515110e-01 -1.91497570e-03 -3.26990280e+01] [-9.57784323e-03 -1.07071952e-04 9.99954126e-01 1.22518219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters 0.02466153686391607 Centerline is valid? [True, True] Translation: X:248.02, Y:-32.71, Z:1.22 [[ 9.77355455e-01 2.11446791e-01 8.15892755e-03 2.48021362e+02] [-2.11440255e-01 9.77389505e-01 -1.66540038e-03 -3.27136020e+01] [-8.32659373e-03 -9.74375748e-05 9.99965329e-01 1.22436915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters 0.024525027290417195 Centerline is valid? [True, True] Translation: X:248.08, Y:-32.73, Z:1.23 [[ 9.77698055e-01 2.09765711e-01 1.02400708e-02 2.48080912e+02] [-2.09755317e-01 9.77751674e-01 -2.09083218e-03 -3.27289559e+01] [-1.04508313e-02 -1.03706749e-04 9.99945383e-01 1.22724690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters 0.02451983209293985 Centerline is valid? [True, True] Translation: X:248.14, Y:-32.75, Z:1.23 [[ 9.77698409e-01 2.09778722e-01 9.93522753e-03 2.48141039e+02] [-2.09768920e-01 9.77748883e-01 -2.03035297e-03 -3.27453270e+01] [-1.01400825e-02 -9.90290823e-05 9.99948583e-01 1.22696447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters 0.024594729746781153 Centerline is valid? [True, True] Translation: X:248.20, Y:-32.76, Z:1.23 [[ 9.77400567e-01 2.11038288e-01 1.22870867e-02 2.48201579e+02] [-2.11023375e-01 9.77477786e-01 -2.51252216e-03 -3.27615573e+01] [-1.25405926e-02 -1.37121911e-04 9.99921354e-01 1.22544157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters 0.024422643110075835 Centerline is valid? [True, True] Translation: X:248.26, Y:-32.78, Z:1.23 [[ 9.77451663e-01 2.10967025e-01 9.00891551e-03 2.48261334e+02] [-2.10958992e-01 9.77493174e-01 -1.84364282e-03 -3.27787468e+01] [-9.19510126e-03 -9.84399899e-05 9.99957719e-01 1.22794713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters 0.024438913189005235 Centerline is valid? [True, True] Translation: X:248.32, Y:-32.80, Z:1.23 [[ 9.77204318e-01 2.12068184e-01 9.94008211e-03 2.48321387e+02] [-2.12058448e-01 9.77254865e-01 -2.03554841e-03 -3.27960714e+01] [-1.01456687e-02 -1.18731689e-04 9.99948524e-01 1.22918450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters 0.02457885418396502 Centerline is valid? [True, True] Translation: X:248.38, Y:-32.81, Z:1.23 [[ 9.77364093e-01 2.11231602e-01 1.18591792e-02 2.48381722e+02] [-2.11217663e-01 9.77436030e-01 -2.43009458e-03 -3.28098877e+01] [-1.21049018e-02 -1.29780931e-04 9.99926725e-01 1.22790778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters 0.02452173584329318 Centerline is valid? [True, True] Translation: X:248.44, Y:-32.82, Z:1.23 [[ 9.77912263e-01 2.08807200e-01 9.33592839e-03 2.48442611e+02] [-2.08798437e-01 9.77956823e-01 -1.91449533e-03 -3.28235345e+01] [-9.52989528e-03 -7.71187986e-05 9.99954587e-01 1.22969448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters 0.0240901478237934 Centerline is valid? [True, True] Translation: X:248.50, Y:-32.84, Z:1.23 [[ 9.79432589e-01 2.01580819e-01 8.77370425e-03 2.48502642e+02] [-2.01572778e-01 9.79471885e-01 -1.80049869e-03 -3.28392584e+01] [-8.95654264e-03 -5.07284565e-06 9.99959889e-01 1.23110621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters 0.024294965478922657 Centerline is valid? [True, True] Translation: X:248.56, Y:-32.86, Z:1.23 [[ 9.80501985e-01 1.96239764e-01 1.02864986e-02 2.48563054e+02] [-1.96228403e-01 9.80555940e-01 -2.11225566e-03 -3.28563164e+01] [-1.05009958e-02 5.25676865e-05 9.99944862e-01 1.23056964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters 0.024241744081425882 Centerline is valid? [True, True] Translation: X:248.62, Y:-32.87, Z:1.23 [[ 9.80617822e-01 1.95743386e-01 8.55648706e-03 2.48623078e+02] [-1.95735495e-01 9.80655151e-01 -1.75831807e-03 -3.28747205e+01] [-8.73514224e-03 4.94298096e-05 9.99961847e-01 1.23048622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters 0.024041007251713077 Centerline is valid? [True, True] Translation: X:248.68, Y:-32.89, Z:1.23 [[ 9.79999857e-01 1.98802836e-01 8.81553623e-03 2.48683285e+02] [-1.98794572e-01 9.80039505e-01 -1.81276629e-03 -3.28919283e+01] [-8.99995684e-03 2.40299459e-05 9.99959499e-01 1.23158444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters 0.023944840500329804 Centerline is valid? [True, True] Translation: X:248.74, Y:-32.91, Z:1.23 [[ 9.78408583e-01 2.06477151e-01 9.15597323e-03 2.48743595e+02] [-2.06468560e-01 9.78451421e-01 -1.88402442e-03 -3.29059646e+01] [-9.34768302e-03 -4.70749515e-05 9.99956308e-01 1.23233712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters 0.024059395595004432 Centerline is valid? [True, True] Translation: X:248.80, Y:-32.92, Z:1.23 [[ 9.78243404e-01 2.07136321e-01 1.15925362e-02 2.48804188e+02] [-2.07122579e-01 9.78312087e-01 -2.38685901e-03 -3.29196165e+01] [-1.18355234e-02 -6.61468971e-05 9.99929956e-01 1.23354298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters 0.024105480011276957 Centerline is valid? [True, True] Translation: X:248.86, Y:-32.93, Z:1.23 [[ 9.79200459e-01 2.02614356e-01 1.06716514e-02 2.48864861e+02] [-2.02602424e-01 9.79258609e-01 -2.19883275e-03 -3.29325236e+01] [-1.08958216e-02 -9.00440699e-06 9.99940639e-01 1.23301848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters 0.023938945889454284 Centerline is valid? [True, True] Translation: X:248.93, Y:-32.95, Z:1.23 [[ 9.80199684e-01 1.97765918e-01 9.86005184e-03 2.48926008e+02] [-1.97755462e-01 9.80249274e-01 -2.03409123e-03 -3.29483811e+01] [-1.00675826e-02 4.39364767e-05 9.99949320e-01 1.23135530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters 0.02405858657994499 Centerline is valid? [True, True] Translation: X:248.99, Y:-32.96, Z:1.23 [[ 9.80583658e-01 1.95790395e-01 1.10367626e-02 2.48986093e+02] [-1.95777158e-01 9.80645765e-01 -2.27788334e-03 -3.29627744e+01] [-1.12691421e-02 7.29091807e-05 9.99936499e-01 1.23280367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters 0.024176406173917822 Centerline is valid? [True, True] Translation: X:249.05, Y:-32.98, Z:1.23 [[ 9.80852153e-01 1.94485082e-01 1.02277488e-02 2.49046974e+02] [-1.94473616e-01 9.80905472e-01 -2.11345940e-03 -3.29815532e+01] [-1.04434911e-02 8.39639122e-05 9.99945462e-01 1.23177380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters 0.024151515321150084 Centerline is valid? [True, True] Translation: X:249.11, Y:-33.00, Z:1.23 [[ 9.80955413e-01 1.93898884e-01 1.13885958e-02 2.49106326e+02] [-1.93884615e-01 9.81021515e-01 -2.35446125e-03 -3.30003561e+01] [-1.16289849e-02 1.01548001e-04 9.99932376e-01 1.23202384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters 0.023976162033447913 Centerline is valid? [True, True] Translation: X:249.17, Y:-33.02, Z:1.23 [[ 9.80234611e-01 1.97577801e-01 1.01547839e-02 2.49166549e+02] [-1.97566638e-01 9.80287208e-01 -2.10087781e-03 -3.30178987e+01] [-1.03696915e-02 5.31066386e-05 9.99946232e-01 1.23341187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters 0.02399392800728109 Centerline is valid? [True, True] Translation: X:249.23, Y:-33.03, Z:1.23 [[ 9.79307494e-01 2.02003306e-01 1.23083716e-02 2.49226784e+02] [-2.01987235e-01 9.79384840e-01 -2.54801520e-03 -3.30327461e+01] [-1.25693400e-02 9.15643351e-06 9.99921003e-01 1.23251013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters 0.024012074718433873 Centerline is valid? [True, True] Translation: X:249.29, Y:-33.05, Z:1.23 [[ 9.78750525e-01 2.04638545e-01 1.30566080e-02 2.49287362e+02] [-2.04620671e-01 9.78837609e-01 -2.70471358e-03 -3.30469011e+01] [-1.33337876e-02 -2.44120601e-05 9.99911101e-01 1.23489943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters 0.024003452414402788 Centerline is valid? [True, True] Translation: X:249.35, Y:-33.06, Z:1.23 [[ 9.77794937e-01 2.09281709e-01 1.08732343e-02 2.49348670e+02] [-2.09269583e-01 9.77855389e-01 -2.25405885e-03 -3.30567225e+01] [-1.11041841e-02 -7.14298740e-05 9.99938344e-01 1.23460956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters 0.024019694382841572 Centerline is valid? [True, True] Translation: X:249.41, Y:-33.07, Z:1.23 [[ 9.77637513e-01 2.10005022e-01 1.10807997e-02 2.49409925e+02] [-2.09992443e-01 9.77700304e-01 -2.29984758e-03 -3.30696217e+01] [-1.13166808e-02 -7.84669333e-05 9.99935961e-01 1.23394940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters 0.024011989813695237 Centerline is valid? [True, True] Translation: X:249.47, Y:-33.08, Z:1.23 [[ 9.77440639e-01 2.10874195e-01 1.19110049e-02 2.49470981e+02] [-2.10859710e-01 9.77513205e-01 -2.47342390e-03 -3.30825996e+01] [-1.21647459e-02 -9.39260097e-05 9.99926002e-01 1.23458084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters 0.024237956220588067 Centerline is valid? [True, True] Translation: X:249.53, Y:-33.09, Z:1.23 [[ 9.76258295e-01 2.16347800e-01 1.06475999e-02 2.49532375e+02] [-2.16336533e-01 9.76316347e-01 -2.21265129e-03 -3.30916686e+01] [-1.08741280e-02 -1.43345660e-04 9.99940865e-01 1.23299805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters 0.02435285630794322 Centerline is valid? [True, True] Translation: X:249.59, Y:-33.10, Z:1.24 [[ 9.75504514e-01 2.19615593e-01 1.26465478e-02 2.49593797e+02] [-2.19599950e-01 9.75586463e-01 -2.62968074e-03 -3.31006722e+01] [-1.29153198e-02 -2.11915843e-04 9.99916571e-01 1.23600729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters 0.024241324534420714 Centerline is valid? [True, True] Translation: X:249.66, Y:-33.11, Z:1.24 [[ 9.75422247e-01 2.20001032e-01 1.22876136e-02 2.49656347e+02] [-2.19986258e-01 9.75499617e-01 -2.55801677e-03 -3.31108792e+01] [-1.25493287e-02 -2.07959674e-04 9.99921232e-01 1.23634223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters 0.0242491666307244 Centerline is valid? [True, True] Translation: X:249.72, Y:-33.12, Z:1.23 [[ 9.75531240e-01 2.19633234e-01 1.00020811e-02 2.49718052e+02] [-2.19623413e-01 9.75582501e-01 -2.08347656e-03 -3.31189624e+01] [-1.02154560e-02 -1.64194723e-04 9.99947807e-01 1.23355086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters 0.0241213883680766 Centerline is valid? [True, True] Translation: X:249.78, Y:-33.13, Z:1.24 [[ 9.75540373e-01 2.19520481e-01 1.14777368e-02 2.49779395e+02] [-2.19507523e-01 9.75607874e-01 -2.39237586e-03 -3.31311039e+01] [-1.17229459e-02 -1.85590316e-04 9.99931267e-01 1.23687107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters 0.023989655654850985 Centerline is valid? [True, True] Translation: X:249.84, Y:-33.14, Z:1.24 [[ 9.75877086e-01 2.18061047e-01 1.06438899e-02 2.49841541e+02] [-2.18049779e-01 9.75935119e-01 -2.22202879e-03 -3.31401712e+01] [-1.08722839e-02 -1.52470875e-04 9.99940883e-01 1.23729783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters 0.024050691138257415 Centerline is valid? [True, True] Translation: X:249.90, Y:-33.15, Z:1.24 [[ 9.75853409e-01 2.18268217e-01 8.31327643e-03 2.49902712e+02] [-2.18261339e-01 9.75888811e-01 -1.73681742e-03 -3.31539146e+01] [-8.49192550e-03 -1.19587646e-04 9.99963936e-01 1.23551507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters 0.024059107777696508 Centerline is valid? [True, True] Translation: X:249.96, Y:-33.17, Z:1.24 [[ 9.75524794e-01 2.19607559e-01 1.11308607e-02 2.49963673e+02] [-2.19595304e-01 9.75588279e-01 -2.32659084e-03 -3.31660201e+01] [-1.13700741e-02 -1.74637677e-04 9.99935343e-01 1.23780742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters 0.023933444166676657 Centerline is valid? [True, True] Translation: X:250.02, Y:-33.18, Z:1.24 [[ 9.75244598e-01 2.20923236e-01 9.53400775e-03 2.50024942e+02] [-2.20914283e-01 9.75291186e-01 -1.99529336e-03 -3.31794049e+01] [-9.73924039e-03 -1.60299420e-04 9.99952560e-01 1.23745799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters 0.02408299054198441 Centerline is valid? [True, True] Translation: X:250.09, Y:-33.19, Z:1.24 [[ 9.75414302e-01 2.20037767e-01 1.22605382e-02 2.50086328e+02] [-2.20022879e-01 9.75491334e-01 -2.56699423e-03 -3.31898907e+01] [-1.25248844e-02 -1.93716020e-04 9.99921542e-01 1.23821203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters 0.023766510734589325 Centerline is valid? [True, True] Translation: X:250.15, Y:-33.20, Z:1.24 [[ 9.75728050e-01 2.18791935e-01 9.21203526e-03 2.50146980e+02] [-2.18783461e-01 9.75771526e-01 -1.93020843e-03 -3.32025559e+01] [-9.41115574e-03 -1.32082450e-04 9.99955705e-01 1.23691568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters 0.02367277423196947 Centerline is valid? [True, True] Translation: X:250.21, Y:-33.21, Z:1.24 [[ 9.76229433e-01 2.16497108e-01 1.02516606e-02 2.50208881e+02] [-2.16486472e-01 9.76283252e-01 -2.14941376e-03 -3.32096326e+01] [-1.04738664e-02 -1.21024856e-04 9.99945140e-01 1.23656941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters 0.023609060482457936 Centerline is valid? [True, True] Translation: X:250.27, Y:-33.23, Z:1.24 [[ 9.77062239e-01 2.12629354e-01 1.17532440e-02 2.50268894e+02] [-2.12615075e-01 9.77132923e-01 -2.46582183e-03 -3.32256818e+01] [-1.20087877e-02 -8.96554415e-05 9.99927888e-01 1.23729478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters 0.023417342267898905 Centerline is valid? [True, True] Translation: X:250.33, Y:-33.24, Z:1.24 [[ 9.77851424e-01 2.08903020e-01 1.28887974e-02 2.50330185e+02] [-2.08885484e-01 9.77936361e-01 -2.70707536e-03 -3.32383615e+01] [-1.31699398e-02 -4.51651893e-05 9.99913272e-01 1.23656568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters 0.02345050703342041 Centerline is valid? [True, True] Translation: X:250.39, Y:-33.26, Z:1.24 [[ 9.78696281e-01 2.04891251e-01 1.31591900e-02 2.50390693e+02] [-2.04872571e-01 9.78784744e-01 -2.76667436e-03 -3.32573148e+01] [-1.34468818e-02 1.17768095e-05 9.99909587e-01 1.23788714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters 0.023236874899743586 Centerline is valid? [True, True] Translation: X:250.45, Y:-33.27, Z:1.24 [[ 9.78079971e-01 2.07974977e-01 1.02946135e-02 2.50450974e+02] [-2.07963701e-01 9.78134147e-01 -2.16573895e-03 -3.32732304e+01] [-1.05199325e-02 -2.26400278e-05 9.99944664e-01 1.24090770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters 0.023433840989451792 Centerline is valid? [True, True] Translation: X:250.51, Y:-33.29, Z:1.24 [[ 9.76773264e-01 2.13900018e-01 1.26796375e-02 2.50511029e+02] [-2.13883390e-01 9.76855553e-01 -2.66912903e-03 -3.32882364e+01] [-1.29571011e-02 -1.04829979e-04 9.99916048e-01 1.24159082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters 0.02380567166991813 Centerline is valid? [True, True] Translation: X:250.57, Y:-33.30, Z:1.24 [[ 9.76306498e-01 2.16037131e-01 1.23927049e-02 2.50571829e+02] [-2.16021397e-01 9.76385140e-01 -2.61047980e-03 -3.33025754e+01] [-1.26640135e-02 -1.28461025e-04 9.99919800e-01 1.24139612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters 0.023903326552924042 Centerline is valid? [True, True] Translation: X:250.63, Y:-33.32, Z:1.24 [[ 9.75846748e-01 2.18174687e-01 1.10873937e-02 2.50633592e+02] [-2.18162199e-01 9.75909723e-01 -2.33833447e-03 -3.33161546e+01] [-1.13304607e-02 -1.36994097e-04 9.99935799e-01 1.24017563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters 0.023931690148126787 Centerline is valid? [True, True] Translation: X:250.69, Y:-33.33, Z:1.24 [[ 9.75395815e-01 2.20047530e-01 1.34940320e-02 2.50694249e+02] [-2.20029113e-01 9.75489134e-01 -2.85301158e-03 -3.33273123e+01] [-1.37910797e-02 -1.86264333e-04 9.99904881e-01 1.24040020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters 0.024129373102272315 Centerline is valid? [True, True] Translation: X:250.75, Y:-33.34, Z:1.24 [[ 9.74786537e-01 2.22751410e-01 1.31535966e-02 2.50754243e+02] [-2.22734152e-01 9.74875254e-01 -2.78137905e-03 -3.33444183e+01] [-1.34426719e-02 -2.18504334e-04 9.99909619e-01 1.24354519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters 0.024189997654146908 Centerline is valid? [True, True] Translation: X:250.82, Y:-33.36, Z:1.24 [[ 9.74819552e-01 2.22530125e-01 1.43938864e-02 2.50815592e+02] [-2.22509405e-01 9.74925786e-01 -3.04562474e-03 -3.33556866e+01] [-1.47107143e-02 -2.33840558e-04 9.99891764e-01 1.24284463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters 0.024504665991810108 Centerline is valid? [True, True] Translation: X:250.88, Y:-33.37, Z:1.24 [[ 9.74484074e-01 2.24106383e-01 1.25346933e-02 2.50875754e+02] [-2.24090777e-01 9.74564661e-01 -2.65410188e-03 -3.33712275e+01] [-1.28106703e-02 -2.22529154e-04 9.99917915e-01 1.24393592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters 0.024706613848885093 Centerline is valid? [True, True] Translation: X:250.94, Y:-33.38, Z:1.24 [[ 9.73949424e-01 2.26521702e-01 1.05089405e-02 2.50937787e+02] [-2.26510844e-01 9.74006096e-01 -2.22787126e-03 -3.33827036e+01] [-1.07404333e-02 -2.10555061e-04 9.99942298e-01 1.24231334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters 0.02493479175937529 Centerline is valid? [True, True] Translation: X:251.00, Y:-33.40, Z:1.24 [[ 9.73619498e-01 2.27884735e-01 1.15594460e-02 2.50998178e+02] [-2.27871681e-01 9.73688085e-01 -2.45170121e-03 -3.33976863e+01] [-1.18140002e-02 -2.47046297e-04 9.99930182e-01 1.24454386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters 0.024721729246065846 Centerline is valid? [True, True] Translation: X:251.06, Y:-33.41, Z:1.25 [[ 9.74413861e-01 2.24390534e-01 1.29041123e-02 2.51059619e+02] [-2.24373928e-01 9.74499275e-01 -2.73925720e-03 -3.34099251e+01] [-1.31897114e-02 -2.26176169e-04 9.99912986e-01 1.24501173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters 0.02438882945772268 Centerline is valid? [True, True] Translation: X:251.12, Y:-33.42, Z:1.25 [[ 9.75977178e-01 2.17379322e-01 1.46553178e-02 2.51120653e+02] [-2.17357084e-01 9.76087193e-01 -3.11281569e-03 -3.34203869e+01] [-1.49815298e-02 -1.47400074e-04 9.99887760e-01 1.24527920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters 0.024326140392641422 Centerline is valid? [True, True] Translation: X:251.18, Y:-33.43, Z:1.25 [[ 9.76161346e-01 2.16686710e-01 1.24858811e-02 2.51182752e+02] [-2.16670488e-01 9.76241188e-01 -2.65387816e-03 -3.34289390e+01] [-1.27642915e-02 -1.14708670e-04 9.99918527e-01 1.24679565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters 0.02437544059847758 Centerline is valid? [True, True] Translation: X:251.24, Y:-33.45, Z:1.25 [[ 9.76660291e-01 2.14263702e-01 1.50246784e-02 2.51242475e+02] [-2.14239894e-01 9.76775848e-01 -3.19553345e-03 -3.34457395e+01] [-1.53604298e-02 -9.79348799e-05 9.99882017e-01 1.24549667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters 0.024206275508898326 Centerline is valid? [True, True] Translation: X:251.30, Y:-33.46, Z:1.25 [[ 9.77453469e-01 2.10611278e-01 1.50865923e-02 2.51303848e+02] [-2.10586805e-01 9.77569889e-01 -3.21082849e-03 -3.34578717e+01] [-1.54244350e-02 -3.86018214e-05 9.99881036e-01 1.24709004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters 0.0242510232917319 Centerline is valid? [True, True] Translation: X:251.37, Y:-33.47, Z:1.25 [[ 9.77632665e-01 2.09739879e-01 1.56062871e-02 2.51365407e+02] [-2.09713522e-01 9.77757221e-01 -3.32509139e-03 -3.34702855e+01] [-1.59565641e-02 -2.21314645e-05 9.99872686e-01 1.24530338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters 0.02410521107041728 Centerline is valid? [True, True] Translation: X:251.43, Y:-33.49, Z:1.25 [[ 9.77905540e-01 2.08638901e-01 1.30600163e-02 2.51425648e+02] [-2.08620323e-01 9.77992745e-01 -2.78425183e-03 -3.34872690e+01] [-1.33535044e-02 -1.84952388e-06 9.99910838e-01 1.24772059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters 0.024298225535527955 Centerline is valid? [True, True] Translation: X:251.49, Y:-33.51, Z:1.25 [[ 9.78336010e-01 2.06496692e-01 1.47569351e-02 2.51485529e+02] [-2.06472698e-01 9.78447298e-01 -3.14800859e-03 -3.35058284e+01] [-1.50889367e-02 3.29059555e-05 9.99886155e-01 1.24756104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters 0.02452889142123423 Centerline is valid? [True, True] Translation: X:251.55, Y:-33.52, Z:1.24 [[ 9.78454266e-01 2.05714483e-01 1.75727549e-02 2.51545272e+02] [-2.05680161e-01 9.78612052e-01 -3.75813745e-03 -3.35213652e+01] [-1.79700131e-02 6.27985510e-05 9.99838524e-01 1.24497127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters 0.024437540579125575 Centerline is valid? [True, True] Translation: X:251.60, Y:-33.54, Z:1.25 [[ 9.78388498e-01 2.06219803e-01 1.51439428e-02 2.51604420e+02] [-2.06194253e-01 9.78505692e-01 -3.24658634e-03 -3.35420364e+01] [-1.54879446e-02 5.38287625e-05 9.99880053e-01 1.24709881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters 0.024379977093482306 Centerline is valid? [True, True] Translation: X:251.66, Y:-33.56, Z:1.25 [[ 9.78249476e-01 2.06995672e-01 1.34444667e-02 2.51663269e+02] [-2.06975513e-01 9.78341857e-01 -2.88913655e-03 -3.35641446e+01] [-1.37513233e-02 4.36209192e-05 9.99905445e-01 1.24821666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters 0.024652211879068516 Centerline is valid? [True, True] Translation: X:251.72, Y:-33.59, Z:1.25 [[ 9.78316142e-01 2.06494051e-01 1.60540897e-02 2.51721834e+02] [-2.06465117e-01 9.78447854e-01 -3.45735348e-03 -3.35875638e+01] [-1.64220125e-02 6.77752275e-05 9.99865147e-01 1.24523729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters 0.02461434199286391 Centerline is valid? [True, True] Translation: X:251.78, Y:-33.61, Z:1.25 [[ 9.77845008e-01 2.08846307e-01 1.42253743e-02 2.51779756e+02] [-2.08823732e-01 9.77948475e-01 -3.07082348e-03 -3.36121052e+01] [-1.45530132e-02 3.21936637e-05 9.99894099e-01 1.24622486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters 0.0247224643392348 Centerline is valid? [True, True] Translation: X:251.84, Y:-33.63, Z:1.25 [[ 9.76366119e-01 2.15597160e-01 1.50687462e-02 2.51839717e+02] [-2.15572496e-01 9.76482391e-01 -3.26168313e-03 -3.36337843e+01] [-1.54175750e-02 -6.38103306e-05 9.99881140e-01 1.24850675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters 0.02524697931313463 Centerline is valid? [True, True] Translation: X:251.90, Y:-33.66, Z:1.25 [[ 9.75132515e-01 2.20806111e-01 1.90063214e-02 2.51898184e+02] [-2.20767698e-01 9.75317707e-01 -4.12226975e-03 -3.36566871e+01] [-1.94474242e-02 -1.76222566e-04 9.99810865e-01 1.24767524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters 0.02533997527919469 Centerline is valid? [True, True] Translation: X:251.96, Y:-33.67, Z:1.25 [[ 9.74595982e-01 2.23316527e-01 1.70997352e-02 2.51957369e+02] [-2.23285673e-01 9.74745962e-01 -3.71720953e-03 -3.36748586e+01] [-1.74980121e-02 -1.95348409e-04 9.99846879e-01 1.24773947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters 0.026049825379017004 Centerline is valid? [True, True] Translation: X:252.02, Y:-33.69, Z:1.25 [[ 9.73019617e-01 2.30087042e-01 1.71107807e-02 2.52016683e+02] [-2.30057049e-01 9.73170004e-01 -3.72781549e-03 -3.36931157e+01] [-1.75094206e-02 -3.09218126e-04 9.99846651e-01 1.24685079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters 0.026580430809717382 Centerline is valid? [True, True] Translation: X:252.08, Y:-33.71, Z:1.25 [[ 9.71807055e-01 2.35257681e-01 1.56483684e-02 2.52076977e+02] [-2.35233143e-01 9.71932968e-01 -3.41682149e-03 -3.37093669e+01] [-1.60129986e-02 -3.60523652e-04 9.99871719e-01 1.24707404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters 0.026958921373440182 Centerline is valid? [True, True] Translation: X:252.14, Y:-33.72, Z:1.25 [[ 9.70837083e-01 2.39097181e-01 1.75469608e-02 2.52136838e+02] [-2.39066825e-01 9.70995530e-01 -3.83856441e-03 -3.37245596e+01] [-1.79558104e-02 -4.68275512e-04 9.99838672e-01 1.24762458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters 0.02719242902936894 Centerline is valid? [True, True] Translation: X:252.20, Y:-33.73, Z:1.25 [[ 9.70633426e-01 2.39918820e-01 1.75986457e-02 2.52200076e+02] [-2.39888242e-01 9.70792838e-01 -3.85975185e-03 -3.37324023e+01] [-1.80106664e-02 -4.75304031e-04 9.99837682e-01 1.24616853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters 0.026759250428711613 Centerline is valid? [True, True] Translation: X:252.26, Y:-33.74, Z:1.25 [[ 9.70962662e-01 2.38513198e-01 1.85192769e-02 2.52261988e+02] [-2.38478927e-01 9.71139145e-01 -4.06976966e-03 -3.37405737e+01] [-1.89554885e-02 -4.64862913e-04 9.99820221e-01 1.24832180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters 0.026255881388433763 Centerline is valid? [True, True] Translation: X:252.33, Y:-33.74, Z:1.25 [[ 9.71917857e-01 2.34730708e-01 1.66485509e-02 2.52325313e+02] [-2.34702430e-01 9.72060375e-01 -3.66023737e-03 -3.37446555e+01] [-1.70425667e-02 -3.50005281e-04 9.99854704e-01 1.24598932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters 0.025720193898729097 Centerline is valid? [True, True] Translation: X:252.39, Y:-33.75, Z:1.25 [[ 9.73135328e-01 2.29418757e-01 1.93563359e-02 2.52387410e+02] [-2.29379270e-01 9.73327771e-01 -4.26614156e-03 -3.37506870e+01] [-1.98187922e-02 -2.88409127e-04 9.99803547e-01 1.24715307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters 0.025162053712033186 Centerline is valid? [True, True] Translation: X:252.45, Y:-33.76, Z:1.25 [[ 9.74838117e-01 2.22023855e-01 1.99010840e-02 2.52449329e+02] [-2.21980374e-01 9.75041225e-01 -4.39582305e-03 -3.37589103e+01] [-2.03803549e-02 -1.32434208e-04 9.99792290e-01 1.24751701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters 0.025189462167615747 Centerline is valid? [True, True] Translation: X:252.51, Y:-33.77, Z:1.25 [[ 9.75479670e-01 2.19196410e-01 1.98077351e-02 2.52510011e+02] [-2.19152555e-01 9.75680752e-01 -4.38497236e-03 -3.37720610e+01] [-2.02871961e-02 -6.34643616e-05 9.99794192e-01 1.24641048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters 0.02510824022983219 Centerline is valid? [True, True] Translation: X:252.57, Y:-33.78, Z:1.25 [[ 9.76616591e-01 2.14121085e-01 1.92923763e-02 2.52571493e+02] [-2.14078408e-01 9.76807125e-01 -4.27511801e-03 -3.37842104e+01] [-1.97603235e-02 4.50699705e-05 9.99804745e-01 1.24557011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters 0.02539052472201396 Centerline is valid? [True, True] Translation: X:252.63, Y:-33.80, Z:1.25 [[ 9.78448944e-01 2.05722359e-01 1.77756739e-02 2.52631749e+02] [-2.05684529e-01 9.78610376e-01 -3.95059712e-03 -3.38029377e+01] [-1.82081851e-02 2.09276458e-04 9.99834195e-01 1.24642482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters 0.02561350331728045 Centerline is valid? [True, True] Translation: X:252.69, Y:-33.82, Z:1.25 [[ 9.78506669e-01 2.05458773e-01 1.76463066e-02 2.52692276e+02] [-2.05421269e-01 9.78665746e-01 -3.93179116e-03 -3.38222680e+01] [-1.80776568e-02 2.22357165e-04 9.99836561e-01 1.24544847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters 0.02536265095926361 Centerline is valid? [True, True] Translation: X:252.75, Y:-33.84, Z:1.25 [[ 9.77978972e-01 2.08072710e-01 1.62134776e-02 2.52751674e+02] [-2.08041357e-01 9.78113348e-01 -3.61565196e-03 -3.38438642e+01] [-1.66109374e-02 1.62957686e-04 9.99862016e-01 1.24684812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters 0.02536052915235735 Centerline is valid? [True, True] Translation: X:252.81, Y:-33.87, Z:1.25 [[ 9.76589069e-01 2.14541228e-01 1.56796814e-02 2.52810809e+02] [-2.14512669e-01 9.76714932e-01 -3.50091127e-03 -3.38663858e+01] [-1.60656688e-02 5.54613811e-05 9.99870937e-01 1.24537292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters 0.025516227974004515 Centerline is valid? [True, True] Translation: X:252.87, Y:-33.89, Z:1.24 [[ 9.75355497e-01 2.20007219e-01 1.66876672e-02 2.52871143e+02] [-2.19975481e-01 9.75498244e-01 -3.73691848e-03 -3.38856734e+01] [-1.71009390e-02 -2.60536309e-05 9.99853768e-01 1.24498160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters 0.026308992840638225 Centerline is valid? [True, True] Translation: X:252.93, Y:-33.90, Z:1.24 [[ 9.72912412e-01 2.30369277e-01 1.92726656e-02 2.52930902e+02] [-2.30328803e-01 9.73103254e-01 -4.32435684e-03 -3.39043153e+01] [-1.97504925e-02 -2.31829558e-04 9.99804913e-01 1.24335159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters 0.027364599788234235 Centerline is valid? [True, True] Translation: X:252.99, Y:-33.92, Z:1.24 [[ 9.70400274e-01 2.40848462e-01 1.77574456e-02 2.52990189e+02] [-2.40815835e-01 9.70562647e-01 -3.98525381e-03 -3.39235665e+01] [-1.81945556e-02 -4.08982702e-04 9.99834382e-01 1.24278105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters 0.02883818594267822 Centerline is valid? [True, True] Translation: X:253.05, Y:-33.94, Z:1.24 [[ 9.68397511e-01 2.48643336e-01 1.95640655e-02 2.53049626e+02] [-2.48605317e-01 9.68594919e-01 -4.39078958e-03 -3.39366243e+01] [-2.00413950e-02 -6.11701009e-04 9.99798964e-01 1.24228792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters 0.02954882754816844 Centerline is valid? [True, True] Translation: X:253.11, Y:-33.95, Z:1.24 [[ 9.67505117e-01 2.52084203e-01 1.96825367e-02 2.53110228e+02] [-2.52046209e-01 9.67705067e-01 -4.42848818e-03 -3.39487796e+01] [-2.01632424e-02 -6.76323781e-04 9.99796472e-01 1.24180049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters 0.02988139686653142 Centerline is valid? [True, True] Translation: X:253.17, Y:-33.96, Z:1.24 [[ 9.66987725e-01 2.54048450e-01 1.98525546e-02 2.53170603e+02] [-2.54010043e-01 9.67191229e-01 -4.47492702e-03 -3.39610977e+01] [-2.03380649e-02 -7.15548752e-04 9.99792904e-01 1.24041766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters 0.031431649198824935 Centerline is valid? [True, True] Translation: X:253.23, Y:-33.96, Z:1.24 [[ 9.64686867e-01 2.62507001e-01 2.16638777e-02 2.53232508e+02] [-2.62463404e-01 9.64929594e-01 -4.88255493e-03 -3.39634939e+01] [-2.21858216e-02 -9.75838487e-04 9.99753388e-01 1.24053261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters 0.03169007498518418 Centerline is valid? [True, True] Translation: X:253.29, Y:-33.97, Z:1.24 [[ 9.63951487e-01 2.65382203e-01 1.92306496e-02 2.53294124e+02] [-2.65348213e-01 9.64142858e-01 -4.34466497e-03 -3.39738551e+01] [-1.96940903e-02 -9.14772262e-04 9.99805634e-01 1.24076497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters 0.031815504985984774 Centerline is valid? [True, True] Translation: X:253.36, Y:-33.98, Z:1.24 [[ 9.64180222e-01 2.64535528e-01 1.94281773e-02 2.53356567e+02] [-2.64500492e-01 9.64375522e-01 -4.39796505e-03 -3.39810316e+01] [-1.98994766e-02 -8.98331531e-04 9.99801582e-01 1.23840890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters 0.030688737545541085 Centerline is valid? [True, True] Translation: X:253.42, Y:-33.99, Z:1.24 [[ 9.65795931e-01 2.58603939e-01 1.90321208e-02 2.53418215e+02] [-2.58569163e-01 9.65983139e-01 -4.30847337e-03 -3.39884992e+01] [-1.94988960e-02 -7.60013506e-04 9.99809590e-01 1.23970223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters 0.029843436801092672 Centerline is valid? [True, True] Translation: X:253.48, Y:-34.00, Z:1.24 [[ 9.66812811e-01 2.54867685e-01 1.77609439e-02 2.53479224e+02] [-2.54836750e-01 9.66975727e-01 -4.02175145e-03 -3.39975776e+01] [-1.81994162e-02 -6.37860414e-04 9.99834173e-01 1.23868827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters 0.029087361163126844 Centerline is valid? [True, True] Translation: X:253.54, Y:-34.01, Z:1.24 [[ 9.68499336e-01 2.48351953e-01 1.81753813e-02 2.53540210e+02] [-2.48318373e-01 9.68669723e-01 -4.11757103e-03 -3.40083940e+01] [-1.86285484e-02 -5.25416304e-04 9.99826335e-01 1.23750744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters 0.02825329779394203 Centerline is valid? [True, True] Translation: X:253.60, Y:-34.02, Z:1.24 [[ 9.70399598e-01 2.40766379e-01 1.88724797e-02 2.53601448e+02] [-2.40728700e-01 9.70583019e-01 -4.27739477e-03 -3.40175950e+01] [-1.93471611e-02 -3.92365334e-04 9.99812749e-01 1.23814288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters 0.0275013124497327 Centerline is valid? [True, True] Translation: X:253.66, Y:-34.03, Z:1.24 [[ 9.72720972e-01 2.31539946e-01 1.42535878e-02 2.53662485e+02] [-2.31517424e-01 9.72825385e-01 -3.23305824e-03 -3.40288685e+01] [-1.46148342e-02 -1.55090383e-04 9.99893186e-01 1.23980159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters 0.027353988691050178 Centerline is valid? [True, True] Translation: X:253.72, Y:-34.04, Z:1.24 [[ 9.73949484e-01 2.26343811e-01 1.38160306e-02 2.53722593e+02] [-2.26322007e-01 9.74047470e-01 -3.14235290e-03 -3.40443579e+01] [-1.41687218e-02 -6.63787899e-05 9.99899616e-01 1.24048417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters 0.0276757063296437 Centerline is valid? [True, True] Translation: X:253.78, Y:-34.06, Z:1.24 [[ 9.74942874e-01 2.21827142e-01 1.67066501e-02 2.53782658e+02] [-2.21794460e-01 9.75086006e-01 -3.80766523e-03 -3.40609391e+01] [-1.71350642e-02 6.81364416e-06 9.99853184e-01 1.23941064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters 0.02765701655867469 Centerline is valid? [True, True] Translation: X:253.84, Y:-34.08, Z:1.24 [[ 9.75460655e-01 2.19649164e-01 1.51906633e-02 2.53842834e+02] [-2.19621760e-01 9.75578927e-01 -3.46988418e-03 -3.40778558e+01] [-1.55818481e-02 4.85352871e-05 9.99878594e-01 1.24059112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters 0.027834793113272437 Centerline is valid? [True, True] Translation: X:253.90, Y:-34.10, Z:1.24 [[ 9.75280480e-01 2.20336666e-01 1.67253735e-02 2.53901162e+02] [-2.20303407e-01 9.75423883e-01 -3.82853327e-03 -3.41008338e+01] [-1.71578950e-02 4.92369923e-05 9.99852791e-01 1.24257498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters 0.027683393636440356 Centerline is valid? [True, True] Translation: X:253.96, Y:-34.12, Z:1.24 [[ 9.74785395e-01 2.22580019e-01 1.58609260e-02 2.53961205e+02] [-2.22550276e-01 9.74914424e-01 -3.63864273e-03 -3.41179561e+01] [-1.62729347e-02 1.70423238e-05 9.99867587e-01 1.24353268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters 0.027778378628213876 Centerline is valid? [True, True] Translation: X:254.02, Y:-34.14, Z:1.24 [[ 9.74442453e-01 2.24175368e-01 1.43982858e-02 2.54020846e+02] [-2.24150923e-01 9.74548821e-01 -3.31053493e-03 -3.41362243e+01] [-1.47739729e-02 -1.46327880e-06 9.99890859e-01 1.24364189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters 0.027849472110544712 Centerline is valid? [True, True] Translation: X:254.08, Y:-34.16, Z:1.24 [[ 9.73224857e-01 2.29356621e-01 1.51300641e-02 2.54079700e+02] [-2.29330137e-01 9.73342455e-01 -3.48621703e-03 -3.41572242e+01] [-1.55263207e-02 -7.69066050e-05 9.99879456e-01 1.24464017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters 0.028028200084091535 Centerline is valid? [True, True] Translation: X:254.14, Y:-34.17, Z:1.25 [[ 9.72570862e-01 2.31946555e-01 1.75132826e-02 2.54140077e+02] [-2.31911342e-01 9.72728523e-01 -4.04356218e-03 -3.41726562e+01] [-1.79735599e-02 -1.28878118e-04 9.99838454e-01 1.24677931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters 0.02791948428665756 Centerline is valid? [True, True] Translation: X:254.20, Y:-34.19, Z:1.25 [[ 9.71597430e-01 2.36136569e-01 1.54257848e-02 2.54201592e+02] [-2.36109633e-01 9.71719862e-01 -3.57079692e-03 -3.41868137e+01] [-1.58327373e-02 -1.72799280e-04 9.99874639e-01 1.24808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters 0.02760036831070857 Centerline is valid? [True, True] Translation: X:254.26, Y:-34.20, Z:1.25 [[ 9.71761198e-01 2.35557252e-01 1.38908375e-02 2.54261422e+02] [-2.35535254e-01 9.71860464e-01 -3.22219375e-03 -3.42028854e+01] [-1.42589669e-02 -1.40579084e-04 9.99898326e-01 1.24920896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters 0.027216560487925003 Centerline is valid? [True, True] Translation: X:254.32, Y:-34.22, Z:1.25 [[ 9.73318284e-01 2.29039469e-01 1.38722476e-02 2.54322104e+02] [-2.29016770e-01 9.73417136e-01 -3.22470718e-03 -3.42164120e+01] [-1.42420688e-02 -3.83108900e-05 9.99898576e-01 1.25210659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters 0.02710581473526337 Centerline is valid? [True, True] Translation: X:254.38, Y:-34.23, Z:1.25 [[ 9.74272584e-01 2.24919894e-01 1.42819068e-02 2.54383789e+02] [-2.24895268e-01 9.74377258e-01 -3.32838341e-03 -3.42292481e+01] [-1.46645849e-02 3.08194492e-05 9.99892469e-01 1.25165455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters 0.02710905680676633 Centerline is valid? [True, True] Translation: X:254.45, Y:-34.24, Z:1.25 [[ 9.74315943e-01 2.24756115e-01 1.38971952e-02 2.54445369e+02] [-2.24732665e-01 9.74415049e-01 -3.24679710e-03 -3.42420237e+01] [-1.42713736e-02 4.02524589e-05 9.99898158e-01 1.25155564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters 0.027243774904267815 Centerline is valid? [True, True] Translation: X:254.51, Y:-34.25, Z:1.25 [[ 9.74884898e-01 2.22242968e-01 1.44048533e-02 2.54507002e+02] [-2.22217380e-01 9.74991311e-01 -3.37350233e-03 -3.42548697e+01] [-1.47943440e-02 8.77677193e-05 9.99890554e-01 1.25475278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters 0.02772828706064001 Centerline is valid? [True, True] Translation: X:254.57, Y:-34.27, Z:1.26 [[ 9.76691017e-01 2.14144200e-01 1.47281334e-02 2.54567769e+02] [-2.14116426e-01 9.76802033e-01 -3.45601214e-03 -3.42675236e+01] [-1.51265556e-02 2.21920745e-04 9.99885562e-01 1.25564944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters 0.028475047144466033 Centerline is valid? [True, True] Translation: X:254.63, Y:-34.28, Z:1.25 [[ 9.78197889e-01 2.07203459e-01 1.39863201e-02 2.54628477e+02] [-2.07177604e-01 9.78297820e-01 -3.28876022e-03 -3.42801808e+01] [-1.43642289e-02 3.19406020e-04 9.99896778e-01 1.25430298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters 0.030048545373657386 Centerline is valid? [True, True] Translation: X:254.69, Y:-34.29, Z:1.25 [[ 9.80510630e-01 1.95798351e-01 1.61836356e-02 2.54688100e+02] [-1.95762211e-01 9.80644018e-01 -3.80341844e-03 -3.42937623e+01] [-1.66150885e-02 5.61147922e-04 9.99861802e-01 1.25465734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters 0.03109089449550959 Centerline is valid? [True, True] Translation: X:254.75, Y:-34.31, Z:1.26 [[ 9.82002426e-01 1.88375257e-01 1.36381363e-02 2.54746052e+02] [-1.88348870e-01 9.82096954e-01 -3.20565329e-03 -3.43126589e+01] [-1.39978379e-02 5.79231739e-04 9.99901858e-01 1.25567898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters 0.0322819257286993 Centerline is valid? [True, True] Translation: X:254.80, Y:-34.33, Z:1.25 [[ 9.83228118e-01 1.81796046e-01 1.45830497e-02 2.54803266e+02] [-1.81765145e-01 9.83335995e-01 -3.42821613e-03 -3.43349617e+01] [-1.49632738e-02 7.20028338e-04 9.99887785e-01 1.25327021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters 0.03243518624922749 Centerline is valid? [True, True] Translation: X:254.86, Y:-34.36, Z:1.25 [[ 9.83507600e-01 1.80435376e-01 1.24850170e-02 2.54861352e+02] [-1.80412520e-01 9.83586632e-01 -2.94271916e-03 -3.43584380e+01] [-1.28110664e-02 6.41733296e-04 9.99917729e-01 1.25426297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters 0.031085526764640218 Centerline is valid? [True, True] Translation: X:254.92, Y:-34.38, Z:1.26 [[ 9.82639002e-01 1.85104926e-01 1.25203129e-02 2.54918982e+02] [-1.85082332e-01 9.82718591e-01 -2.94996366e-03 -3.43818449e+01] [-1.28499971e-02 5.81460643e-04 9.99917266e-01 1.25619000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters 0.030174417291709794 Centerline is valid? [True, True] Translation: X:254.98, Y:-34.40, Z:1.25 [[ 9.81685845e-01 1.90218371e-01 1.04820374e-02 2.54977809e+02] [-1.90202812e-01 9.81741710e-01 -2.47098194e-03 -3.44019528e+01] [-1.07606794e-02 4.32015010e-04 9.99942009e-01 1.25435632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters 0.02910509798342832 Centerline is valid? [True, True] Translation: X:255.04, Y:-34.42, Z:1.26 [[ 9.80981708e-01 1.93885700e-01 9.12275993e-03 2.55036658e+02] [-1.93874015e-01 9.81024064e-01 -2.15669829e-03 -3.44215186e+01] [-9.36779999e-03 3.47015482e-04 9.99956061e-01 1.25557752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters 0.02930670421294094 Centerline is valid? [True, True] Translation: X:255.10, Y:-34.44, Z:1.26 [[ 9.80905545e-01 1.94238376e-01 9.78597324e-03 2.55097335e+02] [-1.94224892e-01 9.80954287e-01 -2.31907813e-03 -3.44393489e+01] [-1.00500464e-02 3.74117006e-04 9.99949427e-01 1.25555094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters 0.02881989522863117 Centerline is valid? [True, True] Translation: X:255.16, Y:-34.46, Z:1.25 [[ 9.80297060e-01 1.97267114e-01 1.01666006e-02 2.55157123e+02] [-1.97252677e-01 9.80349711e-01 -2.41363214e-03 -3.44570872e+01] [-1.04429542e-02 3.60687292e-04 9.99945406e-01 1.25382209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters 0.02810007347646475 Centerline is valid? [True, True] Translation: X:255.22, Y:-34.48, Z:1.25 [[ 9.79395239e-01 2.01637282e-01 1.12859500e-02 2.55215768e+02] [-2.01619721e-01 9.79460199e-01 -2.68455129e-03 -3.44779861e+01] [-1.15954444e-02 3.53766664e-04 9.99932708e-01 1.25415599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters 0.02770858351897277 Centerline is valid? [True, True] Translation: X:255.28, Y:-34.50, Z:1.26 [[ 9.78286757e-01 2.06915820e-01 1.18686418e-02 2.55275557e+02] [-2.06896716e-01 9.78358700e-01 -2.82885018e-03 -3.44955950e+01] [-1.21971228e-02 3.11843649e-04 9.99925564e-01 1.25508131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters 0.027227869994704043 Centerline is valid? [True, True] Translation: X:255.34, Y:-34.51, Z:1.25 [[ 9.77252639e-01 2.11550096e-01 1.49611896e-02 2.55335568e+02] [-2.11520248e-01 9.77367102e-01 -3.56821693e-03 -3.45138669e+01] [-1.53774312e-02 3.22454870e-04 9.99881708e-01 1.25499144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters 0.026976962640503588 Centerline is valid? [True, True] Translation: X:255.40, Y:-34.53, Z:1.26 [[ 9.76824985e-01 2.13606192e-01 1.36140879e-02 2.55395112e+02] [-2.13581565e-01 9.76919813e-01 -3.25486528e-03 -3.45301417e+01] [-1.39951316e-02 2.71715514e-04 9.99902026e-01 1.25587997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters 0.02673154561102851 Centerline is valid? [True, True] Translation: X:255.46, Y:-34.55, Z:1.26 [[ 9.76170473e-01 2.16688157e-01 1.17239180e-02 2.55455509e+02] [-2.16670105e-01 9.76240853e-01 -2.80385946e-03 -3.45467101e+01] [-1.20529308e-02 1.96822273e-04 9.99927341e-01 1.25757281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters 0.02650829642662141 Centerline is valid? [True, True] Translation: X:255.52, Y:-34.56, Z:1.26 [[ 9.75392754e-01 2.20037477e-01 1.38738454e-02 2.55517120e+02] [-2.20012397e-01 9.75491400e-01 -3.32774923e-03 -3.45605026e+01] [-1.42660464e-02 1.93444521e-04 9.99898216e-01 1.25879398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters 0.026396694402382792 Centerline is valid? [True, True] Translation: X:255.58, Y:-34.58, Z:1.26 [[ 9.74484344e-01 2.23989860e-01 1.44501280e-02 2.55577271e+02] [-2.23962988e-01 9.74591463e-01 -3.47264273e-03 -3.45750198e+01] [-1.48608081e-02 1.47742140e-04 9.99889561e-01 1.25741631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters 0.026154774780605558 Centerline is valid? [True, True] Translation: X:255.64, Y:-34.59, Z:1.26 [[ 9.74240068e-01 2.25066649e-01 1.41878151e-02 2.55638593e+02] [-2.25040734e-01 9.74343361e-01 -3.41808147e-03 -3.45883244e+01] [-1.45930996e-02 1.37195602e-04 9.99893506e-01 1.25801545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters 0.02611538391221391 Centerline is valid? [True, True] Translation: X:255.70, Y:-34.60, Z:1.26 [[ 9.74099648e-01 2.25685291e-01 1.40008788e-02 2.55700920e+02] [-2.25660004e-01 9.74200252e-01 -3.38102484e-03 -3.45999892e+01] [-1.44027073e-02 1.34016745e-04 9.99896267e-01 1.25951377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters 0.026670946149275194 Centerline is valid? [True, True] Translation: X:255.76, Y:-34.61, Z:1.26 [[ 9.74854449e-01 2.22090910e-01 1.82874329e-02 2.55762547e+02] [-2.22046990e-01 9.75025930e-01 -4.42379467e-03 -3.46098472e+01] [-1.88132059e-02 2.51886490e-04 9.99822984e-01 1.25856471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters 0.026816853913499097 Centerline is valid? [True, True] Translation: X:255.82, Y:-34.62, Z:1.26 [[ 9.76430192e-01 2.15098730e-01 1.77937205e-02 2.55823297e+02] [-2.15055841e-01 9.76592233e-01 -4.31238705e-03 -3.46210847e+01] [-1.83047982e-02 3.84101389e-04 9.99832379e-01 1.25908807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters 0.027202817459608897 Centerline is valid? [True, True] Translation: X:255.88, Y:-34.64, Z:1.26 [[ 9.77376911e-01 2.11001882e-01 1.45800886e-02 2.55883729e+02] [-2.10972515e-01 9.77485579e-01 -3.54126944e-03 -3.46353552e+01] [-1.49990409e-02 3.85157029e-04 9.99887434e-01 1.25976133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters 0.027650943390050798 Centerline is valid? [True, True] Translation: X:255.94, Y:-34.65, Z:1.26 [[ 9.78214914e-01 2.06914814e-01 1.67881199e-02 2.55943138e+02] [-2.06875235e-01 9.78358825e-01 -4.07992317e-03 -3.46516806e+01] [-1.72690018e-02 5.17995438e-04 9.99850745e-01 1.25860360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters 0.027501709777722646 Centerline is valid? [True, True] Translation: X:256.00, Y:-34.67, Z:1.26 [[ 9.77783276e-01 2.08852609e-01 1.79012021e-02 2.56002076e+02] [-2.08807753e-01 9.77946988e-01 -4.36012250e-03 -3.46707055e+01] [-1.84170496e-02 5.25345085e-04 9.99830254e-01 1.25868397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters 0.026700897415211713 Centerline is valid? [True, True] Translation: X:256.06, Y:-34.69, Z:1.26 [[ 9.76874119e-01 2.13312036e-01 1.46605506e-02 2.56060801e+02] [-2.13282461e-01 9.76984056e-01 -3.57026320e-03 -3.46874122e+01] [-1.50847043e-02 3.60859391e-04 9.99886154e-01 1.25866758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters 0.026700137353369506 Centerline is valid? [True, True] Translation: X:256.12, Y:-34.70, Z:1.26 [[ 9.76486513e-01 2.15335945e-01 1.02235418e-02 2.56120842e+02] [-2.15321597e-01 9.76540002e-01 -2.49701207e-03 -3.47036727e+01] [-1.05213940e-02 2.36949250e-04 9.99944621e-01 1.25856324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters 0.02649518351798723 Centerline is valid? [True, True] Translation: X:256.18, Y:-34.72, Z:1.26 [[ 9.76129949e-01 2.16883577e-01 1.14819818e-02 2.56181663e+02] [-2.16865510e-01 9.76197444e-01 -2.81085163e-03 -3.47188842e+01] [-1.18183088e-02 2.53710628e-04 9.99930129e-01 1.25782554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters 0.026286888293823165 Centerline is valid? [True, True] Translation: X:256.24, Y:-34.73, Z:1.26 [[ 9.75630055e-01 2.18986990e-01 1.38091851e-02 2.56242772e+02] [-2.18960964e-01 9.75727738e-01 -3.38783549e-03 -3.47336860e+01] [-1.42158968e-02 2.81601655e-04 9.99898909e-01 1.25983997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters 0.025982679013838342 Centerline is valid? [True, True] Translation: X:256.30, Y:-34.75, Z:1.26 [[ 9.75117346e-01 2.21418274e-01 1.09594597e-02 2.56303147e+02] [-2.21401971e-01 9.75178911e-01 -2.69436361e-03 -3.47497420e+01] [-1.12840153e-02 2.00874711e-04 9.99936313e-01 1.26239831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters 0.025669852219297483 Centerline is valid? [True, True] Translation: X:256.36, Y:-34.76, Z:1.26 [[ 9.74410821e-01 2.24538007e-01 1.03070875e-02 2.56363601e+02] [-2.24523705e-01 9.74465319e-01 -2.53929320e-03 -3.47637325e+01] [-1.06140671e-02 1.60129307e-04 9.99943656e-01 1.26129327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters 0.025758216974746808 Centerline is valid? [True, True] Translation: X:256.42, Y:-34.78, Z:1.26 [[ 9.73442705e-01 2.28686473e-01 1.05734456e-02 2.56423604e+02] [-2.28671609e-01 9.73500119e-01 -2.61020550e-03 -3.47810134e+01] [-1.08901693e-02 1.23038681e-04 9.99940693e-01 1.25954705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters 0.025722761752809378 Centerline is valid? [True, True] Translation: X:256.48, Y:-34.79, Z:1.26 [[ 9.73499132e-01 2.28356561e-01 1.23579952e-02 2.56484149e+02] [-2.28336158e-01 9.73577556e-01 -3.05641628e-03 -3.47933120e+01] [-1.27294194e-02 1.53641467e-04 9.99918966e-01 1.26192507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters 0.025765349729955863 Centerline is valid? [True, True] Translation: X:256.54, Y:-34.81, Z:1.26 [[ 9.74195724e-01 2.25424338e-01 1.12498262e-02 2.56544663e+02] [-2.25407166e-01 9.74260661e-01 -2.78822028e-03 -3.48069225e+01] [-1.15887958e-02 1.80480823e-04 9.99932831e-01 1.26453167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters 0.026149312372269615 Centerline is valid? [True, True] Translation: X:256.60, Y:-34.82, Z:1.26 [[ 9.75424889e-01 2.20147928e-01 9.00972719e-03 2.56604989e+02] [-2.20136648e-01 9.75466478e-01 -2.23750624e-03 -3.48195484e+01] [-9.28126921e-03 1.99148137e-04 9.99956908e-01 1.26194503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters 0.02721816164666179 Centerline is valid? [True, True] Translation: X:256.66, Y:-34.84, Z:1.26 [[ 9.77170402e-01 2.12262672e-01 9.08642070e-03 2.56662571e+02] [-2.12250818e-01 9.77212607e-01 -2.26069938e-03 -3.48425947e+01] [-9.35922695e-03 2.80488296e-04 9.99956162e-01 1.26138613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters 0.02770774886754284 Centerline is valid? [True, True] Translation: X:256.72, Y:-34.86, Z:1.27 [[ 9.77941257e-01 2.08710203e-01 8.42313167e-03 2.56721273e+02] [-2.08699846e-01 9.77977486e-01 -2.10007169e-03 -3.48626166e+01] [-8.67593953e-03 2.95840462e-04 9.99962320e-01 1.26626174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters 0.027656810716883185 Centerline is valid? [True, True] Translation: X:256.78, Y:-34.88, Z:1.27 [[ 9.77925314e-01 2.08814718e-01 7.64812889e-03 2.56781872e+02] [-2.08806146e-01 9.77955183e-01 -1.91161010e-03 -3.48808551e+01] [-7.87869961e-03 2.72435592e-04 9.99968925e-01 1.26630695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters 0.027430210344956785 Centerline is valid? [True, True] Translation: X:256.84, Y:-34.91, Z:1.26 [[ 9.77259453e-01 2.11837394e-01 9.42765907e-03 2.56838247e+02] [-2.11824473e-01 9.77304877e-01 -2.36003657e-03 -3.49129361e+01] [-9.71364118e-03 3.09359136e-04 9.99952774e-01 1.26422929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters 0.027514150342012614 Centerline is valid? [True, True] Translation: X:256.90, Y:-34.93, Z:1.26 [[ 9.77297158e-01 2.11615205e-01 1.04532500e-02 2.56896706e+02] [-2.11599255e-01 9.77352998e-01 -2.62162259e-03 -3.49336086e+01] [-1.07712904e-02 3.50204403e-04 9.99941927e-01 1.26389166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters 0.027726229585789075 Centerline is valid? [True, True] Translation: X:256.95, Y:-34.96, Z:1.27 [[ 9.77485629e-01 2.10789321e-01 9.47135144e-03 2.56954874e+02] [-2.10776141e-01 9.77531459e-01 -2.38022188e-03 -3.49578474e+01] [-9.76026934e-03 3.30297778e-04 9.99952313e-01 1.26612614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters 0.027351011047830418 Centerline is valid? [True, True] Translation: X:257.01, Y:-34.99, Z:1.27 [[ 9.76619943e-01 2.14798242e-01 8.67190804e-03 2.57011591e+02] [-2.14787311e-01 9.76658406e-01 -2.18376444e-03 -3.49862281e+01] [-8.93856065e-03 2.70092096e-04 9.99960014e-01 1.26517986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters 0.026741726193670014 Centerline is valid? [True, True] Translation: X:257.07, Y:-35.01, Z:1.27 [[ 9.74913805e-01 2.22231239e-01 1.25039608e-02 2.57068864e+02] [-2.22209054e-01 9.74993943e-01 -3.15399235e-03 -3.50134901e+01] [-1.28922017e-02 2.96377377e-04 9.99916848e-01 1.26603349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters 0.026577607068472963 Centerline is valid? [True, True] Translation: X:257.13, Y:-35.04, Z:1.27 [[ 9.73770150e-01 2.27227091e-01 1.18128339e-02 2.57128109e+02] [-2.27207650e-01 9.73841774e-01 -2.98035035e-03 -3.50350377e+01] [-1.21810475e-02 2.18209981e-04 9.99925784e-01 1.26667545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters 0.0261923437189961 Centerline is valid? [True, True] Translation: X:257.19, Y:-35.06, Z:1.27 [[ 9.72489324e-01 2.32763157e-01 9.26432504e-03 2.57185234e+02] [-2.32751389e-01 9.72533443e-01 -2.34375425e-03 -3.50614786e+01] [-9.55540556e-03 1.22991458e-04 9.99954339e-01 1.26740717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters 0.026097253831450305 Centerline is valid? [True, True] Translation: X:257.24, Y:-35.08, Z:1.27 [[ 9.71109216e-01 2.38392040e-01 1.07761965e-02 2.57243221e+02] [-2.38376408e-01 9.71169001e-01 -2.73124821e-03 -3.50842290e+01] [-1.11166158e-02 8.35492873e-05 9.99938205e-01 1.26768370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters 0.02609258478159907 Centerline is valid? [True, True] Translation: X:257.30, Y:-35.10, Z:1.27 [[ 9.70287370e-01 2.41745766e-01 1.00699397e-02 2.57302656e+02] [-2.41732245e-01 9.70339622e-01 -2.55728652e-03 -3.51034200e+01] [-1.03894747e-02 4.70736833e-05 9.99946027e-01 1.26759797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters 0.026217265039356924 Centerline is valid? [True, True] Translation: X:257.36, Y:-35.13, Z:1.27 [[ 9.69919306e-01 2.43260388e-01 8.99574270e-03 2.57360905e+02] [-2.43249619e-01 9.69961021e-01 -2.28913977e-03 -3.51275473e+01] [-9.28237681e-03 3.20698657e-05 9.99956917e-01 1.26772363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters 0.026243302171873616 Centerline is valid? [True, True] Translation: X:257.42, Y:-35.15, Z:1.27 [[ 9.70200555e-01 2.42133727e-01 9.06316444e-03 2.57421557e+02] [-2.42122696e-01 9.70242885e-01 -2.31168482e-03 -3.51456665e+01] [-9.35320768e-03 4.84000819e-05 9.99956257e-01 1.26916368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters 0.026197148321744735 Centerline is valid? [True, True] Translation: X:257.48, Y:-35.16, Z:1.27 [[ 9.70751013e-01 2.39889085e-01 9.78250453e-03 2.57481377e+02] [-2.39876078e-01 9.70800299e-01 -2.49934329e-03 -3.51624058e+01] [-1.00964235e-02 7.96512165e-05 9.99949027e-01 1.26939774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters 0.026482800569612167 Centerline is valid? [True, True] Translation: X:257.54, Y:-35.18, Z:1.27 [[ 9.70640989e-01 2.40205007e-01 1.25548579e-02 2.57540962e+02] [-2.40183537e-01 9.70722177e-01 -3.21317057e-03 -3.51803888e+01] [-1.29590986e-02 1.03364890e-04 9.99916022e-01 1.26814915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters 0.026369563625629915 Centerline is valid? [True, True] Translation: X:257.60, Y:-35.20, Z:1.27 [[ 9.69776914e-01 2.43803266e-01 9.62830031e-03 2.57599518e+02] [-2.43790765e-01 9.69824708e-01 -2.46942704e-03 -3.52018322e+01] [-9.93981791e-03 4.75026430e-05 9.99950598e-01 1.27015947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters 0.026409174836304908 Centerline is valid? [True, True] Translation: X:257.66, Y:-35.22, Z:1.27 [[ 9.69117862e-01 2.46430204e-01 9.09527167e-03 2.57660566e+02] [-2.46419111e-01 9.69160541e-01 -2.33826736e-03 -3.52178243e+01] [-9.39099811e-03 2.48079069e-05 9.99955903e-01 1.27120586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters 0.026378752169765977 Centerline is valid? [True, True] Translation: X:257.72, Y:-35.23, Z:1.27 [[ 9.68524033e-01 2.48700754e-01 1.04466882e-02 2.57721893e+02] [-2.48686194e-01 9.68580371e-01 -2.69114426e-03 -3.52316937e+01] [-1.07877468e-02 8.49075350e-06 9.99941811e-01 1.26812649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters 0.026377128106447014 Centerline is valid? [True, True] Translation: X:257.78, Y:-35.25, Z:1.27 [[ 9.68058188e-01 2.50553595e-01 9.28652909e-03 2.57780340e+02] [-2.50542132e-01 9.68102730e-01 -2.39674390e-03 -3.52526553e+01] [-9.59082697e-03 -6.47924287e-06 9.99954007e-01 1.27146399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters 0.026290566302758438 Centerline is valid? [True, True] Translation: X:257.84, Y:-35.27, Z:1.27 [[ 9.67587881e-01 2.52360108e-01 9.38450661e-03 2.57841332e+02] [-2.52348433e-01 9.67633389e-01 -2.42757164e-03 -3.52685182e+01] [-9.69338418e-03 -1.92766339e-05 9.99953018e-01 1.27313861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters 0.026197081629141826 Centerline is valid? [True, True] Translation: X:257.90, Y:-35.28, Z:1.27 [[ 9.66946556e-01 2.54831857e-01 8.66499140e-03 2.57902183e+02] [-2.54821957e-01 9.66985379e-01 -2.24644115e-03 -3.52832081e+01] [-8.95138476e-03 -3.58415330e-05 9.99959935e-01 1.27197289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters 0.026432021138943194 Centerline is valid? [True, True] Translation: X:257.96, Y:-35.30, Z:1.27 [[ 9.67234196e-01 2.53570206e-01 1.26554710e-02 2.57961055e+02] [-2.53548921e-01 9.67316985e-01 -3.28555562e-03 -3.53030528e+01] [-1.30749710e-02 -3.08792572e-05 9.99914518e-01 1.27181879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters 0.026367336012720465 Centerline is valid? [True, True] Translation: X:258.02, Y:-35.32, Z:1.27 [[ 9.67439643e-01 2.52910615e-01 9.83659997e-03 2.58020628e+02] [-2.52897669e-01 9.67489649e-01 -2.55893976e-03 -3.53202779e+01] [-1.01639917e-02 -1.20334455e-05 9.99948345e-01 1.27136183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters 0.026269844852688795 Centerline is valid? [True, True] Translation: X:258.08, Y:-35.34, Z:1.27 [[ 9.66125463e-01 2.57969136e-01 7.31536820e-03 2.58080395e+02] [-2.57962090e-01 9.66153157e-01 -1.90716498e-03 -3.53370500e+01] [-7.55975578e-03 -4.45270162e-05 9.99971424e-01 1.27111933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters 0.026712192979315978 Centerline is valid? [True, True] Translation: X:258.14, Y:-35.35, Z:1.27 [[ 9.64835219e-01 2.62599431e-01 1.15990657e-02 2.58140335e+02] [-2.62582002e-01 9.64904930e-01 -3.02805550e-03 -3.53524557e+01] [-1.19871613e-02 -1.24131292e-04 9.99928144e-01 1.27259548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters 0.027277757000650698 Centerline is valid? [True, True] Translation: X:258.20, Y:-35.37, Z:1.27 [[ 9.63424795e-01 2.67782081e-01 1.02674792e-02 2.58200705e+02] [-2.67768663e-01 9.63479492e-01 -2.68548547e-03 -3.53673703e+01] [-1.06116305e-02 -1.62045901e-04 9.99943682e-01 1.27349830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters 0.027612822767441658 Centerline is valid? [True, True] Translation: X:258.26, Y:-35.38, Z:1.27 [[ 9.62608460e-01 2.70742553e-01 9.13358315e-03 2.58261446e+02] [-2.70732026e-01 9.62651776e-01 -2.39335549e-03 -3.53786641e+01] [-9.44044321e-03 -1.68889236e-04 9.99955424e-01 1.27260594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters 0.02731126413175469 Centerline is valid? [True, True] Translation: X:258.32, Y:-35.39, Z:1.27 [[ 9.62864046e-01 2.69861255e-01 8.22992190e-03 2.58322212e+02] [-2.69852642e-01 9.62899207e-01 -2.16059756e-03 -3.53898999e+01] [-8.50764685e-03 -1.40504459e-04 9.99963799e-01 1.27294838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters 0.027183558804069717 Centerline is valid? [True, True] Translation: X:258.39, Y:-35.40, Z:1.27 [[ 9.63281178e-01 2.68340945e-01 9.08344592e-03 2.58385445e+02] [-2.68330348e-01 9.63323995e-01 -2.38871007e-03 -3.53951912e+01] [-9.39129013e-03 -1.36364755e-04 9.99955892e-01 1.27456454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters 0.026904283729149044 Centerline is valid? [True, True] Translation: X:258.45, Y:-35.41, Z:1.28 [[ 9.63601185e-01 2.67234355e-01 7.65221706e-03 2.58445797e+02] [-2.67226768e-01 9.63631563e-01 -2.01633015e-03 -3.54098306e+01] [-7.91275058e-03 -1.01939109e-04 9.99968689e-01 1.27506063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters 0.02673161136021488 Centerline is valid? [True, True] Translation: X:258.51, Y:-35.42, Z:1.28 [[ 9.64763466e-01 2.62921955e-01 1.01735016e-02 2.58508884e+02] [-2.62908249e-01 9.64817101e-01 -2.68586505e-03 -3.54188364e+01] [-1.05217412e-02 -8.34730159e-05 9.99944641e-01 1.27536376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters 0.026474667218039132 Centerline is valid? [True, True] Translation: X:258.57, Y:-35.43, Z:1.28 [[ 9.66253110e-01 2.57381046e-01 1.04845033e-02 2.58569562e+02] [-2.57366113e-01 9.66309990e-01 -2.77260107e-03 -3.54313192e+01] [-1.08448953e-02 -1.93214639e-05 9.99941192e-01 1.27583129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters 0.026385843213823333 Centerline is valid? [True, True] Translation: X:258.63, Y:-35.45, Z:1.28 [[ 9.67498152e-01 2.52666487e-01 1.03427288e-02 2.58629623e+02] [-2.52651620e-01 9.67553432e-01 -2.74124492e-03 -3.54485310e+01] [-1.06997634e-02 3.90422202e-05 9.99942755e-01 1.27561277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters 0.026407961158722314 Centerline is valid? [True, True] Translation: X:258.69, Y:-35.47, Z:1.28 [[ 9.68226928e-01 2.49875629e-01 9.93907954e-03 2.58690079e+02] [-2.49861694e-01 9.68277938e-01 -2.63993124e-03 -3.54657696e+01] [-1.02834459e-02 7.26572686e-05 9.99947121e-01 1.27765065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters 0.02661219773483808 Centerline is valid? [True, True] Translation: X:258.75, Y:-35.48, Z:1.28 [[ 9.69300759e-01 2.45600694e-01 1.16764053e-02 2.58750111e+02] [-2.45581092e-01 9.69371074e-01 -3.10626212e-03 -3.54816720e+01] [-1.20816697e-02 1.43397856e-04 9.99927004e-01 1.27556480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters 0.02687617770550342 Centerline is valid? [True, True] Translation: X:258.81, Y:-35.50, Z:1.28 [[ 9.70078639e-01 2.42474074e-01 1.23998848e-02 2.58809265e+02] [-2.42451636e-01 9.70157865e-01 -3.30465714e-03 -3.55018013e+01] [-1.28311395e-02 1.99404937e-04 9.99917658e-01 1.27664817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters 0.027061831814888488 Centerline is valid? [True, True] Translation: X:258.87, Y:-35.52, Z:1.28 [[ 9.70968637e-01 2.38977200e-01 1.04787504e-02 2.58867797e+02] [-2.38960919e-01 9.71025156e-01 -2.79759843e-03 -3.55211427e+01] [-1.08436925e-02 2.12368503e-04 9.99941183e-01 1.27544940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters 0.027353386565722712 Centerline is valid? [True, True] Translation: X:258.93, Y:-35.54, Z:1.27 [[ 9.72338183e-01 2.33296075e-01 1.14629976e-02 2.58925743e+02] [-2.33276198e-01 9.72405703e-01 -3.06022644e-03 -3.55443108e+01] [-1.18606230e-02 3.01530522e-04 9.99929615e-01 1.27413950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters 0.027582682594012697 Centerline is valid? [True, True] Translation: X:258.98, Y:-35.57, Z:1.27 [[ 9.72899158e-01 2.31010045e-01 1.00790975e-02 2.58984718e+02] [-2.30994485e-01 9.72951320e-01 -2.69747630e-03 -3.55653998e+01] [-1.04296153e-02 2.96156493e-04 9.99945566e-01 1.27373732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters 0.02783783815498915 Centerline is valid? [True, True] Translation: X:259.04, Y:-35.59, Z:1.27 [[ 9.73657051e-01 2.27606046e-01 1.36907164e-02 2.59042025e+02] [-2.27577009e-01 9.73753195e-01 -3.66342046e-03 -3.55926320e+01] [-1.41651955e-02 4.51222867e-04 9.99899567e-01 1.27384761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters 0.027921198147872674 Centerline is valid? [True, True] Translation: X:259.10, Y:-35.62, Z:1.27 [[ 9.73787780e-01 2.27205859e-01 1.07171340e-02 2.59099163e+02] [-2.27187962e-01 9.73846684e-01 -2.87495069e-03 -3.56190871e+01] [-1.10900511e-02 3.64788019e-04 9.99938437e-01 1.27384179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters 0.027793030475395226 Centerline is valid? [True, True] Translation: X:259.16, Y:-35.65, Z:1.27 [[ 9.73526648e-01 2.28379397e-01 9.41900041e-03 2.59155701e+02] [-2.28365581e-01 9.73572161e-01 -2.53152906e-03 -3.56484439e+01] [-9.74822567e-03 3.13535497e-04 9.99952436e-01 1.27172769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters 0.027247382908618386 Centerline is valid? [True, True] Translation: X:259.21, Y:-35.68, Z:1.27 [[ 9.71864744e-01 2.35187681e-01 1.28714494e-02 2.59212962e+02] [-2.35162455e-01 9.71949917e-01 -3.46102071e-03 -3.56766313e+01] [-1.33243936e-02 3.36762364e-04 9.99911170e-01 1.27498860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters 0.026673459559681117 Centerline is valid? [True, True] Translation: X:259.27, Y:-35.70, Z:1.28 [[ 9.70264393e-01 2.41805973e-01 1.08110762e-02 2.59270037e+02] [-2.41788587e-01 9.70324600e-01 -2.90699922e-03 -3.56999107e+01] [-1.11931829e-02 2.06562993e-04 9.99937333e-01 1.27501101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters 0.02602913059281723 Centerline is valid? [True, True] Translation: X:259.33, Y:-35.72, Z:1.28 [[ 9.67267132e-01 2.53662666e-01 7.03896657e-03 2.59326959e+02] [-2.53655605e-01 9.67292742e-01 -1.89334032e-03 -3.57244243e+01] [-7.28901103e-03 4.58925446e-05 9.99973434e-01 1.27592480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters 0.026185743472914177 Centerline is valid? [True, True] Translation: X:259.39, Y:-35.74, Z:1.27 [[ 9.64915655e-01 2.62406892e-01 8.96672790e-03 2.59387046e+02] [-2.62395768e-01 9.64957316e-01 -2.41629669e-03 -3.57412964e+01] [-9.28656260e-03 -2.13089532e-05 9.99956879e-01 1.27325806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters 0.026330522813958503 Centerline is valid? [True, True] Translation: X:259.45, Y:-35.76, Z:1.27 [[ 9.63625197e-01 2.67177549e-01 6.52970591e-03 2.59447103e+02] [-2.67171725e-01 9.63647319e-01 -1.76453703e-03 -3.57592020e+01] [-6.76377827e-03 -4.42004531e-05 9.99977124e-01 1.27259464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters 0.02634787230088647 Centerline is valid? [True, True] Translation: X:259.51, Y:-35.78, Z:1.27 [[ 9.63094926e-01 2.69017638e-01 8.81326009e-03 2.59506232e+02] [-2.69007079e-01 9.63135248e-01 -2.38462693e-03 -3.57780302e+01] [-9.12986815e-03 -7.42072522e-05 9.99958319e-01 1.27378193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters 0.026113304372222333 Centerline is valid? [True, True] Translation: X:259.57, Y:-35.79, Z:1.27 [[ 9.64148471e-01 2.65239075e-01 8.12154297e-03 2.59566244e+02] [-2.65229940e-01 9.64182676e-01 -2.20156021e-03 -3.57934772e+01] [-8.41459083e-03 -3.14454477e-05 9.99964596e-01 1.27321295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters 0.025740768195499072 Centerline is valid? [True, True] Translation: X:259.63, Y:-35.81, Z:1.27 [[ 9.65761501e-01 2.59363555e-01 5.93881871e-03 2.59625244e+02] [-2.59358538e-01 9.65779761e-01 -1.61334923e-03 -3.58145134e+01] [-6.15403490e-03 1.78272391e-05 9.99981064e-01 1.27201977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters 0.02562008978260426 Centerline is valid? [True, True] Translation: X:259.68, Y:-35.84, Z:1.27 [[ 9.66823551e-01 2.55348938e-01 7.01011275e-03 2.59683345e+02] [-2.55341847e-01 9.66848963e-01 -1.90366447e-03 -3.58378819e+01] [-7.26381895e-03 5.05325047e-05 9.99973617e-01 1.27120785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters 0.025540320336486066 Centerline is valid? [True, True] Translation: X:259.74, Y:-35.86, Z:1.27 [[ 9.66824542e-01 2.55273080e-01 9.27140531e-03 2.59740215e+02] [-2.55260616e-01 9.66868993e-01 -2.52360899e-03 -3.58640824e+01] [-9.60844375e-03 7.32624728e-05 9.99953835e-01 1.27183947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters 0.025205770973394215 Centerline is valid? [True, True] Translation: X:259.80, Y:-35.89, Z:1.27 [[ 9.65589314e-01 2.59954908e-01 7.79253131e-03 2.59797853e+02] [-2.59946221e-01 9.65620756e-01 -2.12528134e-03 -3.58894815e+01] [-8.07710730e-03 2.65098860e-05 9.99967379e-01 1.27301768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters 0.025370217685893676 Centerline is valid? [True, True] Translation: X:259.85, Y:-35.92, Z:1.28 [[ 9.64424979e-01 2.64295752e-01 5.67579769e-03 2.59854220e+02] [-2.64291199e-01 9.64441681e-01 -1.55125697e-03 -3.59184809e+01] [-5.88396649e-03 -3.99240752e-06 9.99982689e-01 1.27660717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters 0.025327577298647576 Centerline is valid? [True, True] Translation: X:259.91, Y:-35.94, Z:1.27 [[ 9.63169230e-01 2.68862770e-01 4.22444021e-03 2.59913765e+02] [-2.68860277e-01 9.63178494e-01 -1.15784802e-03 -3.59404053e+01] [-4.38019218e-03 -2.05805808e-05 9.99990407e-01 1.27327937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters 0.02552705353839695 Centerline is valid? [True, True] Translation: X:259.97, Y:-35.96, Z:1.28 [[ 9.62019119e-01 2.72955060e-01 3.84055021e-03 2.59973407e+02] [-2.72953026e-01 9.62026785e-01 -1.05428724e-03 -3.59580146e+01] [-3.98248520e-03 -3.40453184e-05 9.99992069e-01 1.27600426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters 0.026396933250585116 Centerline is valid? [True, True] Translation: X:260.03, Y:-35.98, Z:1.28 [[ 9.60066193e-01 2.79743644e-01 4.04939746e-03 2.60031584e+02] [-2.79741436e-01 9.60074731e-01 -1.11338412e-03 -3.59801650e+01] [-4.19918631e-03 -6.38618049e-05 9.99991181e-01 1.27822781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters 0.02654678569022892 Centerline is valid? [True, True] Translation: X:260.09, Y:-36.00, Z:1.28 [[ 9.59372300e-01 2.82121153e-01 3.52780206e-03 2.60091030e+02] [-2.82119486e-01 9.59378784e-01 -9.71906748e-04 -3.59982486e+01] [-3.65869390e-03 -6.28412908e-05 9.99993305e-01 1.27698863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters 0.02703740864263099 Centerline is valid? [True, True] Translation: X:260.15, Y:-36.01, Z:1.28 [[ 9.58498566e-01 2.85059344e-01 4.65499760e-03 2.60150410e+02] [-2.85056469e-01 9.58509865e-01 -1.28388919e-03 -3.60149180e+01] [-4.82784573e-03 -9.63312324e-05 9.99988341e-01 1.27948853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters 0.027423246740851663 Centerline is valid? [True, True] Translation: X:260.21, Y:-36.03, Z:1.28 [[ 9.57687833e-01 2.87767790e-01 4.86970275e-03 2.60210567e+02] [-2.87764668e-01 9.57700207e-01 -1.34520309e-03 -3.60299528e+01] [-5.05082145e-03 -1.13043768e-04 9.99987238e-01 1.27935617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters 0.028518469725069186 Centerline is valid? [True, True] Translation: X:260.27, Y:-36.05, Z:1.28 [[ 9.55946254e-01 2.93529737e-01 2.65578045e-03 2.60269335e+02] [-2.93528832e-01 9.55949940e-01 -7.33405302e-04 -3.60496272e+01] [-2.75406943e-03 -7.84520826e-05 9.99996204e-01 1.27941344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters 0.029692264535482633 Centerline is valid? [True, True] Translation: X:260.33, Y:-36.06, Z:1.28 [[ 9.54242285e-01 2.98994240e-01 4.90980677e-03 2.60329477e+02] [-2.98991201e-01 9.54254901e-01 -1.35876809e-03 -3.60628252e+01] [-5.09147100e-03 -1.71395058e-04 9.99987024e-01 1.28053295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters 0.030217416180111673 Centerline is valid? [True, True] Translation: X:260.39, Y:-36.08, Z:1.28 [[ 9.53735489e-01 3.00631585e-01 3.04429765e-03 2.60389022e+02] [-3.00630418e-01 9.53740341e-01 -8.44770663e-04 -3.60789694e+01] [-3.15743422e-03 -1.09520715e-04 9.99995009e-01 1.28105073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters 0.029435463583894372 Centerline is valid? [True, True] Translation: X:260.45, Y:-36.09, Z:1.28 [[ 9.54036790e-01 2.99689476e-01 -1.44247129e-04 2.60449596e+02] [-2.99689473e-01 9.54036801e-01 3.91782549e-05 -3.60937902e+01] [ 1.49358380e-04 5.85184940e-06 9.99999989e-01 1.28055481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters 0.02987285559283224 Centerline is valid? [True, True] Translation: X:260.51, Y:-36.11, Z:1.28 [[ 9.54171097e-01 2.99239796e-01 3.61417716e-03 2.60510824e+02] [-2.99238132e-01 9.54177934e-01 -1.00532269e-03 -3.61085543e+01] [-3.74940065e-03 -1.22249769e-04 9.99992963e-01 1.27887609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters 0.029720950467615168 Centerline is valid? [True, True] Translation: X:260.57, Y:-36.12, Z:1.28 [[ 9.54011232e-01 2.99770343e-01 5.57426260e-04 2.60571167e+02] [-2.99770303e-01 9.54011395e-01 -1.57067195e-04 -3.61232554e+01] [-5.78875090e-04 -1.72559703e-05 9.99999832e-01 1.27959763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters 0.02915356168904545 Centerline is valid? [True, True] Translation: X:260.63, Y:-36.14, Z:1.28 [[ 9.54657218e-01 2.97701315e-01 1.87684579e-03 2.60630898e+02] [-2.97700858e-01 9.54659062e-01 -5.24615742e-04 -3.61396524e+01] [-1.94792663e-03 -5.79103968e-05 9.99998101e-01 1.27988150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters 0.02906543686888089 Centerline is valid? [True, True] Translation: X:260.69, Y:-36.16, Z:1.28 [[ 9.55482422e-01 2.95014143e-01 4.47169358e-03 2.60690980e+02] [-2.95011526e-01 9.55492878e-01 -1.24895041e-03 -3.61564306e+01] [-4.64112941e-03 -1.25850985e-04 9.99989222e-01 1.28094550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters 0.028242858966814187 Centerline is valid? [True, True] Translation: X:260.75, Y:-36.17, Z:1.28 [[ 9.56234626e-01 2.92597083e-01 1.51221802e-03 2.60751245e+02] [-2.92596777e-01 9.56235821e-01 -4.24490296e-04 -3.61701164e+01] [-1.57024166e-03 -3.65578004e-05 9.99998767e-01 1.27956488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters 0.028617457145659886 Centerline is valid? [True, True] Translation: X:260.81, Y:-36.19, Z:1.28 [[ 9.55727203e-01 2.94231400e-01 3.66000872e-03 2.60809549e+02] [-2.94229627e-01 9.55734207e-01 -1.02593962e-03 -3.61903736e+01] [-3.79985918e-03 -9.63645942e-05 9.99992776e-01 1.27916724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters 0.02928942795179779 Centerline is valid? [True, True] Translation: X:260.87, Y:-36.21, Z:1.28 [[ 9.54944180e-01 2.96774527e-01 2.54831985e-03 2.60868814e+02] [-2.96773672e-01 9.54947577e-01 -7.16120913e-04 -3.62097359e+01] [-2.64603831e-03 -7.24187419e-05 9.99996497e-01 1.28080141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters 0.0296456504657006 Centerline is valid? [True, True] Translation: X:260.93, Y:-36.23, Z:1.28 [[ 9.54415011e-01 2.98469967e-01 2.76857769e-03 2.60928542e+02] [-2.98468961e-01 9.54419023e-01 -7.79074881e-04 -3.62259640e+01] [-2.87491367e-03 -8.27737473e-05 9.99995864e-01 1.28274617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters 0.029305925754874618 Centerline is valid? [True, True] Translation: X:260.99, Y:-36.24, Z:1.28 [[ 9.54528837e-01 2.98075481e-01 5.07014050e-03 2.60989987e+02] [-2.98072098e-01 9.54542291e-01 -1.42784413e-03 -3.62394840e+01] [-5.26526885e-03 -1.48349019e-04 9.99986127e-01 1.27932749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters 0.028945195550940984 Centerline is valid? [True, True] Translation: X:261.05, Y:-36.26, Z:1.28 [[ 9.54963793e-01 2.96684023e-01 4.76903223e-03 2.61049600e+02] [-2.96681003e-01 9.54975693e-01 -1.34509265e-03 -3.62554186e+01] [-4.95337736e-03 -1.30366489e-04 9.99987723e-01 1.28268358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters 0.028505218561373384 Centerline is valid? [True, True] Translation: X:261.11, Y:-36.27, Z:1.28 [[ 9.55373711e-01 2.95399629e-01 3.63576805e-04 2.61109754e+02] [-2.95399611e-01 9.55373780e-01 -1.04766468e-04 -3.62710144e+01] [-3.78299722e-04 -7.30931780e-06 9.99999928e-01 1.28296554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters 0.028507931773357125 Centerline is valid? [True, True] Translation: X:261.17, Y:-36.29, Z:1.28 [[ 9.55863039e-01 2.93797415e-01 2.98817104e-03 2.61168787e+02] [-2.93796204e-01 9.55867708e-01 -8.46401453e-04 -3.62901249e+01] [-3.10496676e-03 -6.88694431e-05 9.99995177e-01 1.28212444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters 0.028761025133944254 Centerline is valid? [True, True] Translation: X:261.23, Y:-36.31, Z:1.28 [[ 9.55251018e-01 2.95781345e-01 2.98121852e-03 2.61228438e+02] [-2.95780145e-01 9.55255668e-01 -8.45775509e-04 -3.63072281e+01] [-3.09799050e-03 -7.38573279e-05 9.99995198e-01 1.28440136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters 0.029578934663198095 Centerline is valid? [True, True] Translation: X:261.29, Y:-36.32, Z:1.28 [[ 9.54059814e-01 2.99604719e-01 2.62367589e-03 2.61287970e+02] [-2.99603800e-01 9.54063419e-01 -7.45771708e-04 -3.63248322e+01] [-2.72658991e-03 -7.45524478e-05 9.99996280e-01 1.28239476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters 0.030450408201791374 Centerline is valid? [True, True] Translation: X:261.35, Y:-36.34, Z:1.28 [[ 9.52798023e-01 3.03575288e-01 4.23926537e-03 2.61347670e+02] [-3.03572939e-01 9.52807444e-01 -1.20262085e-03 -3.63416217e+01] [-4.40428957e-03 -1.41071472e-04 9.99990291e-01 1.28206730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters 0.03138202796336445 Centerline is valid? [True, True] Translation: X:261.41, Y:-36.36, Z:1.29 [[ 9.51653061e-01 3.07149649e-01 3.94255185e-03 2.61406878e+02] [-3.07147635e-01 9.51661217e-01 -1.12151928e-03 -3.63584448e+01] [-4.09644794e-03 -1.43648225e-04 9.99991599e-01 1.28529086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters 0.0325399053455712 Centerline is valid? [True, True] Translation: X:261.47, Y:-36.37, Z:1.28 [[ 9.50178210e-01 3.11706840e-01 4.65009577e-04 2.61466681e+02] [-3.11706811e-01 9.50178323e-01 -1.34219709e-04 -3.63729945e+01] [-4.83679221e-04 -1.74140095e-05 9.99999883e-01 1.28395375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters 0.03342972185437369 Centerline is valid? [True, True] Translation: X:261.53, Y:-36.39, Z:1.28 [[ 9.48649160e-01 3.16323315e-01 -2.08106718e-03 2.61526901e+02] [-3.16322778e-01 9.48651438e-01 5.91221546e-04 -3.63867316e+01] [ 2.16122453e-03 9.74271276e-05 9.99997660e-01 1.28478255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters 0.03434534281200617 Centerline is valid? [True, True] Translation: X:261.59, Y:-36.40, Z:1.29 [[ 9.47834307e-01 3.18763308e-01 2.82118553e-04 2.61587474e+02] [-3.18763298e-01 9.47834349e-01 -8.25110657e-05 -3.63995378e+01] [-2.93703155e-04 -1.17222218e-05 9.99999957e-01 1.28515729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters 0.03382577293375995 Centerline is valid? [True, True] Translation: X:261.65, Y:-36.41, Z:1.28 [[ 9.48142937e-01 3.17827849e-01 3.22957997e-03 2.61648049e+02] [-3.17826542e-01 9.48148425e-01 -9.23929515e-04 -3.64121275e+01] [-3.35577169e-03 -1.50428989e-04 9.99994358e-01 1.28458401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters 0.03261355718655013 Centerline is valid? [True, True] Translation: X:261.71, Y:-36.42, Z:1.28 [[ 9.49665730e-01 3.13224374e-01 5.04894724e-03 2.61709017e+02] [-3.13221126e-01 9.49679128e-01 -1.44207897e-03 -3.64243650e+01] [-5.24657409e-03 -2.11943963e-04 9.99986214e-01 1.28381922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters 0.030032908524051112 Centerline is valid? [True, True] Translation: X:261.77, Y:-36.44, Z:1.28 [[ 9.52209282e-01 3.05412005e-01 4.58142775e-03 2.61769384e+02] [-3.05409234e-01 9.52220292e-01 -1.30988779e-03 -3.64353417e+01] [-4.76258392e-03 -1.51923031e-04 9.99988647e-01 1.28446874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters 0.029445601640789697 Centerline is valid? [True, True] Translation: X:261.83, Y:-36.45, Z:1.28 [[ 9.53589110e-01 3.01089762e-01 3.57285633e-03 2.61829105e+02] [-3.01088046e-01 9.53595797e-01 -1.02165200e-03 -3.64513015e+01] [-3.71466974e-03 -1.01508111e-04 9.99993095e-01 1.28365306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters 0.028156627664172807 Centerline is valid? [True, True] Translation: X:261.89, Y:-36.47, Z:1.29 [[ 9.54779704e-01 2.97271850e-01 5.01633635e-03 2.61888418e+02] [-2.97268394e-01 9.54792875e-01 -1.43821786e-03 -3.64692420e+01] [-5.21710389e-03 -1.18017028e-04 9.99986384e-01 1.28611899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters 0.027541703909796336 Centerline is valid? [True, True] Translation: X:261.95, Y:-36.49, Z:1.29 [[ 9.55961566e-01 2.93436850e-01 5.68330576e-03 2.61947721e+02] [-2.93432351e-01 9.55978453e-01 -1.62871677e-03 -3.64893014e+01] [-5.91104337e-03 -1.10675136e-04 9.99982524e-01 1.28565041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters 0.026913973270964765 Centerline is valid? [True, True] Translation: X:262.01, Y:-36.51, Z:1.28 [[ 9.57412791e-01 2.88633640e-01 7.16732757e-03 2.62006241e+02] [-2.88626315e-01 9.57439613e-01 -2.05861980e-03 -3.65115132e+01] [-7.45647026e-03 -9.77304121e-05 9.99972195e-01 1.28445649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters 0.025894219226321836 Centerline is valid? [True, True] Translation: X:262.07, Y:-36.53, Z:1.29 [[ 9.59335326e-01 2.82210893e-01 5.72220567e-03 2.62065255e+02] [-2.82206110e-01 9.59352391e-01 -1.64350212e-03 -3.65328259e+01] [-5.95342590e-03 -3.81717596e-05 9.99982277e-01 1.28514300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters 0.025406139417980676 Centerline is valid? [True, True] Translation: X:262.12, Y:-36.56, Z:1.28 [[ 9.61108519e-01 2.76105764e-01 6.00175615e-03 2.62122205e+02] [-2.76100356e-01 9.61127258e-01 -1.72818823e-03 -3.65584492e+01] [-6.24561417e-03 3.88941996e-06 9.99980496e-01 1.28356960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters 0.0254696480528733 Centerline is valid? [True, True] Translation: X:262.18, Y:-36.59, Z:1.29 [[ 9.60433042e-01 2.78447315e-01 5.95516327e-03 2.62178733e+02] [-2.78442012e-01 9.60451505e-01 -1.71850442e-03 -3.65906356e+01] [-6.19815846e-03 -7.65921786e-06 9.99980791e-01 1.28596364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters 0.025603921438498527 Centerline is valid? [True, True] Translation: X:262.23, Y:-36.62, Z:1.29 [[ 9.58584676e-01 2.84800296e-01 2.05204678e-03 2.62234256e+02] [-2.84799675e-01 9.58586872e-01 -5.94969973e-04 -3.66233029e+01] [-2.13651272e-03 -1.40931562e-05 9.99997718e-01 1.28673987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters 0.02688814306659431 Centerline is valid? [True, True] Translation: X:262.29, Y:-36.65, Z:1.29 [[ 9.56005920e-01 2.93316680e-01 4.24329027e-03 2.62290213e+02] [-2.93314113e-01 9.56015335e-01 -1.22911619e-03 -3.66523189e+01] [-4.41717084e-03 -6.95745677e-05 9.99990242e-01 1.28692479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters 0.02826284268417562 Centerline is valid? [True, True] Translation: X:262.35, Y:-36.68, Z:1.29 [[ 9.53286274e-01 3.02060539e-01 2.17049505e-03 2.62347011e+02] [-3.02059890e-01 9.53288743e-01 -6.28462008e-04 -3.66796475e+01] [-2.25894207e-03 -5.65152897e-05 9.99997447e-01 1.28772117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters 0.03051866508592008 Centerline is valid? [True, True] Translation: X:262.40, Y:-36.70, Z:1.29 [[ 9.49998479e-01 3.12237057e-01 3.30303616e-03 2.62404441e+02] [-3.12235609e-01 9.50004213e-01 -9.58690803e-04 -3.67032908e+01] [-3.43723706e-03 -1.20570702e-04 9.99994085e-01 1.28897571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters 0.03159943422090505 Centerline is valid? [True, True] Translation: X:262.46, Y:-36.72, Z:1.29 [[ 9.48334733e-01 3.17271372e-01 -3.33335998e-04 2.62463321e+02] [-3.17271358e-01 9.48334791e-01 9.59851100e-05 -3.67228365e+01] [ 3.46567452e-04 1.47319511e-05 9.99999940e-01 1.28953527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters 0.03429762246221176 Centerline is valid? [True, True] Translation: X:262.52, Y:-36.74, Z:1.29 [[ 9.45483280e-01 3.25669300e-01 9.34552510e-04 2.62522032e+02] [-3.25669189e-01 9.45483741e-01 -2.73070691e-04 -3.67399064e+01] [-9.72534944e-04 -4.61711853e-05 9.99999526e-01 1.28853163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters 0.03588991307784095 Centerline is valid? [True, True] Translation: X:262.58, Y:-36.75, Z:1.29 [[ 9.43936733e-01 3.30107091e-01 3.57118452e-03 2.62582276e+02] [-3.30105522e-01 9.43943467e-01 -1.03721356e-03 -3.67548866e+01] [-3.71338784e-03 -1.99803753e-04 9.99993085e-01 1.28887844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters 0.03528561361171055 Centerline is valid? [True, True] Translation: X:262.64, Y:-36.77, Z:1.29 [[ 9.44268396e-01 3.29166968e-01 -2.51063944e-03 2.62642902e+02] [-3.29166193e-01 9.44271723e-01 7.27825762e-04 -3.67687834e+01] [ 2.61030203e-03 1.39154763e-04 9.99996583e-01 1.29021740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters 0.03482916907680835 Centerline is valid? [True, True] Translation: X:262.70, Y:-36.78, Z:1.29 [[ 9.44865026e-01 3.27428907e-01 4.51601182e-03 2.62703686e+02] [-3.27426343e-01 9.44875789e-01 -1.31682231e-03 -3.67818445e+01] [-4.69823592e-03 -2.34441890e-04 9.99988936e-01 1.28922142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters 0.03444533765469122 Centerline is valid? [True, True] Translation: X:262.76, Y:-36.79, Z:1.29 [[ 9.45070134e-01 3.26850966e-01 3.29976379e-03 2.62764438e+02] [-3.26849587e-01 9.45075879e-01 -9.64145511e-04 -3.67942971e+01] [-3.43365906e-03 -1.67341306e-04 9.99994091e-01 1.28865513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters 0.03332822823747426 Centerline is valid? [True, True] Translation: X:262.82, Y:-36.81, Z:1.29 [[ 9.46074862e-01 3.23936095e-01 2.78587173e-03 2.62824211e+02] [-3.23935097e-01 9.46078955e-01 -8.14927233e-04 -3.68071844e+01] [-2.89963896e-03 -1.31459460e-04 9.99995787e-01 1.28953979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters 0.03169698511775249 Centerline is valid? [True, True] Translation: X:262.88, Y:-36.82, Z:1.29 [[ 9.48027958e-01 3.18173769e-01 2.90581016e-03 2.62883030e+02] [-3.18172654e-01 9.48032404e-01 -8.50780519e-04 -3.68235556e+01] [-3.02549823e-03 -1.17985610e-04 9.99995416e-01 1.29191040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters 0.029890431883929775 Centerline is valid? [True, True] Translation: X:262.94, Y:-36.83, Z:1.29 [[ 9.50240098e-01 3.11518415e-01 1.81470064e-04 2.62943723e+02] [-3.11518410e-01 9.50240116e-01 -5.47018205e-05 -3.68342118e+01] [-1.89480759e-04 -4.55140261e-06 9.99999982e-01 1.28913676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters 0.02864241452019901 Centerline is valid? [True, True] Translation: X:263.00, Y:-36.85, Z:1.29 [[ 9.51497922e-01 3.07651053e-01 1.59174662e-03 2.63003457e+02] [-3.07650702e-01 9.51499252e-01 -4.67282408e-04 -3.68523873e+01] [-1.65830564e-03 -4.50837241e-05 9.99998624e-01 1.29043256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters 0.02777030588111986 Centerline is valid? [True, True] Translation: X:263.06, Y:-36.88, Z:1.29 [[ 9.53188934e-01 3.02351923e-01 3.76450096e-03 2.63060863e+02] [-3.02349911e-01 9.53196364e-01 -1.10623463e-03 -3.68760176e+01] [-3.92278079e-03 -8.37459281e-05 9.99992302e-01 1.29288373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters 0.026820409010864615 Centerline is valid? [True, True] Translation: X:263.12, Y:-36.90, Z:1.29 [[ 9.54594151e-01 2.97906772e-01 1.24991341e-03 2.63119218e+02] [-2.97906544e-01 9.54594969e-01 -3.69339253e-04 -3.68965871e+01] [-1.30318972e-03 -1.97882932e-05 9.99999151e-01 1.29046677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters 0.026391370500584464 Centerline is valid? [True, True] Translation: X:263.18, Y:-36.92, Z:1.29 [[ 9.55680259e-01 2.94392627e-01 2.86760671e-03 2.63176054e+02] [-2.94391414e-01 9.55684561e-01 -8.45882924e-04 -3.69233190e+01] [-2.98954915e-03 -3.58051799e-05 9.99995531e-01 1.29283053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters 0.02638102533495347 Centerline is valid? [True, True] Translation: X:263.23, Y:-36.95, Z:1.29 [[ 9.55918010e-01 2.93627318e-01 1.93817357e-03 2.63233254e+02] [-2.93626759e-01 9.55919975e-01 -5.73330997e-04 -3.69497627e+01] [-2.02108447e-03 -2.10421958e-05 9.99997957e-01 1.29302503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters 0.0266256690870679 Centerline is valid? [True, True] Translation: X:263.29, Y:-36.98, Z:1.29 [[ 9.55364380e-01 2.95422863e-01 2.05732469e-03 2.63289731e+02] [-2.95422235e-01 9.55366595e-01 -6.09876356e-04 -3.69784733e+01] [-2.14567070e-03 -2.51253105e-05 9.99997698e-01 1.29414053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters 0.02708987664757893 Centerline is valid? [True, True] Translation: X:263.35, Y:-37.01, Z:1.29 [[ 9.54376280e-01 2.98606090e-01 -5.64982433e-04 2.63345804e+02] [-2.98606045e-01 9.54376447e-01 1.64805983e-04 -3.70061560e+01] [ 5.88417997e-04 1.14202488e-05 9.99999827e-01 1.29446965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters 0.027355639881123748 Centerline is valid? [True, True] Translation: X:263.40, Y:-37.03, Z:1.30 [[ 9.53911719e-01 3.00086656e-01 -6.56245821e-04 2.63402546e+02] [-3.00086594e-01 9.53911945e-01 1.92957363e-04 -3.70312438e+01] [ 6.83904658e-04 1.28662831e-05 9.99999766e-01 1.29606175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters 0.02781214377697646 Centerline is valid? [True, True] Translation: X:263.46, Y:-37.06, Z:1.30 [[ 9.53102879e-01 3.02643861e-01 1.26315680e-03 2.63459551e+02] [-3.02643627e-01 9.53103716e-01 -3.76580717e-04 -3.70555687e+01] [-1.31788928e-03 -2.33661910e-05 9.99999131e-01 1.29656407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters 0.028204880367423957 Centerline is valid? [True, True] Translation: X:263.52, Y:-37.08, Z:1.30 [[ 9.52541480e-01 3.04407241e-01 -9.80390990e-04 2.63516764e+02] [-3.04407105e-01 9.52541984e-01 2.88554226e-04 -3.70817156e+01] [ 1.02170158e-03 2.35781135e-05 9.99999478e-01 1.29557466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters 0.028154698759568195 Centerline is valid? [True, True] Translation: X:263.58, Y:-37.10, Z:1.30 [[ 9.52337279e-01 3.05047056e-01 -3.07154646e-05 2.63575471e+02] [-3.05047056e-01 9.52337279e-01 6.58329238e-06 -3.71043046e+01] [ 3.12596963e-05 3.10014732e-06 1.00000000e+00 1.29578991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters 0.027778976684545587 Centerline is valid? [True, True] Translation: X:263.63, Y:-37.13, Z:1.30 [[ 9.53458220e-01 3.01524389e-01 6.82845219e-04 2.63632700e+02] [-3.01524319e-01 9.53458464e-01 -2.05611301e-04 -3.71290454e+01] [-7.13061376e-04 -9.85265463e-06 9.99999746e-01 1.29749960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters 0.028453605791337176 Centerline is valid? [True, True] Translation: X:263.69, Y:-37.16, Z:1.30 [[ 9.53485891e-01 3.01437557e-01 2.33465434e-04 2.63690246e+02] [-3.01437548e-01 9.53485920e-01 -7.22091627e-05 -3.71565456e+01] [-2.44372557e-04 -1.52483000e-06 9.99999970e-01 1.29794250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters 0.027986550823581834 Centerline is valid? [True, True] Translation: X:263.75, Y:-37.18, Z:1.30 [[ 9.54253760e-01 2.98989562e-01 2.23673065e-03 2.63748864e+02] [-2.98988812e-01 9.54256381e-01 -6.70293540e-04 -3.71771220e+01] [-2.33482526e-03 -2.91273069e-05 9.99997274e-01 1.29700655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters 0.027026589821797203 Centerline is valid? [True, True] Translation: X:263.81, Y:-37.20, Z:1.30 [[ 9.54357851e-01 2.98665242e-01 -4.06077983e-04 2.63807790e+02] [-2.98665217e-01 9.54357938e-01 1.20631865e-04 -3.71981845e+01] [ 4.23572291e-04 6.15540164e-06 9.99999910e-01 1.29999728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters 0.027478701068170578 Centerline is valid? [True, True] Translation: X:263.86, Y:-37.23, Z:1.30 [[ 9.54570770e-01 2.97984257e-01 1.64523910e-04 2.63864674e+02] [-2.97984252e-01 9.54570785e-01 -5.18074584e-05 -3.72263222e+01] [-1.72487525e-04 4.28351061e-07 9.99999985e-01 1.29929649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters 0.026777115859447646 Centerline is valid? [True, True] Translation: X:263.92, Y:-37.25, Z:1.30 [[ 9.54886708e-01 2.96969469e-01 7.13460046e-04 2.63922955e+02] [-2.96969391e-01 9.54886975e-01 -2.14576735e-04 -3.72469451e+01] [-7.44996444e-04 -6.97932351e-06 9.99999722e-01 1.29971601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters 0.02717201377572158 Centerline is valid? [True, True] Translation: X:263.98, Y:-37.28, Z:1.30 [[ 9.54675013e-01 2.97650162e-01 2.40918573e-05 2.63980011e+02] [-2.97650162e-01 9.54675013e-01 -9.80039983e-06 -3.72751398e+01] [-2.59169845e-05 2.18525159e-06 1.00000000e+00 1.29781692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters 0.02757965075298804 Centerline is valid? [True, True] Translation: X:264.04, Y:-37.30, Z:1.30 [[ 9.54182355e-01 2.99217979e-01 2.15264505e-03 2.64037751e+02] [-2.99217276e-01 9.54184783e-01 -6.49011995e-04 -3.72995603e+01] [-2.24821721e-03 -2.48327948e-05 9.99997472e-01 1.29917912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters 0.02811997065846666 Centerline is valid? [True, True] Translation: X:264.10, Y:-37.32, Z:1.30 [[ 9.52744919e-01 3.03771385e-01 -2.56646406e-04 2.64096666e+02] [-3.03771376e-01 9.52744953e-01 7.53292057e-05 -3.73187180e+01] [ 2.67401425e-04 6.19231375e-06 9.99999964e-01 1.29801676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters 0.02870395624108689 Centerline is valid? [True, True] Translation: X:264.16, Y:-37.34, Z:1.30 [[ 9.51457026e-01 3.07781615e-01 7.55911460e-05 2.64155356e+02] [-3.07781614e-01 9.51457029e-01 -2.47362801e-05 -3.73400967e+01] [-7.95350992e-05 2.69942548e-07 9.99999997e-01 1.29959457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters 0.029124278238602433 Centerline is valid? [True, True] Translation: X:264.21, Y:-37.36, Z:1.30 [[ 9.50627789e-01 3.10332728e-01 6.36460549e-04 2.64213638e+02] [-3.10332668e-01 9.50628002e-01 -1.94017423e-04 -3.73604968e+01] [-6.65247176e-04 -1.30761464e-05 9.99999779e-01 1.30244771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters 0.02915849882899173 Centerline is valid? [True, True] Translation: X:264.27, Y:-37.38, Z:1.30 [[ 9.50488238e-01 3.10759955e-01 -5.99827525e-04 2.64274008e+02] [-3.10759904e-01 9.50488427e-01 1.79086003e-04 -3.73786549e+01] [ 6.25781880e-04 1.61832042e-05 9.99999804e-01 1.30235802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters 0.028568166635121007 Centerline is valid? [True, True] Translation: X:264.33, Y:-37.40, Z:1.30 [[ 9.50755674e-01 3.09940771e-01 6.05798498e-04 2.64332863e+02] [-3.09940716e-01 9.50755867e-01 -1.85278392e-04 -3.73969035e+01] [-6.33391804e-04 -1.16071382e-05 9.99999799e-01 1.30232477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters 0.0282530783692077 Centerline is valid? [True, True] Translation: X:264.39, Y:-37.42, Z:1.30 [[ 9.50988719e-01 3.09222209e-01 1.44307432e-03 2.64391966e+02] [-3.09221898e-01 9.50989813e-01 -4.39286271e-04 -3.74166084e+01] [-1.50818605e-03 -2.84738917e-05 9.99998862e-01 1.30375920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters 0.02932968791337749 Centerline is valid? [True, True] Translation: X:264.45, Y:-37.44, Z:1.30 [[ 9.49935454e-01 3.12444191e-01 1.12294100e-03 2.64449307e+02] [-3.12444004e-01 9.49936117e-01 -3.42733900e-04 -3.74397281e+01] [-1.17380743e-03 -2.52811012e-05 9.99999311e-01 1.30137460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters 0.029733005042261833 Centerline is valid? [True, True] Translation: X:264.51, Y:-37.46, Z:1.30 [[ 9.49043448e-01 3.15132719e-01 2.81124028e-03 2.64507922e+02] [-3.15131565e-01 9.49047609e-01 -8.56145813e-04 -3.74588289e+01] [-2.93780042e-03 -7.33909738e-05 9.99995682e-01 1.30131949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters 0.031334611132649993 Centerline is valid? [True, True] Translation: X:264.56, Y:-37.49, Z:1.31 [[ 9.47041000e-01 3.21112585e-01 -2.26932528e-04 2.64564887e+02] [-3.21112578e-01 9.47041028e-01 6.71343445e-05 -3.74852648e+01] [ 2.36472097e-04 9.29191218e-06 9.99999972e-01 1.30619408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters 0.03308837757984722 Centerline is valid? [True, True] Translation: X:264.62, Y:-37.51, Z:1.30 [[ 9.44991902e-01 3.27088658e-01 -1.82072530e-03 2.64623354e+02] [-3.27088199e-01 9.44993653e-01 5.52864789e-04 -3.75061945e+01] [ 1.90140965e-03 7.30850113e-05 9.99998190e-01 1.30478033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters 0.03591824825074154 Centerline is valid? [True, True] Translation: X:264.68, Y:-37.53, Z:1.31 [[ 9.41815654e-01 3.36113320e-01 -3.33323621e-03 2.64681107e+02] [-3.36111827e-01 9.41821538e-01 1.01510884e-03 -3.75296481e+01] [ 3.48050526e-03 1.64294717e-04 9.99993930e-01 1.30874179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters 0.03916733256477061 Centerline is valid? [True, True] Translation: X:264.74, Y:-37.55, Z:1.31 [[ 9.38204075e-01 3.46066474e-01 -3.33310427e-03 2.64739526e+02] [-3.46065043e-01 9.38209974e-01 1.01541900e-03 -3.75498879e+01] [ 3.47855414e-03 2.00800623e-04 9.99993930e-01 1.30705049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters 0.0419673819153967 Centerline is valid? [True, True] Translation: X:264.80, Y:-37.57, Z:1.31 [[ 9.34526525e-01 3.55884882e-01 -2.47486942e-03 2.64799226e+02] [-3.55884126e-01 9.34529785e-01 7.54370507e-04 -3.75684708e+01] [ 2.58130825e-03 1.75787493e-04 9.99996653e-01 1.30868040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862320588 meters 0.04446121687197302 Centerline is valid? [True, True] Translation: X:264.86, Y:-37.58, Z:1.31 [[ 9.31452277e-01 3.63837417e-01 -4.35760835e-03 2.64860428e+02] [-3.63835145e-01 9.31462406e-01 1.33142952e-03 -3.75821622e+01] [ 4.54337223e-03 3.45288011e-04 9.99989619e-01 1.30938127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters 0.0452952067246857 Centerline is valid? [True, True] Translation: X:264.92, Y:-37.60, Z:1.31 [[ 9.30174056e-01 3.67109739e-01 -2.58154938e-03 2.64921118e+02] [-3.67108954e-01 9.30177614e-01 7.89067472e-04 -3.75967881e+01] [ 2.69097380e-03 2.13739802e-04 9.99996356e-01 1.31154052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters 0.04545777422012983 Centerline is valid? [True, True] Translation: X:264.98, Y:-37.61, Z:1.31 [[ 9.29697648e-01 3.68309601e-01 -3.21258904e-03 2.64983026e+02] [-3.68308386e-01 9.29703160e-01 9.83768422e-04 -3.76063857e+01] [ 3.34908554e-03 2.68616296e-04 9.99994356e-01 1.31132172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters 0.04434960382752777 Centerline is valid? [True, True] Translation: X:265.05, Y:-37.61, Z:1.31 [[ 9.30808520e-01 3.65457388e-01 -6.03303919e-03 2.65045921e+02] [-3.65453015e-01 9.30827946e-01 1.85153007e-03 -3.76131451e+01] [ 6.29237682e-03 4.81372394e-04 9.99980087e-01 1.31203163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters 0.042553854935555135 Centerline is valid? [True, True] Translation: X:265.11, Y:-37.62, Z:1.31 [[ 9.32731791e-01 3.60563313e-01 -2.34583424e-03 2.65108693e+02] [-3.60562637e-01 9.32734725e-01 7.19704936e-04 -3.76200991e+01] [ 2.44754025e-03 1.74528507e-04 9.99996990e-01 1.31301161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters 0.040386774263480946 Centerline is valid? [True, True] Translation: X:265.17, Y:-37.63, Z:1.31 [[ 9.35372786e-01 3.53662037e-01 9.56192084e-04 2.65171471e+02] [-3.53661919e-01 9.35373273e-01 -2.95438022e-04 -3.76282837e+01] [-9.98881732e-04 -6.18240409e-05 9.99999499e-01 1.31220398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters 0.03605720633985228 Centerline is valid? [True, True] Translation: X:265.23, Y:-37.64, Z:1.31 [[ 9.39396698e-01 3.42832084e-01 7.55484889e-05 2.65234605e+02] [-3.42832083e-01 9.39396701e-01 -2.42445040e-05 -3.76356818e+01] [-7.92817948e-05 -3.12523879e-06 9.99999997e-01 1.31065178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters 0.03284046786711776 Centerline is valid? [True, True] Translation: X:265.30, Y:-37.65, Z:1.31 [[ 9.42969839e-01 3.32874696e-01 1.52317000e-03 2.65295755e+02] [-3.32874368e-01 9.42971067e-01 -4.71736428e-04 -3.76476188e+01] [-1.59333436e-03 -6.21910276e-05 9.99998729e-01 1.31205305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters 0.031506408539416796 Centerline is valid? [True, True] Translation: X:265.35, Y:-37.66, Z:1.31 [[ 9.44567898e-01 3.28293027e-01 3.89545273e-03 2.65354886e+02] [-3.28290846e-01 9.44575920e-01 -1.20485018e-03 -3.76644554e+01] [-4.07509476e-03 -1.40778673e-04 9.99991687e-01 1.31284421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters 0.029342510019224197 Centerline is valid? [True, True] Translation: X:265.41, Y:-37.68, Z:1.31 [[ 9.46952880e-01 3.21346625e-01 4.07299985e-03 2.65414408e+02] [-3.21344178e-01 9.46961632e-01 -1.25940125e-03 -3.76811852e+01] [-4.26167892e-03 -1.16241151e-04 9.99990912e-01 1.31105533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters 0.029261679381188416 Centerline is valid? [True, True] Translation: X:265.47, Y:-37.70, Z:1.31 [[ 9.47027815e-01 3.21119081e-01 4.56663200e-03 2.65473635e+02] [-3.21115986e-01 9.47038817e-01 -1.41542933e-03 -3.77019036e+01] [-4.77929913e-03 -1.25967588e-04 9.99988571e-01 1.31159452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters 0.029418172948263932 Centerline is valid? [True, True] Translation: X:265.53, Y:-37.73, Z:1.31 [[ 9.46737068e-01 3.21993299e-01 3.03979002e-03 2.65532224e+02] [-3.21991925e-01 9.46741944e-01 -9.44323428e-04 -3.77256395e+01] [-3.18196253e-03 -8.47618483e-05 9.99994934e-01 1.31264302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters 0.029956571610867212 Centerline is valid? [True, True] Translation: X:265.59, Y:-37.75, Z:1.31 [[ 9.45675779e-01 3.25096801e-01 3.06445752e-03 2.65589851e+02] [-3.25095419e-01 9.45680739e-01 -9.52915304e-04 -3.77483425e+01] [-3.20778817e-03 -9.50921784e-05 9.99994851e-01 1.31268264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters 0.030870699262037116 Centerline is valid? [True, True] Translation: X:265.65, Y:-37.78, Z:1.31 [[ 9.44651249e-01 3.28039493e-01 4.91004448e-03 2.65646376e+02] [-3.28035979e-01 9.44663995e-01 -1.52769672e-03 -3.77765253e+01] [-5.13948709e-03 -1.67530634e-04 9.99986779e-01 1.31098427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters 0.03164953326187531 Centerline is valid? [True, True] Translation: X:265.70, Y:-37.80, Z:1.31 [[ 9.43771352e-01 3.30563383e-01 4.84624440e-03 2.65703932e+02] [-3.30559984e-01 9.43783777e-01 -1.50955213e-03 -3.77983605e+01] [-5.07280951e-03 -1.77302419e-04 9.99987118e-01 1.31146473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters 0.03275214865545377 Centerline is valid? [True, True] Translation: X:265.76, Y:-37.82, Z:1.31 [[ 9.42257640e-01 3.34879201e-01 2.54176734e-03 2.65761390e+02] [-3.34878280e-01 9.42261062e-01 -7.92347096e-04 -3.78215379e+01] [-2.66034896e-03 -1.04587570e-04 9.99996456e-01 1.31213806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters 0.03456932961241851 Centerline is valid? [True, True] Translation: X:265.82, Y:-37.85, Z:1.31 [[ 9.40098746e-01 3.40887559e-01 3.16541916e-03 2.65817502e+02] [-3.40886159e-01 9.40104063e-01 -9.88542075e-04 -3.78492341e+01] [-3.31280511e-03 -1.49720415e-04 9.99994501e-01 1.31446243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters 0.03615681234370862 Centerline is valid? [True, True] Translation: X:265.88, Y:-37.87, Z:1.32 [[ 9.38066562e-01 3.46454809e-01 -4.36154887e-04 2.65875518e+02] [-3.46454784e-01 9.38066663e-01 1.34154523e-04 -3.78707051e+01] [ 4.55620840e-04 2.52620749e-05 9.99999896e-01 1.31609266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters 0.03821738855458467 Centerline is valid? [True, True] Translation: X:265.94, Y:-37.89, Z:1.31 [[ 9.36550559e-01 3.50528216e-01 1.73790687e-03 2.65935086e+02] [-3.50527806e-01 9.36552166e-01 -5.45317327e-04 -3.78900726e+01] [-1.81878955e-03 -9.84674340e-05 9.99998341e-01 1.31397893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters 0.038717481536218706 Centerline is valid? [True, True] Translation: X:265.99, Y:-37.91, Z:1.32 [[ 9.35680744e-01 3.52843881e-01 1.65584314e-03 2.65994134e+02] [-3.52843511e-01 9.35682204e-01 -5.20109230e-04 -3.79083143e+01] [-1.73286032e-03 -9.75973178e-05 9.99998494e-01 1.31676556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters 0.03786094526751328 Centerline is valid? [True, True] Translation: X:266.05, Y:-37.92, Z:1.32 [[ 9.35797555e-01 3.52529073e-01 -2.48778860e-03 2.66054470e+02] [-3.52528246e-01 9.35800850e-01 7.77645596e-04 -3.79218512e+01] [ 2.60221737e-03 1.49296904e-04 9.99996603e-01 1.31748987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters 0.03692217494335719 Centerline is valid? [True, True] Translation: X:266.11, Y:-37.94, Z:1.32 [[ 9.37490920e-01 3.48009305e-01 5.47246296e-04 2.66113580e+02] [-3.48009263e-01 9.37491079e-01 -1.73595197e-04 -3.79401365e+01] [-5.73451264e-04 -2.77028594e-05 9.99999835e-01 1.31874160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters 0.0343411751826165 Centerline is valid? [True, True] Translation: X:266.17, Y:-37.95, Z:1.32 [[ 9.39509483e-01 3.42514335e-01 -2.42101595e-03 2.66174334e+02] [-3.42513514e-01 9.39512595e-01 7.59081292e-04 -3.79532865e+01] [ 2.53457120e-03 1.16066606e-04 9.99996781e-01 1.32000856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters 0.03386225711567605 Centerline is valid? [True, True] Translation: X:266.23, Y:-37.97, Z:1.32 [[ 9.39943710e-01 3.41310077e-01 -3.64057088e-03 2.66233355e+02] [-3.41308207e-01 9.39950745e-01 1.14253743e-03 -3.79721543e+01] [ 3.81191685e-03 1.68635852e-04 9.99992720e-01 1.31858711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters 0.034328383062429677 Centerline is valid? [True, True] Translation: X:266.29, Y:-37.99, Z:1.32 [[ 9.39316059e-01 3.43049179e-01 -1.61328327e-03 2.66293023e+02] [-3.43048815e-01 9.39317441e-01 5.05876436e-04 -3.79883442e+01] [ 1.68892561e-03 7.82570559e-05 9.99998571e-01 1.32131484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters 0.03424169593711257 Centerline is valid? [True, True] Translation: X:266.35, Y:-38.01, Z:1.32 [[ 9.39441165e-01 3.42705584e-01 -1.78329277e-03 2.66352031e+02] [-3.42705136e-01 9.39442854e-01 5.60111958e-04 -3.80065237e+01] [ 1.86725514e-03 8.49513597e-05 9.99998253e-01 1.32056792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters 0.034044431598704954 Centerline is valid? [True, True] Translation: X:266.41, Y:-38.02, Z:1.32 [[ 9.39445229e-01 3.42699000e-01 2.38475498e-04 2.66412970e+02] [-3.42698992e-01 9.39445259e-01 -7.74980445e-05 -3.80231436e+01] [-2.50593178e-04 -8.92014455e-06 9.99999969e-01 1.32254005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters 0.03387141298652706 Centerline is valid? [True, True] Translation: X:266.47, Y:-38.04, Z:1.32 [[ 9.39179134e-01 3.43427585e-01 -2.18894058e-04 2.66473505e+02] [-3.43427578e-01 9.39179160e-01 6.69647096e-05 -3.80386784e+01] [ 2.28578266e-04 1.22823984e-05 9.99999974e-01 1.32334860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters 0.03457685457497916 Centerline is valid? [True, True] Translation: X:266.53, Y:-38.06, Z:1.32 [[ 9.38707381e-01 3.44710405e-01 -1.78603415e-03 2.66532093e+02] [-3.44709955e-01 9.38709076e-01 5.63911711e-04 -3.80575500e+01] [ 1.87095270e-03 8.63156648e-05 9.99998246e-01 1.32418093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60232058799994 meters 0.03407508240761238 Centerline is valid? [True, True] Translation: X:266.59, Y:-38.07, Z:1.32 [[ 9.39137795e-01 3.43536998e-01 1.59150570e-03 2.66592939e+02] [-3.43536632e-01 9.39139141e-01 -5.06021692e-04 -3.80715659e+01] [-1.66848247e-03 -7.15164137e-05 9.99998606e-01 1.32475622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters 0.03271488258350617 Centerline is valid? [True, True] Translation: X:266.65, Y:-38.09, Z:1.32 [[ 9.39764534e-01 3.41822137e-01 -4.96977202e-04 2.66653182e+02] [-3.41822103e-01 9.39764665e-01 1.55666545e-04 -3.80867131e+01] [ 5.20251886e-04 2.35878937e-05 9.99999864e-01 1.32377738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters 0.032139935176161157 Centerline is valid? [True, True] Translation: X:266.71, Y:-38.11, Z:1.33 [[ 9.40754516e-01 3.39080065e-01 -2.37709482e-03 2.66711769e+02] [-3.39079243e-01 9.40757514e-01 7.52884675e-04 -3.81074389e+01] [ 2.49155800e-03 9.77438551e-05 9.99996891e-01 1.32551255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters 0.03087372216618844 Centerline is valid? [True, True] Translation: X:266.77, Y:-38.12, Z:1.33 [[ 9.41756125e-01 3.36286114e-01 -2.65539137e-03 2.66771445e+02] [-3.36285074e-01 9.41759863e-01 8.42326481e-04 -3.81249306e+01] [ 2.78400372e-03 9.97023619e-05 9.99996120e-01 1.32530493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters 0.029921408551581177 Centerline is valid? [True, True] Translation: X:266.83, Y:-38.15, Z:1.32 [[ 9.42754510e-01 3.33478647e-01 -2.43422108e-03 2.66830067e+02] [-3.33477761e-01 9.42757649e-01 7.72986014e-04 -3.81454553e+01] [ 2.55265487e-03 8.30225438e-05 9.99996739e-01 1.32495673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters 0.029585497497825224 Centerline is valid? [True, True] Translation: X:266.89, Y:-38.17, Z:1.33 [[ 9.43082436e-01 3.32558546e-01 5.76711464e-04 2.66888794e+02] [-3.32558495e-01 9.43082612e-01 -1.85803935e-04 -3.81663250e+01] [-6.05677240e-04 -1.65618687e-05 9.99999816e-01 1.32661386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters 0.029454955650773555 Centerline is valid? [True, True] Translation: X:266.95, Y:-38.19, Z:1.33 [[ 9.43344630e-01 3.31790742e-01 -3.97660829e-03 2.66946046e+02] [-3.31788345e-01 9.43353003e-01 1.26727149e-03 -3.81894583e+01] [ 4.17181432e-03 1.23918525e-04 9.99991290e-01 1.32680351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters 0.030324256298365153 Centerline is valid? [True, True] Translation: X:267.01, Y:-38.21, Z:1.32 [[ 9.42593767e-01 3.33941052e-01 -6.03376453e-04 2.67005102e+02] [-3.33940998e-01 9.42593960e-01 1.90881062e-04 -3.82095255e+01] [ 6.32482023e-04 2.15688351e-05 9.99999800e-01 1.32468991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters 0.030522674209848423 Centerline is valid? [True, True] Translation: X:267.06, Y:-38.23, Z:1.33 [[ 9.42017724e-01 3.35558065e-01 1.84182433e-03 2.67062086e+02] [-3.35557549e-01 9.42019523e-01 -5.91308503e-04 -3.82339469e+01] [-1.93345282e-03 -6.10149692e-05 9.99998129e-01 1.32651364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters 0.030564976350153792 Centerline is valid? [True, True] Translation: X:267.12, Y:-38.25, Z:1.33 [[ 9.41812866e-01 3.36132904e-01 -1.78803047e-03 2.67121861e+02] [-3.36132425e-01 9.41814561e-01 5.70738945e-04 -3.82543465e+01] [ 1.87583727e-03 6.34857362e-05 9.99998239e-01 1.32554161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters 0.0315935166562037 Centerline is valid? [True, True] Translation: X:267.18, Y:-38.28, Z:1.33 [[ 9.40540123e-01 3.39679807e-01 -1.38011165e-03 2.67179586e+02] [-3.39679526e-01 9.40541134e-01 4.40886944e-04 -3.82767775e+01] [ 1.44781217e-03 5.41238104e-05 9.99998950e-01 1.32623024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters 0.0321718577319902 Centerline is valid? [True, True] Translation: X:267.24, Y:-38.30, Z:1.33 [[ 9.40160819e-01 3.40729503e-01 1.01957637e-03 2.67237449e+02] [-3.40729346e-01 9.40161371e-01 -3.29511292e-04 -3.82979553e+01] [-1.07084054e-03 -3.76059839e-05 9.99999426e-01 1.32644286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters 0.032284198455153054 Centerline is valid? [True, True] Translation: X:267.30, Y:-38.32, Z:1.33 [[ 9.39891431e-01 3.41463000e-01 2.66785826e-03 2.67295599e+02] [-3.41461933e-01 9.39895212e-01 -8.60095514e-04 -3.83184399e+01] [-2.80119800e-03 -1.02575634e-04 9.99996071e-01 1.32571832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters 0.03140120172980558 Centerline is valid? [True, True] Translation: X:267.36, Y:-38.33, Z:1.32 [[ 9.40597637e-01 3.39506607e-01 3.36875243e-03 2.67356178e+02] [-3.39504888e-01 9.40603662e-01 -1.08690935e-03 -3.83326115e+01] [-3.53767378e-03 -1.21363547e-04 9.99993735e-01 1.32286531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters 0.030735034850330835 Centerline is valid? [True, True] Translation: X:267.42, Y:-38.35, Z:1.33 [[ 9.41022990e-01 3.38336583e-01 2.02191233e-03 2.67415497e+02] [-3.38335958e-01 9.41025160e-01 -6.53970091e-04 -3.83507401e+01] [-2.12393238e-03 -6.86847526e-05 9.99997742e-01 1.32611681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters 0.028655174166009767 Centerline is valid? [True, True] Translation: X:267.48, Y:-38.37, Z:1.32 [[ 9.43248158e-01 3.32077487e-01 2.73037502e-03 2.67475425e+02] [-3.32076320e-01 9.43252107e-01 -8.83454735e-04 -3.83660383e+01] [-2.86880742e-03 -7.33758375e-05 9.99995882e-01 1.32272452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters 0.02605508856416551 Centerline is valid? [True, True] Translation: X:267.53, Y:-38.39, Z:1.32 [[ 9.46924881e-01 3.21427925e-01 4.16635690e-03 2.67534494e+02] [-3.21425107e-01 9.46934045e-01 -1.34749145e-03 -3.83854495e+01] [-4.37838657e-03 -6.31985255e-05 9.99990413e-01 1.32336896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters 0.024980496414488018 Centerline is valid? [True, True] Translation: X:267.59, Y:-38.40, Z:1.32 [[ 9.48881237e-01 3.15597783e-01 4.73689123e-03 2.67593571e+02] [-3.15594054e-01 9.48893059e-01 -1.53453048e-03 -3.84029643e+01] [-4.97909763e-03 -3.88475257e-05 9.99987603e-01 1.32384259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters 0.024798535610423604 Centerline is valid? [True, True] Translation: X:267.65, Y:-38.42, Z:1.32 [[ 9.50316263e-01 3.11236459e-01 5.55581980e-03 2.67652510e+02] [-3.11231244e-01 9.50332503e-01 -1.80179575e-03 -3.84207809e+01] [-5.84066067e-03 -1.68689081e-05 9.99982943e-01 1.31985699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters 0.024297548901583643 Centerline is valid? [True, True] Translation: X:267.71, Y:-38.45, Z:1.32 [[ 9.50821147e-01 3.09705129e-01 4.67761749e-03 2.67709669e+02] [-3.09701400e-01 9.50832652e-01 -1.51973560e-03 -3.84473857e+01] [-4.91830135e-03 -3.66794338e-06 9.99987905e-01 1.32396534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters 0.02473406217210562 Centerline is valid? [True, True] Translation: X:267.77, Y:-38.47, Z:1.32 [[ 9.49540712e-01 3.13599209e-01 5.28883290e-03 2.67768045e+02] [-3.13594491e-01 9.49555441e-01 -1.72048077e-03 -3.84718876e+01] [-5.56158147e-03 -2.48823228e-05 9.99984534e-01 1.32240106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters 0.02558041896967579 Centerline is valid? [True, True] Translation: X:267.82, Y:-38.50, Z:1.32 [[ 9.48008193e-01 3.18093332e-01 9.85380451e-03 2.67824679e+02] [-3.18077176e-01 9.48059399e-01 -3.20730853e-03 -3.84985032e+01] [-1.03622154e-02 -9.37155456e-05 9.99946306e-01 1.32042964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters 0.027165570301553216 Centerline is valid? [True, True] Translation: X:267.88, Y:-38.53, Z:1.32 [[ 9.45482155e-01 3.25619424e-01 5.95701871e-03 2.67880344e+02] [-3.25613648e-01 9.45500915e-01 -1.94216370e-03 -3.85264784e+01] [-6.26477286e-03 -1.03405477e-04 9.99980371e-01 1.32138458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters 0.029502140881890446 Centerline is valid? [True, True] Translation: X:267.94, Y:-38.55, Z:1.32 [[ 9.42438416e-01 3.34275458e-01 8.35161694e-03 2.67938487e+02] [-3.34264421e-01 9.42475394e-01 -2.72549149e-03 -3.85478531e+01] [-8.78225839e-03 -2.23040519e-04 9.99961410e-01 1.31971050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters 0.0316326284556756 Centerline is valid? [True, True] Translation: X:268.00, Y:-38.57, Z:1.32 [[ 9.39686600e-01 3.41960290e-01 7.22865789e-03 2.67995749e+02] [-3.41952221e-01 9.39714370e-01 -2.36257535e-03 -3.85742730e+01] [-7.60078065e-03 -2.51775219e-04 9.99971082e-01 1.32278894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters 0.03289645065905455 Centerline is valid? [True, True] Translation: X:268.05, Y:-38.59, Z:1.32 [[ 9.38472820e-01 3.45305497e-01 5.73412357e-03 2.68054622e+02] [-3.45300466e-01 9.38490312e-01 -1.87670457e-03 -3.85932813e+01] [-6.02945583e-03 -2.18759310e-04 9.99981799e-01 1.32140551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters 0.03237283885384036 Centerline is valid? [True, True] Translation: X:268.11, Y:-38.61, Z:1.32 [[ 9.39162683e-01 3.43369409e-01 8.42040758e-03 2.68114664e+02] [-3.43358461e-01 9.39200383e-01 -2.75837568e-03 -3.86086294e+01] [-8.85559184e-03 -3.00654681e-04 9.99960743e-01 1.31813251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters 0.02777354948323724 Centerline is valid? [True, True] Translation: X:268.17, Y:-38.63, Z:1.32 [[ 9.44663383e-01 3.27933041e-01 8.42701774e-03 2.68174658e+02] [-3.27921425e-01 9.44700957e-01 -2.76423251e-03 -3.86255315e+01] [-8.86749489e-03 -1.52130435e-04 9.99960671e-01 1.31763442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters 0.02504052625031955 Centerline is valid? [True, True] Translation: X:268.23, Y:-38.64, Z:1.31 [[ 9.51897743e-01 3.06261319e-01 9.73097359e-03 2.68234542e+02] [-3.06244653e-01 9.51947478e-01 -3.19554479e-03 -3.86427457e+01] [-1.02420475e-02 6.17732469e-05 9.99947547e-01 1.31475055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters 0.02793231170518336 Centerline is valid? [True, True] Translation: X:268.29, Y:-38.67, Z:1.31 [[ 9.57046859e-01 2.89680114e-01 1.21136665e-02 2.68290950e+02] [-2.89652901e-01 9.57123472e-01 -3.98208922e-03 -3.86681500e+01] [-1.27478066e-02 3.02287348e-04 9.99918698e-01 1.31094455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters 0.03182843273947625 Centerline is valid? [True, True] Translation: X:268.35, Y:-38.70, Z:1.31 [[ 9.61038998e-01 2.76232655e-01 9.97819809e-03 2.68345050e+02] [-2.76213421e-01 9.61090714e-01 -3.28417781e-03 -3.87025960e+01] [-1.04971507e-02 4.00110722e-04 9.99944823e-01 1.31470976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters 0.03336994161318354 Centerline is valid? [True, True] Translation: X:268.40, Y:-38.74, Z:1.31 [[ 9.61601314e-01 2.74231265e-01 1.09602488e-02 2.68397763e+02] [-2.74207881e-01 9.61663660e-01 -3.61152722e-03 -3.87417985e+01] [-1.15304666e-02 4.67462729e-04 9.99933413e-01 1.31292609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters 0.03340265034586205 Centerline is valid? [True, True] Translation: X:268.45, Y:-38.77, Z:1.31 [[ 9.61426327e-01 2.74898221e-01 9.50715653e-03 2.68452552e+02] [-2.74880621e-01 9.61473248e-01 -3.13657134e-03 -3.87739331e+01] [-1.00031146e-02 4.02249177e-04 9.99949887e-01 1.31249387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters 0.03281851559208374 Centerline is valid? [True, True] Translation: X:268.50, Y:-38.81, Z:1.31 [[ 9.60604527e-01 2.77847468e-01 6.30294760e-03 2.68504246e+02] [-2.77839777e-01 9.60625173e-01 -2.08225124e-03 -3.88128897e+01] [-6.63331836e-03 2.49010408e-04 9.99977968e-01 1.31143521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters 0.033521109728532034 Centerline is valid? [True, True] Translation: X:268.56, Y:-38.85, Z:1.31 [[ 9.60884031e-01 2.76869560e-01 6.71764069e-03 2.68557377e+02] [-2.76860782e-01 9.60907473e-01 -2.22176593e-03 -3.88485105e+01] [-7.07017050e-03 2.75008149e-04 9.99974968e-01 1.31117466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters 0.02604181854554961 Centerline is valid? [True, True] Translation: X:268.61, Y:-38.90, Z:1.31 [[ 9.51667998e-01 3.06990869e-01 9.19935572e-03 2.68605733e+02] [-3.06975769e-01 9.51712457e-01 -3.04571465e-03 -3.88998318e+01] [-9.69014802e-03 7.45298706e-05 9.99953047e-01 1.31396257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters 0.026555557893608757 Centerline is valid? [True, True] Translation: X:268.66, Y:-38.93, Z:1.31 [[ 9.52655597e-01 3.03882008e-01 1.01508257e-02 2.68662386e+02] [-3.03863403e-01 9.52709668e-01 -3.36475705e-03 -3.89259196e+01] [-1.06932789e-02 1.20990210e-04 9.99942818e-01 1.31232075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters 0.026445676444270715 Centerline is valid? [True, True] Translation: X:268.72, Y:-38.95, Z:1.32 [[ 9.52331177e-01 3.04874271e-01 1.08170650e-02 2.68720163e+02] [-3.04853151e-01 9.52392600e-01 -3.59059799e-03 -3.89509131e+01] [-1.13967736e-02 1.21822048e-04 9.99935047e-01 1.31538458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters 0.026284654058025752 Centerline is valid? [True, True] Translation: X:268.78, Y:-38.98, Z:1.32 [[ 9.51417599e-01 3.07727551e-01 1.04070472e-02 2.68777214e+02] [-3.07708122e-01 9.51474512e-01 -3.45913052e-03 -3.89759919e+01] [-1.09665100e-02 8.87446948e-05 9.99939862e-01 1.31881278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters 0.02625732844910372 Centerline is valid? [True, True] Translation: X:268.84, Y:-39.00, Z:1.32 [[ 9.50317752e-01 3.11125001e-01 9.86938784e-03 2.68835052e+02] [-3.11107663e-01 9.50368998e-01 -3.28490517e-03 -3.89988472e+01] [-1.04015763e-02 5.12615089e-05 9.99945901e-01 1.31975922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters 0.029411594004548694 Centerline is valid? [True, True] Translation: X:268.89, Y:-39.03, Z:1.32 [[ 9.42142972e-01 3.35192462e-01 3.55429260e-03 2.68889385e+02] [-3.35190372e-01 9.42149674e-01 -1.18601236e-03 -3.90344510e+01] [-3.74621801e-03 -7.39714504e-05 9.99992980e-01 1.31787219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters 0.030523473999069586 Centerline is valid? [True, True] Translation: X:268.95, Y:-39.06, Z:1.32 [[ 9.40837860e-01 3.38817406e-01 5.18524941e-03 2.68948569e+02] [-3.38813005e-01 9.40852140e-01 -1.73169409e-03 -3.90558695e+01] [-5.46528110e-03 -1.27586570e-04 9.99985057e-01 1.31890644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters 0.03200036610650831 Centerline is valid? [True, True] Translation: X:269.01, Y:-39.08, Z:1.32 [[ 9.39108726e-01 3.43565272e-01 6.14039797e-03 2.69007439e+02] [-3.43559186e-01 9.39128783e-01 -2.05290820e-03 -3.90769131e+01] [-6.47193243e-03 -1.81686124e-04 9.99979040e-01 1.31780990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters 0.03308120110210763 Centerline is valid? [True, True] Translation: X:269.07, Y:-39.10, Z:1.32 [[ 9.37750936e-01 3.47240650e-01 6.86396059e-03 2.69066381e+02] [-3.47233121e-01 9.37776028e-01 -2.29788983e-03 -3.90976655e+01] [-7.23477846e-03 -2.28546123e-04 9.99973803e-01 1.31734783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters 0.03572685108078962 Centerline is valid? [True, True] Translation: X:269.12, Y:-39.12, Z:1.32 [[ 9.34854402e-01 3.54913999e-01 9.12694621e-03 2.69124404e+02] [-3.54901018e-01 9.34898877e-01 -3.05904498e-03 -3.91220459e+01] [-9.61846965e-03 -3.79400841e-04 9.99953669e-01 1.31803898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters 0.037636695788163865 Centerline is valid? [True, True] Translation: X:269.18, Y:-39.14, Z:1.32 [[ 9.31923363e-01 3.62540950e-01 9.10519638e-03 2.69184079e+02] [-3.62528347e-01 9.31967733e-01 -3.05651568e-03 -3.91420599e+01] [-9.59386132e-03 -4.52453424e-04 9.99953875e-01 1.32057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters 0.04173225722107671 Centerline is valid? [True, True] Translation: X:269.24, Y:-39.16, Z:1.32 [[ 9.26375667e-01 3.76583976e-01 3.55424506e-03 2.69244596e+02] [-3.76582150e-01 9.26382456e-01 -1.19533177e-03 -3.91601458e+01] [-3.74273306e-03 -2.31138986e-04 9.99992969e-01 1.32443355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters 0.04259500934802677 Centerline is valid? [True, True] Translation: X:269.31, Y:-39.18, Z:1.32 [[ 9.24964626e-01 3.80023632e-01 4.74123560e-03 2.69305426e+02] [-3.80020416e-01 9.24976721e-01 -1.59684515e-03 -3.91777430e+01] [-4.99237145e-03 -3.24741040e-04 9.99987485e-01 1.32354778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters 0.0450001353862787 Centerline is valid? [True, True] Translation: X:269.37, Y:-39.19, Z:1.32 [[ 9.21856135e-01 3.87517180e-01 3.42071667e-03 2.69366542e+02] [-3.87515552e-01 9.21862444e-01 -1.15351727e-03 -3.91949068e+01] [-3.60043799e-03 -2.62203936e-04 9.99993484e-01 1.32393083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters 0.0450001353862787 Centerline is valid? [True, True] Translation: X:269.43, Y:-39.21, Z:1.32 [[ 9.21674460e-01 3.87949087e-01 3.41997471e-03 2.69426490e+02] [-3.87947453e-01 9.21680768e-01 -1.15571803e-03 -3.92147174e+01] [-3.60048467e-03 -2.61574691e-04 9.99993484e-01 1.32425044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters 0.045736550883995725 Centerline is valid? [True, True] Translation: X:269.49, Y:-39.23, Z:1.33 [[ 9.19754137e-01 3.92490767e-01 1.82366616e-03 2.69487579e+02] [-3.92490307e-01 9.19755933e-01 -6.18454301e-04 -3.92328981e+01] [-1.92006538e-03 -1.46945392e-04 9.99998146e-01 1.32660547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters 0.050436338847206316 Centerline is valid? [True, True] Translation: X:269.55, Y:-39.25, Z:1.33 [[ 9.15362470e-01 4.02630337e-01 -5.99944963e-04 2.69548441e+02] [-4.02630291e-01 9.15362665e-01 2.00873265e-04 -3.92510809e+01] [ 6.30044891e-04 5.76841678e-05 9.99999800e-01 1.32785333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters 0.05391784728965137 Centerline is valid? [True, True] Translation: X:269.61, Y:-39.27, Z:1.33 [[ 9.12976770e-01 4.08008231e-01 -1.64369277e-03 2.69608688e+02] [-4.08007888e-01 9.12978234e-01 5.54154506e-04 -3.92716949e+01] [ 1.72675532e-03 1.64709424e-04 9.99998496e-01 1.32995870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters 0.051008136458153365 Centerline is valid? [True, True] Translation: X:269.67, Y:-39.28, Z:1.33 [[ 9.10850871e-01 4.12735534e-01 2.64451876e-04 2.69671435e+02] [-4.12735525e-01 9.10850909e-01 -9.23464846e-05 -3.92841131e+01] [-2.78990907e-04 -2.50348077e-05 9.99999961e-01 1.33026421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84232058799995 meters 0.05744437765623636 Centerline is valid? [True, True] Translation: X:269.73, Y:-39.30, Z:1.33 [[ 9.05415092e-01 4.24523345e-01 1.85481883e-03 2.69732213e+02] [-4.24522928e-01 9.05416967e-01 -6.32302533e-04 -3.93043214e+01] [-1.94781163e-03 -2.14916866e-04 9.99998080e-01 1.33238181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters 0.05744437765623636 Centerline is valid? [True, True] Translation: X:269.79, Y:-39.32, Z:1.33 [[ 9.05203376e-01 4.24974599e-01 1.85437077e-03 2.69793099e+02] [-4.24974181e-01 9.05205250e-01 -6.33618820e-04 -3.93246220e+01] [-1.94785806e-03 -2.14505803e-04 9.99998080e-01 1.33270696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters 0.057056969516964706 Centerline is valid? [True, True] Translation: X:269.86, Y:-39.34, Z:1.33 [[ 9.02015525e-01 4.31701877e-01 1.21779118e-03 2.69855500e+02] [-4.31701700e-01 9.02016334e-01 -4.17621860e-04 -3.93398681e+01] [-1.27875568e-03 -1.49021122e-04 9.99999171e-01 1.33427798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters 0.0663588643746688 Centerline is valid? [True, True] Translation: X:269.92, Y:-39.36, Z:1.34 [[ 8.96739446e-01 4.42558167e-01 7.97267577e-04 2.69915715e+02] [-4.42558095e-01 8.96739794e-01 -2.74352136e-04 -3.93614592e+01] [-8.36358341e-04 -1.06814838e-04 9.99999645e-01 1.33601010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters 0.06582999307206261 Centerline is valid? [True, True] Translation: X:269.98, Y:-39.37, Z:1.34 [[ 8.92533163e-01 4.50981514e-01 -4.75894422e-04 2.69980428e+02] [-4.50981491e-01 8.92533287e-01 1.60491870e-04 -3.93716563e+01] [ 4.97130480e-04 7.13752597e-05 9.99999874e-01 1.33726539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters 0.07332046454015766 Centerline is valid? [True, True] Translation: X:270.04, Y:-39.39, Z:1.34 [[ 8.89491928e-01 4.56943766e-01 -2.55030113e-03 2.70041048e+02] [-4.56943105e-01 8.89495498e-01 8.70442892e-04 -3.93928580e+01] [ 2.66622483e-03 3.91090589e-04 9.99996369e-01 1.33725246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters 0.06668501634809439 Centerline is valid? [True, True] Translation: X:270.11, Y:-39.40, Z:1.34 [[ 8.88064617e-01 4.59692716e-01 -4.88295088e-03 2.70106779e+02] [-4.59690308e-01 8.88077715e-01 1.67101329e-03 -3.93997789e+01] [ 5.10459250e-03 7.60677414e-04 9.99986682e-01 1.33786984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters 0.0666428569873935 Centerline is valid? [True, True] Translation: X:270.17, Y:-39.42, Z:1.34 [[ 8.87602351e-01 4.60586438e-01 -4.71164024e-03 2.70169016e+02] [-4.60584196e-01 8.87614551e-01 1.61489126e-03 -3.94177806e+01] [ 4.92591744e-03 7.36725750e-04 9.99987596e-01 1.33897680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters 0.06750922000732536 Centerline is valid? [True, True] Translation: X:270.23, Y:-39.43, Z:1.34 [[ 8.88140277e-01 4.59548116e-01 -4.73047472e-03 2.70231779e+02] [-4.59545829e-01 8.88152574e-01 1.62388167e-03 -3.94329749e+01] [ 4.94763506e-03 7.31635207e-04 9.99987493e-01 1.34137830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters 0.06673930026845469 Centerline is valid? [True, True] Translation: X:270.29, Y:-39.45, Z:1.34 [[ 8.88806784e-01 4.58251805e-01 -5.27108997e-03 2.70293924e+02] [-4.58248926e-01 8.88822050e-01 1.81261027e-03 -3.94490431e+01] [ 5.51569292e-03 8.04411016e-04 9.99984465e-01 1.34151269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters 0.06462313833821001 Centerline is valid? [True, True] Translation: X:270.36, Y:-39.46, Z:1.34 [[ 8.89522499e-01 4.56846291e-01 -6.41800448e-03 2.70356154e+02] [-4.56841961e-01 8.89545128e-01 2.21084187e-03 -3.94639285e+01] [ 6.71911953e-03 9.65420163e-04 9.99976960e-01 1.34159361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters 0.06697971222524625 Centerline is valid? [True, True] Translation: X:270.42, Y:-39.48, Z:1.34 [[ 8.92827179e-01 4.50369547e-01 -5.18658430e-03 2.70417356e+02] [-4.50366600e-01 8.92841938e-01 1.78875700e-03 -3.94843820e+01] [ 5.43640166e-03 7.38813476e-04 9.99984950e-01 1.34051723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters 0.06273936909876807 Centerline is valid? [True, True] Translation: X:270.48, Y:-39.50, Z:1.34 [[ 8.94783426e-01 4.46480457e-01 -4.22167945e-03 2.70480298e+02] [-4.46478456e-01 8.94793196e-01 1.45742685e-03 -3.94992148e+01] [ 4.42824266e-03 5.80807532e-04 9.99990027e-01 1.34163012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters 0.061346067858715776 Centerline is valid? [True, True] Translation: X:270.54, Y:-39.51, Z:1.34 [[ 8.99319794e-01 4.37282920e-01 -2.74893023e-03 2.70542913e+02] [-4.37282027e-01 8.99323928e-01 9.49774816e-04 -3.95149921e+01] [ 2.88749903e-03 3.47906490e-04 9.99995771e-01 1.34270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters 0.0586932544593567 Centerline is valid? [True, True] Translation: X:270.61, Y:-39.53, Z:1.34 [[ 9.03292909e-01 4.29024084e-01 5.05270128e-04 2.70605678e+02] [-4.29024051e-01 9.03293049e-01 -1.77581476e-04 -3.95278008e+01] [-5.32593724e-04 -5.63649494e-05 9.99999857e-01 1.34120720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters 0.052001681226460844 Centerline is valid? [True, True] Translation: X:270.67, Y:-39.54, Z:1.34 [[ 9.05153172e-01 4.25081990e-01 1.74258828e-03 2.70668995e+02] [-4.25081600e-01 9.05154829e-01 -6.06752670e-04 -3.95393108e+01] [-1.83523183e-03 -1.91538111e-04 9.99998298e-01 1.34187128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters 0.052015518322115026 Centerline is valid? [True, True] Translation: X:270.73, Y:-39.56, Z:1.34 [[ 9.08899871e-01 4.17006400e-01 2.58583093e-03 2.70729787e+02] [-4.17005509e-01 9.08903512e-01 -9.00550873e-04 -3.95594486e+01] [-2.72580629e-03 -2.59795171e-04 9.99996251e-01 1.34177808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters 0.04716866347531426 Centerline is valid? [True, True] Translation: X:270.79, Y:-39.57, Z:1.34 [[ 9.14671542e-01 4.04169719e-01 4.77591441e-03 2.70793717e+02] [-4.04166503e-01 9.14683919e-01 -1.66331199e-03 -3.95685188e+01] [-5.04071244e-03 -4.08880485e-04 9.99987212e-01 1.33824012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters 0.042218038585604675 Centerline is valid? [True, True] Translation: X:270.86, Y:-39.58, Z:1.34 [[ 9.20597478e-01 3.90430471e-01 8.02060055e-03 2.70856896e+02] [-3.90420851e-01 9.20632249e-01 -2.79682293e-03 -3.95803423e+01] [-8.47598842e-03 -5.56661559e-04 9.99963923e-01 1.33778881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters 0.038937302262919915 Centerline is valid? [True, True] Translation: X:270.92, Y:-39.60, Z:1.34 [[ 9.24463716e-01 3.81215483e-01 6.44931503e-03 2.70918650e+02] [-3.81209026e-01 9.24486134e-01 -2.25076338e-03 -3.95961664e+01] [-6.82032817e-03 -3.77788025e-04 9.99976670e-01 1.33755704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters 0.034259107400795824 Centerline is valid? [True, True] Translation: X:270.98, Y:-39.61, Z:1.34 [[ 9.29870221e-01 3.67842478e-01 5.76917532e-03 2.70980701e+02] [-3.67837031e-01 9.29888085e-01 -2.01707942e-03 -3.96083755e+01] [-6.10665488e-03 -2.46494232e-04 9.99981324e-01 1.33759019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters 0.029891401470369575 Centerline is valid? [True, True] Translation: X:271.04, Y:-39.62, Z:1.34 [[ 9.34957742e-01 3.54667274e-01 8.07125636e-03 2.71043305e+02] [-3.54656095e-01 9.34992554e-01 -2.82462295e-03 -3.96183251e+01] [-8.54836592e-03 -2.21617161e-04 9.99963437e-01 1.33548908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters 0.026449516923474938 Centerline is valid? [True, True] Translation: X:271.10, Y:-39.64, Z:1.33 [[ 9.40680286e-01 3.39128540e-01 1.06034151e-02 2.71102776e+02] [-3.39108242e-01 9.40740040e-01 -3.71185606e-03 -3.96366711e+01] [-1.12338534e-02 -1.04035621e-04 9.99936893e-01 1.33436320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters 0.02556628613873414 Centerline is valid? [True, True] Translation: X:271.16, Y:-39.65, Z:1.33 [[ 9.46928398e-01 3.21308351e-01 9.35692474e-03 2.71164178e+02] [-3.21291649e-01 9.46974622e-01 -3.27751609e-03 -3.96505688e+01] [-9.91386356e-03 9.72712803e-05 9.99950852e-01 1.33261682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters 0.02860410016760253 Centerline is valid? [True, True] Translation: X:271.22, Y:-39.67, Z:1.33 [[ 9.51912558e-01 3.06173395e-01 1.09696366e-02 2.71223270e+02] [-3.06149370e-01 9.51975714e-01 -3.84756798e-03 -3.96705982e+01] [-1.16208505e-02 3.04200955e-04 9.99932429e-01 1.33415161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters 0.03372208449704118 Centerline is valid? [True, True] Translation: X:271.28, Y:-39.70, Z:1.34 [[ 9.56302504e-01 2.92223636e-01 9.53249684e-03 2.71279476e+02] [-2.92204757e-01 9.56349922e-01 -3.34754193e-03 -3.96976496e+01] [-1.00946335e-02 4.15821803e-04 9.99948961e-01 1.33552355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters 0.02869159500868024 Centerline is valid? [True, True] Translation: X:271.33, Y:-39.73, Z:1.34 [[ 9.57536902e-01 2.88180912e-01 8.65118990e-03 2.71333169e+02] [-2.88165151e-01 9.57575890e-01 -3.04324957e-03 -3.97318704e+01] [-9.16117730e-03 4.21052318e-04 9.99957947e-01 1.33963958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters 0.041521945652199986 Centerline is valid? [True, True] Translation: X:271.39, Y:-39.75, Z:1.33 [[ 9.61127461e-01 2.75986450e-01 8.09215621e-03 2.71393015e+02] [-2.75972196e-01 9.61161393e-01 -2.85025616e-03 -3.97476387e+01] [-8.56450022e-03 5.06249350e-04 9.99963196e-01 1.33374747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters 0.045873598103464794 Centerline is valid? [True, True] Translation: X:271.45, Y:-39.78, Z:1.33 [[ 9.63564170e-01 2.67256021e-01 1.08769834e-02 2.71446811e+02] [-2.67229726e-01 9.63625241e-01 -3.82997393e-03 -3.97824496e+01] [-1.15049194e-02 7.83772354e-04 9.99933509e-01 1.33054239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters 0.0482024209302139 Centerline is valid? [True, True] Translation: X:271.50, Y:-39.82, Z:1.33 [[ 9.64662672e-01 2.63340239e-01 8.82309948e-03 2.71497576e+02] [-2.63322733e-01 9.64702783e-01 -3.11111152e-03 -3.98237678e+01] [-9.33094947e-03 6.77850485e-04 9.99956236e-01 1.33069769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters 0.05044300228243531 Centerline is valid? [True, True] Translation: X:271.55, Y:-39.86, Z:1.33 [[ 9.65443819e-01 2.60323326e-01 1.22473553e-02 2.71550325e+02] [-2.60289358e-01 9.65521001e-01 -4.31820046e-03 -3.98616599e+01] [-1.29492070e-02 9.81123716e-04 9.99915674e-01 1.32680771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters 0.05206625473642059 Centerline is valid? [True, True] Translation: X:271.60, Y:-39.91, Z:1.32 [[ 9.66300192e-01 2.56988400e-01 1.48627253e-02 2.71599449e+02] [-2.56937883e-01 9.66413678e-01 -5.24662386e-03 -3.99098025e+01] [-1.57118625e-02 1.25101647e-03 9.99875778e-01 1.32169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters 0.042651936098935944 Centerline is valid? [True, True] Translation: X:271.65, Y:-39.95, Z:1.32 [[ 9.61492994e-01 2.74088367e-01 2.01690491e-02 2.71651994e+02] [-2.73999013e-01 9.61703604e-01 -7.12175483e-03 -3.99477148e+01] [-2.13486374e-02 1.32121782e-03 9.99771219e-01 1.32050031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters 0.0362516869520594 Centerline is valid? [True, True] Translation: X:271.71, Y:-39.98, Z:1.32 [[ 9.57088907e-01 2.89121378e-01 1.97396114e-02 2.71705967e+02] [-2.89038873e-01 9.57291956e-01 -6.97428788e-03 -3.99816027e+01] [-2.09129869e-02 9.69498530e-04 9.99780830e-01 1.32195062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters 0.037476619059653174 Centerline is valid? [True, True] Translation: X:271.77, Y:-40.00, Z:1.32 [[ 9.57935064e-01 2.86570662e-01 1.54165131e-02 2.71766267e+02] [-2.86519897e-01 9.58058768e-01 -5.45386824e-03 -3.99975124e+01] [-1.63328442e-02 8.07313859e-04 9.99866284e-01 1.32139425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters 0.042908854291269366 Centerline is valid? [True, True] Translation: X:271.83, Y:-40.01, Z:1.32 [[ 9.60845912e-01 2.76695001e-01 1.46631946e-02 2.71828828e+02] [-2.76647830e-01 9.60957338e-01 -5.19360760e-03 -4.00078637e+01] [-1.55277497e-02 9.33715675e-04 9.99879001e-01 1.32062766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters 0.0419753125717924 Centerline is valid? [True, True] Translation: X:271.87, Y:-40.07, Z:1.34 [[ 9.17887820e-01 3.96839955e-01 2.35568652e-05 2.71873917e+02] [-3.96839955e-01 9.17887820e-01 -9.18856483e-06 -4.00678977e+01] [-2.52689490e-05 -9.14233588e-07 1.00000000e+00 1.34227609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters 0.04237945823539017 Centerline is valid? [True, True] Translation: X:271.94, Y:-40.09, Z:1.34 [[ 9.17123856e-01 3.98601218e-01 -9.50227149e-04 2.71935134e+02] [-3.98601084e-01 9.17124345e-01 3.34482329e-04 -4.00862479e+01] [ 1.00480152e-03 7.19998484e-05 9.99999493e-01 1.34404884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters 0.042643800110570396 Centerline is valid? [True, True] Translation: X:272.00, Y:-40.10, Z:1.34 [[ 9.16625393e-01 3.99745398e-01 -1.22732125e-03 2.71997089e+02] [-3.99745174e-01 9.16626210e-01 4.33378551e-04 -4.01027010e+01] [ 1.29823591e-03 9.33699614e-05 9.99999153e-01 1.34421054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters 0.042408875543311846 Centerline is valid? [True, True] Translation: X:272.06, Y:-40.12, Z:1.34 [[ 9.16704972e-01 3.99561381e-01 -1.64238564e-03 2.72058745e+02] [-3.99560976e-01 9.16706435e-01 5.81852171e-04 -4.01202165e+01] [ 1.73807114e-03 1.22846430e-04 9.99998482e-01 1.34211377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters 0.04137724971302648 Centerline is valid? [True, True] Translation: X:272.12, Y:-40.14, Z:1.34 [[ 9.17875046e-01 3.96868292e-01 -9.79634638e-04 2.72119949e+02] [-3.96868147e-01 9.17875566e-01 3.46720014e-04 -4.01369116e+01] [ 1.03678488e-03 7.05401347e-05 9.99999460e-01 1.34108822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters 0.03828905220252008 Centerline is valid? [True, True] Translation: X:272.18, Y:-40.15, Z:1.35 [[ 9.21305120e-01 3.88828304e-01 3.07008067e-03 2.72181630e+02] [-3.88826794e-01 9.21310218e-01 -1.09871965e-03 -4.01526037e+01] [-3.25570998e-03 -1.81473584e-04 9.99994684e-01 1.34558750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters 0.03763959649819441 Centerline is valid? [True, True] Translation: X:272.24, Y:-40.17, Z:1.34 [[ 9.22769753e-01 3.85323648e-01 4.65506818e-03 2.72242835e+02] [-3.85320126e-01 9.22781459e-01 -1.66713685e-03 -4.01699136e+01] [-4.93799786e-03 -2.55308003e-04 9.99987775e-01 1.34278244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters 0.03608320798038638 Centerline is valid? [True, True] Translation: X:272.30, Y:-40.19, Z:1.34 [[ 9.24482094e-01 3.81205431e-01 3.90869766e-03 2.72303972e+02] [-3.81202901e-01 9.24490336e-01 -1.40231315e-03 -4.01875541e+01] [-4.14812260e-03 -1.93593493e-04 9.99991378e-01 1.34280679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters 0.03329372226659187 Centerline is valid? [True, True] Translation: X:272.36, Y:-40.20, Z:1.35 [[ 9.27506940e-01 3.73777609e-01 4.60162559e-03 2.72364838e+02] [-3.73774001e-01 9.27518336e-01 -1.65284737e-03 -4.02044880e+01] [-4.88588945e-03 -1.86940600e-04 9.99988046e-01 1.34510318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters 0.030124950593551487 Centerline is valid? [True, True] Translation: X:272.43, Y:-40.22, Z:1.34 [[ 9.31311347e-01 3.64207883e-01 3.43420725e-03 2.72427306e+02] [-3.64205804e-01 9.31317673e-01 -1.23476116e-03 -4.02193889e+01] [-3.64804765e-03 -1.00811129e-04 9.99993341e-01 1.34269260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters 0.027268199892466864 Centerline is valid? [True, True] Translation: X:272.49, Y:-40.24, Z:1.34 [[ 9.35560115e-01 3.53140667e-01 4.35208788e-03 2.72487045e+02] [-3.53137198e-01 9.35570235e-01 -1.56695802e-03 -4.02384859e+01] [-4.62504048e-03 -7.09006939e-05 9.99989302e-01 1.34379356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters 0.02564166051066801 Centerline is valid? [True, True] Translation: X:272.55, Y:-40.26, Z:1.35 [[ 9.38437270e-01 3.45440054e-01 2.58047340e-03 2.72546161e+02] [-3.45438800e-01 9.38440818e-01 -9.30967841e-04 -4.02572614e+01] [-2.74321515e-03 -1.77407151e-05 9.99996237e-01 1.34532651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters 0.02552561555543543 Centerline is valid? [True, True] Translation: X:272.61, Y:-40.28, Z:1.34 [[ 9.42788795e-01 3.33385000e-01 1.93144417e-03 2.72605861e+02] [-3.33384269e-01 9.42790773e-01 -6.98392785e-04 -4.02766887e+01] [-2.05378142e-03 1.45237903e-05 9.99997891e-01 1.34420075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters 0.026924053721737465 Centerline is valid? [True, True] Translation: X:272.67, Y:-40.30, Z:1.34 [[ 9.45930752e-01 3.24330931e-01 4.94568740e-03 2.72665272e+02] [-3.24326019e-01 9.45943677e-01 -1.78706968e-03 -4.02978237e+01] [-5.25794370e-03 8.64290632e-05 9.99986173e-01 1.33956409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters 0.029105400888340644 Centerline is valid? [True, True] Translation: X:272.72, Y:-40.32, Z:1.34 [[ 9.48823625e-01 3.15738607e-01 6.54681807e-03 2.72722350e+02] [-3.15729781e-01 9.48846194e-01 -2.36755051e-03 -4.03237938e+01] [-6.95945051e-03 1.79362421e-04 9.99975767e-01 1.34086897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters 0.03176503875451591 Centerline is valid? [True, True] Translation: X:272.78, Y:-40.35, Z:1.34 [[ 9.51134025e-01 3.08677605e-01 7.88680355e-03 2.72779357e+02] [-3.08664530e-01 9.51166682e-01 -2.85503328e-03 -4.03501396e+01] [-8.38294960e-03 2.81142789e-04 9.99964823e-01 1.34097584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters 0.032917831856583014 Centerline is valid? [True, True] Translation: X:272.83, Y:-40.38, Z:1.34 [[ 9.52053716e-01 3.05834241e-01 7.69019750e-03 2.72834854e+02] [-3.05821705e-01 9.52084727e-01 -2.78524336e-03 -4.03799611e+01] [-8.17354238e-03 2.99871979e-04 9.99966551e-01 1.34190889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters 0.03401369370140808 Centerline is valid? [True, True] Translation: X:272.89, Y:-40.41, Z:1.34 [[ 9.52743825e-01 3.03690886e-01 7.14491529e-03 2.72891024e+02] [-3.03679991e-01 9.52770569e-01 -2.58964197e-03 -4.04073553e+01] [-7.59391567e-03 2.97497589e-04 9.99971122e-01 1.34245029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters 0.03308008337105105 Centerline is valid? [True, True] Translation: X:272.95, Y:-40.43, Z:1.34 [[ 9.51749335e-01 3.06772661e-01 7.98354458e-03 2.72947788e+02] [-3.06759152e-01 9.51782770e-01 -2.89519804e-03 -4.04344587e+01] [-8.48676778e-03 3.06477444e-04 9.99963940e-01 1.34306639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters 0.028831309509200917 Centerline is valid? [True, True] Translation: X:273.00, Y:-40.47, Z:1.35 [[ 9.47335305e-01 3.20172778e-01 6.72403408e-03 2.73002746e+02] [-3.20163503e-01 9.47359154e-01 -2.44233061e-03 -4.04673753e+01] [-7.15204301e-03 1.60915715e-04 9.99974411e-01 1.34513560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters 0.026705910882213035 Centerline is valid? [True, True] Translation: X:273.06, Y:-40.49, Z:1.35 [[ 9.43934381e-01 3.30132792e-01 -4.72420832e-04 2.73059633e+02] [-3.30132748e-01 9.43934500e-01 1.70139479e-04 -4.04944543e+01] [ 5.02102943e-04 -4.63891604e-06 9.99999874e-01 1.34706882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters 0.02608025391197478 Centerline is valid? [True, True] Translation: X:273.12, Y:-40.52, Z:1.35 [[ 9.41759913e-01 3.36282225e-01 1.59080519e-03 2.73117036e+02] [-3.36281724e-01 9.41761257e-01 -5.80811294e-04 -4.05190598e+01] [-1.69347521e-03 1.20260831e-05 9.99998566e-01 1.34856242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters 0.025855630863218737 Centerline is valid? [True, True] Translation: X:273.18, Y:-40.54, Z:1.35 [[ 9.40763845e-01 3.39061206e-01 9.41219486e-04 2.73175342e+02] [-3.39061030e-01 9.40764316e-01 -3.45026936e-04 -4.05420229e+01] [-1.00245096e-03 5.45801860e-06 9.99999498e-01 1.35007702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters 0.02611073387833358 Centerline is valid? [True, True] Translation: X:273.23, Y:-40.57, Z:1.35 [[ 9.38847086e-01 3.44333229e-01 8.80679000e-04 2.73232723e+02] [-3.44333077e-01 9.38847499e-01 -3.23383477e-04 -4.05683981e+01] [-9.38174953e-04 3.60725340e-07 9.99999560e-01 1.34978386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters 0.02603715669611785 Centerline is valid? [True, True] Translation: X:273.29, Y:-40.59, Z:1.35 [[ 9.38858515e-01 3.44299057e-01 1.68782864e-03 2.73291186e+02] [-3.44298502e-01 9.38860032e-01 -6.18324520e-04 -4.05895663e+01] [-1.79752340e-03 -5.97630219e-07 9.99998384e-01 1.34926460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters 0.02608453410929666 Centerline is valid? [True, True] Translation: X:273.35, Y:-40.61, Z:1.35 [[ 9.38944977e-01 3.44061220e-01 2.05137756e-03 2.73350415e+02] [-3.44060397e-01 9.38947217e-01 -7.52176626e-04 -4.06106985e+01] [-2.18493006e-03 4.54686255e-07 9.99997613e-01 1.34966394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters 0.026160187818411194 Centerline is valid? [True, True] Translation: X:273.41, Y:-40.63, Z:1.35 [[ 9.37840664e-01 3.47064607e-01 1.02363064e-03 2.73408193e+02] [-3.47064403e-01 9.37841222e-01 -3.76954849e-04 -4.06344522e+01] [-1.09083070e-03 -1.74217065e-06 9.99999405e-01 1.35193737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters 0.026453938683837573 Centerline is valid? [True, True] Translation: X:273.47, Y:-40.65, Z:1.35 [[ 9.37792166e-01 3.47195471e-01 -1.07664221e-03 2.73467555e+02] [-3.47195249e-01 9.37792784e-01 3.92369337e-04 -4.06543991e+01] [ 1.14589615e-03 5.84416840e-06 9.99999343e-01 1.35227684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters 0.026232027024853388 Centerline is valid? [True, True] Translation: X:273.53, Y:-40.67, Z:1.35 [[ 9.38626731e-01 3.44933187e-01 -9.78284819e-04 2.73527065e+02] [-3.44933003e-01 9.38627240e-01 3.56774368e-04 -4.06735144e+01] [ 1.04130810e-03 2.56476163e-06 9.99999458e-01 1.35205822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters 0.026386356434291235 Centerline is valid? [True, True] Translation: X:273.59, Y:-40.69, Z:1.35 [[ 9.39525041e-01 3.42479182e-01 -8.40483834e-04 2.73586478e+02] [-3.42479045e-01 9.39525417e-01 3.06607438e-04 -4.06938140e+01] [ 8.94662590e-04 -2.17265341e-07 9.99999600e-01 1.35382069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters 0.02655314398358183 Centerline is valid? [True, True] Translation: X:273.65, Y:-40.71, Z:1.35 [[ 9.40737444e-01 3.39135689e-01 2.13809276e-04 2.73646417e+02] [-3.39135679e-01 9.40737469e-01 -8.08983759e-05 -4.07112685e+01] [-2.28573923e-04 3.59377742e-06 9.99999974e-01 1.35272276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters 0.02691370581987198 Centerline is valid? [True, True] Translation: X:273.71, Y:-40.73, Z:1.35 [[ 9.41676277e-01 3.36507959e-01 2.86044740e-03 2.73706581e+02] [-3.36506304e-01 9.41680621e-01 -1.05607568e-03 -4.07298241e+01] [-3.04900576e-03 3.19228327e-05 9.99995351e-01 1.35111140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters 0.02693985047447453 Centerline is valid? [True, True] Translation: X:273.77, Y:-40.75, Z:1.35 [[ 9.41941190e-01 3.35761237e-01 3.34458404e-03 2.73765751e+02] [-3.35758965e-01 9.41947127e-01 -1.23598488e-03 -4.07515166e+01] [-3.56541714e-03 4.12509922e-05 9.99993643e-01 1.35295733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters 0.027486427775169686 Centerline is valid? [True, True] Translation: X:273.82, Y:-40.77, Z:1.35 [[ 9.42875529e-01 3.33066135e-01 7.25858894e-03 2.73824211e+02] [-3.33055346e-01 9.42903461e-01 -2.68317293e-03 -4.07732040e+01] [-7.73782267e-03 1.12386247e-04 9.99970056e-01 1.35347260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters 0.027618531571276878 Centerline is valid? [True, True] Translation: X:273.88, Y:-40.79, Z:1.35 [[ 9.42999995e-01 3.32712464e-01 7.30922705e-03 2.73883666e+02] [-3.32701487e-01 9.43028315e-01 -2.70525290e-03 -4.07934625e+01] [-7.79287942e-03 1.19262767e-04 9.99969628e-01 1.35335581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters 0.02762229340958459 Centerline is valid? [True, True] Translation: X:273.94, Y:-40.81, Z:1.35 [[ 9.43041507e-01 3.32650073e-01 4.07983162e-03 2.73943300e+02] [-3.32646640e-01 9.43050330e-01 -1.51288313e-03 -4.08139314e+01] [-4.35074724e-03 6.95693053e-05 9.99990533e-01 1.35357041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters 0.02689591969964062 Centerline is valid? [True, True] Translation: X:274.00, Y:-40.84, Z:1.36 [[ 9.41550245e-01 3.36870278e-01 1.24551545e-03 2.74001003e+02] [-3.36869959e-01 9.41551069e-01 -4.63887202e-04 -4.08388362e+01] [-1.32898621e-03 1.71963699e-05 9.99999117e-01 1.35803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters 0.026690166961882523 Centerline is valid? [True, True] Translation: X:274.06, Y:-40.86, Z:1.36 [[ 9.40841682e-01 3.38840283e-01 2.04760064e-03 2.74061135e+02] [-3.38839426e-01 9.40843910e-01 -7.62291082e-04 -4.08583258e+01] [-2.18476751e-03 2.33873985e-05 9.99997613e-01 1.35604506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters 0.026442839164412323 Centerline is valid? [True, True] Translation: X:274.12, Y:-40.88, Z:1.36 [[ 9.40121277e-01 3.40836405e-01 1.59063989e-03 2.74120882e+02] [-3.40835889e-01 9.40122622e-01 -5.93422195e-04 -4.08779283e+01] [-1.69765643e-03 1.57416722e-05 9.99998559e-01 1.35616138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters 0.026250499751389388 Centerline is valid? [True, True] Translation: X:274.18, Y:-40.90, Z:1.36 [[ 9.39684205e-01 3.42043041e-01 -3.90955221e-04 2.74180224e+02] [-3.42043011e-01 9.39684286e-01 1.43256943e-04 -4.08975496e+01] [ 4.16374519e-04 -8.92785556e-07 9.99999913e-01 1.35813533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters 0.026468779304587162 Centerline is valid? [True, True] Translation: X:274.24, Y:-40.92, Z:1.36 [[ 9.40303711e-01 3.40313281e-01 3.97518322e-03 2.74240031e+02] [-3.40310050e-01 9.40312113e-01 -1.48345071e-03 -4.09167008e+01] [-4.24275091e-03 4.20994041e-05 9.99990999e-01 1.35871747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters 0.026553862014481233 Centerline is valid? [True, True] Translation: X:274.30, Y:-40.93, Z:1.36 [[ 9.40338965e-01 3.40215480e-01 4.00726041e-03 2.74300529e+02] [-3.40212188e-01 9.40347502e-01 -1.49731128e-03 -4.09346726e+01] [-4.27762579e-03 4.46613107e-05 9.99990850e-01 1.35927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters 0.026362372656608648 Centerline is valid? [True, True] Translation: X:274.36, Y:-40.95, Z:1.36 [[ 9.40428708e-01 3.39975520e-01 3.23895016e-03 2.74360077e+02] [-3.39973362e-01 9.40434285e-01 -1.21217022e-03 -4.09542477e+01] [-3.45812798e-03 3.88028952e-05 9.99994020e-01 1.35914861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters 0.026648837472579495 Centerline is valid? [True, True] Translation: X:274.42, Y:-40.97, Z:1.36 [[ 9.40783424e-01 3.39001665e-01 2.10254999e-03 2.74420512e+02] [-3.39000749e-01 9.40785773e-01 -7.88634076e-04 -4.09728804e+01] [-2.24539738e-03 2.91678453e-05 9.99997479e-01 1.35879745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters 0.026537458662187867 Centerline is valid? [True, True] Translation: X:274.48, Y:-40.99, Z:1.36 [[ 9.40662572e-01 3.39334405e-01 2.46714684e-03 2.74481182e+02] [-3.39333143e-01 9.40665807e-01 -9.26164149e-04 -4.09901306e+01] [-2.63504003e-03 3.40232612e-05 9.99996528e-01 1.35692305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters 0.026682780626988176 Centerline is valid? [True, True] Translation: X:274.54, Y:-41.01, Z:1.36 [[ 9.41059308e-01 3.38230937e-01 2.68544928e-03 2.74540336e+02] [-3.38229434e-01 9.41063139e-01 -1.00917693e-03 -4.10099714e+01] [-2.86851219e-03 4.13973569e-05 9.99995885e-01 1.35915112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters 0.02761691316914191 Centerline is valid? [True, True] Translation: X:274.60, Y:-41.03, Z:1.36 [[ 9.43022402e-01 3.32722814e-01 2.06854518e-03 2.74600163e+02] [-3.32721905e-01 9.43024669e-01 -7.78784669e-04 -4.10292022e+01] [-2.20980856e-03 4.61610945e-05 9.99997557e-01 1.36033646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters 0.029815387330804723 Centerline is valid? [True, True] Translation: X:274.66, Y:-41.05, Z:1.36 [[ 9.45635006e-01 3.25174018e-01 6.02439417e-03 2.74660327e+02] [-3.25166169e-01 9.45654178e-01 -2.26690043e-03 -4.10484748e+01] [-6.43413063e-03 1.84731232e-04 9.99979284e-01 1.35909027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters 0.032548705596569014 Centerline is valid? [True, True] Translation: X:274.72, Y:-41.07, Z:1.36 [[ 9.48080344e-01 3.17964154e-01 6.51593516e-03 2.74718649e+02] [-3.17954784e-01 9.48102701e-01 -2.45422156e-03 -4.10697472e+01] [-6.95813020e-03 2.55026464e-04 9.99975759e-01 1.35907695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters 0.03454192505411254 Centerline is valid? [True, True] Translation: X:274.78, Y:-41.09, Z:1.36 [[ 9.49606467e-01 3.13385449e-01 6.09249595e-03 2.74777146e+02] [-3.13377144e-01 9.49625972e-01 -2.29769803e-03 -4.10925486e+01] [-6.50565751e-03 2.72659922e-04 9.99978801e-01 1.35920320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters 0.032824610525055656 Centerline is valid? [True, True] Translation: X:274.83, Y:-41.12, Z:1.36 [[ 9.48276103e-01 3.17392218e-01 5.88323177e-03 2.74834030e+02] [-3.17384536e-01 9.48294323e-01 -2.22120214e-03 -4.11188795e+01] [-6.28402756e-03 2.39066124e-04 9.99980227e-01 1.35874127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters 0.029428031929418574 Centerline is valid? [True, True] Translation: X:274.89, Y:-41.15, Z:1.36 [[ 9.45087694e-01 3.26801641e-01 3.15258712e-03 2.74889039e+02] [-3.26799479e-01 9.45092947e-01 -1.19273883e-03 -4.11501871e+01] [-3.36927686e-03 9.69789592e-05 9.99994319e-01 1.36259364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters 0.027506619251087647 Centerline is valid? [True, True] Translation: X:274.95, Y:-41.18, Z:1.36 [[ 9.42405380e-01 3.34462934e-01 2.57805396e-03 2.74945845e+02] [-3.34461513e-01 9.42408904e-01 -9.76874883e-04 -4.11770460e+01] [-2.75630944e-03 5.83523185e-05 9.99996200e-01 1.36124550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters 0.026431184969018258 Centerline is valid? [True, True] Translation: X:275.00, Y:-41.20, Z:1.37 [[ 9.40692011e-01 3.39261686e-01 2.22820598e-04 2.75002210e+02] [-3.39261675e-01 9.40692037e-01 -8.63991275e-05 -4.12032712e+01] [-2.38917475e-04 5.68047992e-06 9.99999971e-01 1.36520779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters 0.026095892264051946 Centerline is valid? [True, True] Translation: X:275.06, Y:-41.22, Z:1.37 [[ 9.40136452e-01 3.40795783e-01 -1.29872198e-03 2.75061573e+02] [-3.40795431e-01 9.40137348e-01 4.89921949e-04 -4.12248606e+01] [ 1.38794037e-03 -1.79949648e-05 9.99999037e-01 1.36669159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters 0.02561033790007132 Centerline is valid? [True, True] Translation: X:275.12, Y:-41.25, Z:1.36 [[ 9.38230282e-01 3.46009472e-01 -1.17657821e-03 2.75118912e+02] [-3.46009187e-01 9.38231019e-01 4.44300965e-04 -4.12494202e+01] [ 1.25763452e-03 -9.74974977e-06 9.99999209e-01 1.36430444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters 0.025475575756497386 Centerline is valid? [True, True] Translation: X:275.18, Y:-41.27, Z:1.36 [[ 9.36740621e-01 3.50020053e-01 -1.72396105e-03 2.75176159e+02] [-3.50019444e-01 9.36742207e-01 6.52846959e-04 -4.12742647e+01] [ 1.84341661e-03 -8.12837682e-06 9.99998301e-01 1.36499572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters 0.02545874520284143 Centerline is valid? [True, True] Translation: X:275.23, Y:-41.30, Z:1.37 [[ 9.34771595e-01 3.55248141e-01 -9.07484948e-04 2.75234531e+02] [-3.55247976e-01 9.34772035e-01 3.43010963e-04 -4.12974068e+01] [ 9.70145559e-04 1.74528625e-06 9.99999529e-01 1.36585816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters 0.025960247370637228 Centerline is valid? [True, True] Translation: X:275.29, Y:-41.32, Z:1.37 [[ 9.33084009e-01 3.59654494e-01 -1.69625331e-03 2.75293577e+02] [-3.59653918e-01 9.33085551e-01 6.43738322e-04 -4.13212302e+01] [ 1.81427284e-03 9.40221643e-06 9.99998354e-01 1.36573614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters 0.026373836736206253 Centerline is valid? [True, True] Translation: X:275.35, Y:-41.34, Z:1.36 [[ 9.32547105e-01 3.61047508e-01 -7.70599367e-04 2.75354034e+02] [-3.61047390e-01 9.32547423e-01 2.91477493e-04 -4.13406490e+01] [ 8.23857677e-04 6.40639851e-06 9.99999661e-01 1.36362128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters 0.026797037496153666 Centerline is valid? [True, True] Translation: X:275.41, Y:-41.37, Z:1.37 [[ 9.30519949e-01 3.66240079e-01 -9.10729401e-04 2.75411892e+02] [-3.66239916e-01 9.30520394e-01 3.45428213e-04 -4.13659146e+01] [ 9.73961938e-04 1.21176160e-05 9.99999526e-01 1.36890994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters 0.027489458012293445 Centerline is valid? [True, True] Translation: X:275.47, Y:-41.39, Z:1.37 [[ 9.29136361e-01 3.69731811e-01 -2.00277699e-03 2.75471730e+02] [-3.69731023e-01 9.29138519e-01 7.63761243e-04 -4.13867009e+01] [ 2.14324407e-03 3.08504432e-05 9.99997703e-01 1.36880983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters 0.028586433255151866 Centerline is valid? [True, True] Translation: X:275.53, Y:-41.41, Z:1.37 [[ 9.26618247e-01 3.75984514e-01 -3.77759233e-03 2.75531585e+02] [-3.75981747e-01 9.26625943e-01 1.44488612e-03 -4.14080323e+01] [ 4.04366986e-03 8.14479216e-05 9.99991821e-01 1.36813804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters 0.0294531511154112 Centerline is valid? [True, True] Translation: X:275.59, Y:-41.43, Z:1.37 [[ 9.25275509e-01 3.79270978e-01 -4.33099929e-03 2.75592097e+02] [-3.79267364e-01 9.25285639e-01 1.65926064e-03 -4.14280235e+01] [ 4.63672085e-03 1.07333454e-04 9.99989245e-01 1.37106520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters 0.02950671620198252 Centerline is valid? [True, True] Translation: X:275.65, Y:-41.45, Z:1.37 [[ 9.24777996e-01 3.80486867e-01 -3.92449599e-03 2.75653109e+02] [-3.80483903e-01 9.24786318e-01 1.50540336e-03 -4.14472696e+01] [ 4.20210640e-03 1.01043644e-04 9.99991166e-01 1.36946707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters 0.029976611884305216 Centerline is valid? [True, True] Translation: X:275.71, Y:-41.47, Z:1.37 [[ 9.24210550e-01 3.81860080e-01 -4.21179055e-03 2.75712485e+02] [-3.81856669e-01 9.24220140e-01 1.61806987e-03 -4.14692133e+01] [ 4.51049794e-03 1.12863063e-04 9.99989821e-01 1.37330112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters 0.029548340756437617 Centerline is valid? [True, True] Translation: X:275.77, Y:-41.49, Z:1.37 [[ 9.24053900e-01 3.82223864e-01 -5.41369755e-03 2.75772052e+02] [-3.82218213e-01 9.24069747e-01 2.08345312e-03 -4.14921613e+01] [ 5.79897962e-03 1.43990826e-04 9.99983175e-01 1.37440962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters 0.029253662119133588 Centerline is valid? [True, True] Translation: X:275.83, Y:-41.51, Z:1.37 [[ 9.24292613e-01 3.81621354e-01 -6.95032676e-03 2.75831958e+02] [-3.81611989e-01 9.24318728e-01 2.67929337e-03 -4.15131753e+01] [ 7.44679276e-03 1.75876947e-04 9.99972257e-01 1.37422946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters 0.0290045503937857 Centerline is valid? [True, True] Translation: X:275.89, Y:-41.53, Z:1.37 [[ 9.24394947e-01 3.81395503e-01 -5.60814038e-03 2.75891818e+02] [-3.81389386e-01 9.24411949e-01 2.16443152e-03 -4.15346476e+01] [ 6.00973642e-03 1.38095659e-04 9.99981932e-01 1.37323339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters 0.02868825634500732 Centerline is valid? [True, True] Translation: X:275.95, Y:-41.56, Z:1.38 [[ 9.24693448e-01 3.80657479e-01 -6.47381149e-03 2.75950486e+02] [-3.80649283e-01 9.24716098e-01 2.50242657e-03 -4.15593995e+01] [ 6.93900508e-03 1.50274249e-04 9.99975914e-01 1.37710840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters 0.02783561451851009 Centerline is valid? [True, True] Translation: X:276.01, Y:-41.58, Z:1.37 [[ 9.26013116e-01 3.77467761e-01 -4.21874778e-03 2.76010074e+02] [-3.77464240e-01 9.26022723e-01 1.63222545e-03 -4.15805629e+01] [ 4.52276879e-03 8.09642463e-05 9.99989769e-01 1.37377031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters 0.026542253532577557 Centerline is valid? [True, True] Translation: X:276.07, Y:-41.60, Z:1.37 [[ 9.27711262e-01 3.73266070e-01 -4.92489351e-03 2.76068459e+02] [-3.73261202e-01 9.27724332e-01 1.90749737e-03 -4.16027499e+01] [ 5.28094759e-03 6.86648803e-05 9.99986053e-01 1.37457894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters 0.025631938033506208 Centerline is valid? [True, True] Translation: X:276.13, Y:-41.63, Z:1.38 [[ 9.29292968e-01 3.69294249e-01 -6.02810929e-03 2.76128066e+02] [-3.69286850e-01 9.29312517e-01 2.33833882e-03 -4.16257154e+01] [ 6.46553250e-03 5.30996627e-05 9.99979097e-01 1.37577546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters 0.025314741017492527 Centerline is valid? [True, True] Translation: X:276.19, Y:-41.65, Z:1.38 [[ 9.30381713e-01 3.66545522e-01 -5.85212291e-03 2.76185641e+02] [-3.66538474e-01 9.30400118e-01 2.27334217e-03 -4.16533805e+01] [ 6.27809924e-03 2.99522189e-05 9.99980292e-01 1.37795840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters 0.024866049275793875 Centerline is valid? [True, True] Translation: X:276.24, Y:-41.68, Z:1.38 [[ 9.31175508e-01 3.64512060e-01 -6.56750899e-03 2.76244307e+02] [-3.64503105e-01 9.31198667e-01 2.55511730e-03 -4.16775238e+01] [ 7.04702669e-03 1.46147629e-05 9.99975169e-01 1.37873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters 0.024733636329464747 Centerline is valid? [True, True] Translation: X:276.30, Y:-41.70, Z:1.38 [[ 9.31946949e-01 3.62520589e-01 -7.32847223e-03 2.76303318e+02] [-3.62509343e-01 9.31975763e-01 2.85543550e-03 -4.16999214e+01] [ 7.86511266e-03 -4.47474711e-06 9.99969070e-01 1.37919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters 0.024543212494310306 Centerline is valid? [True, True] Translation: X:276.36, Y:-41.73, Z:1.38 [[ 9.32225126e-01 3.61838935e-01 -5.37578726e-03 2.76360561e+02] [-3.61832859e-01 9.32240626e-01 2.09682845e-03 -4.17288435e+01] [ 5.77024145e-03 -9.57969115e-06 9.99983352e-01 1.37997230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters 0.025026442124909367 Centerline is valid? [True, True] Translation: X:276.42, Y:-41.75, Z:1.38 [[ 9.29823807e-01 3.67969050e-01 -5.14459709e-03 2.76419017e+02] [-3.67963564e-01 9.29838039e-01 2.00932746e-03 -4.17526773e+01] [ 5.52301238e-03 2.47037721e-05 9.99984748e-01 1.37975558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters 0.026010028517784597 Centerline is valid? [True, True] Translation: X:276.48, Y:-41.78, Z:1.38 [[ 9.26983566e-01 3.75062212e-01 -5.45940850e-03 2.76477354e+02] [-3.75056139e-01 9.26999640e-01 2.13537503e-03 -4.17765031e+01] [ 5.86176820e-03 6.81271093e-05 9.99982817e-01 1.37832812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters 0.0267971143010366 Centerline is valid? [True, True] Translation: X:276.54, Y:-41.80, Z:1.38 [[ 9.24800805e-01 3.80369560e-01 -7.90375294e-03 2.76536033e+02] [-3.80356980e-01 9.24834568e-01 3.09686315e-03 -4.18022930e+01] [ 8.48761641e-03 1.42266060e-04 9.99963969e-01 1.38303096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters 0.027599101361907283 Centerline is valid? [True, True] Translation: X:276.60, Y:-41.82, Z:1.38 [[ 9.23598594e-01 3.83311617e-01 -6.15148416e-03 2.76595803e+02] [-3.83304041e-01 9.23619071e-01 2.41327987e-03 -4.18240352e+01] [ 6.60666629e-03 1.28986849e-04 9.99978167e-01 1.38224782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters 0.02868039455168311 Centerline is valid? [True, True] Translation: X:276.66, Y:-41.85, Z:1.38 [[ 9.21738703e-01 3.87743020e-01 -7.28789080e-03 2.76655490e+02] [-3.87732492e-01 9.21767496e-01 2.86338374e-03 -4.18468716e+01] [ 7.82799791e-03 1.86460441e-04 9.99969343e-01 1.38367121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters 0.029780931381657307 Centerline is valid? [True, True] Translation: X:276.72, Y:-41.87, Z:1.38 [[ 9.20300456e-01 3.91148155e-01 -7.08464768e-03 2.76716027e+02] [-3.91138279e-01 9.20327702e-01 2.78719463e-03 -4.18684607e+01] [ 7.61040355e-03 2.06020409e-04 9.99971019e-01 1.38261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters 0.031106048127851185 Centerline is valid? [True, True] Translation: X:276.78, Y:-41.89, Z:1.38 [[ 9.18130512e-01 3.96192746e-01 -8.22618064e-03 2.76777234e+02] [-3.96179585e-01 9.18167320e-01 3.24164551e-03 -4.18884940e+01] [ 8.83732668e-03 2.82791180e-04 9.99960910e-01 1.38091896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters 0.03202692761542999 Centerline is valid? [True, True] Translation: X:276.84, Y:-41.91, Z:1.38 [[ 9.17058323e-01 3.98728855e-01 -4.39685240e-03 2.76836947e+02] [-3.98725118e-01 9.17068849e-01 1.73396721e-03 -4.19109341e+01] [ 4.72359913e-03 1.62986432e-04 9.99988830e-01 1.38224034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters 0.03231199435191757 Centerline is valid? [True, True] Translation: X:276.90, Y:-41.93, Z:1.38 [[ 9.16637506e-01 3.99713535e-01 -2.18459859e-03 2.76898949e+02] [-3.99712616e-01 9.16640105e-01 8.61164853e-04 -4.19293783e+01] [ 2.34670993e-03 8.38356135e-05 9.99997243e-01 1.38096603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters 0.03284481431866869 Centerline is valid? [True, True] Translation: X:276.96, Y:-41.95, Z:1.38 [[ 9.15866228e-01 4.01481099e-01 -1.40663795e-03 2.76959453e+02] [-4.01480721e-01 9.15867307e-01 5.54340193e-04 -4.19520325e+01] [ 1.51085082e-03 5.70365571e-05 9.99998857e-01 1.38212231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters 0.033390356332548936 Centerline is valid? [True, True] Translation: X:277.02, Y:-41.97, Z:1.38 [[ 9.15009240e-01 4.03432873e-01 -8.66162830e-05 2.77020456e+02] [-4.03432872e-01 9.15009244e-01 3.15266792e-05 -4.19718489e+01] [ 9.19735987e-05 6.09665308e-06 9.99999996e-01 1.38307813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters 0.033869775368350175 Centerline is valid? [True, True] Translation: X:277.08, Y:-41.99, Z:1.38 [[ 9.14233503e-01 4.05187624e-01 3.01175251e-04 2.77081720e+02] [-4.05187606e-01 9.14233553e-01 -1.22499674e-04 -4.19916975e+01] [-3.24979871e-04 -1.00391730e-05 9.99999947e-01 1.38372975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters 0.03321309041191684 Centerline is valid? [True, True] Translation: X:277.14, Y:-42.01, Z:1.38 [[ 9.15064080e-01 4.03291374e-01 3.71456610e-03 2.77144284e+02] [-4.03288682e-01 9.15071608e-01 -1.48043097e-03 -4.20053306e+01] [-3.99613901e-03 -1.43353262e-04 9.99992005e-01 1.38040960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters 0.03156565770026816 Centerline is valid? [True, True] Translation: X:277.21, Y:-42.02, Z:1.38 [[ 9.16741162e-01 3.99465451e-01 3.60487281e-03 2.77205060e+02] [-3.99462879e-01 9.16748242e-01 -1.43880622e-03 -4.20241876e+01] [-3.87951419e-03 -1.20999987e-04 9.99992467e-01 1.38161648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters 0.030645726297844234 Centerline is valid? [True, True] Translation: X:277.27, Y:-42.04, Z:1.38 [[ 9.17949462e-01 3.96689250e-01 2.53480057e-03 2.77266360e+02] [-3.96687961e-01 9.17952958e-01 -1.01387142e-03 -4.20426806e+01] [-2.72901958e-03 -7.48421516e-05 9.99996273e-01 1.38022892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters 0.028880908850231972 Centerline is valid? [True, True] Translation: X:277.33, Y:-42.06, Z:1.38 [[ 9.20279746e-01 3.91252496e-01 2.58340169e-03 2.77326333e+02] [-3.91251132e-01 9.20283370e-01 -1.03467788e-03 -4.20641504e+01] [-2.78228192e-03 -5.85657357e-05 9.99996128e-01 1.38202280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters 0.028362547591035916 Centerline is valid? [True, True] Translation: X:277.39, Y:-42.09, Z:1.38 [[ 9.21277778e-01 3.88884818e-01 3.98163788e-03 2.77386392e+02] [-3.88881551e-01 9.21286379e-01 -1.59599760e-03 -4.20859827e+01] [-4.28888798e-03 -7.80283872e-05 9.99990800e-01 1.38188840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters 0.026859428165708184 Centerline is valid? [True, True] Translation: X:277.45, Y:-42.11, Z:1.38 [[ 9.23272454e-01 3.84145764e-01 9.37499733e-05 2.77446581e+02] [-3.84145761e-01 9.23272458e-01 -4.02833196e-05 -4.21072132e+01] [-1.02031435e-04 1.17882450e-06 9.99999995e-01 1.38278314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters 0.026039295545924865 Centerline is valid? [True, True] Translation: X:277.51, Y:-42.13, Z:1.38 [[ 9.24633370e-01 3.80857998e-01 5.61775474e-04 2.77505239e+02] [-3.80857930e-01 9.24633541e-01 -2.27971208e-04 -4.21314706e+01] [-6.06261104e-04 -3.16685779e-06 9.99999816e-01 1.38448481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters 0.025477627673494097 Centerline is valid? [True, True] Translation: X:277.57, Y:-42.15, Z:1.38 [[ 9.27177649e-01 3.74609586e-01 3.04393679e-03 2.77565000e+02] [-3.74607581e-01 9.27182645e-01 -1.22561981e-03 -4.21540240e+01] [-3.28141429e-03 -3.91450293e-06 9.99994616e-01 1.38118082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters 0.02516293392996728 Centerline is valid? [True, True] Translation: X:277.62, Y:-42.18, Z:1.38 [[ 9.29497560e-01 3.68816146e-01 2.98951529e-03 2.77623467e+02] [-3.68814177e-01 9.29502367e-01 -1.20537021e-03 -4.21779051e+01] [-3.22332153e-03 1.78130519e-05 9.99994805e-01 1.37768217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters 0.02541328701875724 Centerline is valid? [True, True] Translation: X:277.68, Y:-42.21, Z:1.38 [[ 9.31291353e-01 3.64262596e-01 3.02944952e-03 2.77681006e+02] [-3.64260544e-01 9.31296279e-01 -1.22305738e-03 -4.22050815e+01] [-3.26682912e-03 3.55138285e-05 9.99994663e-01 1.38049193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters 0.025929335154973285 Centerline is valid? [True, True] Translation: X:277.74, Y:-42.23, Z:1.38 [[ 9.32802979e-01 3.60371244e-01 3.34192134e-03 2.77739486e+02] [-3.60368717e-01 9.32808964e-01 -1.35071986e-03 -4.22308723e+01] [-3.60413478e-03 5.56316024e-05 9.99993504e-01 1.37986817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters 0.02591306516348809 Centerline is valid? [True, True] Translation: X:277.80, Y:-42.26, Z:1.38 [[ 9.32549855e-01 3.61038104e-01 1.50178585e-03 2.77796119e+02] [-3.61037591e-01 9.32551064e-01 -6.09185390e-04 -4.22608074e+01] [-1.62043113e-03 2.58946000e-05 9.99998687e-01 1.38108334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters 0.025586426070568147 Centerline is valid? [True, True] Translation: X:277.85, Y:-42.29, Z:1.38 [[ 9.31907975e-01 3.62694812e-01 1.52966586e-05 2.77854640e+02] [-3.62694812e-01 9.31907975e-01 -8.69663910e-06 -4.22857020e+01] [-1.74093038e-05 2.55644860e-06 1.00000000e+00 1.38142186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters 0.02498388331734358 Centerline is valid? [True, True] Translation: X:277.91, Y:-42.32, Z:1.38 [[ 9.29515349e-01 3.68776520e-01 -2.25729899e-03 2.77909682e+02] [-3.68775392e-01 9.29518089e-01 9.11917691e-04 -4.23164106e+01] [ 2.43449407e-03 -1.52051710e-05 9.99997036e-01 1.38343505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters 0.024915019206988378 Centerline is valid? [True, True] Translation: X:277.97, Y:-42.35, Z:1.38 [[ 9.26711047e-01 3.75771916e-01 -1.45010134e-03 2.77966085e+02] [-3.75771460e-01 9.26712181e-01 5.85504340e-04 -4.23456957e+01] [ 1.56384266e-03 2.31335804e-06 9.99998777e-01 1.38351743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters 0.025612962223695135 Centerline is valid? [True, True] Translation: X:278.02, Y:-42.37, Z:1.39 [[ 9.24273329e-01 3.81730625e-01 -7.37339282e-04 2.78023157e+02] [-3.81730510e-01 9.24273623e-01 2.96848154e-04 -4.23747507e+01] [ 7.94819281e-04 7.09606851e-06 9.99999684e-01 1.38549262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters 0.025753692072529682 Centerline is valid? [True, True] Translation: X:278.08, Y:-42.40, Z:1.38 [[ 9.23244889e-01 3.84211496e-01 -6.33526747e-04 2.78081761e+02] [-3.84211412e-01 9.23245106e-01 2.54790592e-04 -4.24019500e+01] [ 6.82793944e-04 8.17409357e-06 9.99999767e-01 1.38452715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters 0.025392893996438883 Centerline is valid? [True, True] Translation: X:278.14, Y:-42.43, Z:1.39 [[ 9.23627431e-01 3.83283677e-01 -2.44784241e-03 2.78140600e+02] [-3.83282388e-01 9.23630674e-01 9.94150101e-04 -4.24280624e+01] [ 2.64194384e-03 1.99905787e-05 9.99996510e-01 1.38617096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters 0.02544878115202511 Centerline is valid? [True, True] Translation: X:278.20, Y:-42.45, Z:1.39 [[ 9.22993503e-01 3.84804267e-01 -2.94420563e-03 2.78200534e+02] [-3.84802403e-01 9.22998199e-01 1.19812222e-03 -4.24508697e+01] [ 3.17853904e-03 2.70783755e-05 9.99994948e-01 1.38640446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters 0.025244941707563247 Centerline is valid? [True, True] Translation: X:278.26, Y:-42.47, Z:1.39 [[ 9.23150180e-01 3.84429023e-01 -2.84100938e-03 2.78260798e+02] [-3.84427280e-01 9.23154551e-01 1.15776028e-03 -4.24741922e+01] [ 3.06776739e-03 2.33748958e-05 9.99995294e-01 1.38579350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters 0.024968739113958253 Centerline is valid? [True, True] Translation: X:278.32, Y:-42.50, Z:1.39 [[ 9.22827858e-01 3.85189815e-01 -4.18934393e-03 2.78321035e+02] [-3.85186016e-01 9.22837367e-01 1.71116509e-03 -4.24969116e+01] [ 4.52520648e-03 3.45658803e-05 9.99989761e-01 1.38907897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters 0.025168680079397324 Centerline is valid? [True, True] Translation: X:278.38, Y:-42.52, Z:1.39 [[ 9.21821211e-01 3.87580890e-01 -5.16804154e-03 2.78380740e+02] [-3.87575124e-01 9.21835696e-01 2.11475175e-03 -4.25218235e+01] [ 5.58372254e-03 5.35813220e-05 9.99984409e-01 1.39004758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters 0.025308881851275493 Centerline is valid? [True, True] Translation: X:278.44, Y:-42.55, Z:1.39 [[ 9.20890052e-01 3.89739372e-01 -8.04580333e-03 2.78439624e+02] [-3.89725423e-01 9.20925194e-01 3.29884182e-03 -4.25479053e+01] [ 8.69527153e-03 9.77834926e-05 9.99962191e-01 1.39300901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters 0.025014209037904956 Centerline is valid? [True, True] Translation: X:278.50, Y:-42.57, Z:1.39 [[ 9.21777622e-01 3.87690158e-01 -4.72825850e-03 2.78499960e+02] [-3.87685305e-01 9.21789748e-01 1.94033731e-03 -4.25690748e+01] [ 5.11070989e-03 4.45168257e-05 9.99986939e-01 1.39251067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters 0.024649026927058205 Centerline is valid? [True, True] Translation: X:278.56, Y:-42.59, Z:1.39 [[ 9.21725073e-01 3.87822650e-01 -4.05984663e-03 2.78558533e+02] [-3.87819064e-01 9.21734013e-01 1.66812974e-03 -4.25948647e+01] [ 4.38903722e-03 3.69289183e-05 9.99990367e-01 1.39330533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters 0.024831434596681738 Centerline is valid? [True, True] Translation: X:278.62, Y:-42.62, Z:1.39 [[ 9.20918844e-01 3.89708792e-01 -5.96159292e-03 2.78617696e+02] [-3.89701067e-01 9.20938138e-01 2.45451828e-03 -4.26202376e+01] [ 6.44680564e-03 6.28269842e-05 9.99979217e-01 1.39440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters 0.025158988823799296 Centerline is valid? [True, True] Translation: X:278.68, Y:-42.64, Z:1.39 [[ 9.19883839e-01 3.92162657e-01 -4.70891015e-03 2.78678356e+02] [-3.92157858e-01 9.19895889e-01 1.94104542e-03 -4.26416090e+01] [ 5.09291262e-03 6.10997993e-05 9.99987029e-01 1.39213572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters 0.02527734953232624 Centerline is valid? [True, True] Translation: X:278.74, Y:-42.67, Z:1.39 [[ 9.19222182e-01 3.93672392e-01 -7.25452547e-03 2.78738043e+02] [-3.93661001e-01 9.19250802e-01 2.99638828e-03 -4.26655308e+01] [ 7.84832370e-03 1.01477183e-04 9.99969196e-01 1.39228157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters 0.02570250388014372 Centerline is valid? [True, True] Translation: X:278.80, Y:-42.69, Z:1.40 [[ 9.18132555e-01 3.96190120e-01 -8.12404537e-03 2.78796833e+02] [-3.96175887e-01 9.18168487e-01 3.36085700e-03 -4.26909712e+01] [ 8.79078079e-03 1.32838657e-04 9.99961352e-01 1.39544336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters 0.02586169939918015 Centerline is valid? [True, True] Translation: X:278.86, Y:-42.71, Z:1.40 [[ 9.17897689e-01 3.96720818e-01 -8.74213376e-03 2.78856411e+02] [-3.96704308e-01 9.17939307e-01 3.62214559e-03 -4.27137337e+01] [ 9.46172877e-03 1.43283058e-04 9.99955227e-01 1.39542834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters 0.025772982781472505 Centerline is valid? [True, True] Translation: X:278.92, Y:-42.74, Z:1.39 [[ 9.17999982e-01 3.96512014e-01 -7.36585270e-03 2.78917194e+02] [-3.96500254e-01 9.18029526e-01 3.05598837e-03 -4.27359898e+01] [ 7.97380636e-03 1.15165196e-04 9.99968202e-01 1.39411709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters 0.02589607851505718 Centerline is valid? [True, True] Translation: X:278.98, Y:-42.76, Z:1.39 [[ 9.18111724e-01 3.96257150e-01 -7.15081656e-03 2.78976200e+02] [-3.96246025e-01 9.18139565e-01 2.97108396e-03 -4.27602107e+01] [ 7.74276086e-03 1.05695624e-04 9.99970019e-01 1.39470729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters 0.025281740497282053 Centerline is valid? [True, True] Translation: X:279.04, Y:-42.78, Z:1.39 [[ 9.19077742e-01 3.94026891e-01 -6.23802033e-03 2.79036795e+02] [-3.94018351e-01 9.19098909e-01 2.59529730e-03 -4.27825956e+01] [ 6.75597460e-03 7.26144990e-05 9.99977176e-01 1.39260546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters 0.024975577552863188 Centerline is valid? [True, True] Translation: X:279.10, Y:-42.81, Z:1.40 [[ 9.19150051e-01 3.93865385e-01 -5.76565217e-03 2.79095514e+02] [-3.93858065e-01 9.19168132e-01 2.40210287e-03 -4.28088627e+01] [ 6.24570890e-03 6.29556294e-05 9.99980493e-01 1.39575616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters 0.025047164385448687 Centerline is valid? [True, True] Translation: X:279.15, Y:-42.83, Z:1.39 [[ 9.18860947e-01 3.94499192e-01 -8.05905795e-03 2.79154908e+02] [-3.94484861e-01 9.18896283e-01 3.36368729e-03 -4.28340960e+01] [ 8.73241031e-03 8.84154674e-05 9.99961868e-01 1.39480127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters 0.025170193793294028 Centerline is valid? [True, True] Translation: X:279.21, Y:-42.86, Z:1.39 [[ 9.18365494e-01 3.95667979e-01 -7.18823304e-03 2.79214532e+02] [-3.95656582e-01 9.18393621e-01 3.00433725e-03 -4.28589617e+01] [ 7.79034742e-03 8.49920530e-05 9.99969651e-01 1.39385043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters 0.025447028901481594 Centerline is valid? [True, True] Translation: X:279.27, Y:-42.88, Z:1.40 [[ 9.17252421e-01 3.98158772e-01 -1.08438001e-02 2.79273555e+02] [-3.98132913e-01 9.17316504e-01 4.54031731e-03 -4.28843790e+01] [ 1.17549640e-02 1.52656687e-04 9.99930896e-01 1.39720528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters 0.02582313030210529 Centerline is valid? [True, True] Translation: X:279.33, Y:-42.91, Z:1.40 [[ 9.16520159e-01 3.99856172e-01 -1.02878823e-02 2.79333387e+02] [-3.99832934e-01 9.16577883e-01 4.31372666e-03 -4.29082915e+01] [ 1.11545156e-02 1.59816717e-04 9.99937774e-01 1.39736165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters 0.026852088166868848 Centerline is valid? [True, True] Translation: X:279.39, Y:-42.93, Z:1.40 [[ 9.15253386e-01 4.02817153e-01 -7.04136896e-03 2.79393460e+02] [-4.02806329e-01 9.15280462e-01 2.95588696e-03 -4.29321532e+01] [ 7.63550941e-03 1.30922432e-04 9.99970841e-01 1.39547175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters 0.027405521692077595 Centerline is valid? [True, True] Translation: X:279.45, Y:-42.96, Z:1.40 [[ 9.13845572e-01 4.05936948e-01 -1.00729851e-02 2.79452809e+02] [-4.05914905e-01 9.13901060e-01 4.23594349e-03 -4.29573112e+01] [ 1.09252378e-02 2.17776603e-04 9.99940294e-01 1.39665250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters 0.028417531408398655 Centerline is valid? [True, True] Translation: X:279.51, Y:-42.98, Z:1.40 [[ 9.12363270e-01 4.09260529e-01 -9.95401957e-03 2.79512418e+02] [-4.09239135e-01 9.12417535e-01 4.19199402e-03 -4.29806225e+01] [ 1.07978397e-02 2.48952989e-04 9.99941671e-01 1.39559096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters 0.027914300944867097 Centerline is valid? [True, True] Translation: X:279.57, Y:-43.01, Z:1.40 [[ 9.12854590e-01 4.08163712e-01 -9.94392756e-03 2.79570673e+02] [-4.08142231e-01 9.12908720e-01 4.19386339e-03 -4.30068836e+01] [ 1.07896810e-02 2.30149328e-04 9.99941763e-01 1.39831079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters 0.027599252637684896 Centerline is valid? [True, True] Translation: X:279.63, Y:-43.03, Z:1.40 [[ 9.13405607e-01 4.06951196e-01 -8.99568431e-03 2.79630175e+02] [-4.06933506e-01 9.13449883e-01 3.79921467e-03 -4.30306727e+01] [ 9.76320173e-03 1.90421369e-04 9.99952321e-01 1.39683417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters 0.027589439654283975 Centerline is valid? [True, True] Translation: X:279.69, Y:-43.06, Z:1.40 [[ 9.13011753e-01 4.07804682e-01 -1.02410899e-02 2.79689321e+02] [-4.07781734e-01 9.13069161e-01 4.33190094e-03 -4.30562853e+01] [ 1.11173929e-02 2.21052931e-04 9.99938175e-01 1.39757076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters 0.0279292761655686 Centerline is valid? [True, True] Translation: X:279.75, Y:-43.08, Z:1.40 [[ 9.12207100e-01 4.09563201e-01 -1.16701343e-02 2.79747419e+02] [-4.09533448e-01 9.12281707e-01 4.94395806e-03 -4.30829575e+01] [ 1.26713133e-02 2.69396703e-04 9.99919679e-01 1.40018879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters 0.02848218986310939 Centerline is valid? [True, True] Translation: X:279.81, Y:-43.11, Z:1.40 [[ 9.11268983e-01 4.11701760e-01 -9.51322625e-03 2.79807453e+02] [-4.11682051e-01 9.11318607e-01 4.03553105e-03 -4.31067325e+01] [ 1.03310153e-02 2.38970212e-04 9.99946605e-01 1.39834299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters 0.02985247021422937 Centerline is valid? [True, True] Translation: X:279.87, Y:-43.13, Z:1.40 [[ 9.08804824e-01 4.17138521e-01 -8.32140331e-03 2.79867359e+02] [-4.17123623e-01 9.08842884e-01 3.53485232e-03 -4.31316046e+01] [ 9.03737125e-03 2.58563058e-04 9.99959129e-01 1.39983426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters 0.03092597853149044 Centerline is valid? [True, True] Translation: X:279.93, Y:-43.16, Z:1.40 [[ 9.07013944e-01 4.20953240e-01 -1.11389309e-02 2.79926953e+02] [-4.20926734e-01 9.07082255e-01 4.73984922e-03 -4.31559593e+01] [ 1.20991814e-02 3.89564458e-04 9.99926726e-01 1.40249577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters 0.031833159196346064 Centerline is valid? [True, True] Translation: X:279.99, Y:-43.18, Z:1.40 [[ 9.05155045e-01 4.24980920e-01 -9.24996735e-03 2.79987200e+02] [-4.24962797e-01 9.05202235e-01 3.94150974e-03 -4.31792480e+01] [ 1.00481576e-02 3.63214569e-04 9.99949450e-01 1.40168586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters 0.032427013129982474 Centerline is valid? [True, True] Translation: X:280.05, Y:-43.20, Z:1.40 [[ 9.04588062e-01 4.26214973e-01 -7.82531530e-03 2.80048703e+02] [-4.26202008e-01 9.04621854e-01 3.33920446e-03 -4.32008242e+01] [ 8.50217017e-03 3.14560606e-04 9.99963806e-01 1.40167818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters 0.032091351911030234 Centerline is valid? [True, True] Translation: X:280.11, Y:-43.23, Z:1.40 [[ 9.04750934e-01 4.25894888e-01 -6.26837974e-03 2.80108874e+02] [-4.25886537e-01 9.04772614e-01 2.67848890e-03 -4.32263986e+01] [ 6.81221305e-03 2.46253204e-04 9.99976766e-01 1.40316195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters 0.031202260271335495 Centerline is valid? [True, True] Translation: X:280.17, Y:-43.25, Z:1.40 [[ 9.05662418e-01 4.23921383e-01 -8.13921797e-03 2.80169467e+02] [-4.23907166e-01 9.05698943e-01 3.48421115e-03 -4.32486321e+01] [ 8.84871272e-03 2.94753731e-04 9.99960806e-01 1.40228826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters 0.031150201589160063 Centerline is valid? [True, True] Translation: X:280.23, Y:-43.27, Z:1.40 [[ 9.05882625e-01 4.23485201e-01 -6.07902360e-03 2.80229763e+02] [-4.23477241e-01 9.05902996e-01 2.60545051e-03 -4.32734654e+01] [ 6.61037543e-03 2.14095787e-04 9.99978128e-01 1.40194092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters 0.0309171895137698 Centerline is valid? [True, True] Translation: X:280.29, Y:-43.30, Z:1.40 [[ 9.06107283e-01 4.23016881e-01 -5.12927882e-03 2.80288926e+02] [-4.23011189e-01 9.06121784e-01 2.20143001e-03 -4.32994773e+01] [ 5.57899334e-03 1.75010564e-04 9.99984422e-01 1.40409613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters 0.031072244862833574 Centerline is valid? [True, True] Translation: X:280.35, Y:-43.32, Z:1.40 [[ 9.05707767e-01 4.23855014e-01 -6.35354500e-03 2.80349104e+02] [-4.23846266e-01 9.05730026e-01 2.73199273e-03 -4.33242985e+01] [ 6.91256529e-03 2.18539287e-04 9.99976084e-01 1.40213804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters 0.030229380041696816 Centerline is valid? [True, True] Translation: X:280.41, Y:-43.35, Z:1.40 [[ 9.06753411e-01 4.21659452e-01 -1.24833301e-03 2.80408022e+02] [-4.21659114e-01 9.06754269e-01 5.35285866e-04 -4.33504690e+01] [ 1.35763963e-03 4.09987060e-05 9.99999078e-01 1.40191879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters 0.028429526645884128 Centerline is valid? [True, True] Translation: X:280.47, Y:-43.38, Z:1.40 [[ 9.09205829e-01 4.16328469e-01 -3.91995464e-03 2.80466587e+02] [-4.16325052e-01 9.09214274e-01 1.68952300e-03 -4.33762997e+01] [ 4.26747524e-03 9.58511653e-05 9.99990890e-01 1.40352754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters 0.02704487080059424 Centerline is valid? [True, True] Translation: X:280.53, Y:-43.40, Z:1.40 [[ 9.11182295e-01 4.11996774e-01 -2.34187575e-03 2.80525744e+02] [-4.11995539e-01 9.11185303e-01 1.00967515e-03 -4.34016019e+01] [ 2.54986567e-03 4.48442379e-05 9.99996748e-01 1.39867076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters 0.025959905217974796 Centerline is valid? [True, True] Translation: X:280.58, Y:-43.43, Z:1.40 [[ 9.13099796e-01 4.07733376e-01 1.50210863e-03 2.80584832e+02] [-4.07732852e-01 9.13101032e-01 -6.53708134e-04 -4.34293094e+01] [-1.63811556e-03 -1.55582726e-05 9.99998658e-01 1.40010451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters 0.025361149232842238 Centerline is valid? [True, True] Translation: X:280.64, Y:-43.46, Z:1.40 [[ 9.14019999e-01 4.05666808e-01 -1.37199672e-03 2.80642351e+02] [-4.05666377e-01 9.14021028e-01 5.91920885e-04 -4.34608774e+01] [ 1.49415651e-03 1.55454119e-05 9.99998884e-01 1.40136096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters 0.024929681624581167 Centerline is valid? [True, True] Translation: X:280.70, Y:-43.49, Z:1.40 [[ 9.14273447e-01 4.05096353e-01 -1.00477005e-03 2.80701586e+02] [-4.05096121e-01 9.14273999e-01 4.33327947e-04 -4.34871932e+01] [ 1.09417470e-03 1.08482149e-05 9.99999401e-01 1.40127269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters 0.026020226185221207 Centerline is valid? [True, True] Translation: X:280.76, Y:-43.52, Z:1.40 [[ 9.12123660e-01 4.09913315e-01 1.22595553e-03 2.80759730e+02] [-4.09912964e-01 9.12124484e-01 -5.36645054e-04 -4.35165425e+01] [-1.33820200e-03 -1.30484116e-05 9.99999105e-01 1.40118525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters 0.026486858359651904 Centerline is valid? [True, True] Translation: X:280.82, Y:-43.54, Z:1.40 [[ 9.10548964e-01 4.13401205e-01 -1.67666026e-04 2.80818611e+02] [-4.13401199e-01 9.10548979e-01 6.98904243e-05 -4.35445192e+01] [ 1.81560915e-04 5.67468288e-06 9.99999984e-01 1.40221551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters 0.026351618182382863 Centerline is valid? [True, True] Translation: X:280.88, Y:-43.57, Z:1.40 [[ 9.09725847e-01 4.15207936e-01 -1.11979126e-03 2.80879747e+02] [-4.15207653e-01 9.09726535e-01 4.85621091e-04 -4.35676397e+01] [ 1.22033756e-03 2.31638441e-05 9.99999255e-01 1.39905870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters 0.026613066124226526 Centerline is valid? [True, True] Translation: X:280.94, Y:-43.59, Z:1.40 [[ 9.09657600e-01 4.15351699e-01 2.45275851e-03 2.80939833e+02] [-4.15350309e-01 9.09660906e-01 -1.07552906e-03 -4.35935868e+01] [-2.67790135e-03 -4.03908196e-05 9.99996414e-01 1.40057361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters 0.026523111664623636 Centerline is valid? [True, True] Translation: X:281.00, Y:-43.62, Z:1.40 [[ 9.09117994e-01 4.16538101e-01 6.94943711e-04 2.80999392e+02] [-4.16537988e-01 9.09118260e-01 -3.07495387e-04 -4.36197261e+01] [-7.59869562e-04 -9.92086543e-06 9.99999711e-01 1.40033785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters 0.027245392803738087 Centerline is valid? [True, True] Translation: X:281.06, Y:-43.65, Z:1.40 [[ 9.07390990e-01 4.20285995e-01 1.12843515e-03 2.81058953e+02] [-4.20285700e-01 9.07391692e-01 -4.98103120e-04 -4.36452980e+01] [-1.23327844e-03 -2.22908741e-05 9.99999239e-01 1.40114916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters 0.02772001589820939 Centerline is valid? [True, True] Translation: X:281.12, Y:-43.67, Z:1.40 [[ 9.06381767e-01 4.22456702e-01 1.55797086e-03 2.81119427e+02] [-4.22456143e-01 9.06383106e-01 -6.87599929e-04 -4.36691855e+01] [-1.70259966e-03 -3.49463219e-05 9.99998550e-01 1.40101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters 0.028260213176837728 Centerline is valid? [True, True] Translation: X:281.18, Y:-43.70, Z:1.40 [[ 9.05186740e-01 4.25011820e-01 1.38489825e-03 2.81178626e+02] [-4.25011380e-01 9.05187799e-01 -6.12497611e-04 -4.36971390e+01] [-1.51391173e-03 -3.41728015e-05 9.99998853e-01 1.40145404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters 0.028279518858879502 Centerline is valid? [True, True] Translation: X:281.24, Y:-43.72, Z:1.40 [[ 9.04767433e-01 4.25905557e-01 5.90064886e-04 2.81238883e+02] [-4.25905476e-01 9.04767625e-01 -2.63211384e-04 -4.37216702e+01] [-6.45974796e-04 -1.31667782e-05 9.99999791e-01 1.40346647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters 0.02760653367141796 Centerline is valid? [True, True] Translation: X:281.30, Y:-43.75, Z:1.40 [[ 9.04845551e-01 4.25725389e-01 -3.52439074e-03 2.81299290e+02] [-4.25722570e-01 9.04852410e-01 1.55231088e-03 -4.37462137e+01] [ 3.84991160e-03 9.58110899e-05 9.99992584e-01 1.40371987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters 0.027175221639672203 Centerline is valid? [True, True] Translation: X:281.36, Y:-43.77, Z:1.41 [[ 9.04992660e-01 4.25414965e-01 -3.22369805e-03 2.81358196e+02] [-4.25412598e-01 9.04998398e-01 1.42182668e-03 -4.37741464e+01] [ 3.52230792e-03 8.46590500e-05 9.99993793e-01 1.40519224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters 0.02694553603051299 Centerline is valid? [True, True] Translation: X:281.42, Y:-43.80, Z:1.41 [[ 9.04930231e-01 4.25548231e-01 -3.15918173e-03 2.81417628e+02] [-4.25545951e-01 9.04935741e-01 1.39548377e-03 -4.38003578e+01] [ 3.45270211e-03 8.15615402e-05 9.99994036e-01 1.40627959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters 0.02683605371706031 Centerline is valid? [True, True] Translation: X:281.48, Y:-43.83, Z:1.41 [[ 9.04720356e-01 4.25992891e-01 -3.33687326e-03 2.81477141e+02] [-4.25990341e-01 9.04726505e-01 1.47649247e-03 -4.38258210e+01] [ 3.64793298e-03 8.56629880e-05 9.99993343e-01 1.40586004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters 0.027090572480619555 Centerline is valid? [True, True] Translation: X:281.54, Y:-43.85, Z:1.41 [[ 9.04383905e-01 4.26716834e-01 -1.58015877e-03 2.81536704e+02] [-4.26716264e-01 9.04385284e-01 6.98595412e-04 -4.38527941e+01] [ 1.72717476e-03 4.24809998e-05 9.99998508e-01 1.40582318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters 0.027317906433898687 Centerline is valid? [True, True] Translation: X:281.60, Y:-43.88, Z:1.41 [[ 9.03709277e-01 4.28136206e-01 -2.98845177e-03 2.81596246e+02] [-4.28134160e-01 9.03714215e-01 1.32613558e-03 -4.38792052e+01] [ 3.26847300e-03 8.10172577e-05 9.99994655e-01 1.40648889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters 0.02706298932509434 Centerline is valid? [True, True] Translation: X:281.66, Y:-43.90, Z:1.41 [[ 9.03906302e-01 4.27725617e-01 -2.04767948e-03 2.81655626e+02] [-4.27724655e-01 9.03908620e-01 9.09068331e-04 -4.39048753e+01] [ 2.23974695e-03 5.41304039e-05 9.99997490e-01 1.40571992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters 0.02649212281009706 Centerline is valid? [True, True] Translation: X:281.72, Y:-43.93, Z:1.41 [[ 9.04412015e-01 4.26656879e-01 -1.67758691e-03 2.81715765e+02] [-4.26656230e-01 9.04413570e-01 7.45361164e-04 -4.39290973e+01] [ 1.83524583e-03 4.16393132e-05 9.99998315e-01 1.40591496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters 0.026289371859099384 Centerline is valid? [True, True] Translation: X:281.78, Y:-43.96, Z:1.41 [[ 9.04216147e-01 4.27059236e-01 -3.68346249e-03 2.81775204e+02] [-4.27056085e-01 9.04223645e-01 1.64295972e-03 -4.39562019e+01] [ 4.03231501e-03 8.74543654e-05 9.99991866e-01 1.40835577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters 0.026730843303002117 Centerline is valid? [True, True] Translation: X:281.84, Y:-43.98, Z:1.41 [[ 9.03154394e-01 4.29293586e-01 -4.37683244e-03 2.81835139e+02] [-4.29289146e-01 9.03164993e-01 1.95585049e-03 -4.39821210e+01] [ 4.79263592e-03 1.12491693e-04 9.99988509e-01 1.40991780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters 0.027663795932516867 Centerline is valid? [True, True] Translation: X:281.90, Y:-44.01, Z:1.41 [[ 9.01524037e-01 4.32698570e-01 -5.13397897e-03 2.81895996e+02] [-4.32692490e-01 9.01538643e-01 2.29868371e-03 -4.40078585e+01] [ 5.62311759e-03 1.49115526e-04 9.99984179e-01 1.41047395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters 0.027814137901747665 Centerline is valid? [True, True] Translation: X:281.96, Y:-44.03, Z:1.41 [[ 9.01317122e-01 4.33158764e-01 -9.65169711e-04 2.81956328e+02] [-4.33158551e-01 9.01317638e-01 4.30267594e-04 -4.40331233e+01] [ 1.05629866e-03 3.02639637e-05 9.99999442e-01 1.40908293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters 0.027624745592206266 Centerline is valid? [True, True] Translation: X:282.02, Y:-44.06, Z:1.41 [[ 9.01151165e-01 4.33490104e-01 -3.59267243e-03 2.82017099e+02] [-4.33487116e-01 9.01158321e-01 1.61276136e-03 -4.40584757e+01] [ 3.93668274e-03 1.04035435e-04 9.99992246e-01 1.41036510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters 0.027467568907275978 Centerline is valid? [True, True] Translation: X:282.08, Y:-44.08, Z:1.41 [[ 9.00914436e-01 4.33978146e-01 -4.01847101e-03 2.82077367e+02] [-4.33974397e-01 9.00923391e-01 1.80741268e-03 -4.40825016e+01] [ 4.40471213e-03 1.15589359e-04 9.99990293e-01 1.40921175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters 0.027232279306698085 Centerline is valid? [True, True] Translation: X:282.14, Y:-44.11, Z:1.41 [[ 9.01340493e-01 4.33102460e-01 -2.75221844e-03 2.82136501e+02] [-4.33100695e-01 9.01344692e-01 1.23866264e-03 -4.41113208e+01] [ 3.01716532e-03 7.55309222e-05 9.99995445e-01 1.41213064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters 0.027186232174073142 Centerline is valid? [True, True] Translation: X:282.20, Y:-44.14, Z:1.41 [[ 9.00773640e-01 4.34245554e-01 -6.13591215e-03 2.82195762e+02] [-4.34236749e-01 9.00794522e-01 2.77044141e-03 -4.41372831e+01] [ 6.73024792e-03 1.68897956e-04 9.99977337e-01 1.41222593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters 0.027815295532665988 Centerline is valid? [True, True] Translation: X:282.26, Y:-44.16, Z:1.41 [[ 8.99661962e-01 4.36546611e-01 -5.95063592e-03 2.82255749e+02] [-4.36538353e-01 8.99681624e-01 2.69083254e-03 -4.41629479e+01] [ 6.52835162e-03 1.76841123e-04 9.99978674e-01 1.41379113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters 0.029038013330416786 Centerline is valid? [True, True] Translation: X:282.32, Y:-44.19, Z:1.41 [[ 8.97581306e-01 4.40815858e-01 -5.40167184e-03 2.82315134e+02] [-4.40809111e-01 8.97597541e-01 2.44607432e-03 -4.41898973e+01] [ 5.92679571e-03 1.85555575e-04 9.99982419e-01 1.41377030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters 0.02979363062982778 Centerline is valid? [True, True] Translation: X:282.37, Y:-44.22, Z:1.41 [[ 8.96221673e-01 4.43577104e-01 -5.10534830e-03 2.82374192e+02] [-4.43571102e-01 8.96236195e-01 2.31536524e-03 -4.42183195e+01] [ 5.60264094e-03 1.89504466e-04 9.99984287e-01 1.41466256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters 0.03143155970337333 Centerline is valid? [True, True] Translation: X:282.44, Y:-44.24, Z:1.41 [[ 8.93851643e-01 4.48351948e-01 -3.12590165e-03 2.82435493e+02] [-4.48349724e-01 8.93857099e-01 1.41873148e-03 -4.42410192e+01] [ 3.43020040e-03 1.33361680e-04 9.99994108e-01 1.41392217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters 0.031797790762725806 Centerline is valid? [True, True] Translation: X:282.50, Y:-44.27, Z:1.42 [[ 8.92704553e-01 4.50590043e-01 -6.86976615e-03 2.82495883e+02] [-4.50579295e-01 8.92730934e-01 3.12704997e-03 -4.42677919e+01] [ 7.54187033e-03 3.03842639e-04 9.99971514e-01 1.41900326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters 0.03186572608925102 Centerline is valid? [True, True] Translation: X:282.56, Y:-44.29, Z:1.42 [[ 8.92047203e-01 4.51852979e-01 -8.98186215e-03 2.82556450e+02] [-4.51834591e-01 8.92092328e-01 4.09638128e-03 -4.42930169e+01] [ 9.86361240e-03 4.04150549e-04 9.99951272e-01 1.42012072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters 0.0315487032210416 Centerline is valid? [True, True] Translation: X:282.62, Y:-44.32, Z:1.42 [[ 8.92501985e-01 4.50962056e-01 -8.56914150e-03 2.82617495e+02] [-4.50945219e-01 8.92543045e-01 3.91440763e-03 -4.43177136e+01] [ 9.41357695e-03 3.70596812e-04 9.99955623e-01 1.41915830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters 0.030648820746140573 Centerline is valid? [True, True] Translation: X:282.68, Y:-44.34, Z:1.42 [[ 8.93969392e-01 4.48098952e-01 -5.10445527e-03 2.82677803e+02] [-4.48092917e-01 8.93983942e-01 2.33410040e-03 -4.43420325e+01] [ 5.60920898e-03 2.00655939e-04 9.99984248e-01 1.41912601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters 0.03078920312781435 Centerline is valid? [True, True] Translation: X:282.74, Y:-44.37, Z:1.42 [[ 8.93562951e-01 4.48909800e-01 -5.02431712e-03 2.82739072e+02] [-4.48903947e-01 8.93577054e-01 2.30097550e-03 -4.43667885e+01] [ 5.52254495e-03 1.99369327e-04 9.99984731e-01 1.41841742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters 0.030957558827351538 Centerline is valid? [True, True] Translation: X:282.80, Y:-44.39, Z:1.42 [[ 8.92602769e-01 4.50793996e-01 -6.71337362e-03 2.82799005e+02] [-4.50783553e-01 8.92627972e-01 3.08082790e-03 -4.43939189e+01] [ 7.38136380e-03 2.76322893e-04 9.99972719e-01 1.42264203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters 0.03173266284842955 Centerline is valid? [True, True] Translation: X:282.86, Y:-44.42, Z:1.42 [[ 8.91235294e-01 4.53513600e-01 -5.00651780e-03 2.82859618e+02] [-4.53507819e-01 8.91249329e-01 2.30046747e-03 -4.44201034e+01] [ 5.50534891e-03 2.20237168e-04 9.99984821e-01 1.42159948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters 0.03328160617060702 Centerline is valid? [True, True] Translation: X:282.92, Y:-44.45, Z:1.42 [[ 8.89059349e-01 4.57760561e-01 -5.36118484e-03 2.82918761e+02] [-4.57753983e-01 8.89075476e-01 2.46770520e-03 -4.44476698e+01] [ 5.89611608e-03 2.60167335e-04 9.99982584e-01 1.42092329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters 0.033735549156205906 Centerline is valid? [True, True] Translation: X:282.98, Y:-44.47, Z:1.42 [[ 8.88087445e-01 4.59640539e-01 -5.59143470e-03 2.82980140e+02] [-4.59633395e-01 8.88105003e-01 2.57798880e-03 -4.44708017e+01] [ 6.15072930e-03 2.80530625e-04 9.99981045e-01 1.42154332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters 0.03370102757874096 Centerline is valid? [True, True] Translation: X:283.04, Y:-44.50, Z:1.42 [[ 8.87880587e-01 4.60024125e-01 -6.77264216e-03 2.83039616e+02] [-4.60013612e-01 8.87906352e-01 3.12835253e-03 -4.44983101e+01] [ 7.45258963e-03 3.37904099e-04 9.99972172e-01 1.42383325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters 0.03369230155270069 Centerline is valid? [True, True] Translation: X:283.10, Y:-44.52, Z:1.43 [[ 8.87489472e-01 4.60775946e-01 -6.92570194e-03 2.83100127e+02] [-4.60764934e-01 8.87516426e-01 3.20444076e-03 -4.45246339e+01] [ 7.62320346e-03 3.47213165e-04 9.99970883e-01 1.42584039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters 0.03341366968791769 Centerline is valid? [True, True] Translation: X:283.16, Y:-44.55, Z:1.43 [[ 8.87721518e-01 4.60348407e-01 -5.46353417e-03 2.83160646e+02] [-4.60341525e-01 8.87738291e-01 2.53136533e-03 -4.45510953e+01] [ 6.01549848e-03 2.67944175e-04 9.99981871e-01 1.42622054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters 0.033802609378292235 Centerline is valid? [True, True] Translation: X:283.22, Y:-44.58, Z:1.42 [[ 8.87379925e-01 4.61036120e-01 -1.60167292e-03 2.83222395e+02] [-4.61035532e-01 8.87381366e-01 7.40828478e-04 -4.45752583e+01] [ 1.76284339e-03 8.10318096e-05 9.99998443e-01 1.42355090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters 0.03378555055938581 Centerline is valid? [True, True] Translation: X:283.28, Y:-44.60, Z:1.42 [[ 8.87250173e-01 4.61288220e-01 -5.55543680e-04 2.83283913e+02] [-4.61288151e-01 8.87250346e-01 2.55091599e-04 -4.45986177e+01] [ 6.10577073e-04 2.99356514e-05 9.99999813e-01 1.42459442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters 0.033987155032786175 Centerline is valid? [True, True] Translation: X:283.35, Y:-44.62, Z:1.42 [[ 8.86414876e-01 4.62891530e-01 -3.14544648e-04 2.83345872e+02] [-4.62891509e-01 8.86414931e-01 1.43145000e-04 -4.46211785e+01] [ 3.45077681e-04 1.87141889e-05 9.99999940e-01 1.42394857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters 0.03476457875745927 Centerline is valid? [True, True] Translation: X:283.41, Y:-44.65, Z:1.43 [[ 8.85265832e-01 4.65085159e-01 -4.48587374e-04 2.83406830e+02] [-4.65085114e-01 8.85265945e-01 2.06014366e-04 -4.46462674e+01] [ 4.92933350e-04 2.62538308e-05 9.99999878e-01 1.42641333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters 0.03404523697204593 Centerline is valid? [True, True] Translation: X:283.47, Y:-44.66, Z:1.42 [[ 8.85947411e-01 4.63785555e-01 -3.79606019e-04 2.83470381e+02] [-4.63785523e-01 8.85947492e-01 1.74296278e-04 -4.46648196e+01] [ 4.17147097e-04 2.16384400e-05 9.99999913e-01 1.42300274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters 0.03410159886819922 Centerline is valid? [True, True] Translation: X:283.53, Y:-44.69, Z:1.43 [[ 8.85755215e-01 4.64150611e-01 1.38201633e-03 2.83530923e+02] [-4.64150159e-01 8.85756290e-01 -6.51045443e-04 -4.46898991e+01] [-1.52631280e-03 -6.47962049e-05 9.99998833e-01 1.42668869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters 0.03432435290467698 Centerline is valid? [True, True] Translation: X:283.59, Y:-44.71, Z:1.43 [[ 8.85182246e-01 4.65242385e-01 1.38404318e-03 2.83593886e+02] [-4.65241931e-01 8.85183325e-01 -6.53074325e-04 -4.47115270e+01] [-1.52896980e-03 -6.58251224e-05 9.99998829e-01 1.42569022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters 0.03531406683436813 Centerline is valid? [True, True] Translation: X:283.65, Y:-44.74, Z:1.43 [[ 8.83478725e-01 4.68470483e-01 8.65340807e-04 2.83654241e+02] [-4.68470305e-01 8.83479148e-01 -4.09976669e-04 -4.47358247e+01] [-9.56572527e-04 -4.31808073e-05 9.99999542e-01 1.42762911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters 0.03679780936696261 Centerline is valid? [True, True] Translation: X:283.72, Y:-44.76, Z:1.43 [[ 8.81134548e-01 4.72853473e-01 3.39140832e-03 2.83716580e+02] [-4.72850806e-01 8.81141053e-01 -1.59990739e-03 -4.47567518e+01] [-3.74483086e-03 -1.93896483e-04 9.99992969e-01 1.42782804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters 0.03701352485381931 Centerline is valid? [True, True] Translation: X:283.78, Y:-44.78, Z:1.43 [[ 8.80373565e-01 4.74273652e-01 2.62486047e-03 2.83778016e+02] [-4.74272052e-01 8.80377464e-01 -1.24122659e-03 -4.47800046e+01] [-2.89954908e-03 -1.52154883e-04 9.99995785e-01 1.42970354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters 0.03658553573975888 Centerline is valid? [True, True] Translation: X:283.84, Y:-44.80, Z:1.43 [[ 8.80970969e-01 4.73158993e-01 3.27393028e-03 2.83841277e+02] [-4.73156492e-01 8.80977033e-01 -1.54939070e-03 -4.47981141e+01] [-3.61736553e-03 -1.84113144e-04 9.99993440e-01 1.42766633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters 0.034622871149355756 Centerline is valid? [True, True] Translation: X:283.90, Y:-44.82, Z:1.43 [[ 8.83326377e-01 4.68749908e-01 2.83488977e-03 2.83903936e+02] [-4.68748002e-01 8.83330914e-01 -1.34405026e-03 -4.48180067e+01] [-3.13416921e-03 -1.41613871e-04 9.99995078e-01 1.42867249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters 0.03348867245338168 Centerline is valid? [True, True] Translation: X:283.97, Y:-44.84, Z:1.43 [[ 8.84819532e-01 4.65919698e-01 3.63731503e-03 2.83966258e+02] [-4.65916531e-01 8.84826993e-01 -1.72614530e-03 -4.48381687e+01] [-4.02263962e-03 -1.67358120e-04 9.99991895e-01 1.42931785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters 0.03226834203798631 Centerline is valid? [True, True] Translation: X:284.03, Y:-44.86, Z:1.43 [[ 8.86055781e-01 4.63578289e-01 5.68667419e-04 2.84027097e+02] [-4.63578210e-01 8.86055963e-01 -2.73002544e-04 -4.48617436e+01] [-6.30429210e-04 -2.17263416e-05 9.99999801e-01 1.43076475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters 0.03098099832249997 Centerline is valid? [True, True] Translation: X:284.09, Y:-44.88, Z:1.43 [[ 8.87623145e-01 4.60563308e-01 2.56731515e-03 2.84088871e+02] [-4.60561696e-01 8.87626853e-01 -1.22248620e-03 -4.48812024e+01] [-2.84185016e-03 -9.72999721e-05 9.99995957e-01 1.43061486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters 0.029628430553762006 Centerline is valid? [True, True] Translation: X:284.15, Y:-44.90, Z:1.43 [[ 8.90065486e-01 4.55766444e-01 7.77047029e-03 2.84150321e+02] [-4.55751499e-01 8.90099369e-01 -3.69920407e-03 -4.49023510e+01] [-8.60246379e-03 -2.48869616e-04 9.99962967e-01 1.43022269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters 0.028438491753063042 Centerline is valid? [True, True] Translation: X:284.21, Y:-44.93, Z:1.43 [[ 8.91381041e-01 4.53208342e-01 6.48364317e-03 2.84209908e+02] [-4.53197836e-01 8.91404602e-01 -3.09125886e-03 -4.49274286e+01] [-7.18053367e-03 -1.82883518e-04 9.99974203e-01 1.43164439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters 0.027831066334354743 Centerline is valid? [True, True] Translation: X:284.27, Y:-44.95, Z:1.43 [[ 8.91737712e-01 4.52511670e-01 6.08612732e-03 2.84269831e+02] [-4.52502364e-01 8.91758466e-01 -2.90657719e-03 -4.49535069e+01] [-6.74261567e-03 -1.62082505e-04 9.99977255e-01 1.42960919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters 0.027662301642308654 Centerline is valid? [True, True] Translation: X:284.33, Y:-44.98, Z:1.43 [[ 8.91679547e-01 4.52633704e-01 5.50599388e-03 2.84328308e+02] [-4.52626065e-01 8.91696534e-01 -2.63374417e-03 -4.49813271e+01] [-6.10179704e-03 -1.43700530e-04 9.99981374e-01 1.43000688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters 0.02726394515435207 Centerline is valid? [True, True] Translation: X:284.39, Y:-45.01, Z:1.43 [[ 8.92230125e-01 4.51520611e-01 7.38525229e-03 2.84386778e+02] [-4.51506793e-01 8.92260672e-01 -3.53683972e-03 -4.50108812e+01] [-8.18652620e-03 -1.78816630e-04 9.99966474e-01 1.42923191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters 0.026738293098920392 Centerline is valid? [True, True] Translation: X:284.44, Y:-45.04, Z:1.43 [[ 8.92815981e-01 4.50366622e-01 7.03773237e-03 2.84444759e+02] [-4.50353998e-01 8.92843705e-01 -3.37559981e-03 -4.50399123e+01] [-7.80385252e-03 -1.55681455e-04 9.99969537e-01 1.42999913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters 0.02525691632959379 Centerline is valid? [True, True] Translation: X:284.50, Y:-45.07, Z:1.43 [[ 8.94765517e-01 4.46504969e-01 5.28981631e-03 2.84501187e+02] [-4.46497746e-01 8.94781149e-01 -2.54114419e-03 -4.50706987e+01] [-5.86786142e-03 -8.81628710e-05 9.99982780e-01 1.43107708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters 0.024559414612929906 Centerline is valid? [True, True] Translation: X:284.56, Y:-45.10, Z:1.43 [[ 8.96078503e-01 4.43856099e-01 5.92279825e-03 2.84558907e+02] [-4.43846960e-01 8.96098073e-01 -2.84940250e-03 -4.51005144e+01] [-6.57213278e-03 -7.55276685e-05 9.99978400e-01 1.43125414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters 0.02427845998045323 Centerline is valid? [True, True] Translation: X:284.62, Y:-45.13, Z:1.43 [[ 8.96737426e-01 4.42533512e-01 5.10676701e-03 2.84615528e+02] [-4.42526673e-01 8.96751965e-01 -2.46092941e-03 -4.51319736e+01] [-5.66854709e-03 -5.30731081e-05 9.99983932e-01 1.43417049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters 0.024375660190993794 Centerline is valid? [True, True] Translation: X:284.67, Y:-45.17, Z:1.43 [[ 8.96254938e-01 4.43496926e-01 6.12877679e-03 2.84672169e+02] [-4.43487072e-01 8.96275891e-01 -2.95715226e-03 -4.51654523e+01] [-6.80456281e-03 -6.76709590e-05 9.99976846e-01 1.43207035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters 0.024784547816788734 Centerline is valid? [True, True] Translation: X:284.73, Y:-45.20, Z:1.43 [[ 8.95028796e-01 4.45975857e-01 5.38412635e-03 2.84726520e+02] [-4.45968272e-01 8.95044988e-01 -2.60213498e-03 -4.52015416e+01] [-5.97952468e-03 -7.21637823e-05 9.99982120e-01 1.43272458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters 0.025493125407911946 Centerline is valid? [True, True] Translation: X:284.78, Y:-45.24, Z:1.44 [[ 8.92975611e-01 4.50081776e-01 4.57737466e-03 2.84782079e+02] [-4.50076328e-01 8.92987339e-01 -2.21599014e-03 -4.52354773e+01] [-5.08491439e-03 -8.13428285e-05 9.99987068e-01 1.43532904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters 0.026789950006566227 Centerline is valid? [True, True] Translation: X:284.84, Y:-45.27, Z:1.44 [[ 8.90275094e-01 4.55404446e-01 4.12896273e-03 2.84837086e+02] [-4.55400055e-01 8.90284663e-01 -2.00215380e-03 -4.52711981e+01] [-4.58774194e-03 -9.78621922e-05 9.99989471e-01 1.43585343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters 0.0279560574375515 Centerline is valid? [True, True] Translation: X:284.89, Y:-45.31, Z:1.44 [[ 8.88115954e-01 4.59603797e-01 3.79493420e-03 2.84893224e+02] [-4.59600112e-01 8.88124056e-01 -1.84359150e-03 -4.53063718e+01] [-4.21769401e-03 -1.06829161e-04 9.99991100e-01 1.43671943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters 0.027876850182026812 Centerline is valid? [True, True] Translation: X:284.95, Y:-45.34, Z:1.44 [[ 8.87893084e-01 4.60046128e-01 1.85255110e-03 2.84951691e+02] [-4.60045244e-01 8.87895015e-01 -9.03301985e-04 -4.53366210e+01] [-2.06043147e-03 -5.02217359e-05 9.99997876e-01 1.43826177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters 0.02751561271754292 Centerline is valid? [True, True] Translation: X:285.01, Y:-45.37, Z:1.44 [[ 8.87556257e-01 4.60696341e-01 1.66512728e-03 2.85008683e+02] [-4.60695625e-01 8.87557818e-01 -8.13573434e-04 -4.53703566e+01] [-1.85270703e-03 -4.50246592e-05 9.99998283e-01 1.44055877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters 0.027389156783469662 Centerline is valid? [True, True] Translation: X:285.07, Y:-45.40, Z:1.44 [[ 8.87358208e-01 4.61073870e-01 2.50944203e-03 2.85066680e+02] [-4.61072245e-01 8.87361754e-01 -1.22609943e-03 -4.54005570e+01] [-2.79210529e-03 -6.90446734e-05 9.99996100e-01 1.44128297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters 0.027205777277586322 Centerline is valid? [True, True] Translation: X:285.12, Y:-45.43, Z:1.44 [[ 8.87796414e-01 4.60236378e-01 5.82904116e-05 2.85123648e+02] [-4.60236377e-01 8.87796416e-01 -3.20667469e-05 -4.54334916e+01] [-6.65083016e-05 1.64137505e-06 9.99999998e-01 1.44306343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters 0.026720455186323697 Centerline is valid? [True, True] Translation: X:285.18, Y:-45.47, Z:1.44 [[ 8.87906590e-01 4.60023576e-01 4.43693147e-04 2.85181211e+02] [-4.60023523e-01 8.87906701e-01 -2.20460775e-04 -4.54660122e+01] [-4.95375272e-04 -8.36070922e-06 9.99999877e-01 1.44217334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters 0.02672150866439939 Centerline is valid? [True, True] Translation: X:285.24, Y:-45.50, Z:1.44 [[ 8.88166663e-01 4.59521338e-01 3.43010502e-04 2.85238416e+02] [-4.59521306e-01 8.88166730e-01 -1.71529835e-04 -4.54988895e+01] [-3.83472134e-04 -5.27355264e-06 9.99999926e-01 1.44307338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters 0.026072491347546065 Centerline is valid? [True, True] Translation: X:285.30, Y:-45.53, Z:1.45 [[ 8.88620369e-01 4.58642996e-01 6.64989905e-04 2.85295366e+02] [-4.58642878e-01 8.88620618e-01 -3.29663838e-04 -4.55326835e+01] [-7.42121750e-04 -1.20468823e-05 9.99999725e-01 1.44565663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters 0.025677444558145586 Centerline is valid? [True, True] Translation: X:285.35, Y:-45.56, Z:1.45 [[ 8.89251712e-01 4.57403702e-01 -3.63953257e-03 2.85353499e+02] [-4.57400229e-01 8.89259157e-01 1.78408947e-03 -4.55641410e+01] [ 4.05253679e-03 7.82184167e-05 9.99991785e-01 1.44737117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters 0.02531067071247749 Centerline is valid? [True, True] Translation: X:285.41, Y:-45.59, Z:1.45 [[ 8.89699850e-01 4.56531346e-01 -3.64801141e-03 2.85411788e+02] [-4.56527838e-01 8.89707325e-01 1.79113456e-03 -4.55948064e+01] [ 4.06337155e-03 7.18466116e-05 9.99991742e-01 1.44654473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters 0.025077626419790416 Centerline is valid? [True, True] Translation: X:285.47, Y:-45.63, Z:1.45 [[ 8.90153561e-01 4.55650827e-01 -2.99374219e-03 2.85468072e+02] [-4.55648453e-01 8.90158593e-01 1.47162532e-03 -4.56285323e+01] [ 3.33545263e-03 5.41214763e-05 9.99994436e-01 1.44566682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters 0.02424607981547243 Centerline is valid? [True, True] Translation: X:285.52, Y:-45.66, Z:1.45 [[ 8.91379460e-01 4.53234329e-01 -4.61530260e-03 2.85524274e+02] [-4.53228627e-01 8.91391406e-01 2.27429597e-03 -4.56625865e+01] [ 5.14483008e-03 6.45265443e-05 9.99986763e-01 1.44926441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters 0.023708450488177803 Centerline is valid? [True, True] Translation: X:285.58, Y:-45.70, Z:1.45 [[ 8.93106437e-01 4.49816207e-01 -5.12571375e-03 2.85581517e+02] [-4.49809093e-01 8.93121144e-01 2.53026694e-03 -4.56955794e+01] [ 5.71603841e-03 4.57949640e-05 9.99983662e-01 1.44966046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters 0.02359986063477038 Centerline is valid? [True, True] Translation: X:285.64, Y:-45.73, Z:1.45 [[ 8.93947153e-01 4.48156425e-01 -3.78242716e-03 2.85637333e+02] [-4.48152527e-01 8.93955155e-01 1.86924167e-03 -4.57313332e+01] [ 4.21903292e-03 2.41010212e-05 9.99991100e-01 1.44787515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters 0.02344865700930157 Centerline is valid? [True, True] Translation: X:285.70, Y:-45.76, Z:1.45 [[ 8.94973512e-01 4.46089320e-01 -5.17019214e-03 2.85695140e+02] [-4.46081972e-01 8.94988446e-01 2.56046935e-03 -4.57639938e+01] [ 5.76946026e-03 1.47772586e-05 9.99983356e-01 1.44822063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters 0.02336480743830307 Centerline is valid? [True, True] Translation: X:285.75, Y:-45.80, Z:1.45 [[ 8.96733318e-01 4.42561698e-01 -2.91523751e-03 2.85750817e+02] [-4.42559341e-01 8.96738057e-01 1.44447810e-03 -4.57998083e+01] [ 3.25347510e-03 -5.14605182e-06 9.99994707e-01 1.44946041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters 0.023384478416903443 Centerline is valid? [True, True] Translation: X:285.81, Y:-45.83, Z:1.45 [[ 8.95527764e-01 4.44977676e-01 -4.98910290e-03 2.85809466e+02] [-4.44970773e-01 8.95541662e-01 2.47856581e-03 -4.58305861e+01] [ 5.57085596e-03 3.80481082e-07 9.99984483e-01 1.44787369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters 0.023619782053744817 Centerline is valid? [True, True] Translation: X:285.87, Y:-45.86, Z:1.45 [[ 8.92639277e-01 4.50726388e-01 -6.39100000e-03 2.85867781e+02] [-4.50715164e-01 8.92662154e-01 3.18112691e-03 -4.58619689e+01] [ 7.13882167e-03 4.09217873e-05 9.99974517e-01 1.45065749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters 0.023978109093485255 Centerline is valid? [True, True] Translation: X:285.93, Y:-45.89, Z:1.45 [[ 8.90758395e-01 4.54425404e-01 -6.85811220e-03 2.85926800e+02] [-4.54412545e-01 8.90784793e-01 3.41931966e-03 -4.58907136e+01] [ 7.66292777e-03 7.06245300e-05 9.99970637e-01 1.45046410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters 0.02426979980497932 Centerline is valid? [True, True] Translation: X:285.99, Y:-45.92, Z:1.45 [[ 8.90009491e-01 4.55924490e-01 -3.99570464e-03 2.85987239e+02] [-4.55920132e-01 8.90018459e-01 1.99385281e-03 -4.59168590e+01] [ 4.46529721e-03 4.71742683e-05 9.99990029e-01 1.45044472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters 0.024234845519882406 Centerline is valid? [True, True] Translation: X:286.05, Y:-45.95, Z:1.45 [[ 8.89568500e-01 4.56767463e-01 -5.60067113e-03 2.86045996e+02] [-4.56758882e-01 8.89586128e-01 2.80059359e-03 -4.59454313e+01] [ 6.26149938e-03 6.68364472e-05 9.99980394e-01 1.45159424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters 0.024014083379784782 Centerline is valid? [True, True] Translation: X:286.11, Y:-45.97, Z:1.45 [[ 8.89942678e-01 4.56049399e-01 -4.57987856e-03 2.86105426e+02] [-4.56043636e-01 8.89954461e-01 2.29312613e-03 -4.59746817e+01] [ 5.12166215e-03 4.78736680e-05 9.99986883e-01 1.45079927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters 0.024439057910509588 Centerline is valid? [True, True] Translation: X:286.16, Y:-46.01, Z:1.45 [[ 8.88675580e-01 4.58524153e-01 -3.36361013e-03 2.86164138e+02] [-4.58521056e-01 8.88681945e-01 1.68578272e-03 -4.60052043e+01] [ 3.76215169e-03 4.41721377e-05 9.99992922e-01 1.45119756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters 0.024586555474691678 Centerline is valid? [True, True] Translation: X:286.22, Y:-46.03, Z:1.45 [[ 8.87709365e-01 4.60390185e-01 -3.60006943e-03 2.86223975e+02] [-4.60386640e-01 8.87716663e-01 1.80768201e-03 -4.60341219e+01] [ 4.02808068e-03 5.27276230e-05 9.99991886e-01 1.45084445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters 0.0244043791599594 Centerline is valid? [True, True] Translation: X:286.28, Y:-46.06, Z:1.45 [[ 8.87409081e-01 4.60965439e-01 -3.99847995e-03 2.86283114e+02] [-4.60961053e-01 8.87418087e-01 2.01162984e-03 -4.60644722e+01] [ 4.47561526e-03 5.80049379e-05 9.99989983e-01 1.45129208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters 0.024247341072859887 Centerline is valid? [True, True] Translation: X:286.34, Y:-46.10, Z:1.45 [[ 8.87288310e-01 4.61194371e-01 -4.38266412e-03 2.86341996e+02] [-4.61189084e-01 8.87299131e-01 2.20907278e-03 -4.60956547e+01] [ 4.90754599e-03 6.11523971e-05 9.99987956e-01 1.45238983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters 0.023785239290696716 Centerline is valid? [True, True] Translation: X:286.40, Y:-46.13, Z:1.45 [[ 8.87677058e-01 4.60450682e-01 -3.82224509e-03 2.86400753e+02] [-4.60446642e-01 8.87685286e-01 1.92940914e-03 -4.61262032e+01] [ 4.28134848e-03 4.72476860e-05 9.99990834e-01 1.45434206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters 0.023769676109601092 Centerline is valid? [True, True] Translation: X:286.46, Y:-46.16, Z:1.45 [[ 8.87600872e-01 4.60613268e-01 -3.29691723e-04 2.86459822e+02] [-4.60613240e-01 8.87600933e-01 1.63149580e-04 -4.61571159e+01] [ 3.67783543e-04 7.04866364e-06 9.99999932e-01 1.45128558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters 0.023330600757848877 Centerline is valid? [True, True] Translation: X:286.52, Y:-46.19, Z:1.45 [[ 8.88512118e-01 4.58847613e-01 2.25464361e-03 2.86518802e+02] [-4.58846177e-01 8.88514979e-01 -1.14822159e-03 -4.61880844e+01] [-2.53014335e-03 -1.43258038e-05 9.99996799e-01 1.44973136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters 0.02313701564724478 Centerline is valid? [True, True] Translation: X:286.58, Y:-46.22, Z:1.45 [[ 8.88604821e-01 4.58669115e-01 2.02826281e-03 2.86577891e+02] [-4.58667948e-01 8.88607136e-01 -1.03508735e-03 -4.62188029e+01] [-2.27709141e-03 -1.05155335e-05 9.99997407e-01 1.44968664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters 0.023718381886106168 Centerline is valid? [True, True] Translation: X:286.64, Y:-46.25, Z:1.45 [[ 8.86375056e-01 4.62962694e-01 2.19203762e-03 2.86636498e+02] [-4.62961339e-01 8.86377766e-01 -1.12025295e-03 -4.62506332e+01] [-2.46160873e-03 -2.18644018e-05 9.99996970e-01 1.44967782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters 0.02373361452143147 Centerline is valid? [True, True] Translation: X:286.70, Y:-46.28, Z:1.45 [[ 8.86085416e-01 4.63506006e-01 3.84926693e-03 2.86696353e+02] [-4.63501832e-01 8.86093776e-01 -1.96758344e-03 -4.62801412e+01] [-4.32279821e-03 -4.06952806e-05 9.99990656e-01 1.44946034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters 0.02352185474268683 Centerline is valid? [True, True] Translation: X:286.75, Y:-46.31, Z:1.45 [[ 8.86217188e-01 4.63260537e-01 2.96143792e-03 2.86754917e+02] [-4.63258053e-01 8.86222136e-01 -1.51728817e-03 -4.63124387e+01] [-3.32739157e-03 -2.72631155e-05 9.99994464e-01 1.45292694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters 0.023711469446815736 Centerline is valid? [True, True] Translation: X:286.82, Y:-46.34, Z:1.45 [[ 8.85360526e-01 4.64892374e-01 3.43782784e-03 2.86815431e+02] [-4.64889030e-01 8.85367200e-01 -1.76376779e-03 -4.63401817e+01] [-3.86370221e-03 -3.66380723e-05 9.99992535e-01 1.44862238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters 0.023959379648019873 Centerline is valid? [True, True] Translation: X:286.87, Y:-46.37, Z:1.45 [[ 8.84128471e-01 4.67230755e-01 3.50258383e-03 2.86874669e+02] [-4.67227290e-01 8.84135408e-01 -1.79997394e-03 -4.63698938e+01] [-3.93776157e-03 -4.50945463e-05 9.99992246e-01 1.44966652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters 0.023936764068316525 Centerline is valid? [True, True] Translation: X:286.94, Y:-46.40, Z:1.45 [[ 8.84218419e-01 4.67041121e-01 5.51160903e-03 2.86935098e+02] [-4.67032521e-01 8.84235594e-01 -2.83501873e-03 -4.63974101e+01] [-6.19763121e-03 -6.73248798e-05 9.99980792e-01 1.44703602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters 0.023597382478975058 Centerline is valid? [True, True] Translation: X:286.99, Y:-46.43, Z:1.45 [[ 8.85015514e-01 4.65520631e-01 6.17109626e-03 2.86994233e+02] [-4.65509779e-01 8.85037027e-01 -3.17918340e-03 -4.64285316e+01] [-6.94162415e-03 -5.90790191e-05 9.99975905e-01 1.44955776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters 0.023381804674966627 Centerline is valid? [True, True] Translation: X:287.05, Y:-46.46, Z:1.45 [[ 8.85164648e-01 4.65233696e-01 6.41506716e-03 2.87054439e+02] [-4.65221922e-01 8.85187892e-01 -3.31034417e-03 -4.64575178e+01] [-7.21862343e-03 -5.42302357e-05 9.99973944e-01 1.44861880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters 0.023243049675496414 Centerline is valid? [True, True] Translation: X:287.11, Y:-46.49, Z:1.45 [[ 8.85032512e-01 4.65489310e-01 6.09549372e-03 2.87114929e+02] [-4.65478648e-01 8.85053501e-01 -3.15099806e-03 -4.64851800e+01] [-6.86159397e-03 -4.85864438e-05 9.99976458e-01 1.44570687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters 0.022933372229492398 Centerline is valid? [True, True] Translation: X:287.17, Y:-46.51, Z:1.45 [[ 8.85236342e-01 4.65109634e-01 5.44491422e-03 2.87173985e+02] [-4.65101087e-01 8.85253086e-01 -2.81989066e-03 -4.65149224e+01] [-6.13168543e-03 -3.61658335e-05 9.99981200e-01 1.44638266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters 0.022854945446612693 Centerline is valid? [True, True] Translation: X:287.23, Y:-46.55, Z:1.45 [[ 8.85006794e-01 4.65534457e-01 6.37521741e-03 2.87232026e+02] [-4.65522715e-01 8.85029755e-01 -3.30664998e-03 -4.65479979e+01] [-7.18161661e-03 -4.14008233e-05 9.99974211e-01 1.44773243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters 0.023038749373519414 Centerline is valid? [True, True] Translation: X:287.29, Y:-46.58, Z:1.45 [[ 8.85406550e-01 4.64761414e-01 7.21587158e-03 2.87293061e+02] [-4.64746299e-01 8.85435953e-01 -3.74851103e-03 -4.65757112e+01] [-8.13135542e-03 -3.45933903e-05 9.99966939e-01 1.44559580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters 0.02288797968857497 Centerline is valid? [True, True] Translation: X:287.35, Y:-46.61, Z:1.45 [[ 8.84540802e-01 4.66425659e-01 5.88844768e-03 2.87351604e+02] [-4.66415591e-01 8.84560401e-01 -3.06490369e-03 -4.66073539e+01] [-6.63823737e-03 -3.54314371e-05 9.99977966e-01 1.44602262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters 0.023346863288231812 Centerline is valid? [True, True] Translation: X:287.41, Y:-46.64, Z:1.44 [[ 8.83731799e-01 4.67916128e-01 8.52085619e-03 2.87411498e+02] [-4.67895006e-01 8.83772875e-01 -4.44626034e-03 -4.66371043e+01] [-9.61097849e-03 -5.75644088e-05 9.99953812e-01 1.44423892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters 0.02307772033944207 Centerline is valid? [True, True] Translation: X:287.47, Y:-46.67, Z:1.45 [[ 8.83838848e-01 4.67718245e-01 8.27848528e-03 2.87470488e+02] [-4.67698199e-01 8.83877617e-01 -4.33054666e-03 -4.66690663e+01] [-9.34264353e-03 -4.43272809e-05 9.99956356e-01 1.44749956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters 0.02315359660708371 Centerline is valid? [True, True] Translation: X:287.53, Y:-46.70, Z:1.45 [[ 8.84029093e-01 4.67360293e-01 8.18040210e-03 2.87530056e+02] [-4.67340607e-01 8.84066941e-01 -4.28973397e-03 -4.66995387e+01] [-9.23687439e-03 -3.07844509e-05 9.99957339e-01 1.44759150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters 0.022759629085998375 Centerline is valid? [True, True] Translation: X:287.59, Y:-46.73, Z:1.44 [[ 8.84498578e-01 4.66482782e-01 7.48866713e-03 2.87589390e+02] [-4.66466207e-01 8.84530279e-01 -3.93232953e-03 -4.67293831e+01] [-8.45831684e-03 -1.50702796e-05 9.99964228e-01 1.44463490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters 0.023091327236542447 Centerline is valid? [True, True] Translation: X:287.65, Y:-46.76, Z:1.45 [[ 8.83853785e-01 4.67663933e-01 9.64017622e-03 2.87648428e+02] [-4.67636456e-01 8.83906356e-01 -5.06948120e-03 -4.67598299e+01] [-1.08918265e-02 -2.74176969e-05 9.99940682e-01 1.44614182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters 0.022960397929752897 Centerline is valid? [True, True] Translation: X:287.71, Y:-46.79, Z:1.44 [[ 8.84303414e-01 4.66824311e-01 9.08484101e-03 2.87709482e+02] [-4.66799723e-01 8.84350079e-01 -4.79117771e-03 -4.67887869e+01] [-1.02708181e-02 -3.94646210e-06 9.99947254e-01 1.44359435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters 0.02273240198091952 Centerline is valid? [True, True] Translation: X:287.77, Y:-46.82, Z:1.45 [[ 8.84220212e-01 4.66998087e-01 8.20992057e-03 2.87768880e+02] [-4.66977912e-01 8.84258326e-01 -4.34086421e-03 -4.68197778e+01] [-9.28686590e-03 4.42830420e-06 9.99956876e-01 1.44779899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters 0.02280432635172805 Centerline is valid? [True, True] Translation: X:287.83, Y:-46.85, Z:1.45 [[ 8.84679341e-01 4.66144676e-01 7.18364972e-03 2.87829684e+02] [-4.66129158e-01 8.84708506e-01 -3.80359429e-03 -4.68481161e+01] [-8.12846124e-03 1.64527037e-05 9.99966963e-01 1.44555659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters 0.022795757046650853 Centerline is valid? [True, True] Translation: X:287.89, Y:-46.88, Z:1.45 [[ 8.83005859e-01 4.69312381e-01 6.82220805e-03 2.87887227e+02] [-4.69298431e-01 8.83032213e-01 -3.61844000e-03 -4.68811740e+01] [-7.72240816e-03 -6.54781784e-06 9.99970182e-01 1.44574297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters 0.02293794722806685 Centerline is valid? [True, True] Translation: X:287.95, Y:-46.91, Z:1.45 [[ 8.82482426e-01 4.70293964e-01 6.95382505e-03 2.87946947e+02] [-4.70279417e-01 8.82509823e-01 -3.69894106e-03 -4.69114476e+01] [-7.87640857e-03 -5.99031452e-06 9.99968981e-01 1.44565784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters 0.023040628610752144 Centerline is valid? [True, True] Translation: X:288.01, Y:-46.94, Z:1.45 [[ 8.82381002e-01 4.70496088e-01 6.09906054e-03 2.88007105e+02] [-4.70484844e-01 8.82402080e-01 -3.25283670e-03 -4.69403225e+01] [-6.91227065e-03 7.25760032e-07 9.99976110e-01 1.44678307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters 0.02290488953369028 Centerline is valid? [True, True] Translation: X:288.07, Y:-46.97, Z:1.45 [[ 8.82216052e-01 4.70822796e-01 4.55334555e-03 2.88065939e+02] [-4.70816495e-01 8.82227802e-01 -2.43578277e-03 -4.69722074e+01] [-5.16391009e-03 5.09646490e-06 9.99986667e-01 1.44829258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters 0.022980941631379474 Centerline is valid? [True, True] Translation: X:288.13, Y:-47.00, Z:1.45 [[ 8.81822260e-01 4.71546854e-01 5.75035076e-03 2.88125120e+02] [-4.71536808e-01 8.81841009e-01 -3.07795647e-03 -4.70018389e+01] [-6.52229581e-03 2.70848295e-06 9.99978730e-01 1.44614605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters 0.02288555579455027 Centerline is valid? [True, True] Translation: X:288.18, Y:-47.03, Z:1.45 [[ 8.81084712e-01 4.72941213e-01 4.04217379e-03 2.88184466e+02] [-4.72936227e-01 8.81093984e-01 -2.17186247e-03 -4.70331176e+01] [-4.58869828e-03 1.90439948e-06 9.99989472e-01 1.45045048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters 0.022713706228957405 Centerline is valid? [True, True] Translation: X:288.24, Y:-47.06, Z:1.45 [[ 8.80950013e-01 4.73192896e-01 3.94435541e-03 2.88244409e+02] [-4.73188126e-01 8.80958843e-01 -2.12456549e-03 -4.70642539e+01] [-4.48014408e-03 5.21385034e-06 9.99989964e-01 1.45011811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters 0.022808969479154066 Centerline is valid? [True, True] Translation: X:288.30, Y:-47.10, Z:1.45 [[ 8.80523742e-01 4.73982498e-01 4.30482012e-03 2.88303285e+02] [-4.73976802e-01 8.80534265e-01 -2.32374650e-03 -4.70958403e+01] [-4.89195679e-03 5.72908957e-06 9.99988034e-01 1.44999421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters 0.022947939435547154 Centerline is valid? [True, True] Translation: X:288.36, Y:-47.13, Z:1.45 [[ 8.79900990e-01 4.75144282e-01 3.48687818e-03 2.88363233e+02] [-4.75140531e-01 8.79907899e-01 -1.88788789e-03 -4.71254987e+01] [-3.96515079e-03 4.39727053e-06 9.99992139e-01 1.44996671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters 0.02288454064190745 Centerline is valid? [True, True] Translation: X:288.42, Y:-47.16, Z:1.45 [[ 8.78307321e-01 4.78091078e-01 2.27400249e-03 2.88422437e+02] [-4.78089480e-01 8.78310265e-01 -1.23613782e-03 -4.71576157e+01] [-2.58826619e-03 -1.46776867e-06 9.99996650e-01 1.44982479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters 0.023030357156537257 Centerline is valid? [True, True] Translation: X:288.48, Y:-47.19, Z:1.45 [[ 8.76705181e-01 4.81023943e-01 1.99812877e-03 2.88481947e+02] [-4.81022709e-01 8.76707458e-01 -1.08949354e-03 -4.71890087e+01] [-2.27584688e-03 -5.98068130e-06 9.99997410e-01 1.45187896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters 0.023112824057567555 Centerline is valid? [True, True] Translation: X:288.54, Y:-47.22, Z:1.45 [[ 8.77072610e-01 4.80356386e-01 1.17408129e-03 2.88542735e+02] [-4.80355954e-01 8.77073396e-01 -6.44081095e-04 -4.72187644e+01] [-1.33914393e-03 9.28950651e-07 9.99999103e-01 1.45303609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters 0.023137011191088235 Centerline is valid? [True, True] Translation: X:288.60, Y:-47.25, Z:1.45 [[ 8.77921991e-01 4.78798307e-01 2.27135398e-03 2.88603547e+02] [-4.78796692e-01 8.77924929e-01 -1.24360346e-03 -4.72481125e+01] [-2.58951351e-03 4.27005609e-06 9.99996647e-01 1.45108006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters 0.02316656603711855 Centerline is valid? [True, True] Translation: X:288.66, Y:-47.28, Z:1.45 [[ 8.78273515e-01 4.78155593e-01 1.69187359e-03 2.88662557e+02] [-4.78154688e-01 8.78275144e-01 -9.30026227e-04 -4.72793000e+01] [-1.93062776e-03 7.84011375e-06 9.99998136e-01 1.45349317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters 0.023508576137027306 Centerline is valid? [True, True] Translation: X:288.72, Y:-47.31, Z:1.45 [[ 8.78784277e-01 4.77207531e-01 3.34167814e-03 2.88722940e+02] [-4.77204001e-01 8.78790630e-01 -1.83565472e-03 -4.73097151e+01] [-3.81262370e-03 1.84823301e-05 9.99992732e-01 1.45126905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters 0.023736747251637658 Centerline is valid? [True, True] Translation: X:288.78, Y:-47.34, Z:1.45 [[ 8.79385518e-01 4.76099126e-01 3.27627249e-03 2.88782281e+02] [-4.76095708e-01 8.79391620e-01 -1.80405162e-03 -4.73405167e+01] [-3.74003397e-03 2.66375897e-05 9.99993006e-01 1.45252016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters 0.023992502029296117 Centerline is valid? [True, True] Translation: X:288.84, Y:-47.37, Z:1.45 [[ 8.79041159e-01 4.76729224e-01 3.98607757e-03 2.88841543e+02] [-4.76724169e-01 8.79050196e-01 -2.19544954e-03 -4.73717680e+01] [-4.55059722e-03 2.96309932e-05 9.99989646e-01 1.45198930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters 0.02406060300900326 Centerline is valid? [True, True] Translation: X:288.90, Y:-47.40, Z:1.45 [[ 8.78095217e-01 4.78457746e-01 5.19385894e-03 2.88900863e+02] [-4.78449151e-01 8.78110576e-01 -2.86804047e-03 -4.74027269e+01] [-5.93301865e-03 3.34152235e-05 9.99982399e-01 1.45126121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters 0.02400686406382679 Centerline is valid? [True, True] Translation: X:288.96, Y:-47.44, Z:1.45 [[ 8.76778056e-01 4.80887634e-01 2.70615176e-03 2.88959861e+02] [-4.80885293e-01 8.76782232e-01 -1.50064127e-03 -4.74350217e+01] [-3.09434561e-03 1.43807583e-05 9.99995212e-01 1.45244129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters 0.024033508813513977 Centerline is valid? [True, True] Translation: X:289.02, Y:-47.47, Z:1.45 [[ 8.75019469e-01 4.84081154e-01 2.52286204e-03 2.89019258e+02] [-4.84079122e-01 8.75023106e-01 -1.40270169e-03 -4.74672963e+01] [-2.88658403e-03 6.12644990e-06 9.99995834e-01 1.45275829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters 0.02435959822939432 Centerline is valid? [True, True] Translation: X:289.08, Y:-47.50, Z:1.45 [[ 8.72628289e-01 4.88376190e-01 2.92688614e-03 2.89077362e+02] [-4.88373469e-01 8.72633197e-01 -1.63028785e-03 -4.75011144e+01] [-3.35029178e-03 -6.77824186e-06 9.99994388e-01 1.45234795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters 0.024584130058247538 Centerline is valid? [True, True] Translation: X:289.14, Y:-47.53, Z:1.45 [[ 8.70391331e-01 4.92354601e-01 2.42436083e-03 2.89136464e+02] [-4.92352737e-01 8.70394708e-01 -1.35453531e-03 -4.75337983e+01] [-2.77706253e-03 -1.46648979e-05 9.99996144e-01 1.45370366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters 0.025169679008355646 Centerline is valid? [True, True] Translation: X:289.20, Y:-47.57, Z:1.46 [[ 8.67715895e-01 4.97051675e-01 2.95933119e-03 2.89195273e+02] [-4.97048915e-01 8.67720941e-01 -1.65660764e-03 -4.75673470e+01] [-3.39129324e-03 -3.34675725e-05 9.99994249e-01 1.45511089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters 0.025370153583844444 Centerline is valid? [True, True] Translation: X:289.26, Y:-47.60, Z:1.45 [[ 8.66428551e-01 4.99289089e-01 3.46002630e-03 2.89255476e+02] [-4.99285317e-01 8.66435458e-01 -1.94132209e-03 -4.75999733e+01] [-3.96717041e-03 -4.55234370e-05 9.99992130e-01 1.45453655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters 0.025681373465235083 Centerline is valid? [True, True] Translation: X:289.32, Y:-47.63, Z:1.45 [[ 8.65283128e-01 5.01274738e-01 2.95745736e-03 2.89317335e+02] [-5.01271976e-01 8.65288181e-01 -1.66461466e-03 -4.76300581e+01] [-3.39348218e-03 -4.21275120e-05 9.99994241e-01 1.45288463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters 0.026203451653737577 Centerline is valid? [True, True] Translation: X:289.38, Y:-47.66, Z:1.46 [[ 8.63458783e-01 5.04404363e-01 3.89484211e-03 2.89377525e+02] [-5.04399587e-01 8.63467564e-01 -2.19589693e-03 -4.76641607e+01] [-4.47068982e-03 -6.84902648e-05 9.99990004e-01 1.45550145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters 0.02622316497916768 Centerline is valid? [True, True] Translation: X:289.44, Y:-47.70, Z:1.46 [[ 8.62641126e-01 5.05793605e-01 4.80798994e-03 2.89437694e+02] [-5.05786319e-01 8.62654520e-01 -2.71629196e-03 -4.76973727e+01] [-5.52151735e-03 -8.86303824e-05 9.99984752e-01 1.45590120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters 0.025853462920761548 Centerline is valid? [True, True] Translation: X:289.50, Y:-47.73, Z:1.45 [[ 8.63434890e-01 5.04406551e-01 7.36359621e-03 2.89499387e+02] [-5.04389347e-01 8.63466281e-01 -4.16752508e-03 -4.77272027e+01] [-8.46034399e-03 -1.15732932e-04 9.99964204e-01 1.45334175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters 0.02525610576046469 Centerline is valid? [True, True] Translation: X:289.56, Y:-47.76, Z:1.45 [[ 8.63878320e-01 5.03653649e-01 6.87391860e-03 2.89560322e+02] [-5.03638549e-01 8.63905662e-01 -3.90101235e-03 -4.77598167e+01] [-7.90317631e-03 -9.19703989e-05 9.99968765e-01 1.45446459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters 0.024562042477787663 Centerline is valid? [True, True] Translation: X:289.62, Y:-47.79, Z:1.46 [[ 8.64981345e-01 5.01777888e-01 5.12095172e-03 2.89621642e+02] [-5.01769419e-01 8.64996502e-01 -2.91575414e-03 -4.77919468e+01] [-5.89266628e-03 -4.74640293e-05 9.99982637e-01 1.45509974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters 0.02416320838181867 Centerline is valid? [True, True] Translation: X:289.68, Y:-47.83, Z:1.46 [[ 8.65142845e-01 5.01492699e-01 5.73851955e-03 2.89682302e+02] [-5.01482003e-01 8.65161875e-01 -3.27574907e-03 -4.78265488e+01] [-6.60751258e-03 -4.37734121e-05 9.99978169e-01 1.45592265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters 0.023523172160009816 Centerline is valid? [True, True] Translation: X:289.74, Y:-47.86, Z:1.45 [[ 8.66367517e-01 4.99365574e-01 6.43033833e-03 2.89741927e+02] [-4.99352022e-01 8.66391380e-01 -3.67902444e-03 -4.78601299e+01] [-7.40836785e-03 -2.36151791e-05 9.99972557e-01 1.45472768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters 0.023295162390264457 Centerline is valid? [True, True] Translation: X:289.80, Y:-47.89, Z:1.45 [[ 8.65730070e-01 5.00470944e-01 6.34666714e-03 2.89802905e+02] [-5.00457697e-01 8.65753333e-01 -3.64147870e-03 -4.78944150e+01] [-7.31710251e-03 -2.37008076e-05 9.99973229e-01 1.45401715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters 0.02314965259370061 Centerline is valid? [True, True] Translation: X:289.87, Y:-47.93, Z:1.45 [[ 8.64409902e-01 5.02731162e-01 7.54314389e-03 2.89866922e+02] [-5.02712368e-01 8.64442813e-01 -4.34721730e-03 -4.79294083e+01] [-8.70609813e-03 -3.42540396e-05 9.99962101e-01 1.45374248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters 0.022621173207036705 Centerline is valid? [True, True] Translation: X:289.93, Y:-47.96, Z:1.46 [[ 8.63951969e-01 5.03532872e-01 6.45308476e-03 2.89926222e+02] [-5.03519083e-01 8.63976068e-01 -3.72656896e-03 -4.79638828e+01] [-7.45176077e-03 -2.96747302e-05 9.99972235e-01 1.45540919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters 0.0237856647993514 Centerline is valid? [True, True] Translation: X:289.99, Y:-48.00, Z:1.46 [[ 8.60240934e-01 5.09847231e-01 6.42932638e-03 2.89986060e+02] [-5.09833635e-01 8.60264957e-01 -3.72404670e-03 -4.80001533e+01] [-7.42961908e-03 -7.43094283e-05 9.99972397e-01 1.45576457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters 0.024597462556898726 Centerline is valid? [True, True] Translation: X:290.05, Y:-48.03, Z:1.45 [[ 8.57444560e-01 5.14520061e-01 7.61134063e-03 2.90047416e+02] [-5.14501108e-01 8.57478332e-01 -4.41806923e-03 -4.80319431e+01] [-8.79974492e-03 -1.27793763e-04 9.99961273e-01 1.45328069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters 0.024168790068582757 Centerline is valid? [True, True] Translation: X:290.11, Y:-48.06, Z:1.46 [[ 8.56604150e-01 5.15940294e-01 5.91125795e-03 2.90108509e+02] [-5.15928820e-01 8.56624540e-01 -3.44233555e-03 -4.80649995e+01] [-6.83976824e-03 -1.01069418e-04 9.99976603e-01 1.45597920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters 0.024522459250133282 Centerline is valid? [True, True] Translation: X:290.17, Y:-48.10, Z:1.46 [[ 8.55933008e-01 5.17047400e-01 6.37749246e-03 2.90170577e+02] [-5.17034005e-01 8.55956760e-01 -3.72341058e-03 -4.80973455e+01] [-7.38403754e-03 -1.10390444e-04 9.99972732e-01 1.45584150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters 0.023948049243869934 Centerline is valid? [True, True] Translation: X:290.23, Y:-48.13, Z:1.46 [[ 8.56225428e-01 5.16561967e-01 6.46150573e-03 2.90233169e+02] [-5.16548121e-01 8.56249802e-01 -3.78338510e-03 -4.81297816e+01] [-7.48701586e-03 -9.82481194e-05 9.99971967e-01 1.45805716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters 0.023700221361873414 Centerline is valid? [True, True] Translation: X:290.30, Y:-48.16, Z:1.46 [[ 8.56640256e-01 5.15868103e-01 6.89725084e-03 2.90297715e+02] [-5.15852217e-01 8.56668017e-01 -4.04947663e-03 -4.81590803e+01] [-7.99765003e-03 -8.90174359e-05 9.99968014e-01 1.45528081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters 0.022900542802290483 Centerline is valid? [True, True] Translation: X:290.36, Y:-48.19, Z:1.45 [[ 8.58714380e-01 5.12397534e-01 7.64077469e-03 2.90360718e+02] [-5.12377793e-01 8.58748371e-01 -4.49801129e-03 -4.81907614e+01] [-8.86627271e-03 -5.24563067e-05 9.99960692e-01 1.45410285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters 0.02266181645412478 Centerline is valid? [True, True] Translation: X:290.43, Y:-48.23, Z:1.46 [[ 8.59624941e-01 5.10853031e-01 8.61054886e-03 2.90429649e+02] [-5.10827618e-01 8.59668064e-01 -5.09559188e-03 -4.82253253e+01] [-1.00053124e-02 -1.82082930e-05 9.99949945e-01 1.45514749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters 0.02245660354093527 Centerline is valid? [True, True] Translation: X:290.49, Y:-48.26, Z:1.45 [[ 8.61847570e-01 5.07065295e-01 1.01761278e-02 2.90490625e+02] [-5.07029437e-01 8.61907643e-01 -6.03029203e-03 -4.82572012e+01] [-1.18286341e-02 3.75961846e-05 9.99930039e-01 1.45446698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters 0.0224774653678281 Centerline is valid? [True, True] Translation: X:290.55, Y:-48.29, Z:1.45 [[ 8.63742389e-01 5.03860319e-01 8.59449023e-03 2.90550314e+02] [-5.03834444e-01 8.63785143e-01 -5.10687628e-03 -4.82912532e+01] [-9.99694528e-03 8.08253067e-05 9.99950026e-01 1.45496504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters 0.022823292143382076 Centerline is valid? [True, True] Translation: X:290.61, Y:-48.32, Z:1.45 [[ 8.64150573e-01 5.03096363e-01 1.17404234e-02 2.90610758e+02] [-5.03047802e-01 8.64230312e-01 -6.99127649e-03 -4.83244165e+01] [-1.36637155e-02 1.35521403e-04 9.99906638e-01 1.45204280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters 0.0229329866299234 Centerline is valid? [True, True] Translation: X:290.67, Y:-48.36, Z:1.45 [[ 8.64089672e-01 5.03202246e-01 1.16850145e-02 2.90668434e+02] [-5.03153931e-01 8.64168663e-01 -6.97450033e-03 -4.83605926e+01] [-1.36074076e-02 1.47232709e-04 9.99907404e-01 1.45185954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters 0.023334231709278834 Centerline is valid? [True, True] Translation: X:290.73, Y:-48.40, Z:1.45 [[ 8.64459131e-01 5.02522515e-01 1.34734221e-02 2.90726652e+02] [-5.02457889e-01 8.64564100e-01 -8.06146473e-03 -4.83969609e+01] [-1.56997046e-02 1.98979579e-04 9.99876732e-01 1.45349448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters 0.0235726995333716 Centerline is valid? [True, True] Translation: X:290.79, Y:-48.43, Z:1.45 [[ 8.64760309e-01 5.02016502e-01 1.30015522e-02 2.90785964e+02] [-5.01955971e-01 8.64858014e-01 -7.79868180e-03 -4.84326879e+01] [-1.51595635e-02 2.17783747e-04 9.99885063e-01 1.45430950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters 0.023431733537615445 Centerline is valid? [True, True] Translation: X:290.84, Y:-48.47, Z:1.46 [[ 8.64439024e-01 5.02639938e-01 9.91290511e-03 2.90844709e+02] [-5.02604604e-01 8.64495843e-01 -5.96226359e-03 -4.84690163e+01] [-1.15665371e-02 1.71741567e-04 9.99933091e-01 1.45517583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters 0.023368053526816576 Centerline is valid? [True, True] Translation: X:290.90, Y:-48.51, Z:1.46 [[ 8.63229010e-01 5.04697760e-01 1.07632685e-02 2.90902515e+02] [-5.04656065e-01 8.63296092e-01 -6.48950375e-03 -4.85056504e+01] [-1.25671256e-02 1.70179168e-04 9.99921016e-01 1.45508991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters 0.023241506030226657 Centerline is valid? [True, True] Translation: X:290.96, Y:-48.54, Z:1.45 [[ 8.62018220e-01 5.06759395e-01 1.09317738e-02 2.90961035e+02] [-5.06716343e-01 8.62087519e-01 -6.60728214e-03 -4.85418185e+01] [-1.27724481e-02 1.56289150e-04 9.99918417e-01 1.45380229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters 0.022901207601134805 Centerline is valid? [True, True] Translation: X:291.02, Y:-48.58, Z:1.46 [[ 8.60919333e-01 5.08630973e-01 1.06035536e-02 2.91018625e+02] [-5.08590409e-01 8.60984619e-01 -6.42509050e-03 -4.85785719e+01] [-1.23974966e-02 1.38618963e-04 9.99923138e-01 1.45643531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters 0.022935895344897844 Centerline is valid? [True, True] Translation: X:291.08, Y:-48.62, Z:1.46 [[ 8.60280304e-01 5.09717536e-01 1.02874669e-02 2.91081656e+02] [-5.09679097e-01 8.60341800e-01 -6.26139311e-03 -4.86167786e+01] [-1.20422797e-02 1.43246337e-04 9.99927479e-01 1.45725940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters 0.023288828074328465 Centerline is valid? [True, True] Translation: X:291.14, Y:-48.65, Z:1.46 [[ 8.60323464e-01 5.09618075e-01 1.15306220e-02 2.91142490e+02] [-5.09569555e-01 8.60400713e-01 -7.03438583e-03 -4.86542145e+01] [-1.35058055e-02 1.76193279e-04 9.99908777e-01 1.45709387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters 0.02343236546917682 Centerline is valid? [True, True] Translation: X:291.20, Y:-48.69, Z:1.46 [[ 8.59748737e-01 5.10574684e-01 1.20665498e-02 2.91204553e+02] [-5.10521217e-01 8.59833387e-01 -7.39139656e-03 -4.86934839e+01] [-1.41490823e-02 1.94514166e-04 9.99899878e-01 1.45793166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters 0.023145919967665324 Centerline is valid? [True, True] Translation: X:291.27, Y:-48.74, Z:1.46 [[ 8.57130122e-01 5.14954672e-01 1.22326987e-02 2.91274486e+02] [-5.14899333e-01 8.57217391e-01 -7.55126337e-03 -4.87379768e+01] [-1.43746404e-02 1.73806907e-04 9.99896664e-01 1.45890824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters 0.022738213014333156 Centerline is valid? [True, True] Translation: X:291.33, Y:-48.78, Z:1.46 [[ 8.55454639e-01 5.17738642e-01 1.20024488e-02 2.91333060e+02] [-5.17685515e-01 8.55538825e-01 -7.41797799e-03 -4.87760473e+01] [-1.41091348e-02 1.32249795e-04 9.99900452e-01 1.45969550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters 0.02258425558161941 Centerline is valid? [True, True] Translation: X:291.39, Y:-48.82, Z:1.46 [[ 8.51930138e-01 5.23522859e-01 1.17837410e-02 2.91390955e+02] [-5.23471914e-01 8.52011627e-01 -7.30356658e-03 -4.88167009e+01] [-1.38634684e-02 5.36710378e-05 9.99903896e-01 1.46176105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters 0.022377034162946507 Centerline is valid? [True, True] Translation: X:291.45, Y:-48.85, Z:1.46 [[ 8.49766948e-01 5.27084033e-01 8.86324901e-03 2.91451903e+02] [-5.27055224e-01 8.49813169e-01 -5.51080678e-03 -4.88527717e+01] [-1.04367640e-02 1.14797651e-05 9.99945535e-01 1.46047585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters 0.02265678212923417 Centerline is valid? [True, True] Translation: X:291.51, Y:-48.89, Z:1.46 [[ 8.49243991e-01 5.27869615e-01 1.17606573e-02 2.91512042e+02] [-5.27818722e-01 8.49325420e-01 -7.32989392e-03 -4.88887471e+01] [-1.38578535e-02 1.73732658e-05 9.99903975e-01 1.45910812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters 0.02291343768047588 Centerline is valid? [True, True] Translation: X:291.57, Y:-48.93, Z:1.46 [[ 8.48967876e-01 5.28277735e-01 1.32732908e-02 2.91570966e+02] [-5.28212614e-01 8.49071631e-01 -8.29458284e-03 -4.89267854e+01] [-1.56518181e-02 3.07147204e-05 9.99877502e-01 1.46051554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters 0.022479864890554365 Centerline is valid? [True, True] Translation: X:291.63, Y:-48.96, Z:1.46 [[ 8.48267322e-01 5.29482941e-01 9.50612796e-03 2.91632819e+02] [-5.29449411e-01 8.48320585e-01 -5.95868983e-03 -4.89607700e+01] [-1.12192686e-02 2.15480094e-05 9.99937062e-01 1.45806112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters 0.02251746588517887 Centerline is valid? [True, True] Translation: X:291.69, Y:-49.00, Z:1.46 [[ 8.46876488e-01 5.31682568e-01 1.06705311e-02 2.91691593e+02] [-5.31640275e-01 8.46943709e-01 -6.70606837e-03 -4.89987544e+01] [-1.26028388e-02 6.32754563e-06 9.99920581e-01 1.45908432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters 0.022637490552780058 Centerline is valid? [True, True] Translation: X:291.75, Y:-49.03, Z:1.46 [[ 8.46637058e-01 5.32041826e-01 1.17127389e-02 2.91751844e+02] [-5.31990628e-01 8.46718073e-01 -7.38084094e-03 -4.90342638e+01] [-1.38443038e-02 1.78261547e-05 9.99904163e-01 1.45825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters 0.02253591745660955 Centerline is valid? [True, True] Translation: X:291.81, Y:-49.07, Z:1.46 [[ 8.46599424e-01 5.32119273e-01 1.08854928e-02 2.91813353e+02] [-5.32074792e-01 8.46669403e-01 -6.88022712e-03 -4.90698320e+01] [-1.28775151e-02 3.29000041e-05 9.99917081e-01 1.45774537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters 0.022792261702881556 Centerline is valid? [True, True] Translation: X:291.87, Y:-49.11, Z:1.46 [[ 8.44771608e-01 5.34988157e-01 1.21902510e-02 2.91873038e+02] [-5.34932385e-01 8.44859558e-01 -7.72470016e-03 -4.91072745e+01] [-1.44316732e-02 4.64730915e-06 9.99895858e-01 1.45679184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters 0.022614526788580197 Centerline is valid? [True, True] Translation: X:291.93, Y:-49.14, Z:1.46 [[ 8.43237303e-01 5.37417997e-01 1.15216014e-02 2.91932516e+02] [-5.37368123e-01 8.43316012e-01 -7.32144317e-03 -4.91446620e+01] [-1.36510263e-02 -1.76273388e-05 9.99906820e-01 1.45826175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters 0.022446110844197145 Centerline is valid? [True, True] Translation: X:291.99, Y:-49.18, Z:1.46 [[ 8.43188855e-01 5.37504447e-01 1.10238250e-02 2.91992253e+02] [-5.37458540e-01 8.43260914e-01 -7.02481118e-03 -4.91811603e+01] [-1.30718280e-02 -1.60638143e-06 9.99914560e-01 1.45908121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters 0.02229495786235461 Centerline is valid? [True, True] Translation: X:292.05, Y:-49.22, Z:1.46 [[ 8.43941619e-01 5.36358112e-01 9.08397741e-03 2.92053140e+02] [-5.36326687e-01 8.43990506e-01 -5.80609658e-03 -4.92160708e+01] [-1.07809377e-02 2.80270453e-05 9.99941884e-01 1.45845350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters 0.022320006528465972 Centerline is valid? [True, True] Translation: X:292.11, Y:-49.25, Z:1.46 [[ 8.43344698e-01 5.37293967e-01 9.21486840e-03 2.92113163e+02] [-5.37261510e-01 8.43395039e-01 -5.90574223e-03 -4.92529321e+01] [-1.09448940e-02 2.97822750e-05 9.99940102e-01 1.45863204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters 0.02216689790329485 Centerline is valid? [True, True] Translation: X:292.17, Y:-49.29, Z:1.46 [[ 8.43806526e-01 5.36574672e-01 8.84131687e-03 2.92173482e+02] [-5.36544591e-01 8.43852842e-01 -5.68180548e-03 -4.92896035e+01] [-1.05094833e-02 5.05838048e-05 9.99944773e-01 1.46238165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters 0.022485423628128606 Centerline is valid? [True, True] Translation: X:292.24, Y:-49.33, Z:1.46 [[ 8.43585390e-01 5.36938690e-01 7.78023715e-03 2.92235412e+02] [-5.36915259e-01 8.43621266e-01 -5.01645203e-03 -4.93256366e+01] [-9.25710069e-03 5.44775968e-05 9.99957151e-01 1.46200175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters 0.022681445224591198 Centerline is valid? [True, True] Translation: X:292.30, Y:-49.36, Z:1.46 [[ 8.44339479e-01 5.35759992e-01 7.21624189e-03 2.92296259e+02] [-5.35739686e-01 8.44370313e-01 -4.66519450e-03 -4.93619277e+01] [-8.59260499e-03 7.29807347e-05 9.99963080e-01 1.46376429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters 0.023697887522510515 Centerline is valid? [True, True] Translation: X:292.36, Y:-49.40, Z:1.46 [[ 8.46750375e-01 5.31914892e-01 8.96376142e-03 2.92358818e+02] [-5.31883169e-01 8.46797806e-01 -5.81124834e-03 -4.93969862e+01] [-1.06815830e-02 1.53002884e-04 9.99942939e-01 1.46401894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters 0.0241124149804137 Centerline is valid? [True, True] Translation: X:292.42, Y:-49.43, Z:1.47 [[ 8.47689078e-01 5.30425364e-01 8.49468890e-03 2.92419280e+02] [-5.30396657e-01 8.47731622e-01 -5.52124273e-03 -4.94326362e+01] [-1.01298236e-02 1.74742566e-04 9.99948677e-01 1.46554036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters 0.024166090401458184 Centerline is valid? [True, True] Translation: X:292.48, Y:-49.47, Z:1.47 [[ 8.46877350e-01 5.31747900e-01 6.55173803e-03 2.92479036e+02] [-5.31730762e-01 8.46902682e-01 -4.27128389e-03 -4.94700666e+01] [-7.81993075e-03 1.33492936e-04 9.99969415e-01 1.46799981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters 0.023715631034246103 Centerline is valid? [True, True] Translation: X:292.54, Y:-49.51, Z:1.47 [[ 8.45555374e-01 5.33865874e-01 4.83088100e-03 2.92539060e+02] [-5.33856535e-01 8.45569169e-01 -3.15918067e-03 -4.95061629e+01] [-5.77142278e-03 9.22648026e-05 9.99983341e-01 1.46654495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters 0.024257475143617518 Centerline is valid? [True, True] Translation: X:292.60, Y:-49.54, Z:1.47 [[ 8.45469222e-01 5.33977164e-01 7.08394976e-03 2.92599086e+02] [-5.33956999e-01 8.45498887e-01 -4.64280397e-03 -4.95438181e+01] [-8.46862294e-03 1.42823304e-04 9.99964130e-01 1.46671519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters 0.024457882518456795 Centerline is valid? [True, True] Translation: X:292.66, Y:-49.58, Z:1.47 [[ 8.45034308e-01 5.34668517e-01 6.82612607e-03 2.92658306e+02] [-5.34649719e-01 8.45061866e-01 -4.48558540e-03 -4.95812534e+01] [-8.16680013e-03 1.40887173e-04 9.99966641e-01 1.46735101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters 0.02468739900060108 Centerline is valid? [True, True] Translation: X:292.72, Y:-49.62, Z:1.47 [[ 8.44836659e-01 5.34976614e-01 7.14437889e-03 2.92718365e+02] [-5.34955923e-01 8.44866853e-01 -4.70761103e-03 -4.96192499e+01] [-8.55451072e-03 1.55234572e-04 9.99963397e-01 1.46567337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters 0.024301109029580756 Centerline is valid? [True, True] Translation: X:292.78, Y:-49.66, Z:1.47 [[ 8.42106979e-01 5.39253967e-01 7.80998631e-03 2.92776930e+02] [-5.39229307e-01 8.42143184e-01 -5.15876527e-03 -4.96576006e+01] [-9.35901137e-03 1.32858736e-04 9.99956195e-01 1.46583478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters 0.023586404530224578 Centerline is valid? [True, True] Translation: X:292.83, Y:-49.70, Z:1.47 [[ 8.37965967e-01 5.45681359e-01 6.70012744e-03 2.92833930e+02] [-5.45663311e-01 8.37992751e-01 -4.43851634e-03 -4.96985620e+01] [-8.03667385e-03 6.33119136e-05 9.99967703e-01 1.46839422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters 0.023605088861476605 Centerline is valid? [True, True] Translation: X:292.89, Y:-49.74, Z:1.46 [[ 8.35983502e-01 5.48694579e-01 8.11441841e-03 2.92894022e+02] [-5.48668124e-01 8.36022880e-01 -5.38828051e-03 -4.97354983e+01] [-9.74035975e-03 5.23908865e-05 9.99952560e-01 1.46474845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters 0.023660119803338733 Centerline is valid? [True, True] Translation: X:292.95, Y:-49.77, Z:1.46 [[ 8.34721615e-01 5.50612142e-01 8.12979266e-03 2.92953639e+02] [-5.50585536e-01 8.34761204e-01 -5.41299239e-03 -4.97737336e+01] [-9.76689485e-03 4.21955036e-05 9.99952302e-01 1.46499294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters 0.02379083527631443 Centerline is valid? [True, True] Translation: X:293.01, Y:-49.81, Z:1.46 [[ 8.33983389e-01 5.51730476e-01 8.07400687e-03 2.93014277e+02] [-5.51704135e-01 8.34022470e-01 -5.39132829e-03 -4.98106266e+01] [-9.70846327e-03 4.18152556e-05 9.99952871e-01 1.46195441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters 0.023727192586352745 Centerline is valid? [True, True] Translation: X:293.07, Y:-49.85, Z:1.47 [[ 8.33897011e-01 5.51837568e-01 9.54329134e-03 2.93074156e+02] [-5.51800573e-01 8.33951614e-01 -6.39008511e-03 -4.98509395e+01] [-1.14849322e-02 6.26792455e-05 9.99934044e-01 1.46533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters 0.023837549556105217 Centerline is valid? [True, True] Translation: X:293.13, Y:-49.89, Z:1.46 [[ 8.35176482e-01 5.49902834e-01 9.33364746e-03 2.93134756e+02] [-5.49867145e-01 8.35228629e-01 -6.26580132e-03 -4.98867436e+01] [-1.12413115e-02 1.00783827e-04 9.99936809e-01 1.46409444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters 0.023879107447354053 Centerline is valid? [True, True] Translation: X:293.19, Y:-49.93, Z:1.47 [[ 8.35186345e-01 5.49923755e-01 6.90167014e-03 2.93193490e+02] [-5.49904116e-01 8.35214857e-01 -4.64834299e-03 -4.99266966e+01] [-8.32061166e-03 8.69757842e-05 9.99965379e-01 1.46578417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters 0.02413101796138693 Centerline is valid? [True, True] Translation: X:293.25, Y:-49.96, Z:1.46 [[ 8.35318384e-01 5.49714781e-01 7.54027827e-03 2.93253795e+02] [-5.49691211e-01 8.35352409e-01 -5.09164250e-03 -4.99637807e+01] [-9.09774076e-03 1.08317891e-04 9.99958609e-01 1.46415822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters 0.02416742433622044 Centerline is valid? [True, True] Translation: X:293.31, Y:-50.00, Z:1.47 [[ 8.35988865e-01 5.48694948e-01 7.51475055e-03 2.93311763e+02] [-5.48671379e-01 8.36022629e-01 -5.08737061e-03 -5.00040917e+01] [-9.07391607e-03 1.29856634e-04 9.99958823e-01 1.46685067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters 0.02418171397139439 Centerline is valid? [True, True] Translation: X:293.37, Y:-50.05, Z:1.47 [[ 8.35092778e-01 5.50041430e-01 8.62998448e-03 2.93369172e+02] [-5.50010268e-01 8.35137356e-01 -5.85669892e-03 -5.00453081e+01] [-1.04286495e-02 1.44306894e-04 9.99945610e-01 1.46696350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters 0.023839913782022076 Centerline is valid? [True, True] Translation: X:293.43, Y:-50.08, Z:1.46 [[ 8.34319088e-01 5.51245780e-01 6.30477699e-03 2.93429400e+02] [-5.51229079e-01 8.34342903e-01 -4.29228030e-03 -5.00826755e+01] [-7.62644733e-03 1.05754973e-04 9.99970913e-01 1.46419739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters 0.02373901863851648 Centerline is valid? [True, True] Translation: X:293.49, Y:-50.12, Z:1.47 [[ 8.33416974e-01 5.52596604e-01 7.28981056e-03 2.93486278e+02] [-5.52574225e-01 8.33448846e-01 -4.97462740e-03 -5.01239758e+01] [-8.82464641e-03 1.17777498e-04 9.99961055e-01 1.46690921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters 0.02333903040787398 Centerline is valid? [True, True] Translation: X:293.54, Y:-50.17, Z:1.47 [[ 8.31013619e-01 5.56234760e-01 4.38832335e-03 2.93543389e+02] [-5.56226640e-01 8.31025203e-01 -3.00613077e-03 -5.01667396e+01] [-5.31892173e-03 5.72332564e-05 9.99985853e-01 1.47059445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters 0.02311880407643473 Centerline is valid? [True, True] Translation: X:293.60, Y:-50.21, Z:1.47 [[ 8.26536449e-01 5.62859920e-01 5.11954208e-03 2.93604397e+02] [-5.62848906e-01 8.26552303e-01 -3.52132455e-03 -5.02074482e+01] [-6.21358176e-03 2.89744319e-05 9.99980695e-01 1.46858264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters 0.023251875359749957 Centerline is valid? [True, True] Translation: X:293.66, Y:-50.25, Z:1.47 [[ 8.22897151e-01 5.68163182e-01 5.55684452e-03 2.93663327e+02] [-5.68150236e-01 8.22915913e-01 -3.83541571e-03 -5.02506764e+01] [-6.75195778e-03 -9.69865938e-07 9.99977205e-01 1.47084853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters 0.02348817099162576 Centerline is valid? [True, True] Translation: X:293.72, Y:-50.29, Z:1.47 [[ 8.18971046e-01 5.73819584e-01 4.18465203e-03 2.93722501e+02] [-5.73812271e-01 8.18981736e-01 -2.89705656e-03 -5.02911023e+01] [-5.08954138e-03 -2.85992467e-05 9.99987048e-01 1.47018299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters 0.024788400622162084 Centerline is valid? [True, True] Translation: X:293.79, Y:-50.33, Z:1.47 [[ 8.13677346e-01 5.81297037e-01 4.78875051e-03 2.93785641e+02] [-5.81287495e-01 8.13691434e-01 -3.33138712e-03 -5.03334594e+01] [-5.83309073e-03 -7.29665607e-05 9.99982985e-01 1.47115295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters 0.026428702477527644 Centerline is valid? [True, True] Translation: X:293.85, Y:-50.37, Z:1.47 [[ 8.07883617e-01 5.89341025e-01 1.10400172e-03 2.93846252e+02] [-5.89340511e-01 8.07884371e-01 -7.78452835e-04 -5.03737087e+01] [-1.35067992e-03 -2.17336450e-05 9.99999088e-01 1.47390987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters 0.02744216598274446 Centerline is valid? [True, True] Translation: X:293.91, Y:-50.41, Z:1.47 [[ 8.04192373e-01 5.94365354e-01 2.11019920e-03 2.93908981e+02] [-5.94363510e-01 8.04195139e-01 -1.48202959e-03 -5.04103699e+01] [-2.57787898e-03 -6.23885133e-05 9.99996675e-01 1.47275884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters 0.028100351332519032 Centerline is valid? [True, True] Translation: X:293.97, Y:-50.45, Z:1.47 [[ 8.01669807e-01 5.97758873e-01 3.13856724e-03 2.93971666e+02] [-5.97754798e-01 8.01675944e-01 -2.20968010e-03 -5.04490610e+01] [-3.83696973e-03 -1.04659809e-04 9.99992633e-01 1.47485057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters 0.02878554250730215 Centerline is valid? [True, True] Translation: X:294.04, Y:-50.49, Z:1.48 [[ 7.99145978e-01 6.01125786e-01 3.67359276e-03 2.94036618e+02] [-6.01120192e-01 7.99154411e-01 -2.59661418e-03 -5.04888187e+01] [-4.49665960e-03 -1.33197011e-04 9.99989881e-01 1.47675841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters 0.028329288369511506 Centerline is valid? [True, True] Translation: X:294.10, Y:-50.52, Z:1.47 [[ 7.98831971e-01 6.01548257e-01 2.67889611e-03 2.94103161e+02] [-6.01545256e-01 7.98836458e-01 -1.90230341e-03 -5.05221336e+01] [-3.28432718e-03 -9.18564662e-05 9.99994602e-01 1.47495317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters 0.02726419899085497 Centerline is valid? [True, True] Translation: X:294.17, Y:-50.56, Z:1.48 [[ 7.99699390e-01 6.00392936e-01 3.03447903e-03 2.94165089e+02] [-6.00389056e-01 7.99705142e-01 -2.16061164e-03 -5.05600407e+01] [-3.72390445e-03 -9.40281897e-05 9.99993062e-01 1.47855005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters 0.025408447809670096 Centerline is valid? [True, True] Translation: X:294.23, Y:-50.59, Z:1.48 [[ 8.02577016e-01 5.96540313e-01 3.12856451e-03 2.94230330e+02] [-5.96536130e-01 8.02583111e-01 -2.23525223e-03 -5.05935830e+01] [-3.84435110e-03 -7.23397004e-05 9.99992608e-01 1.47633158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters 0.02383766507031213 Centerline is valid? [True, True] Translation: X:294.29, Y:-50.63, Z:1.48 [[ 8.05364185e-01 5.92766372e-01 4.06910159e-03 2.94294346e+02] [-5.92759208e-01 8.05374462e-01 -2.91510785e-03 -5.06303603e+01] [-5.00512841e-03 -6.42739761e-05 9.99987472e-01 1.47760735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters 0.022571917378611864 Centerline is valid? [True, True] Translation: X:294.36, Y:-50.67, Z:1.48 [[ 8.07392767e-01 5.90007988e-01 2.73750768e-03 2.94362033e+02] [-5.90004683e-01 8.07397408e-01 -1.97478710e-03 -5.06679578e+01] [-3.37539677e-03 -2.07135294e-05 9.99994303e-01 1.47718691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters 0.021884862203045256 Centerline is valid? [True, True] Translation: X:294.42, Y:-50.71, Z:1.48 [[ 8.08992659e-01 5.87817706e-01 1.10566691e-03 2.94424325e+02] [-5.87817158e-01 8.08993414e-01 -8.03277532e-04 -5.07051490e+01] [-1.36665800e-03 -8.43544416e-08 9.99999066e-01 1.47725823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters 0.022020594779015138 Centerline is valid? [True, True] Translation: X:294.49, Y:-50.74, Z:1.48 [[ 8.10653374e-01 5.85504591e-01 5.04783434e-03 2.94485271e+02] [-5.85493229e-01 8.10669090e-01 -3.64763357e-03 -5.07431856e+01] [-6.22782947e-03 1.49362973e-06 9.99980607e-01 1.47609018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters 0.022071701505198632 Centerline is valid? [True, True] Translation: X:294.55, Y:-50.78, Z:1.48 [[ 8.15015112e-01 5.79413363e-01 5.52472356e-03 2.94548714e+02] [-5.79399496e-01 8.15033834e-01 -4.00912929e-03 -5.07819116e+01] [-6.82577971e-03 6.64789104e-05 9.99976702e-01 1.47796551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters 0.02325532725453627 Centerline is valid? [True, True] Translation: X:294.61, Y:-50.82, Z:1.48 [[ 8.19117854e-01 5.73614669e-01 3.48606838e-03 2.94609027e+02] [-5.73609064e-01 8.19125268e-01 -2.53690847e-03 -5.08190394e+01] [-4.31073461e-03 7.83865999e-05 9.99990706e-01 1.47709941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters 0.025096204176180064 Centerline is valid? [True, True] Translation: X:294.67, Y:-50.86, Z:1.48 [[ 8.22627665e-01 5.68549730e-01 5.91015726e-03 2.94666153e+02] [-5.68533449e-01 8.22648875e-01 -4.30645425e-03 -5.08609658e+01] [-7.31041763e-03 1.82486311e-04 9.99973262e-01 1.47831947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters 0.02725601555444218 Centerline is valid? [True, True] Translation: X:294.72, Y:-50.90, Z:1.48 [[ 8.25437062e-01 5.64471104e-01 5.10190007e-03 2.94724030e+02] [-5.64458831e-01 8.25452805e-01 -3.72753249e-03 -5.09013095e+01] [-6.31546210e-03 1.97030917e-04 9.99980038e-01 1.47891467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters 0.028354506264733972 Centerline is valid? [True, True] Translation: X:294.78, Y:-50.94, Z:1.48 [[ 8.26380923e-01 5.63073104e-01 6.57653601e-03 2.94780545e+02] [-5.63052587e-01 8.26407045e-01 -4.81463250e-03 -5.09434692e+01] [-8.14588575e-03 2.75784835e-04 9.99966784e-01 1.47800444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters 0.02830706101651214 Centerline is valid? [True, True] Translation: X:294.83, Y:-50.99, Z:1.48 [[ 8.25570645e-01 5.64264452e-01 6.22396970e-03 2.94834342e+02] [-5.64246020e-01 8.25594066e-01 -4.56812133e-03 -5.09889218e+01] [-7.71610092e-03 2.59456740e-04 9.99970197e-01 1.48028225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters 0.029851201692114106 Centerline is valid? [True, True] Translation: X:294.89, Y:-51.03, Z:1.48 [[ 8.26993436e-01 5.62192891e-01 4.58373175e-03 2.94888891e+02] [-5.62182805e-01 8.27006111e-01 -3.37433459e-03 -5.10334930e+01] [-5.68780109e-03 2.13657385e-04 9.99983802e-01 1.48013828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters 0.03077099783545502 Centerline is valid? [True, True] Translation: X:294.95, Y:-51.08, Z:1.48 [[ 8.27567989e-01 5.61346512e-01 4.61703934e-03 2.94945292e+02] [-5.61336181e-01 8.27580835e-01 -3.41368717e-03 -5.10821321e+01] [-5.73723466e-03 2.33347001e-04 9.99983515e-01 1.47999294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters 0.031073763875978065 Centerline is valid? [True, True] Translation: X:295.00, Y:-51.13, Z:1.48 [[ 8.26981484e-01 5.62223966e-01 2.41615769e-03 2.94997843e+02] [-5.62221122e-01 8.26985004e-01 -1.79263451e-03 -5.11295290e+01] [-3.00598826e-03 1.24060660e-04 9.99995474e-01 1.48207220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters 0.02629584291128808 Centerline is valid? [True, True] Translation: X:295.05, Y:-51.18, Z:1.48 [[ 8.19334598e-01 5.73294336e-01 4.94169208e-03 2.95048307e+02] [-5.73282623e-01 8.19349482e-01 -3.66888546e-03 -5.11806706e+01] [-6.15232410e-03 1.73058595e-04 9.99981059e-01 1.48272249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters 0.0227948719257714 Centerline is valid? [True, True] Translation: X:295.10, Y:-51.23, Z:1.48 [[ 8.10770748e-01 5.85359518e-01 2.24234862e-03 2.95101051e+02] [-5.85357126e-01 8.10773848e-01 -1.67410186e-03 -5.12305553e+01] [-2.79798908e-03 4.47380746e-05 9.99996085e-01 1.48363763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters 0.021807912496802848 Centerline is valid? [True, True] Translation: X:295.16, Y:-51.28, Z:1.48 [[ 8.04496183e-01 5.93956470e-01 1.26615696e-03 2.95158119e+02] [-5.93955706e-01 8.04497179e-01 -9.53270155e-04 -5.12759484e+01] [-1.58482068e-03 1.48610485e-05 9.99998744e-01 1.48175228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters 0.022694300409297256 Centerline is valid? [True, True] Translation: X:295.22, Y:-51.32, Z:1.48 [[ 7.95767321e-01 6.05600858e-01 1.40399880e-03 2.95217252e+02] [-6.05599920e-01 7.95768560e-01 -1.06575035e-03 -5.13248578e+01] [-1.76267742e-03 -2.17226015e-06 9.99998446e-01 1.48441644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters 0.024254048490931778 Centerline is valid? [True, True] Translation: X:295.28, Y:-51.37, Z:1.48 [[ 7.89871452e-01 6.13269200e-01 1.99448181e-03 2.95276198e+02] [-6.13267341e-01 7.89873970e-01 -1.51031988e-03 -5.13699099e+01] [-2.50162193e-03 -3.01919929e-05 9.99996870e-01 1.48385698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters 0.025303234142312385 Centerline is valid? [True, True] Translation: X:295.34, Y:-51.41, Z:1.49 [[ 7.85886378e-01 6.18369984e-01 1.07858830e-03 2.95335408e+02] [-6.18369434e-01 7.85887118e-01 -8.25119352e-04 -5.14140188e+01] [-1.35787769e-03 -1.85159742e-05 9.99999078e-01 1.48782327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters 0.026547664167197744 Centerline is valid? [True, True] Translation: X:295.40, Y:-51.46, Z:1.49 [[ 7.82470916e-01 6.22687090e-01 2.31081672e-04 2.95397741e+02] [-6.22687062e-01 7.82470950e-01 -1.86565896e-04 -5.14551908e+01] [-2.96986870e-04 2.09082006e-06 9.99999956e-01 1.48830683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters 0.027329455177508736 Centerline is valid? [True, True] Translation: X:295.46, Y:-51.50, Z:1.49 [[ 7.79870523e-01 6.25940295e-01 8.46016977e-04 2.95460269e+02] [-6.25939952e-01 7.79870981e-01 -6.54654443e-04 -5.14955697e+01] [-1.06955868e-03 -1.90101237e-05 9.99999428e-01 1.48714396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters 0.027096922417255535 Centerline is valid? [True, True] Translation: X:295.52, Y:-51.54, Z:1.49 [[ 7.79405726e-01 6.26517905e-01 1.42443503e-03 2.95522004e+02] [-6.26516944e-01 7.79407026e-01 -1.09822623e-03 -5.15364405e+01] [-1.79827306e-03 -3.64688669e-05 9.99998382e-01 1.48781739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters 0.026616808153487236 Centerline is valid? [True, True] Translation: X:295.58, Y:-51.58, Z:1.49 [[ 7.79235303e-01 6.26729604e-01 1.53178333e-03 2.95582796e+02] [-6.26728486e-01 7.79236808e-01 -1.18447915e-03 -5.15787356e+01] [-1.93597010e-03 -3.70242775e-05 9.99998125e-01 1.48840760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters 0.025613658098350273 Centerline is valid? [True, True] Translation: X:295.65, Y:-51.62, Z:1.49 [[ 7.81221310e-01 6.24246673e-01 3.05876957e-03 2.95646265e+02] [-6.24242203e-01 7.81227296e-01 -2.36315327e-03 -5.16177941e+01] [-3.86478484e-03 -6.32673656e-05 9.99992530e-01 1.48613446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters 0.02435242615707913 Centerline is valid? [True, True] Translation: X:295.71, Y:-51.66, Z:1.49 [[ 7.83050365e-01 6.21955543e-01 1.85145962e-03 2.95707207e+02] [-6.21953877e-01 7.83052554e-01 -1.43974842e-03 -5.16607779e+01] [-2.34524969e-03 -2.41269567e-05 9.99997250e-01 1.48697801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters 0.023406298152977945 Centerline is valid? [True, True] Translation: X:295.77, Y:-51.70, Z:1.49 [[ 7.85011615e-01 6.19475621e-01 2.59210684e-03 2.95768569e+02] [-6.19472330e-01 7.85015895e-01 -2.01931126e-03 -5.17027960e+01] [-3.28575917e-03 -2.05556713e-05 9.99994602e-01 1.48690913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters 0.022997805942286356 Centerline is valid? [True, True] Translation: X:295.83, Y:-51.75, Z:1.49 [[ 7.86122568e-01 6.18065010e-01 2.63646113e-03 2.95829522e+02] [-6.18061559e-01 7.86126989e-01 -2.06565817e-03 -5.17483694e+01] [-3.34930429e-03 -5.63477234e-06 9.99994391e-01 1.48628652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters 0.022789833179652972 Centerline is valid? [True, True] Translation: X:295.89, Y:-51.79, Z:1.49 [[ 7.85384102e-01 6.19001892e-01 2.91043324e-03 2.95889050e+02] [-6.18997676e-01 7.85389494e-01 -2.28445056e-03 -5.17931518e+01] [-3.69990291e-03 -7.38025797e-06 9.99993155e-01 1.48622937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters 0.023087410598307757 Centerline is valid? [True, True] Translation: X:295.95, Y:-51.84, Z:1.48 [[ 7.84544746e-01 6.20047549e-01 5.52981929e-03 2.95949106e+02] [-6.20032310e-01 7.84564234e-01 -4.34712784e-03 -5.18382502e+01] [-7.03392440e-03 -1.81503206e-05 9.99975261e-01 1.48278894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters 0.022572042732322637 Centerline is valid? [True, True] Translation: X:296.01, Y:-51.88, Z:1.49 [[ 7.85396532e-01 6.18971334e-01 5.17446874e-03 2.96007241e+02] [-6.18957866e-01 7.85413578e-01 -4.08315794e-03 -5.18840992e+01] [-6.59145572e-03 4.11996070e-06 9.99978276e-01 1.48543549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters 0.022482983967124445 Centerline is valid? [True, True] Translation: X:296.07, Y:-51.93, Z:1.49 [[ 7.85563382e-01 6.18755964e-01 5.58836120e-03 2.96067111e+02] [-6.18740126e-01 7.85583259e-01 -4.42709065e-03 -5.19298281e+01] [-7.12941175e-03 2.00169927e-05 9.99974585e-01 1.48500506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters 0.022535951111599718 Centerline is valid? [True, True] Translation: X:296.13, Y:-51.97, Z:1.48 [[ 7.85494892e-01 6.18836921e-01 6.21608380e-03 2.96127056e+02] [-6.18817203e-01 7.85519487e-01 -4.94016559e-03 -5.19739254e+01] [-7.94001182e-03 3.38552486e-05 9.99968477e-01 1.48216582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters 0.022258448458627334 Centerline is valid? [True, True] Translation: X:296.18, Y:-52.02, Z:1.49 [[ 7.85826910e-01 6.18436637e-01 3.49192940e-03 2.96184013e+02] [-6.18430343e-01 7.85834668e-01 -2.79033938e-03 -5.20208370e+01] [-4.46972728e-03 3.32086785e-05 9.99990010e-01 1.48591705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters 0.022507831544249925 Centerline is valid? [True, True] Translation: X:296.24, Y:-52.06, Z:1.48 [[ 7.86908819e-01 6.17047153e-01 5.22700206e-03 2.96244271e+02] [-6.17032959e-01 7.86926176e-01 -4.18589781e-03 -5.20633759e+01] [-6.69616107e-03 6.86873616e-05 9.99977578e-01 1.48244018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters 0.02275958362733493 Centerline is valid? [True, True] Translation: X:296.30, Y:-52.11, Z:1.48 [[ 7.87262402e-01 6.16591538e-01 5.72594140e-03 2.96301951e+02] [-6.16574378e-01 7.87283219e-01 -4.60104426e-03 -5.21094530e+01] [-7.34490253e-03 9.17604006e-05 9.99973022e-01 1.48334751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters 0.023012070196695714 Centerline is valid? [True, True] Translation: X:296.36, Y:-52.15, Z:1.48 [[ 7.88297033e-01 6.15280563e-01 4.19708879e-03 2.96360416e+02] [-6.15271244e-01 7.88308202e-01 -3.38763387e-03 -5.21547321e+01] [-5.39294480e-03 8.81136912e-05 9.99985454e-01 1.48311897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters 0.023803691116857015 Centerline is valid? [True, True] Translation: X:296.42, Y:-52.20, Z:1.48 [[ 7.89987243e-01 6.13099988e-01 5.34423381e-03 2.96419398e+02] [-6.13084744e-01 7.90005307e-01 -4.32567271e-03 -5.21997980e+01] [-6.87404296e-03 1.40758035e-04 9.99976364e-01 1.48270168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters 0.02344320366894747 Centerline is valid? [True, True] Translation: X:296.48, Y:-52.25, Z:1.48 [[ 7.87685024e-01 6.16047943e-01 6.10212034e-03 2.96476893e+02] [-6.16028029e-01 7.87708646e-01 -4.95539934e-03 -5.22465022e+01] [-7.85945652e-03 1.44216682e-04 9.99969104e-01 1.48096043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters 0.022359606637904407 Centerline is valid? [True, True] Translation: X:296.53, Y:-52.30, Z:1.48 [[ 7.82903683e-01 6.22112078e-01 6.19558641e-03 2.96532265e+02] [-6.22091589e-01 7.82928191e-01 -5.04994274e-03 -5.22970740e+01] [-7.99232963e-03 9.93965777e-05 9.99968056e-01 1.48185504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters 0.02187114585898382 Centerline is valid? [True, True] Translation: X:296.59, Y:-52.34, Z:1.48 [[ 7.79548135e-01 6.26324375e-01 4.74157612e-03 2.96589212e+02] [-6.26312351e-01 7.79562553e-01 -3.88122857e-03 -5.23439972e+01] [-6.12726324e-03 5.58968024e-05 9.99981227e-01 1.48076814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters 0.02147612642923411 Centerline is valid? [True, True] Translation: X:296.64, Y:-52.39, Z:1.49 [[ 7.74678343e-01 6.32349760e-01 2.69181524e-03 2.96644350e+02] [-6.32345872e-01 7.74683020e-01 -2.21734085e-03 -5.23947169e+01] [-3.48743851e-03 1.55676860e-05 9.99993919e-01 1.48641739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters 0.021832076618564407 Centerline is valid? [True, True] Translation: X:296.70, Y:-52.44, Z:1.48 [[ 7.70749280e-01 6.37133997e-01 2.41179241e-03 2.96703671e+02] [-6.37130870e-01 7.70753053e-01 -1.99613055e-03 -5.24413605e+01] [-3.13069900e-03 1.88878428e-06 9.99995099e-01 1.48459061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters 0.021940573322343143 Centerline is valid? [True, True] Translation: X:296.76, Y:-52.49, Z:1.48 [[ 7.68372509e-01 6.39989122e-01 4.19653313e-03 2.96762322e+02] [-6.39979679e-01 7.68383968e-01 -3.47673498e-03 -5.24874272e+01] [-5.44962135e-03 -1.42683479e-05 9.99985151e-01 1.48465183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters 0.021889311323868062 Centerline is valid? [True, True] Translation: X:296.82, Y:-52.54, Z:1.49 [[ 7.67352668e-01 6.41222911e-01 1.74968428e-03 2.96819640e+02] [-6.41221244e-01 7.67354662e-01 -1.46221473e-03 -5.25352121e+01] [-2.28023397e-03 9.96415192e-08 9.99997400e-01 1.48614343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters 0.021967617033207137 Centerline is valid? [True, True] Translation: X:296.88, Y:-52.58, Z:1.49 [[ 7.65745601e-01 6.43140218e-01 2.08182655e-03 2.96878997e+02] [-6.43137854e-01 7.65748431e-01 -1.74397277e-03 -5.25814106e+01] [-2.71577444e-03 -3.46198349e-06 9.99996312e-01 1.48513040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters 0.02138809353048325 Centerline is valid? [True, True] Translation: X:296.94, Y:-52.63, Z:1.49 [[ 7.65775722e-01 6.43106969e-01 9.85125334e-04 2.96938276e+02] [-6.43106427e-01 7.65776356e-01 -8.34796195e-04 -5.26278824e+01] [-1.29124894e-03 5.72622550e-06 9.99999166e-01 1.48626859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters 0.021341111415417544 Centerline is valid? [True, True] Translation: X:297.00, Y:-52.68, Z:1.49 [[ 7.65306912e-01 6.43664643e-01 1.07614894e-03 2.96995795e+02] [-6.43663994e-01 7.65307669e-01 -9.14261609e-04 -5.26751082e+01] [-1.41206290e-03 7.01240676e-06 9.99999003e-01 1.48814284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters 0.021579153476249214 Centerline is valid? [True, True] Translation: X:297.05, Y:-52.72, Z:1.49 [[ 7.62764294e-01 6.46670516e-01 2.80639152e-03 2.97053948e+02] [-6.46666158e-01 7.62769457e-01 -2.37405352e-03 -5.27230306e+01] [-3.67586015e-03 -3.95516510e-06 9.99993244e-01 1.49000113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters 0.021937314778068987 Centerline is valid? [True, True] Translation: X:297.12, Y:-52.77, Z:1.49 [[ 7.59925210e-01 6.49997282e-01 4.14833809e-03 2.97118583e+02] [-6.49987703e-01 7.59936532e-01 -3.52892885e-03 -5.27707821e+01] [-5.44626782e-03 -1.46467473e-05 9.99985169e-01 1.48818622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters 0.022400252442830462 Centerline is valid? [True, True] Translation: X:297.18, Y:-52.82, Z:1.49 [[ 7.55283572e-01 6.55396472e-01 1.48006965e-03 2.97175573e+02] [-6.55395242e-01 7.55285022e-01 -1.27001748e-03 -5.28200652e+01] [-1.95023941e-03 -1.08072692e-05 9.99998098e-01 1.49084432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters 0.02305773378029207 Centerline is valid? [True, True] Translation: X:297.24, Y:-52.87, Z:1.49 [[ 7.50896888e-01 6.60416268e-01 2.05340125e-03 2.97243820e+02] [-6.60413870e-01 7.50899696e-01 -1.77963292e-03 -5.28705912e+01] [-2.71719691e-03 -1.97738387e-05 9.99996308e-01 1.48932681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters 0.02339946677918396 Centerline is valid? [True, True] Translation: X:297.31, Y:-52.92, Z:1.49 [[ 7.47348504e-01 6.64428777e-01 2.14794671e-03 2.97312407e+02] [-6.64426128e-01 7.47351590e-01 -1.87648027e-03 -5.29246501e+01] [-2.85205888e-03 -2.47671890e-05 9.99995933e-01 1.49017186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters 0.02313350221991167 Centerline is valid? [True, True] Translation: X:297.37, Y:-52.97, Z:1.49 [[ 7.46442650e-01 6.65447590e-01 1.69583756e-03 2.97371387e+02] [-6.65445944e-01 7.46444576e-01 -1.48034470e-03 -5.29719567e+01] [-2.25094056e-03 -2.34958082e-05 9.99997466e-01 1.49060678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters 0.021915756889276758 Centerline is valid? [True, True] Translation: X:297.43, Y:-53.02, Z:1.49 [[ 7.48025727e-01 6.63669130e-01 -8.93076340e-04 2.97430107e+02] [-6.63668692e-01 7.48026260e-01 7.62952251e-04 -5.30194103e+01] [ 1.17439241e-03 2.19988937e-05 9.99999310e-01 1.49076092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters 0.02097615612973435 Centerline is valid? [True, True] Translation: X:297.49, Y:-53.07, Z:1.49 [[ 7.51181194e-01 6.60094853e-01 -1.26455511e-03 2.97486306e+02] [-6.60093953e-01 7.51182258e-01 1.08998241e-03 -5.30703625e+01] [ 1.66940314e-03 1.59508959e-05 9.99998606e-01 1.49200755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters 0.021246358983667016 Centerline is valid? [True, True] Translation: X:297.59, Y:-53.15, Z:1.49 [[ 7.42144684e-01 6.70239250e-01 7.83976684e-04 2.97591910e+02] [-6.70238793e-01 7.42145096e-01 -7.85549442e-04 -5.31489845e+01] [-1.10833052e-03 5.75397564e-05 9.99999384e-01 1.49162097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters 0.02124645218523648 Centerline is valid? [True, True] Translation: X:297.65, Y:-53.20, Z:1.49 [[ 7.40087948e-01 6.72507762e-01 1.77200415e-03 2.97652514e+02] [-6.72505847e-01 7.40090069e-01 -1.60462546e-03 -5.31963182e+01] [-2.39056575e-03 -4.11918355e-06 9.99997143e-01 1.48879374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters 0.0209605805116438 Centerline is valid? [True, True] Translation: X:297.71, Y:-53.25, Z:1.49 [[ 7.39305131e-01 6.73370559e-01 -1.12987115e-04 2.97709532e+02] [-6.73370553e-01 7.39305140e-01 8.83998924e-05 -5.32473580e+01] [ 1.43057840e-04 1.07277020e-05 9.99999990e-01 1.49312802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters 0.02099868828280843 Centerline is valid? [True, True] Translation: X:297.77, Y:-53.30, Z:1.49 [[ 7.37529131e-01 6.75315063e-01 -5.89438129e-04 2.97768328e+02] [-6.75314864e-01 7.37529366e-01 5.18241167e-04 -5.32970522e+01] [ 7.84703996e-04 1.58383726e-05 9.99999692e-01 1.49350953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters 0.02101826288789522 Centerline is valid? [True, True] Translation: X:297.84, Y:-53.36, Z:1.49 [[ 7.33532326e-01 6.79654560e-01 -8.15943880e-05 2.97844768e+02] [-6.79654559e-01 7.33532330e-01 3.60286699e-05 -5.33580926e+01] [ 8.43391716e-05 2.90278038e-05 9.99999996e-01 1.49229045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters 0.021079719667953106 Centerline is valid? [True, True] Translation: X:297.92, Y:-53.42, Z:1.49 [[ 7.28084507e-01 6.85487322e-01 -2.85267491e-04 2.97920600e+02] [-6.85487286e-01 7.28084562e-01 2.25343958e-04 -5.34192093e+01] [ 3.62169283e-04 3.14777943e-05 9.99999934e-01 1.49379532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters 0.021671231894842317 Centerline is valid? [True, True] Translation: X:297.98, Y:-53.47, Z:1.49 [[ 7.24942785e-01 6.88808782e-01 -6.48962091e-04 2.97978142e+02] [-6.88808530e-01 7.24943075e-01 5.88785200e-04 -5.34685824e+01] [ 8.76020990e-04 2.01750421e-05 9.99999616e-01 1.49469283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters 0.021862246262402962 Centerline is valid? [True, True] Translation: X:298.04, Y:-53.52, Z:1.50 [[ 7.21625614e-01 6.92282758e-01 -1.02760822e-03 2.98041683e+02] [-6.92282120e-01 7.21626345e-01 9.39879491e-04 -5.35217292e+01] [ 1.39221153e-03 3.31536793e-05 9.99999030e-01 1.49548727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters 0.022688079021835235 Centerline is valid? [True, True] Translation: X:298.10, Y:-53.57, Z:1.50 [[ 7.17721516e-01 6.96327891e-01 -1.81466775e-03 2.98097616e+02] [-6.96325834e-01 7.17723809e-01 1.69327801e-03 -5.35742464e+01] [ 2.48150695e-03 4.82979726e-05 9.99996920e-01 1.49945309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters 0.023474306959448632 Centerline is valid? [True, True] Translation: X:298.17, Y:-53.63, Z:1.50 [[ 7.12493769e-01 7.01676003e-01 -1.84794961e-03 2.98171208e+02] [-7.01673895e-01 7.12496162e-01 1.72150587e-03 -5.36332969e+01] [ 2.52459636e-03 7.00957961e-05 9.99996811e-01 1.49713473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters 0.024176045292767533 Centerline is valid? [True, True] Translation: X:298.23, Y:-53.68, Z:1.50 [[ 7.08515895e-01 7.05691462e-01 -2.18815109e-03 2.98228710e+02] [-7.05688424e-01 7.08519269e-01 2.07197973e-03 -5.36848232e+01] [ 3.01252562e-03 7.61223261e-05 9.99995459e-01 1.49996149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters 0.025022293174147427 Centerline is valid? [True, True] Translation: X:298.29, Y:-53.74, Z:1.50 [[ 7.05081810e-01 7.09122022e-01 -2.36633389e-03 2.98285427e+02] [-7.09118450e-01 7.05085775e-01 2.25229548e-03 -5.37373524e+01] [ 3.26562069e-03 8.99584489e-05 9.99994664e-01 1.50079004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters 0.025681871792718986 Centerline is valid? [True, True] Translation: X:298.34, Y:-53.79, Z:1.50 [[ 7.01677109e-01 7.12479261e-01 -4.74732011e-03 2.98343131e+02] [-7.12464719e-01 7.01693144e-01 4.55593303e-03 -5.37886116e+01] [ 6.57716978e-03 1.85504172e-04 9.99978353e-01 1.50136127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters 0.025596864280734204 Centerline is valid? [True, True] Translation: X:298.40, Y:-53.84, Z:1.50 [[ 7.00065316e-01 7.14057722e-01 -5.48846673e-03 2.98401030e+02] [-7.14038129e-01 7.00086798e-01 5.29387684e-03 -5.38394596e+01] [ 7.62253673e-03 2.12914951e-04 9.99970925e-01 1.50163369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters 0.025548006101010587 Centerline is valid? [True, True] Translation: X:298.46, Y:-53.89, Z:1.50 [[ 6.99098872e-01 7.15011448e-01 -4.40411803e-03 2.98457054e+02] [-7.14998752e-01 6.99112724e-01 4.26421317e-03 -5.38908527e+01] [ 6.12793619e-03 1.67832279e-04 9.99981210e-01 1.50238052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters 0.02604749207563514 Centerline is valid? [True, True] Translation: X:298.51, Y:-53.94, Z:1.50 [[ 6.96724598e-01 7.17318125e-01 -5.43524499e-03 2.98514429e+02] [-7.17298651e-01 6.96745765e-01 5.29002276e-03 -5.39423483e+01] [ 7.58161314e-03 2.13004915e-04 9.99971236e-01 1.50249489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters 0.02716260848935902 Centerline is valid? [True, True] Translation: X:298.57, Y:-53.99, Z:1.50 [[ 6.93124290e-01 7.20806821e-01 -4.03048002e-03 2.98571740e+02] [-7.20796093e-01 6.93135986e-01 3.93668526e-03 -5.39937520e+01] [ 5.63126034e-03 1.76542074e-04 9.99984129e-01 1.50137214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters 0.02712580282724068 Centerline is valid? [True, True] Translation: X:298.63, Y:-54.05, Z:1.50 [[ 6.91415472e-01 7.22439896e-01 -5.02402196e-03 2.98627922e+02] [-7.22423083e-01 6.91433690e-01 4.93361045e-03 -5.40470714e+01] [ 7.03801507e-03 2.18294841e-04 9.99975209e-01 1.50262724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters 0.027087522500617866 Centerline is valid? [True, True] Translation: X:298.68, Y:-54.10, Z:1.50 [[ 6.90251790e-01 7.23557613e-01 -4.10459206e-03 2.98683814e+02] [-7.23546321e-01 6.90263971e-01 4.04626085e-03 -5.40998008e+01] [ 5.76095486e-03 1.76923691e-04 9.99983390e-01 1.50230065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters 0.02781031498679318 Centerline is valid? [True, True] Translation: X:298.74, Y:-54.15, Z:1.50 [[ 6.87012699e-01 7.26633739e-01 -4.11835811e-03 2.98742163e+02] [-7.26622316e-01 6.87025017e-01 4.07866505e-03 -5.41524478e+01] [ 5.79311069e-03 1.90396227e-04 9.99983202e-01 1.50155479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters 0.0283028738191866 Centerline is valid? [True, True] Translation: X:298.80, Y:-54.21, Z:1.50 [[ 6.83980280e-01 7.29480736e-01 -5.36960690e-03 2.98796805e+02] [-7.29461175e-01 6.84001308e-01 5.34834292e-03 -5.42068622e+01] [ 7.57433127e-03 2.58758672e-04 9.99971281e-01 1.50249847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters 0.028744174361591882 Centerline is valid? [True, True] Translation: X:298.85, Y:-54.26, Z:1.50 [[ 6.82683740e-01 7.30709294e-01 -2.61515130e-03 2.98851510e+02] [-7.30704650e-01 6.82688736e-01 2.60837169e-03 -5.42607668e+01] [ 3.69129577e-03 1.30210271e-04 9.99993179e-01 1.50080550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters 0.027944266757099812 Centerline is valid? [True, True] Translation: X:300.08, Y:-53.04, Z:3.36 [[ 7.80093595e-01 -6.25644318e-01 4.81348229e-03 3.00082845e+02] [-6.25627412e-01 -7.80108209e-01 -4.63935044e-03 -5.30410033e+01] [ 6.65762029e-03 6.07681099e-04 -9.99977653e-01 3.36227476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters 0.027551246037276215 Centerline is valid? [True, True] Translation: X:299.01, Y:-54.42, Z:1.50 [[ 7.43294897e-01 6.68960486e-01 -2.13642754e-03 2.99007577e+02] [-6.68958022e-01 7.43297963e-01 1.81724269e-03 -5.44161575e+01] [ 2.80366579e-03 7.84331226e-05 9.99996067e-01 1.50208698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters 0.027205962129884496 Centerline is valid? [True, True] Translation: X:299.07, Y:-54.46, Z:1.50 [[ 7.42821264e-01 6.69488586e-01 -1.26569352e-03 2.99065730e+02] [-6.69487734e-01 7.42822341e-01 1.06995783e-03 -5.44649664e+01] [ 1.65650998e-03 5.25788556e-05 9.99998627e-01 1.49987546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters 0.02700054883705801 Centerline is valid? [True, True] Translation: X:299.12, Y:-54.52, Z:1.50 [[ 7.42181679e-01 6.70194559e-01 -2.36819452e-03 2.99121499e+02] [-6.70191517e-01 7.42185453e-01 2.02086594e-03 -5.45157438e+01] [ 3.11201288e-03 8.72942040e-05 9.99995154e-01 1.50277011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters 0.0273395692919043 Centerline is valid? [True, True] Translation: X:299.18, Y:-54.56, Z:1.50 [[ 7.40114328e-01 6.72478120e-01 -1.98960389e-03 2.99180799e+02] [-6.72475970e-01 7.40116999e-01 1.70237416e-03 -5.45634777e+01] [ 2.61734904e-03 7.80092959e-05 9.99996572e-01 1.49990190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters 0.02766509776945623 Centerline is valid? [True, True] Translation: X:299.24, Y:-54.61, Z:1.50 [[ 7.38679160e-01 6.74053788e-01 -2.14238038e-03 2.99237954e+02] [-6.74051278e-01 7.38682262e-01 1.84121513e-03 -5.46134998e+01] [ 2.82361642e-03 8.40069903e-05 9.99996010e-01 1.50116339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters 0.028907882559762923 Centerline is valid? [True, True] Translation: X:299.30, Y:-54.66, Z:1.50 [[ 7.35088968e-01 6.77969630e-01 -1.17885285e-03 2.99298033e+02] [-6.77968879e-01 7.35089911e-01 1.01118558e-03 -5.46612207e+01] [ 1.55211595e-03 5.59141791e-05 9.99998794e-01 1.50071151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters 0.03083228184171639 Centerline is valid? [True, True] Translation: X:299.36, Y:-54.71, Z:1.50 [[ 7.29505333e-01 6.83975078e-01 -2.47108226e-04 2.99358565e+02] [-6.83975049e-01 7.29505375e-01 2.02513044e-04 -5.47078173e+01] [ 3.18780655e-04 2.12815149e-05 9.99999949e-01 1.50073305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters 0.03344176170033693 Centerline is valid? [True, True] Translation: X:299.42, Y:-54.76, Z:1.50 [[ 7.22589730e-01 6.91276342e-01 -1.04951052e-03 2.99418600e+02] [-6.91275752e-01 7.22590489e-01 9.05886078e-04 -5.47553212e+01] [ 1.38458394e-03 7.09171987e-05 9.99999039e-01 1.50214519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters 0.036987135278155656 Centerline is valid? [True, True] Translation: X:299.48, Y:-54.80, Z:1.50 [[ 7.13530822e-01 7.00623714e-01 -4.22024305e-04 2.99483456e+02] [-7.00623625e-01 7.13530945e-01 3.54848096e-04 -5.48019033e+01] [ 5.49742393e-04 4.24851450e-05 9.99999848e-01 1.50331350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters 0.0394860857823837 Centerline is valid? [True, True] Translation: X:299.55, Y:-54.85, Z:1.50 [[ 7.06258033e-01 7.07952589e-01 -1.64984461e-03 2.99546224e+02] [-7.07951131e-01 7.06259945e-01 1.44476761e-03 -5.48461402e+01] [ 2.18804613e-03 1.47630626e-04 9.99997595e-01 1.50357528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters 0.04099768034239947 Centerline is valid? [True, True] Translation: X:299.61, Y:-54.89, Z:1.51 [[ 6.99983227e-01 7.14150499e-01 -3.54210393e-03 2.99609077e+02] [-7.14143724e-01 6.99992107e-01 3.12924436e-03 -5.48927034e+01] [ 4.71419622e-03 3.39152722e-04 9.99988831e-01 1.50515818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters 0.04347687733178378 Centerline is valid? [True, True] Translation: X:299.67, Y:-54.94, Z:1.51 [[ 6.93129639e-01 7.20806857e-01 -2.96278904e-03 2.99672742e+02] [-7.20802136e-01 6.93135900e-01 2.62763415e-03 -5.49361606e+01] [ 3.94763217e-03 3.14293559e-04 9.99992159e-01 1.50697459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters 0.04410715503049917 Centerline is valid? [True, True] Translation: X:299.74, Y:-54.98, Z:1.51 [[ 6.90472642e-01 7.23356767e-01 -1.58724419e-03 2.99736103e+02] [-7.23355419e-01 6.90474444e-01 1.40726052e-03 -5.49796863e+01] [ 2.11390297e-03 1.76466792e-04 9.99997750e-01 1.50804257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters 0.04378212815227135 Centerline is valid? [True, True] Translation: X:299.80, Y:-55.03, Z:1.51 [[ 6.89007321e-01 7.24752499e-01 -1.65134968e-03 2.99796569e+02] [-7.24751033e-01 6.89009275e-01 1.46938257e-03 -5.50263415e+01] [ 2.20273393e-03 1.84402043e-04 9.99997557e-01 1.50774540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters 0.043497482646370905 Centerline is valid? [True, True] Translation: X:299.86, Y:-55.07, Z:1.51 [[ 6.87535218e-01 7.26148869e-01 -1.77351050e-03 2.99862049e+02] [-7.26147161e-01 6.87537477e-01 1.58713016e-03 -5.50681654e+01] [ 2.37184771e-03 1.96621736e-04 9.99997168e-01 1.50788107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters 0.04340672118045335 Centerline is valid? [True, True] Translation: X:299.93, Y:-55.12, Z:1.51 [[ 6.85947138e-01 7.27650449e-01 -1.16102522e-03 2.99928580e+02] [-7.27649726e-01 6.85948108e-01 1.03438986e-03 -5.51153378e+01] [ 1.54907730e-03 1.35282913e-04 9.99998791e-01 1.51150390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters 0.04334194753142882 Centerline is valid? [True, True] Translation: X:301.09, Y:-54.07, Z:3.36 [[ 8.29580217e-01 -5.58360300e-01 5.51721618e-03 3.01087417e+02] [-5.58337452e-01 -8.29597647e-01 -5.19932988e-03 -5.40664970e+01] [ 7.48016895e-03 1.23279279e-03 -9.99971263e-01 3.36481751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters 0.04240885106011385 Centerline is valid? [True, True] Translation: X:300.14, Y:-55.38, Z:1.51 [[ 7.35953104e-01 6.77028866e-01 -2.22351518e-03 3.00143338e+02] [-6.77026619e-01 7.35956432e-01 1.75707787e-03 -5.53762909e+01] [ 2.82600273e-03 2.12252056e-04 9.99995984e-01 1.51309281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters 0.04145988577901062 Centerline is valid? [True, True] Translation: X:300.21, Y:-55.42, Z:1.51 [[ 7.36006253e-01 6.76969077e-01 -2.76822143e-03 3.00207729e+02] [-6.76965594e-01 7.36011412e-01 2.18761455e-03 -5.54151774e+01] [ 3.51838997e-03 2.63892679e-04 9.99993776e-01 1.51493469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters 0.041348790231917606 Centerline is valid? [True, True] Translation: X:300.27, Y:-55.46, Z:1.51 [[ 7.35653359e-01 6.77355356e-01 -1.96396410e-03 3.00270064e+02] [-6.77353599e-01 7.35655957e-01 1.55430623e-03 -5.54559638e+01] [ 2.49761954e-03 1.86867552e-04 9.99996863e-01 1.51400187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters 0.03962191110288837 Centerline is valid? [True, True] Translation: X:300.33, Y:-55.50, Z:1.51 [[ 7.38397746e-01 6.74365431e-01 -1.84804040e-04 3.00333574e+02] [-6.74365418e-01 7.38397769e-01 1.36301259e-04 -5.54964987e+01] [ 2.28375748e-04 2.39809113e-05 9.99999974e-01 1.51340149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters 0.03777244551357263 Centerline is valid? [True, True] Translation: X:300.39, Y:-55.54, Z:1.52 [[ 7.40526885e-01 6.72026404e-01 -6.66879296e-04 3.00394019e+02] [-6.72026202e-01 7.40527183e-01 5.24390184e-04 -5.55395424e+01] [ 8.46246296e-04 5.98353313e-05 9.99999640e-01 1.51636680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters 0.03565276097855102 Centerline is valid? [True, True] Translation: X:300.46, Y:-55.58, Z:1.51 [[ 7.44235826e-01 6.67916498e-01 7.65538028e-04 3.00456725e+02] [-6.67916204e-01 7.44236219e-01 -6.28506407e-04 -5.55793497e+01] [-9.89530926e-04 -4.35582680e-05 9.99999509e-01 1.51330812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters 0.03341255995104096 Centerline is valid? [True, True] Translation: X:300.52, Y:-55.62, Z:1.52 [[ 7.47056687e-01 6.64760296e-01 2.34644284e-04 3.00517370e+02] [-6.64760266e-01 7.47056724e-01 -2.01063093e-04 -5.56221043e+01] [-3.08951350e-04 -5.77666830e-06 9.99999952e-01 1.51640212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters 0.03157230306725939 Centerline is valid? [True, True] Translation: X:300.58, Y:-55.67, Z:1.52 [[ 7.49593338e-01 6.61898652e-01 -5.26275836e-05 3.00577544e+02] [-6.61898651e-01 7.49593340e-01 3.14769291e-05 -5.56654234e+01] [ 6.02838234e-05 1.12392302e-05 9.99999998e-01 1.51709591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters 0.02992855904488032 Centerline is valid? [True, True] Translation: X:300.64, Y:-55.71, Z:1.52 [[ 7.51525410e-01 6.59704004e-01 4.31784482e-04 3.00636354e+02] [-6.59703904e-01 7.51525534e-01 -3.62869310e-04 -5.57096267e+01] [-5.63883399e-04 -1.21444017e-05 9.99999841e-01 1.51778820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters 0.02826359961206109 Centerline is valid? [True, True] Translation: X:300.70, Y:-55.75, Z:1.52 [[ 7.53648888e-01 6.57274081e-01 2.03400318e-03 3.00695951e+02] [-6.57271953e-01 7.53651629e-01 -1.67407227e-03 -5.57523109e+01] [-2.63325412e-03 -7.52305381e-05 9.99996530e-01 1.51600694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters 0.026452832743957166 Centerline is valid? [True, True] Translation: X:300.75, Y:-55.80, Z:1.52 [[ 7.55751290e-01 6.54858739e-01 -1.42120023e-04 3.00753337e+02] [-6.54858730e-01 7.55751303e-01 1.05420488e-04 -5.57981244e+01] [ 1.76442921e-04 1.33968679e-05 9.99999984e-01 1.51867211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters 0.025427308824203593 Centerline is valid? [True, True] Translation: X:300.81, Y:-55.84, Z:1.52 [[ 7.56600355e-01 6.53877480e-01 3.78443792e-04 3.00811042e+02] [-6.53877401e-01 7.56600450e-01 -3.22344018e-04 -5.58417894e+01] [-4.97104238e-04 -3.57024458e-06 9.99999876e-01 1.51838949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters 0.023955569116349898 Centerline is valid? [True, True] Translation: X:300.87, Y:-55.89, Z:1.52 [[ 7.58598680e-01 6.51557571e-01 -8.79940366e-04 3.00867105e+02] [-6.51557177e-01 7.58599190e-01 7.17156867e-04 -5.58885335e+01] [ 1.13479103e-03 2.92972076e-05 9.99999356e-01 1.52004877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters 0.023128035988747058 Centerline is valid? [True, True] Translation: X:300.92, Y:-55.93, Z:1.52 [[ 7.59832722e-01 6.50118179e-01 7.66967808e-04 3.00924543e+02] [-6.50117859e-01 7.59833109e-01 -6.44382847e-04 -5.59335469e+01] [-1.00169254e-03 -8.99629703e-06 9.99999498e-01 1.51815854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters 0.02241173077511254 Centerline is valid? [True, True] Translation: X:300.98, Y:-55.98, Z:1.52 [[ 7.60307993e-01 6.49562742e-01 -2.16877768e-05 3.00983058e+02] [-6.49562742e-01 7.60307993e-01 6.20600878e-06 -5.59800757e+01] [ 2.05205825e-05 9.36909371e-06 1.00000000e+00 1.51950407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters 0.021280216855233368 Centerline is valid? [True, True] Translation: X:301.04, Y:-56.03, Z:1.52 [[ 7.62387274e-01 6.47119420e-01 -1.44968492e-03 3.01038481e+02] [-6.47118309e-01 7.62388652e-01 1.19904062e-03 -5.60275375e+01] [ 1.88114580e-03 2.39843470e-05 9.99998230e-01 1.51931874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters 0.02047809330700273 Centerline is valid? [True, True] Translation: X:301.09, Y:-56.07, Z:1.52 [[ 7.65552073e-01 6.43373936e-01 -3.98294824e-05 3.01094335e+02] [-6.43373935e-01 7.65552074e-01 2.39022218e-05 -5.60749757e+01] [ 4.58696097e-05 7.32685539e-06 9.99999999e-01 1.51928335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters 0.020573118652267828 Centerline is valid? [True, True] Translation: X:301.15, Y:-56.12, Z:1.52 [[ 7.68674353e-01 6.39640305e-01 1.37935545e-04 3.01147630e+02] [-6.39640293e-01 7.68674365e-01 -1.24915604e-04 -5.61248186e+01] [-1.85928572e-04 7.79028920e-06 9.99999983e-01 1.52048958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters 0.020712044599519232 Centerline is valid? [True, True] Translation: X:301.20, Y:-56.17, Z:1.52 [[ 7.70436007e-01 6.37517070e-01 -5.86319559e-04 3.01201732e+02] [-6.37516887e-01 7.70436230e-01 4.83892659e-04 -5.61734763e+01] [ 7.60211661e-04 9.80292031e-07 9.99999711e-01 1.52120240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters 0.020785557884373227 Centerline is valid? [True, True] Translation: X:301.25, Y:-56.22, Z:1.52 [[ 7.69870066e-01 6.38195434e-01 -2.58259307e-03 3.01253278e+02] [-6.38191749e-01 7.69874397e-01 2.16873471e-03 -5.62246279e+01] [ 3.37234887e-03 -2.14543440e-05 9.99994313e-01 1.52301989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters 0.0206124105018323 Centerline is valid? [True, True] Translation: X:301.30, Y:-56.28, Z:1.52 [[ 7.67734904e-01 6.40765437e-01 -1.66484436e-03 3.01304836e+02] [-6.40763913e-01 7.67736709e-01 1.39759647e-03 -5.62775641e+01] [ 2.17369364e-03 -6.21140575e-06 9.99997638e-01 1.52311104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters 0.020562086018896763 Centerline is valid? [True, True] Translation: X:301.36, Y:-56.33, Z:1.52 [[ 7.64423446e-01 6.44712393e-01 -1.65076988e-03 3.01355416e+02] [-6.44710893e-01 7.64425229e-01 1.39058026e-03 -5.63308092e+01] [ 2.15841447e-03 1.27717216e-06 9.99997671e-01 1.52236482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters 0.020203897772699615 Centerline is valid? [True, True] Translation: X:301.41, Y:-56.38, Z:1.53 [[ 7.60035017e-01 6.49869311e-01 -4.08059933e-03 3.01407602e+02] [-6.49860067e-01 7.60045971e-01 3.46620218e-03 -5.63845415e+01] [ 5.35402151e-03 1.73835221e-05 9.99985667e-01 1.52535223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters 0.020528941046464366 Centerline is valid? [True, True] Translation: X:301.46, Y:-56.43, Z:1.52 [[ 7.56311712e-01 6.54198125e-01 -4.17231961e-03 3.01462481e+02] [-6.54188455e-01 7.56323219e-01 3.55723401e-03 -5.64339635e+01] [ 5.48275802e-03 3.91055755e-05 9.99984969e-01 1.52355307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters 0.02173646303000005 Centerline is valid? [True, True] Translation: X:301.51, Y:-56.49, Z:1.53 [[ 7.50644987e-01 6.60693394e-01 -4.04267602e-03 3.01512249e+02] [-6.60684344e-01 7.50655869e-01 3.45885471e-03 -5.64901500e+01] [ 5.31990093e-03 7.45608056e-05 9.99985846e-01 1.52737031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters 0.023262777431751442 Centerline is valid? [True, True] Translation: X:301.57, Y:-56.54, Z:1.53 [[ 7.44784749e-01 6.67277136e-01 -6.07474354e-03 3.01567268e+02] [-6.67256717e-01 7.44809504e-01 5.22268931e-03 -5.65409205e+01] [ 8.00950789e-03 1.63634078e-04 9.99967910e-01 1.52728013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters 0.024700141821213207 Centerline is valid? [True, True] Translation: X:301.62, Y:-56.59, Z:1.53 [[ 7.39978339e-01 6.72611885e-01 -5.03089598e-03 3.01622677e+02] [-6.72597904e-01 7.39995421e-01 4.34017093e-03 -5.65949210e+01] [ 6.64209053e-03 1.72137618e-04 9.99977926e-01 1.52871915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters 0.02508874745666657 Centerline is valid? [True, True] Translation: X:301.69, Y:-56.65, Z:1.53 [[ 7.37033180e-01 6.75837088e-01 -5.13053745e-03 3.01685013e+02] [-6.75822473e-01 7.37051012e-01 4.44864901e-03 -5.66484217e+01] [ 6.78802982e-03 1.88530584e-04 9.99976943e-01 1.52928994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters 0.0258924251714428 Centerline is valid? [True, True] Translation: X:301.74, Y:-56.70, Z:1.53 [[ 7.33528281e-01 6.79628391e-01 -6.44289283e-03 3.01744825e+02] [-6.79605161e-01 7.33556532e-01 5.62490450e-03 -5.67019065e+01] [ 8.54907092e-03 2.52596685e-04 9.99963424e-01 1.52972913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters 0.02613877805303399 Centerline is valid? [True, True] Translation: X:301.80, Y:-56.75, Z:1.53 [[ 7.31635490e-01 6.81658879e-01 -7.11910788e-03 3.01800342e+02] [-6.81630308e-01 7.31670071e-01 6.24737595e-03 -5.67539669e+01] [ 9.46741746e-03 2.81797732e-04 9.99955143e-01 1.53183438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters 0.026336236508076698 Centerline is valid? [True, True] Translation: X:301.85, Y:-56.81, Z:1.53 [[ 7.29936901e-01 6.83461947e-01 -8.47869299e-03 3.01854716e+02] [-6.83421190e-01 7.29986063e-01 7.47168257e-03 -5.68069054e+01] [ 1.12959384e-02 3.40661630e-04 9.99936141e-01 1.53351247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters 0.02654804101446016 Centerline is valid? [True, True] Translation: X:301.91, Y:-56.86, Z:1.53 [[ 7.28338089e-01 6.85175802e-01 -7.59920367e-03 3.01910410e+02] [-6.85142906e-01 7.28377665e-01 6.72119795e-03 -5.68581739e+01] [ 1.01402924e-02 3.11236014e-04 9.99948537e-01 1.53181773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters 0.02652646084206623 Centerline is valid? [True, True] Translation: X:301.96, Y:-56.91, Z:1.54 [[ 7.26939829e-01 6.86666521e-01 -6.89743297e-03 3.01963927e+02] [-6.86639265e-01 7.26972495e-01 6.12465597e-03 -5.69131069e+01] [ 9.21984027e-03 2.83791944e-04 9.99957456e-01 1.53580445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters 0.025980944036612996 Centerline is valid? [True, True] Translation: X:302.02, Y:-56.96, Z:1.54 [[ 7.26057856e-01 6.87575997e-01 -8.90161377e-03 3.02020739e+02] [-6.87530205e-01 7.26112336e-01 7.94311531e-03 -5.69649055e+01] [ 1.19250670e-02 3.52967071e-04 9.99928832e-01 1.53528090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters 0.026467264696498564 Centerline is valid? [True, True] Translation: X:302.08, Y:-57.02, Z:1.53 [[ 7.24590246e-01 6.89134096e-01 -7.94814664e-03 3.02075421e+02] [-6.89097391e-01 7.24633767e-01 7.11957693e-03 -5.70170555e+01] [ 1.06658387e-02 3.18271117e-04 9.99943068e-01 1.53442858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters 0.026746163131772145 Centerline is valid? [True, True] Translation: X:302.13, Y:-57.07, Z:1.53 [[ 7.22267638e-01 6.91569448e-01 -7.82031179e-03 3.02134305e+02] [-6.91533737e-01 7.22309900e-01 7.03557166e-03 -5.70685635e+01] [ 1.05142750e-02 3.26443711e-04 9.99944670e-01 1.53358939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters 0.026451508843161203 Centerline is valid? [True, True] Translation: X:302.19, Y:-57.12, Z:1.54 [[ 7.21306273e-01 6.92575993e-01 -7.46691608e-03 3.02189341e+02] [-6.92543198e-01 7.21344856e-01 6.74671945e-03 -5.71224156e+01] [ 1.00588374e-02 3.04710879e-04 9.99949362e-01 1.53579584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters 0.02659965179189279 Centerline is valid? [True, True] Translation: X:302.25, Y:-57.17, Z:1.53 [[ 7.20504940e-01 6.93425120e-01 -5.85096336e-03 3.02248006e+02] [-6.93404867e-01 7.20528658e-01 5.30498647e-03 -5.71713066e+01] [ 7.89439766e-03 2.34817511e-04 9.99968811e-01 1.53371814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters 0.025990257464642657 Centerline is valid? [True, True] Translation: X:302.31, Y:-57.22, Z:1.54 [[ 7.20820479e-01 6.93098390e-01 -5.69716154e-03 3.02305702e+02] [-6.93079021e-01 7.20842963e-01 5.18595533e-03 -5.72220924e+01] [ 7.70113610e-03 2.10440330e-04 9.99970324e-01 1.53511648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters 0.025732107517183005 Centerline is valid? [True, True] Translation: X:302.36, Y:-57.27, Z:1.54 [[ 7.20694254e-01 6.93231513e-01 -5.46452095e-03 3.02363620e+02] [-6.93213553e-01 7.20714946e-01 4.99365542e-03 -5.72722365e+01] [ 7.40012122e-03 1.89181211e-04 9.99972601e-01 1.53521047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters 0.024336860494950496 Centerline is valid? [True, True] Translation: X:302.42, Y:-57.32, Z:1.54 [[ 7.22989871e-01 6.90837758e-01 -5.37016869e-03 3.02423625e+02] [-6.90820192e-01 7.23009800e-01 4.92869521e-03 -5.73248053e+01] [ 7.28761334e-03 1.46424255e-04 9.99973434e-01 1.53672032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters 0.02350996776902805 Centerline is valid? [True, True] Translation: X:302.48, Y:-57.37, Z:1.53 [[ 7.25932467e-01 6.87758169e-01 -3.27932448e-03 3.02481954e+02] [-6.87751546e-01 7.25939871e-01 3.01902410e-03 -5.73749274e+01] [ 4.45695088e-03 6.37528638e-05 9.99990066e-01 1.53449039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters 0.022978277655593432 Centerline is valid? [True, True] Translation: X:302.54, Y:-57.43, Z:1.53 [[ 7.27049337e-01 6.86582937e-01 -1.76983871e-03 3.02539924e+02] [-6.86581006e-01 7.27051490e-01 1.62868671e-03 -5.74258845e+01] [ 2.40499238e-03 3.10020539e-05 9.99997108e-01 1.53410666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters 0.02222579712475493 Centerline is valid? [True, True] Translation: X:302.60, Y:-57.48, Z:1.53 [[ 7.31806046e-01 6.81508019e-01 -2.59446832e-03 3.02597321e+02] [-6.81503770e-01 7.31810645e-01 2.40650607e-03 -5.74768521e+01] [ 3.53871272e-03 7.04425272e-06 9.99993739e-01 1.53394823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters 0.022512686069505565 Centerline is valid? [True, True] Translation: X:302.65, Y:-57.53, Z:1.53 [[ 7.34095799e-01 6.79045075e-01 -1.06898372e-03 3.02653254e+02] [-6.79044357e-01 7.34096578e-01 9.87629390e-04 -5.75293588e+01] [ 1.45538216e-03 8.72775267e-07 9.99998941e-01 1.53429782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters 0.023580222517321746 Centerline is valid? [True, True] Translation: X:302.71, Y:-57.58, Z:1.53 [[ 7.37874529e-01 6.74934631e-01 -2.10322870e-03 3.02709264e+02] [-6.74931774e-01 7.37877526e-01 1.96407908e-03 -5.75805779e+01] [ 2.87755018e-03 -2.97080482e-05 9.99995859e-01 1.53378891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters 0.02400404312452417 Centerline is valid? [True, True] Translation: X:302.77, Y:-57.64, Z:1.53 [[ 7.37169372e-01 6.75707986e-01 -1.83239077e-04 3.02767925e+02] [-6.75707969e-01 7.37169395e-01 1.52699071e-04 -5.76393657e+01] [ 2.38258222e-04 1.12510265e-05 9.99999972e-01 1.53373989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters 0.02298635698476871 Centerline is valid? [True, True] Translation: X:302.83, Y:-57.70, Z:1.54 [[ 7.28839217e-01 6.84684658e-01 -5.60844019e-04 3.02828379e+02] [-6.84684470e-01 7.28839433e-01 5.07524313e-04 -5.77027826e+01] [ 7.56259348e-04 1.40975670e-05 9.99999714e-01 1.53509045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters 0.02316131081315402 Centerline is valid? [True, True] Translation: X:302.88, Y:-57.76, Z:1.54 [[ 7.20259830e-01 6.93703041e-01 -1.36686584e-03 3.02880146e+02] [-6.93701835e-01 7.20261127e-01 1.29342209e-03 -5.77595722e+01] [ 1.88175117e-03 1.65973693e-05 9.99998229e-01 1.53762524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters 0.023845477845097916 Centerline is valid? [True, True] Translation: X:302.94, Y:-57.82, Z:1.54 [[ 7.13978656e-01 7.00167044e-01 -7.67635738e-04 3.02938870e+02] [-7.00166675e-01 7.13979069e-01 7.18755326e-04 -5.78169207e+01] [ 1.05132464e-03 2.42970005e-05 9.99999447e-01 1.53859193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters 0.02483619147489959 Centerline is valid? [True, True] Translation: X:303.00, Y:-57.87, Z:1.54 [[ 7.08806155e-01 7.05401895e-01 -1.41447955e-03 3.02995403e+02] [-7.05400600e-01 7.08807566e-01 1.35228210e-03 -5.78712353e+01] [ 1.95649616e-03 3.92688470e-05 9.99998085e-01 1.53808164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters 0.02593781892752615 Centerline is valid? [True, True] Translation: X:303.05, Y:-57.93, Z:1.54 [[ 7.04766218e-01 7.09439620e-01 -6.34410401e-05 3.03049221e+02] [-7.09439619e-01 7.04766220e-01 4.57542537e-05 -5.79257922e+01] [ 7.71709827e-05 1.27615350e-05 9.99999997e-01 1.53936802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters 0.02625308857147383 Centerline is valid? [True, True] Translation: X:303.11, Y:-57.98, Z:1.54 [[ 7.01353572e-01 7.12808943e-01 -2.56452327e-03 3.03108894e+02] [-7.12804605e-01 7.01358256e-01 2.48815794e-03 -5.79796138e+01] [ 3.57223080e-03 8.29255365e-05 9.99993616e-01 1.53799979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters 0.02673184355188459 Centerline is valid? [True, True] Translation: X:303.16, Y:-58.03, Z:1.54 [[ 6.98766577e-01 7.15345958e-01 -2.33055388e-03 3.03163969e+02] [-7.15342350e-01 6.98770459e-01 2.27333607e-03 -5.80334059e+01] [ 3.25474398e-03 7.86126239e-05 9.99994700e-01 1.53913947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters 0.026929104380098958 Centerline is valid? [True, True] Translation: X:303.22, Y:-58.09, Z:1.54 [[ 6.96699334e-01 7.17362791e-01 -8.14862661e-04 3.03223635e+02] [-7.17362360e-01 6.96699810e-01 7.86988620e-04 -5.80859882e+01] [ 1.13227101e-03 3.62573543e-05 9.99999358e-01 1.53886525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters 0.02663613117846056 Centerline is valid? [True, True] Translation: X:303.28, Y:-58.14, Z:1.54 [[ 6.95559659e-01 7.18468294e-01 -2.66214863e-04 3.03279945e+02] [-7.18468252e-01 6.95559710e-01 2.47459705e-04 -5.81394739e+01] [ 3.62960286e-04 1.91439393e-05 9.99999934e-01 1.53920390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters 0.027280729437817713 Centerline is valid? [True, True] Translation: X:303.34, Y:-58.19, Z:1.54 [[ 6.92662185e-01 7.21260761e-01 1.41833785e-03 3.03337526e+02] [-7.21259344e-01 6.92663637e-01 -1.43011495e-03 -5.81914868e+01] [-2.01391686e-03 -3.24028815e-05 9.99997972e-01 1.53930287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters 0.026775936033410212 Centerline is valid? [True, True] Translation: X:303.40, Y:-58.25, Z:1.54 [[ 6.91325585e-01 7.22543334e-01 2.55098827e-04 3.03395367e+02] [-7.22543282e-01 6.91325632e-01 -2.75438804e-04 -5.82470671e+01] [-3.75372829e-04 6.09794895e-06 9.99999930e-01 1.54169085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters 0.02640868981289284 Centerline is valid? [True, True] Translation: X:304.66, Y:-57.00, Z:3.38 [[ 7.75359316e-01 -6.31494629e-01 5.69781602e-03 3.04660289e+02] [-6.31471978e-01 -7.75380040e-01 -5.37908962e-03 -5.69954193e+01] [ 7.81483901e-03 5.72716092e-04 -9.99969300e-01 3.38215449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters 0.026545430022486594 Centerline is valid? [True, True] Translation: X:303.56, Y:-58.41, Z:1.54 [[ 7.47595647e-01 6.64154101e-01 -2.79601735e-04 3.03557776e+02] [-6.64154060e-01 7.47595700e-01 2.34781637e-04 -5.84050440e+01] [ 3.64960241e-04 1.01768975e-05 9.99999933e-01 1.54239791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters 0.02652484236784215 Centerline is valid? [True, True] Translation: X:303.62, Y:-58.46, Z:1.54 [[ 7.46052085e-01 6.65887494e-01 3.64233584e-04 3.03617540e+02] [-6.65887413e-01 7.46052174e-01 -3.27187779e-04 -5.84555602e+01] [-4.89607507e-04 1.56056533e-06 9.99999880e-01 1.54400369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters 0.026559104205783654 Centerline is valid? [True, True] Translation: X:303.68, Y:-58.50, Z:1.54 [[ 7.43532909e-01 6.68698271e-01 -1.19831547e-03 3.03677077e+02] [-6.68697503e-01 7.43533873e-01 1.01451114e-03 -5.85036710e+01] [ 1.56938999e-03 4.69881420e-05 9.99998767e-01 1.54456088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters 0.027125172138633833 Centerline is valid? [True, True] Translation: X:303.74, Y:-58.55, Z:1.54 [[ 7.41118504e-01 6.71372873e-01 1.35194426e-03 3.03737770e+02] [-6.71371839e-01 7.41119737e-01 -1.17871884e-03 -5.85501748e+01] [-1.79331243e-03 -3.40869565e-05 9.99998391e-01 1.54293929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters 0.0275126436913308 Centerline is valid? [True, True] Translation: X:303.80, Y:-58.60, Z:1.55 [[ 7.38400184e-01 6.74362703e-01 3.36438669e-04 3.03796652e+02] [-6.74362634e-01 7.38400261e-01 -3.04264734e-04 -5.85995171e+01] [-4.53611189e-04 -2.21253136e-06 9.99999897e-01 1.54614904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters 0.027854549021208954 Centerline is valid? [True, True] Translation: X:303.86, Y:-58.65, Z:1.55 [[ 7.35412405e-01 6.77619279e-01 -8.41337085e-04 3.03857135e+02] [-6.77618901e-01 7.35412885e-01 7.16745391e-04 -5.86466519e+01] [ 1.10441063e-03 4.30024597e-05 9.99999389e-01 1.54616210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters 0.02799341682059836 Centerline is valid? [True, True] Translation: X:303.92, Y:-58.69, Z:1.55 [[ 7.33472327e-01 6.79719188e-01 -4.12721163e-04 3.03916690e+02] [-6.79719101e-01 7.33472443e-01 3.45866530e-04 -5.86941576e+01] [ 5.37811717e-04 2.68509288e-05 9.99999855e-01 1.54682398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters 0.027940150291541645 Centerline is valid? [True, True] Translation: X:303.98, Y:-58.74, Z:1.55 [[ 7.32255601e-01 6.81029557e-01 6.90908217e-04 3.03976117e+02] [-6.81029276e-01 7.32255926e-01 -6.19115524e-04 -5.87428784e+01] [-9.27557607e-04 -1.71779129e-05 9.99999570e-01 1.54738910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters 0.027686055597692216 Centerline is valid? [True, True] Translation: X:304.03, Y:-58.79, Z:1.55 [[ 7.30929347e-01 6.82453107e-01 -2.13088318e-04 3.04034657e+02] [-6.82453085e-01 7.30929378e-01 1.74541041e-04 -5.87916853e+01] [ 2.74868588e-04 1.78456105e-05 9.99999962e-01 1.54932239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters 0.02684870593454236 Centerline is valid? [True, True] Translation: X:304.09, Y:-58.84, Z:1.55 [[ 7.30189132e-01 6.83243843e-01 -1.29711704e-03 3.04092479e+02] [-6.83242905e-01 7.30190282e-01 1.13370870e-03 -5.88413836e+01] [ 1.72174174e-03 5.84242398e-05 9.99998516e-01 1.55207458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters 0.02631365668315165 Centerline is valid? [True, True] Translation: X:304.15, Y:-58.89, Z:1.55 [[ 7.29641007e-01 6.83829599e-01 -1.03966495e-03 3.04150551e+02] [-6.83828998e-01 7.29641746e-01 9.08246577e-04 -5.88915870e+01] [ 1.37966884e-03 4.82590936e-05 9.99999047e-01 1.55235919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters 0.025742240168058796 Centerline is valid? [True, True] Translation: X:304.21, Y:-58.94, Z:1.55 [[ 7.29285113e-01 6.84209918e-01 -1.11740842e-04 3.04208098e+02] [-6.84209913e-01 7.29285121e-01 8.44602054e-05 -5.89420941e+01] [ 1.39279444e-04 1.48586216e-05 9.99999990e-01 1.55203208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters 0.024595269739991123 Centerline is valid? [True, True] Translation: X:304.26, Y:-58.99, Z:1.55 [[ 7.30464719e-01 6.82950279e-01 -4.58511335e-04 3.04263766e+02] [-6.82950164e-01 7.30464863e-01 3.97483921e-04 -5.89945110e+01] [ 6.06388175e-04 2.27924103e-05 9.99999816e-01 1.55251013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters 0.023522489006644377 Centerline is valid? [True, True] Translation: X:304.32, Y:-59.05, Z:1.55 [[ 7.30699763e-01 6.82693125e-01 -2.82026735e-03 3.04323006e+02] [-6.82688468e-01 7.30705201e-01 2.52290587e-03 -5.90467222e+01] [ 3.78315451e-03 8.18772751e-05 9.99992840e-01 1.55379419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters 0.022152187101508878 Centerline is valid? [True, True] Translation: X:304.38, Y:-59.10, Z:1.55 [[ 7.33755930e-01 6.79413133e-01 -1.70660881e-04 3.04381460e+02] [-6.79413119e-01 7.33755950e-01 1.38936524e-04 -5.90968822e+01] [ 2.19618736e-04 1.40037432e-05 9.99999976e-01 1.55242891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters 0.021161703678559032 Centerline is valid? [True, True] Translation: X:304.44, Y:-59.15, Z:1.55 [[ 7.35965634e-01 6.77018500e-01 7.32439280e-04 3.04439420e+02] [-6.77018160e-01 7.35965999e-01 -6.78560556e-04 -5.91468404e+01] [-9.98448455e-04 3.52255621e-06 9.99999502e-01 1.55292037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters 0.020995070272626478 Centerline is valid? [True, True] Translation: X:304.50, Y:-59.20, Z:1.55 [[ 7.34195792e-01 6.78937732e-01 3.08425587e-04 3.04504359e+02] [-6.78937665e-01 7.34195856e-01 -3.02582937e-04 -5.91989565e+01] [-4.31879761e-04 1.27533710e-05 9.99999907e-01 1.55224229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters 0.021010052560942998 Centerline is valid? [True, True] Translation: X:304.56, Y:-59.25, Z:1.55 [[ 7.33781732e-01 6.79379465e-01 2.81271138e-03 3.04560420e+02] [-6.79374513e-01 7.33787123e-01 -2.59395932e-03 -5.92509067e+01] [-3.82621408e-03 -7.48446203e-06 9.99992680e-01 1.55405476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters 0.02047245774790489 Centerline is valid? [True, True] Translation: X:304.62, Y:-59.30, Z:1.55 [[ 7.33822489e-01 6.79341117e-01 4.48243730e-04 3.04618235e+02] [-6.79340982e-01 7.33822626e-01 -4.28217004e-04 -5.93007230e+01] [-6.19836809e-04 9.72493165e-06 9.99999808e-01 1.55426945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters 0.020615520136017047 Centerline is valid? [True, True] Translation: X:304.68, Y:-59.35, Z:1.55 [[ 7.33390892e-01 6.79804785e-01 1.80392340e-03 3.04675888e+02] [-6.79802702e-01 7.33393110e-01 -1.68269528e-03 -5.93502201e+01] [-2.46688929e-03 7.76138652e-06 9.99996957e-01 1.55430196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters 0.020385224389225066 Centerline is valid? [True, True] Translation: X:304.73, Y:-59.40, Z:1.55 [[ 7.33047181e-01 6.80177613e-01 4.94484687e-04 3.04734456e+02] [-6.80177448e-01 7.33047348e-01 -4.74723259e-04 -5.93985322e+01] [-6.85376821e-04 1.16572143e-05 9.99999765e-01 1.55267664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters 0.020418328210281497 Centerline is valid? [True, True] Translation: X:304.79, Y:-59.45, Z:1.56 [[ 7.32984737e-01 6.80244556e-01 8.48862907e-04 3.04791975e+02] [-6.80244079e-01 7.32985228e-01 -8.05567199e-04 -5.94490850e+01] [-1.17018667e-03 1.30344952e-05 9.99999315e-01 1.55559513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters 0.020598475504556995 Centerline is valid? [True, True] Translation: X:304.85, Y:-59.50, Z:1.56 [[ 7.32300488e-01 6.80981429e-01 5.36501702e-04 3.04854278e+02] [-6.80981228e-01 7.32300685e-01 -5.23686639e-04 -5.95016123e+01] [-7.49501439e-04 1.81483939e-05 9.99999719e-01 1.55568773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters 0.02039292235933495 Centerline is valid? [True, True] Translation: X:304.91, Y:-59.55, Z:1.55 [[ 7.31170799e-01 6.82193444e-01 1.16959117e-03 3.04912779e+02] [-6.82192527e-01 7.31171734e-01 -1.11852546e-03 -5.95514647e+01] [-1.61822274e-03 1.99467990e-05 9.99998690e-01 1.55485526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters 0.020701702886661365 Centerline is valid? [True, True] Translation: X:304.97, Y:-59.60, Z:1.55 [[ 7.30961726e-01 6.82409077e-01 3.57868587e-03 3.04970775e+02] [-6.82400600e-01 7.30970485e-01 -3.40171149e-03 -5.96019734e+01] [-4.93727254e-03 4.44235133e-05 9.99987811e-01 1.55499546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters 0.02121694451645259 Centerline is valid? [True, True] Translation: X:305.05, Y:-59.67, Z:1.56 [[ 7.27996023e-01 6.85580161e-01 1.27813072e-03 3.05054925e+02] [-6.85578971e-01 7.27997143e-01 -1.27848306e-03 -5.96691047e+01] [-1.80697813e-03 5.44710455e-05 9.99998366e-01 1.55509100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters 0.021582181025583444 Centerline is valid? [True, True] Translation: X:305.11, Y:-59.72, Z:1.55 [[ 7.27302543e-01 6.86311905e-01 2.64198383e-03 3.05112567e+02] [-6.86307126e-01 7.27307340e-01 -2.56165393e-03 -5.97197582e+01] [-3.67962782e-03 4.98850911e-05 9.99993229e-01 1.55430137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters 0.02150388890551355 Centerline is valid? [True, True] Translation: X:305.17, Y:-59.77, Z:1.55 [[ 7.26257077e-01 6.87412215e-01 3.88640664e-03 3.05169703e+02] [-6.87401844e-01 7.26267472e-01 -3.77670281e-03 -5.97700845e+01] [-5.41872237e-03 7.13340534e-05 9.99985316e-01 1.55429387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters 0.02154109176429968 Centerline is valid? [True, True] Translation: X:305.23, Y:-59.82, Z:1.56 [[ 7.24150920e-01 6.89640814e-01 9.95779330e-04 3.05227025e+02] [-6.89640111e-01 7.24151605e-01 -9.85025509e-04 -5.98231312e+01] [-1.40040899e-03 2.65777610e-05 9.99999019e-01 1.55583380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters 0.021418927840575794 Centerline is valid? [True, True] Translation: X:305.30, Y:-59.89, Z:1.56 [[ 7.19300589e-01 6.94689810e-01 3.56798045e-03 3.05297506e+02] [-6.94680787e-01 7.19309435e-01 -3.54146246e-03 -5.98864522e+01] [-5.02669989e-03 6.87685706e-05 9.99987364e-01 1.55540515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters 0.021202002998251267 Centerline is valid? [True, True] Translation: X:305.35, Y:-59.94, Z:1.55 [[ 7.14406075e-01 6.99723801e-01 3.24999521e-03 3.05352054e+02] [-6.99716376e-01 7.14413467e-01 -3.22358330e-03 -5.99397492e+01] [-4.57745830e-03 2.88726213e-05 9.99989523e-01 1.55394010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters 0.021661918625952452 Centerline is valid? [True, True] Translation: X:305.41, Y:-59.99, Z:1.56 [[ 7.10543985e-01 7.03632438e-01 5.35133633e-03 3.05406330e+02] [-7.03612316e-01 7.10564136e-01 -5.32138576e-03 -5.99936740e+01] [-7.54676732e-03 1.58124956e-05 9.99971523e-01 1.55592813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters 0.021481200648549765 Centerline is valid? [True, True] Translation: X:305.46, Y:-60.05, Z:1.56 [[ 7.08707635e-01 7.05478249e-01 5.82472515e-03 3.05462990e+02] [-7.05454259e-01 7.08731571e-01 -5.81792334e-03 -6.00459942e+01] [-8.23258498e-03 1.41295242e-05 9.99966112e-01 1.55618441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters 0.021695494206832113 Centerline is valid? [True, True] Translation: X:305.52, Y:-60.10, Z:1.55 [[ 7.05687450e-01 7.08507349e-01 4.74962303e-03 3.05517231e+02] [-7.08491300e-01 7.05703434e-01 -4.76876192e-03 -6.01002881e+01] [-6.73052815e-03 1.88839558e-07 9.99977350e-01 1.55446996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters 0.022161732706646262 Centerline is valid? [True, True] Translation: X:306.77, Y:-58.86, Z:3.40 [[ 7.65432570e-01 -6.43384726e-01 1.30029323e-02 3.06767555e+02] [-6.43280932e-01 -7.65542850e-01 -1.15666380e-02 -5.88594972e+01] [ 1.73961001e-02 4.88943015e-04 -9.99848557e-01 3.39670784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters 0.02233856911518067 Centerline is valid? [True, True] Translation: X:305.68, Y:-60.26, Z:1.55 [[ 7.57646947e-01 6.52648117e-01 4.64104137e-03 3.05677187e+02] [-6.52636203e-01 7.57661160e-01 -3.94363364e-03 -6.02563455e+01] [-6.09014186e-03 -4.10296348e-05 9.99981454e-01 1.55343698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters 0.022319972036339248 Centerline is valid? [True, True] Translation: X:305.73, Y:-60.31, Z:1.56 [[ 7.56030029e-01 6.54519157e-01 4.82369498e-03 3.05733945e+02] [-6.54506163e-01 7.56045416e-01 -4.12447820e-03 -6.03062579e+01] [-6.34648247e-03 -3.89087199e-05 9.99979860e-01 1.55539143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters 0.022711022984541897 Centerline is valid? [True, True] Translation: X:305.79, Y:-60.36, Z:1.56 [[ 7.54965772e-01 6.55729640e-01 6.73223715e-03 3.05791089e+02] [-6.55704222e-01 7.54995786e-01 -5.77378967e-03 -6.03552918e+01] [-8.86885570e-03 -5.53427436e-05 9.99960669e-01 1.55550203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters 0.022570155058881686 Centerline is valid? [True, True] Translation: X:305.85, Y:-60.40, Z:1.55 [[ 7.54386368e-01 6.56398808e-01 6.46627718e-03 3.05849444e+02] [-6.56375195e-01 7.54414079e-01 -5.56777318e-03 -6.04034412e+01] [-8.53293022e-03 -4.40517549e-05 9.99963593e-01 1.55384360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters 0.022649156281041298 Centerline is valid? [True, True] Translation: X:305.91, Y:-60.45, Z:1.55 [[ 7.53956680e-01 6.56877687e-01 7.81217381e-03 3.05907841e+02] [-6.56843002e-01 7.53997151e-01 -6.75037093e-03 -6.04519415e+01] [-1.03245248e-02 -4.18844478e-05 9.99946700e-01 1.55416574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters 0.022072579964401363 Centerline is valid? [True, True] Translation: X:305.96, Y:-60.50, Z:1.56 [[ 7.54936696e-01 6.55756857e-01 7.31632231e-03 3.05963996e+02] [-6.55726138e-01 7.54972148e-01 -6.34733798e-03 -6.05019995e+01] [-9.68592997e-03 -5.66540436e-06 9.99953090e-01 1.55661927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters 0.022997440835955864 Centerline is valid? [True, True] Translation: X:306.04, Y:-60.56, Z:1.55 [[ 7.47837822e-01 6.63839521e-01 7.46199798e-03 3.06037183e+02] [-6.63807155e-01 7.47875048e-01 -6.55543285e-03 -6.05607679e+01] [-9.93239751e-03 -5.09270183e-05 9.99950671e-01 1.55387305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters 0.023756237917846222 Centerline is valid? [True, True] Translation: X:306.11, Y:-60.62, Z:1.56 [[ 7.42448511e-01 6.69862204e-01 7.40508459e-03 3.06105104e+02] [-6.69830104e-01 7.42485433e-01 -6.55847068e-03 -6.06199705e+01] [-9.89143907e-03 -9.08217810e-05 9.99951074e-01 1.55560507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters 0.024424003303255632 Centerline is valid? [True, True] Translation: X:306.16, Y:-60.67, Z:1.56 [[ 7.39013885e-01 6.73654758e-01 6.90972630e-03 3.06162647e+02] [-6.73626871e-01 7.39046177e-01 -6.13083529e-03 -6.06698441e+01] [-9.23667317e-03 -1.23804906e-04 9.99957333e-01 1.55545682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters 0.024925473702267498 Centerline is valid? [True, True] Translation: X:306.22, Y:-60.72, Z:1.56 [[ 7.36504389e-01 6.76398850e-01 6.77361544e-03 3.06220235e+02] [-6.76371904e-01 7.36535524e-01 -6.03893248e-03 -6.07199645e+01] [-9.07373539e-03 -1.33782902e-04 9.99958824e-01 1.55650852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters 0.02455218718003103 Centerline is valid? [True, True] Translation: X:306.28, Y:-60.77, Z:1.56 [[ 7.36908143e-01 6.75945742e-01 7.98393382e-03 3.06279700e+02] [-6.75907964e-01 7.36951381e-01 -7.14745680e-03 -6.07682591e+01] [-1.07150640e-02 -1.29385341e-04 9.99942584e-01 1.55545933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters 0.024067649887668737 Centerline is valid? [True, True] Translation: X:306.34, Y:-60.82, Z:1.55 [[ 7.37680780e-01 6.75090191e-01 8.96104991e-03 3.06338260e+02] [-6.75042185e-01 7.37735198e-01 -8.05145779e-03 -6.08181044e+01] [-1.20463421e-02 -1.09681051e-04 9.99927434e-01 1.55484041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters 0.02343666122063209 Centerline is valid? [True, True] Translation: X:306.40, Y:-60.87, Z:1.56 [[ 7.39521017e-01 6.73076018e-01 8.79434174e-03 3.06396616e+02] [-6.73029197e-01 7.39573304e-01 -7.93900658e-03 -6.08672670e+01] [-1.18476153e-02 -4.77865434e-05 9.99929813e-01 1.55713866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters 0.023900594047586893 Centerline is valid? [True, True] Translation: X:306.45, Y:-60.92, Z:1.56 [[ 7.37375916e-01 6.75396257e-01 1.08006787e-02 3.06454330e+02] [-6.75325389e-01 7.37455009e-01 -9.78408720e-03 -6.09176234e+01] [-1.45731505e-02 -7.94222852e-05 9.99893803e-01 1.55543677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters 0.024165022703239048 Centerline is valid? [True, True] Translation: X:306.51, Y:-60.97, Z:1.55 [[ 7.34362723e-01 6.78683412e-01 1.00108203e-02 3.06512751e+02] [-6.78622249e-01 7.34430947e-01 -9.11191699e-03 -6.09669178e+01] [-1.35363632e-02 -1.02113220e-04 9.99908374e-01 1.55433536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters 0.024530198282635828 Centerline is valid? [True, True] Translation: X:306.57, Y:-61.02, Z:1.56 [[ 7.30743729e-01 6.82585335e-01 9.53220163e-03 3.06570341e+02] [-6.82529662e-01 7.30805886e-01 -8.71881556e-03 -6.10198001e+01] [-1.29175247e-02 -1.34790559e-04 9.99916556e-01 1.56002471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters 0.02476262533433333 Centerline is valid? [True, True] Translation: X:306.63, Y:-61.07, Z:1.56 [[ 7.28356257e-01 6.85136427e-01 9.23250536e-03 3.06628155e+02] [-6.85083935e-01 7.28414755e-01 -8.48218654e-03 -6.10695691e+01] [-1.25365481e-02 -1.46987461e-04 9.99921404e-01 1.55939886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters 0.025197310794449822 Centerline is valid? [True, True] Translation: X:306.69, Y:-61.12, Z:1.56 [[ 7.25997315e-01 6.87634099e-01 9.34049017e-03 3.06686169e+02] [-6.87580133e-01 7.26057380e-01 -8.61639498e-03 -6.11185313e+01] [-1.27066588e-02 -1.66855855e-04 9.99919253e-01 1.55676605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters 0.025343554598127496 Centerline is valid? [True, True] Translation: X:306.74, Y:-61.17, Z:1.56 [[ 7.24349125e-01 6.89368201e-01 9.47775499e-03 3.06742747e+02] [-6.89312268e-01 7.24411108e-01 -8.78317323e-03 -6.11693295e+01] [-1.29206313e-02 -1.71048943e-04 9.99916511e-01 1.55865784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters 0.025190193682741523 Centerline is valid? [True, True] Translation: X:306.80, Y:-61.22, Z:1.56 [[ 7.22655521e-01 6.91152226e-01 8.80903270e-03 3.06800943e+02] [-6.91103586e-01 7.22709191e-01 -8.20113709e-03 -6.12183796e+01] [-1.20346030e-02 -1.61357091e-04 9.99927569e-01 1.55839354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters 0.025175800843436322 Centerline is valid? [True, True] Translation: X:306.86, Y:-61.27, Z:1.56 [[ 7.20927968e-01 6.92951838e-01 8.97861817e-03 3.06857520e+02] [-6.92900989e-01 7.20983857e-01 -8.39630519e-03 -6.12688635e+01] [-1.22916739e-02 -1.68162171e-04 9.99924440e-01 1.55971020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters 0.026146420478560483 Centerline is valid? [True, True] Translation: X:306.91, Y:-61.32, Z:1.56 [[ 7.17366667e-01 6.96628982e-01 9.65022377e-03 3.06914262e+02] [-6.96570027e-01 7.17431539e-01 -9.06557342e-03 -6.13205986e+01] [-1.32387161e-02 -2.18716444e-04 9.99912340e-01 1.56064789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters 0.026214577846223473 Centerline is valid? [True, True] Translation: X:306.97, Y:-61.37, Z:1.56 [[ 7.15399538e-01 6.98653590e-01 9.30922906e-03 3.06971962e+02] [-6.98598353e-01 7.15460072e-01 -8.78786711e-03 -6.13726545e+01] [-1.28000566e-02 -2.16576020e-04 9.99918052e-01 1.56177757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters 0.027186507350509974 Centerline is valid? [True, True] Translation: X:307.03, Y:-61.43, Z:1.56 [[ 7.11513440e-01 7.02620810e-01 8.52184475e-03 3.07034353e+02] [-7.02574166e-01 7.11564436e-01 -8.09903272e-03 -6.14269843e+01] [-1.17543906e-02 -2.24657336e-04 9.99930890e-01 1.56062579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters 0.02737496538322998 Centerline is valid? [True, True] Translation: X:307.09, Y:-61.48, Z:1.56 [[ 7.09416133e-01 7.04732865e-01 8.96317635e-03 3.07092567e+02] [-7.04681004e-01 7.09472711e-01 -8.55306129e-03 -6.14792717e+01] [-1.23867524e-02 -2.48500444e-04 9.99923250e-01 1.56166817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters 0.027529239454466805 Centerline is valid? [True, True] Translation: X:307.15, Y:-61.53, Z:1.56 [[ 7.07515093e-01 7.06659534e-01 7.39570437e-03 3.07150764e+02] [-7.06623943e-01 7.07553716e-01 -7.09522690e-03 -6.15326496e+01] [-1.02467678e-02 -2.06001665e-04 9.99947479e-01 1.56245009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters 0.026764045483698727 Centerline is valid? [True, True] Translation: X:307.21, Y:-61.58, Z:1.56 [[ 7.07503860e-01 7.06685662e-01 5.80203049e-03 3.07207938e+02] [-7.06663531e-01 7.07527635e-01 -5.59450046e-03 -6.15847302e+01] [-8.05865017e-03 -1.41952690e-04 9.99967518e-01 1.56376150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters 0.026397288376718665 Centerline is valid? [True, True] Translation: X:307.27, Y:-61.64, Z:1.56 [[ 7.08035563e-01 7.06131140e-01 8.02841548e-03 3.07266169e+02] [-7.06088400e-01 7.08081059e-01 -7.77077911e-03 -6.16352656e+01] [-1.11719580e-02 -1.66783083e-04 9.99937578e-01 1.56143522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters 0.025998081848084904 Centerline is valid? [True, True] Translation: X:307.33, Y:-61.70, Z:1.56 [[ 7.06283187e-01 7.07888992e-01 7.56534224e-03 3.07330574e+02] [-7.07850373e-01 7.06323692e-01 -7.39544608e-03 -6.16956695e+01] [-1.05787353e-02 -1.31851094e-04 9.99944035e-01 1.56405234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters 0.025339579117324734 Centerline is valid? [True, True] Translation: X:307.39, Y:-61.75, Z:1.57 [[ 7.05987348e-01 7.08193947e-01 6.57245836e-03 3.07390311e+02] [-7.08164491e-01 7.06017935e-01 -6.45988971e-03 -6.17527234e+01] [-9.21512827e-03 -9.37812219e-05 9.99957535e-01 1.56627194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters 0.024718677527261868 Centerline is valid? [True, True] Translation: X:307.45, Y:-61.81, Z:1.57 [[ 7.07301616e-01 7.06891219e-01 5.40630497e-03 3.07448722e+02] [-7.06871054e-01 7.07322276e-01 -5.33952969e-03 -6.18054500e+01] [-7.59846659e-03 -4.49025140e-05 9.99971130e-01 1.56595624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters 0.024172696796424725 Centerline is valid? [True, True] Translation: X:307.51, Y:-61.86, Z:1.56 [[ 7.08400912e-01 7.05794290e-01 4.75054261e-03 3.07505152e+02] [-7.05778544e-01 7.08416840e-01 -4.71462408e-03 -6.18578210e+01] [-6.69291914e-03 -1.29870482e-05 9.99977602e-01 1.56469960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters 0.024269056125221268 Centerline is valid? [True, True] Translation: X:307.56, Y:-61.91, Z:1.57 [[ 7.06835898e-01 7.07349037e-01 6.35239314e-03 3.07559421e+02] [-7.07320733e-01 7.06864442e-01 -6.32780507e-03 -6.19122917e+01] [-8.96624765e-03 -2.04595988e-05 9.99959802e-01 1.56650143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters 0.024030387298721343 Centerline is valid? [True, True] Translation: X:307.62, Y:-61.97, Z:1.57 [[ 7.03449543e-01 7.10735094e-01 3.79030842e-03 3.07615677e+02] [-7.10724923e-01 7.03459754e-01 -3.80230733e-03 -6.19686959e+01] [-5.36876268e-03 -1.91353054e-05 9.99985588e-01 1.57012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters 0.024199048124679608 Centerline is valid? [True, True] Translation: X:307.67, Y:-62.02, Z:1.57 [[ 7.00365145e-01 7.13780829e-01 2.36465523e-03 3.07672696e+02] [-7.13776831e-01 7.00369137e-01 -2.38893106e-03 -6.20209685e+01] [-3.36130474e-03 -1.47120688e-05 9.99994351e-01 1.56899182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters 0.024182956378780228 Centerline is valid? [True, True] Translation: X:308.94, Y:-60.76, Z:3.41 [[ 7.66560655e-01 -6.42069537e-01 1.14660814e-02 3.08942326e+02] [-6.41987327e-01 -7.66646224e-01 -1.02878000e-02 -6.07588268e+01] [ 1.53959110e-02 5.25143722e-04 -9.99881338e-01 3.40916543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters 0.02434253275339542 Centerline is valid? [True, True] Translation: X:307.83, Y:-62.18, Z:1.57 [[ 7.56993606e-01 6.53408264e-01 4.28016114e-03 3.07832126e+02] [-6.53398083e-01 7.57005706e-01 -3.64779557e-03 -6.21762215e+01] [-5.62360618e-03 -3.52911605e-05 9.99984187e-01 1.57089035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters 0.024309769497931694 Centerline is valid? [True, True] Translation: X:307.89, Y:-62.22, Z:1.57 [[ 7.55961308e-01 6.54600565e-01 4.53880307e-03 3.07892035e+02] [-6.54588987e-01 7.55974933e-01 -3.89345670e-03 -6.22241136e+01] [-5.97988031e-03 -2.77478829e-05 9.99982120e-01 1.57063183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters 0.02426264182386377 Centerline is valid? [True, True] Translation: X:307.96, Y:-62.27, Z:1.57 [[ 7.56357416e-01 6.54135430e-01 5.50439765e-03 3.07955859e+02] [-6.54118167e-01 7.56377445e-01 -4.75223485e-03 -6.22731598e+01] [-7.27200742e-03 -6.13842494e-06 9.99973559e-01 1.57167226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters 0.023680780229922514 Centerline is valid? [True, True] Translation: X:308.02, Y:-62.32, Z:1.57 [[ 7.57493028e-01 6.52829104e-01 4.29808154e-03 3.08016003e+02] [-6.52818487e-01 7.57505222e-01 -3.72330455e-03 -6.23190119e+01] [-5.68650078e-03 1.45101523e-05 9.99983832e-01 1.57026698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters 0.023634921727445767 Centerline is valid? [True, True] Translation: X:308.07, Y:-62.37, Z:1.57 [[ 7.57561243e-01 6.52743689e-01 5.16136908e-03 3.08074224e+02] [-6.52728275e-01 7.57578825e-01 -4.48578318e-03 -6.23666736e+01] [-6.83821058e-03 2.92839472e-05 9.99976619e-01 1.57292477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters 0.023643717891083358 Centerline is valid? [True, True] Translation: X:308.13, Y:-62.41, Z:1.57 [[ 7.59136778e-01 6.50908544e-01 5.42395193e-03 3.08134367e+02] [-6.50891349e-01 7.59156152e-01 -4.73165029e-03 -6.24125448e+01] [-7.19749808e-03 6.15663690e-05 9.99974096e-01 1.57321131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters 0.023723349932049016 Centerline is valid? [True, True] Translation: X:308.19, Y:-62.46, Z:1.57 [[ 7.57559705e-01 6.52735993e-01 6.24634969e-03 3.08192734e+02] [-6.52713090e-01 7.57585454e-01 -5.46833057e-03 -6.24613377e+01] [-8.30151985e-03 6.55126847e-05 9.99965540e-01 1.57196324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters 0.023702660426539155 Centerline is valid? [True, True] Translation: X:308.25, Y:-62.51, Z:1.57 [[ 7.55189614e-01 6.55480902e-01 5.78228274e-03 3.08250984e+02] [-6.55461161e-01 7.55211748e-01 -5.08744063e-03 -6.25105202e+01] [-7.70156803e-03 5.19205693e-05 9.99970341e-01 1.57496835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters 0.023505429688464377 Centerline is valid? [True, True] Translation: X:308.31, Y:-62.56, Z:1.57 [[ 7.55610684e-01 6.54997276e-01 5.57327008e-03 3.08310700e+02] [-6.54978795e-01 7.55631235e-01 -4.92086523e-03 -6.25576430e+01] [-7.43449028e-03 6.78846226e-05 9.99972361e-01 1.57469588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters 0.02390163858773598 Centerline is valid? [True, True] Translation: X:308.37, Y:-62.61, Z:1.57 [[ 7.54366403e-01 6.56414250e-01 7.18767352e-03 3.08368050e+02] [-6.56383375e-01 7.54400640e-01 -6.36703849e-03 -6.26065901e+01] [-9.60180030e-03 8.52105122e-05 9.99953898e-01 1.57344510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters 0.023576018153725335 Centerline is valid? [True, True] Translation: X:308.44, Y:-62.66, Z:1.58 [[ 7.50769565e-01 6.60536098e-01 6.09297541e-03 3.08438000e+02] [-6.60513527e-01 7.50794285e-01 -5.46094257e-03 -6.26646948e+01] [-8.18172081e-03 7.54167919e-05 9.99966526e-01 1.57533932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters 0.023378728405744755 Centerline is valid? [True, True] Translation: X:308.50, Y:-62.71, Z:1.57 [[ 7.49219455e-01 6.62293509e-01 6.12512790e-03 3.08496756e+02] [-6.62270705e-01 7.49244489e-01 -5.49624861e-03 -6.27134886e+01] [-8.22934810e-03 6.14036123e-05 9.99966136e-01 1.57378218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters 0.023307320259766205 Centerline is valid? [True, True] Translation: X:308.56, Y:-62.77, Z:1.58 [[ 7.47220224e-01 6.64539155e-01 7.04608816e-03 3.08555619e+02] [-6.64508767e-01 7.47253442e-01 -6.35547544e-03 -6.27665558e+01] [-9.48867591e-03 6.67524321e-05 9.99954979e-01 1.57540679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters 0.02334281362281486 Centerline is valid? [True, True] Translation: X:308.61, Y:-62.82, Z:1.57 [[ 7.46139943e-01 6.65747794e-01 7.42020834e-03 3.08614543e+02] [-6.65713928e-01 7.46176835e-01 -6.71542873e-03 -6.28155795e+01] [-1.00075694e-02 7.09135749e-05 9.99949921e-01 1.57469836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters 0.02329220967865316 Centerline is valid? [True, True] Translation: X:308.67, Y:-62.87, Z:1.57 [[ 7.42636310e-01 6.69648042e-01 7.92533721e-03 3.08670311e+02] [-6.69609333e-01 7.42678597e-01 -7.20015977e-03 -6.28683492e+01] [-1.07075512e-02 4.02203152e-05 9.99942672e-01 1.57496942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters 0.023230614608353715 Centerline is valid? [True, True] Translation: X:308.73, Y:-62.92, Z:1.58 [[ 7.40660075e-01 6.71838889e-01 7.42701281e-03 3.08727859e+02] [-6.71804726e-01 7.40697311e-01 -6.77521311e-03 -6.29193109e+01] [-1.00530201e-02 2.86275394e-05 9.99949467e-01 1.57561258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters 0.023458186877587373 Centerline is valid? [True, True] Translation: X:308.78, Y:-62.97, Z:1.58 [[ 7.36794291e-01 6.76057504e-01 8.96787676e-03 3.08784611e+02] [-6.76007612e-01 7.36848866e-01 -8.21325515e-03 -6.29695822e+01] [-1.21606026e-02 -1.08734511e-05 9.99926057e-01 1.57509178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters 0.023622360551556344 Centerline is valid? [True, True] Translation: X:308.84, Y:-63.02, Z:1.58 [[ 7.33783381e-01 6.79325621e-01 8.86852429e-03 3.08841226e+02] [-6.79276615e-01 7.33836970e-01 -8.15976416e-03 -6.30210426e+01] [-1.20511878e-02 -3.66818241e-05 9.99927381e-01 1.57515500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters 0.023322625488135136 Centerline is valid? [True, True] Translation: X:308.90, Y:-63.07, Z:1.57 [[ 7.32187882e-01 6.81047285e-01 8.68917017e-03 3.08899177e+02] [-6.80999900e-01 7.32239438e-01 -8.03377391e-03 -6.30722577e+01] [-1.18339330e-02 -3.50921183e-05 9.99929976e-01 1.57406747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters 0.02324863033912918 Centerline is valid? [True, True] Translation: X:308.96, Y:-63.12, Z:1.58 [[ 7.30377919e-01 6.82997305e-01 7.92322286e-03 3.08955839e+02] [-6.82957660e-01 7.30420893e-01 -7.35894468e-03 -6.31230807e+01] [-1.08134269e-02 -3.64150394e-05 9.99941533e-01 1.57696855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters 0.02343486457256158 Centerline is valid? [True, True] Translation: X:309.02, Y:-63.17, Z:1.58 [[ 7.27482041e-01 6.86086419e-01 7.43679206e-03 3.09016134e+02] [-6.86051224e-01 7.27520051e-01 -6.94942253e-03 -6.31744147e+01] [-1.01783198e-02 -4.64402088e-05 9.99948198e-01 1.57532921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters 0.02369061870647649 Centerline is valid? [True, True] Translation: X:309.07, Y:-63.23, Z:1.58 [[ 7.25647824e-01 6.88015360e-01 8.37257166e-03 3.09071742e+02] [-6.87970606e-01 7.25696121e-01 -7.84757977e-03 -6.32270487e+01] [-1.14751982e-02 -6.55040107e-05 9.99934156e-01 1.57692262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters 0.023796218844774734 Centerline is valid? [True, True] Translation: X:309.13, Y:-63.28, Z:1.58 [[ 7.23478759e-01 6.90284164e-01 9.28756107e-03 3.09132353e+02] [-6.90228700e-01 7.23538366e-01 -8.75070243e-03 -6.32785777e+01] [-1.27603781e-02 -7.95938696e-05 9.99918580e-01 1.57581944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters 0.023335899035699725 Centerline is valid? [True, True] Translation: X:309.19, Y:-63.33, Z:1.58 [[ 7.21770499e-01 6.92087896e-01 7.85432097e-03 3.09191600e+02] [-6.92047849e-01 7.21813231e-01 -7.44538348e-03 -6.33311333e+01] [-1.08222126e-02 -6.17077901e-05 9.99941436e-01 1.57804445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters 0.02368607839976964 Centerline is valid? [True, True] Translation: X:309.25, Y:-63.38, Z:1.58 [[ 7.19271129e-01 6.94685110e-01 7.85119636e-03 3.09247166e+02] [-6.94644925e-01 7.19313973e-01 -7.47233917e-03 -6.33832963e+01] [-1.08383980e-02 -7.91558831e-05 9.99941260e-01 1.57891005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters 0.023742133118046578 Centerline is valid? [True, True] Translation: X:309.30, Y:-63.44, Z:1.58 [[ 7.17300550e-01 6.96734436e-01 6.40678261e-03 3.09304039e+02] [-6.96707481e-01 7.17329158e-01 -6.12895665e-03 -6.34356082e+01] [-8.86602713e-03 -6.73493974e-05 9.99960694e-01 1.58026500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters 0.023738376974786948 Centerline is valid? [True, True] Translation: X:309.36, Y:-63.49, Z:1.58 [[ 7.15688196e-01 6.98386857e-01 6.79733831e-03 3.09361386e+02] [-6.98356318e-01 7.15720471e-01 -6.53155088e-03 -6.34868916e+01] [-9.42654347e-03 -7.24102832e-05 9.99955567e-01 1.57859191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters 0.024028290736637654 Centerline is valid? [True, True] Translation: X:309.42, Y:-63.54, Z:1.58 [[ 7.13250567e-01 7.00863807e-01 7.97199390e-03 3.09417647e+02] [-7.00821579e-01 7.13295110e-01 -7.69417361e-03 -6.35401694e+01] [-1.10789521e-02 -9.90716707e-05 9.99938622e-01 1.57851674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters 0.023825891702355724 Centerline is valid? [True, True] Translation: X:309.47, Y:-63.59, Z:1.58 [[ 7.11936641e-01 7.02196466e-01 8.14510981e-03 3.09474932e+02] [-7.02152071e-01 7.11983226e-01 -7.89654768e-03 -6.35918353e+01] [-1.13441094e-02 -9.72640855e-05 9.99935649e-01 1.57949349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters 0.02387301680461451 Centerline is valid? [True, True] Translation: X:309.53, Y:-63.65, Z:1.58 [[ 7.11420128e-01 7.02708598e-01 9.05689775e-03 3.09531777e+02] [-7.02653238e-01 7.11477771e-01 -8.82093696e-03 -6.36454361e+01] [-1.26423297e-02 -8.84664349e-05 9.99920079e-01 1.58029614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters 0.022978340128865717 Centerline is valid? [True, True] Translation: X:309.59, Y:-63.70, Z:1.58 [[ 7.12010008e-01 7.02125361e-01 7.85655405e-03 3.09591432e+02] [-7.02083245e-01 7.12053351e-01 -7.69038352e-03 -6.36959539e+01] [-1.09938990e-02 -4.03249268e-05 9.99939564e-01 1.57996736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters 0.022736805768794225 Centerline is valid? [True, True] Translation: X:309.65, Y:-63.75, Z:1.58 [[ 7.13335506e-01 7.00767266e-01 8.81442891e-03 3.09647836e+02] [-7.00713676e-01 7.13389963e-01 -8.66633099e-03 -6.37487982e+01] [-1.23612062e-02 5.61072220e-06 9.99923597e-01 1.58289740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters 0.02266909849982782 Centerline is valid? [True, True] Translation: X:309.71, Y:-63.80, Z:1.58 [[ 7.13622606e-01 7.00489385e-01 7.57616017e-03 3.09706291e+02] [-7.00449396e-01 7.13662820e-01 -7.48489797e-03 -6.37994149e+01] [-1.06499154e-02 3.46755780e-05 9.99943287e-01 1.58267671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters 0.022615427045346807 Centerline is valid? [True, True] Translation: X:309.76, Y:-63.85, Z:1.58 [[ 7.14571673e-01 6.99533934e-01 6.29272238e-03 3.09763990e+02] [-6.99506034e-01 7.14599378e-01 -6.24800667e-03 -6.38509367e+01] [-8.86746818e-03 6.28513014e-05 9.99960681e-01 1.58444607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters 0.023096811115788533 Centerline is valid? [True, True] Translation: X:309.82, Y:-63.90, Z:1.58 [[ 7.16508235e-01 6.97547867e-01 6.55155093e-03 3.09824851e+02] [-6.97517182e-01 7.16538177e-01 -6.54383474e-03 -6.39031650e+01] [-9.25907433e-03 1.18892137e-04 9.99957127e-01 1.58383363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters 0.02349431410448783 Centerline is valid? [True, True] Translation: X:309.88, Y:-63.96, Z:1.59 [[ 7.17358883e-01 6.96670225e-01 6.84324540e-03 3.09882560e+02] [-6.96636425e-01 7.17391506e-01 -6.86424009e-03 -6.39567708e+01] [-9.69139781e-03 1.56869591e-04 9.99953025e-01 1.58503252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters 0.02425817276019303 Centerline is valid? [True, True] Translation: X:311.14, Y:-62.72, Z:3.43 [[ 7.50807898e-01 -6.60287879e-01 1.75333433e-02 3.11140796e+02] [-6.60108046e-01 -7.51012595e-01 -1.54094216e-02 -6.27221335e+01] [ 2.33424159e-02 -4.38557668e-06 -9.99727529e-01 3.42619777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters 0.023949080891571065 Centerline is valid? [True, True] Translation: X:310.05, Y:-64.12, Z:1.58 [[ 7.72628105e-01 6.34802654e-01 8.44997700e-03 3.10050241e+02] [-6.34762080e-01 7.72674289e-01 -7.17945854e-03 -6.41175602e+01] [-1.10866193e-02 1.83326475e-04 9.99938525e-01 1.58475314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters 0.02369385117727735 Centerline is valid? [True, True] Translation: X:310.11, Y:-64.17, Z:1.59 [[ 7.71599979e-01 6.36064924e-01 7.40845820e-03 3.10106398e+02] [-6.36033481e-01 7.71635525e-01 -6.32674676e-03 -6.41664483e+01] [-9.74085123e-03 1.69690210e-04 9.99952542e-01 1.58857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters 0.023581963493947602 Centerline is valid? [True, True] Translation: X:310.17, Y:-64.21, Z:1.59 [[ 7.71183693e-01 6.36581710e-01 6.27991829e-03 3.10165205e+02] [-6.36558955e-01 7.71209247e-01 -5.38467113e-03 -6.42133763e+01] [-8.27091421e-03 1.55032351e-04 9.99965783e-01 1.58953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters 0.023201124765907185 Centerline is valid? [True, True] Translation: X:310.22, Y:-64.26, Z:1.59 [[ 7.67241734e-01 6.41321682e-01 6.82802095e-03 3.10221392e+02] [-6.41294774e-01 7.67272106e-01 -5.87614777e-03 -6.42643835e+01] [-9.00745098e-03 1.29651654e-04 9.99959424e-01 1.58887541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters 0.02273812198973664 Centerline is valid? [True, True] Translation: X:310.28, Y:-64.32, Z:1.59 [[ 7.64739764e-01 6.44296223e-01 7.44786342e-03 3.10280357e+02] [-6.44264035e-01 7.64776020e-01 -6.44147271e-03 -6.43158817e+01] [-9.84616388e-03 1.27659780e-04 9.99951517e-01 1.59054295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters 0.022618918793998813 Centerline is valid? [True, True] Translation: X:310.34, Y:-64.37, Z:1.59 [[ 7.61142095e-01 6.48549328e-01 6.81761727e-03 3.10337011e+02] [-6.48522338e-01 7.61172623e-01 -5.91740375e-03 -6.43661642e+01] [-9.02711185e-03 8.26080045e-05 9.99959251e-01 1.58968960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters 0.022169807488914388 Centerline is valid? [True, True] Translation: X:310.39, Y:-64.42, Z:1.59 [[ 7.58416097e-01 6.51735584e-01 6.76405988e-03 3.10392661e+02] [-6.51708935e-01 7.58446257e-01 -5.89402136e-03 -6.44171922e+01] [-8.97151935e-03 6.19224183e-05 9.99959753e-01 1.59224223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters 0.022683822831347733 Centerline is valid? [True, True] Translation: X:310.45, Y:-64.47, Z:1.59 [[ 7.54450194e-01 6.56322761e-01 6.73331275e-03 3.10450083e+02] [-6.56296328e-01 7.54480240e-01 -5.89041724e-03 -6.44668332e+01] [-8.94616633e-03 2.49779975e-05 9.99959982e-01 1.59023353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters 0.022916164367262314 Centerline is valid? [True, True] Translation: X:310.51, Y:-64.52, Z:1.59 [[ 7.52272618e-01 6.58820418e-01 6.44711285e-03 3.10506653e+02] [-6.58796026e-01 7.52300243e-01 -5.66919694e-03 -6.45170518e+01] [-8.58514726e-03 1.74492976e-05 9.99963147e-01 1.59120564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters 0.023188298899338742 Centerline is valid? [True, True] Translation: X:310.57, Y:-64.57, Z:1.59 [[ 7.48579752e-01 6.63007513e-01 7.02806914e-03 3.10573958e+02] [-6.62978157e-01 7.48612742e-01 -6.23896499e-03 -6.45729519e+01] [-9.39778277e-03 1.09065367e-05 9.99955840e-01 1.59021145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters 0.023664339570674035 Centerline is valid? [True, True] Translation: X:310.63, Y:-64.62, Z:1.59 [[ 7.46059371e-01 6.65834547e-01 7.73113632e-03 3.10632089e+02] [-6.65799054e-01 7.46099427e-01 -6.87489834e-03 -6.46224028e+01] [-1.03457412e-02 -1.83009107e-05 9.99946481e-01 1.58839995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters 0.023615606629127945 Centerline is valid? [True, True] Translation: X:310.69, Y:-64.67, Z:1.59 [[ 7.44445346e-01 6.67650272e-01 6.65137525e-03 3.10689236e+02] [-6.67623846e-01 7.44475059e-01 -5.94024920e-03 -6.46728917e+01] [-8.91779198e-03 -1.84258484e-05 9.99960236e-01 1.59064431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters 0.023570901007830915 Centerline is valid? [True, True] Translation: X:310.75, Y:-64.72, Z:1.59 [[ 7.42286649e-01 6.70038309e-01 7.69382279e-03 3.10747766e+02] [-6.70002816e-01 7.42326520e-01 -6.89659265e-03 -6.47215283e+01] [-1.03323100e-02 -3.56342904e-05 9.99946620e-01 1.59074956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters 0.023712537993675026 Centerline is valid? [True, True] Translation: X:310.80, Y:-64.77, Z:1.59 [[ 7.40390310e-01 6.72154470e-01 5.52799013e-03 3.10804488e+02] [-6.72136001e-01 7.40410946e-01 -4.98276615e-03 -6.47717273e+01] [-7.44217294e-03 -2.63694054e-05 9.99972306e-01 1.59233941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters 0.023593447339919853 Centerline is valid? [True, True] Translation: X:310.86, Y:-64.82, Z:1.59 [[ 7.41068761e-01 6.71382353e-01 7.92639581e-03 3.10864878e+02] [-6.71344051e-01 7.41111150e-01 -7.17140297e-03 -6.48201877e+01] [-1.06890937e-02 -6.83595978e-06 9.99942870e-01 1.58944303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters 0.023383753605747164 Centerline is valid? [True, True] Translation: X:310.92, Y:-64.87, Z:1.59 [[ 7.40910621e-01 6.71562612e-01 7.42369516e-03 3.10923002e+02] [-6.71528763e-01 7.40947811e-01 -6.74251733e-03 -6.48699907e+01] [-1.00285932e-02 1.03778691e-05 9.99949712e-01 1.59134254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters 0.023501410485423133 Centerline is valid? [True, True] Translation: X:310.98, Y:-64.92, Z:1.59 [[ 7.37445675e-01 6.75374257e-01 6.59461107e-03 3.10980568e+02] [-6.75347433e-01 7.37475160e-01 -6.01939926e-03 -6.49204741e+01] [-8.92870916e-03 -1.46737083e-05 9.99960138e-01 1.59071495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters 0.02355023540891902 Centerline is valid? [True, True] Translation: X:311.04, Y:-64.97, Z:1.59 [[ 7.37762263e-01 6.75013575e-01 7.96973630e-03 3.11037939e+02] [-6.74974114e-01 7.37805308e-01 -7.29883239e-03 -6.49703464e+01] [-1.08069247e-02 5.43740471e-06 9.99941603e-01 1.59111678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters 0.023099303220741736 Centerline is valid? [True, True] Translation: X:311.10, Y:-65.02, Z:1.59 [[ 7.36698559e-01 6.76187854e-01 6.72449727e-03 3.11096232e+02] [-6.76159523e-01 7.36729249e-01 -6.18982950e-03 -6.50191603e+01] [-9.13962135e-03 1.32056092e-05 9.99958233e-01 1.59227196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters 0.023268509845369486 Centerline is valid? [True, True] Translation: X:311.15, Y:-65.07, Z:1.59 [[ 7.35285840e-01 6.77718654e-01 7.22209061e-03 3.11154075e+02] [-6.77685768e-01 7.35321307e-01 -6.67644128e-03 -6.50692973e+01] [-9.83530591e-03 1.47847135e-05 9.99951632e-01 1.59167450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters 0.023340235901512865 Centerline is valid? [True, True] Translation: X:311.21, Y:-65.12, Z:1.59 [[ 7.33526025e-01 6.79622621e-01 7.25695781e-03 3.11210577e+02] [-6.79589212e-01 7.33561922e-01 -6.73873597e-03 -6.51209100e+01] [-9.90322531e-03 1.12879749e-05 9.99950962e-01 1.59358147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters 0.023218653671010215 Centerline is valid? [True, True] Translation: X:311.27, Y:-65.17, Z:1.59 [[ 7.32196288e-01 6.81069271e-01 5.76582028e-03 3.11268307e+02] [-6.81048012e-01 7.32218989e-01 -5.38120281e-03 -6.51707219e+01] [-7.88681497e-03 1.32962811e-05 9.99968899e-01 1.59442447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters 0.023167649412771323 Centerline is valid? [True, True] Translation: X:311.33, Y:-65.22, Z:1.60 [[ 7.29313564e-01 6.84160077e-01 5.16853413e-03 3.11325146e+02] [-6.84142909e-01 7.29331878e-01 -4.84682935e-03 -6.52220885e+01] [-7.08558385e-03 -1.15758695e-06 9.99974897e-01 1.59620736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters 0.02349442953933287 Centerline is valid? [True, True] Translation: X:311.38, Y:-65.27, Z:1.60 [[ 7.26280273e-01 6.87378938e-01 5.21153850e-03 3.11381531e+02] [-6.87361410e-01 7.26298971e-01 -4.90891263e-03 -6.52733982e+01] [-7.15941820e-03 -1.69640476e-05 9.99974371e-01 1.59787621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters 0.02320476411360928 Centerline is valid? [True, True] Translation: X:311.44, Y:-65.32, Z:1.60 [[ 7.24908852e-01 6.88835698e-01 3.54068171e-03 3.11439125e+02] [-6.88827525e-01 7.24917499e-01 -3.35564176e-03 -6.53238989e+01] [-4.87818797e-03 -6.38460250e-06 9.99988102e-01 1.59862923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters 0.023055394765315037 Centerline is valid? [True, True] Translation: X:311.50, Y:-65.38, Z:1.60 [[ 7.24579760e-01 6.89177880e-01 4.24507159e-03 3.11498039e+02] [-6.89166036e-01 7.24592195e-01 -4.04048793e-03 -6.53755182e+01] [-5.86056065e-03 2.09661687e-06 9.99982827e-01 1.59882573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters 0.02305792560813559 Centerline is valid? [True, True] Translation: X:311.56, Y:-65.43, Z:1.60 [[ 7.23418747e-01 6.90384148e-01 5.91985758e-03 3.11555681e+02] [-6.90360988e-01 7.23442968e-01 -5.65496279e-03 -6.54281684e+01] [-8.18677601e-03 4.06736808e-06 9.99966488e-01 1.60007672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters 0.022957398222056627 Centerline is valid? [True, True] Translation: X:311.62, Y:-65.48, Z:1.60 [[ 7.22961891e-01 6.90869729e-01 5.01224421e-03 3.11616143e+02] [-6.90852949e-01 7.22979265e-01 -4.81510242e-03 -6.54802979e+01] [-6.95035714e-03 1.84118508e-05 9.99975846e-01 1.59908360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters 0.02317645369615017 Centerline is valid? [True, True] Translation: X:311.68, Y:-65.53, Z:1.60 [[ 7.21178186e-01 6.92735828e-01 4.36997065e-03 3.11679101e+02] [-6.92722890e-01 7.21191425e-01 -4.23379766e-03 -6.55343557e+01] [-6.08448869e-03 2.61438194e-05 9.99981489e-01 1.59796647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters 0.023639905218609657 Centerline is valid? [True, True] Translation: X:311.73, Y:-65.59, Z:1.60 [[ 7.17882336e-01 6.96154303e-01 3.76005657e-03 3.11734752e+02] [-6.96144704e-01 7.17892183e-01 -3.65564593e-03 -6.55869913e+01] [-5.24420886e-03 6.78017656e-06 9.99986249e-01 1.59771697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters 0.024143904516498452 Centerline is valid? [True, True] Translation: X:311.79, Y:-65.64, Z:1.60 [[ 7.15020459e-01 6.99091655e-01 4.07440216e-03 3.11790473e+02] [-6.99080336e-01 7.15032067e-01 -3.97822168e-03 -6.56401445e+01] [-5.69446978e-03 -3.82453645e-06 9.99983786e-01 1.59732240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters 0.024255376214018454 Centerline is valid? [True, True] Translation: X:311.85, Y:-65.69, Z:1.60 [[ 7.12463318e-01 7.01701331e-01 3.35611418e-03 3.11846858e+02] [-7.01693596e-01 7.12471222e-01 -3.29468778e-03 -6.56931048e+01] [-4.70302157e-03 -7.61964561e-06 9.99988941e-01 1.59689168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters 0.024504368553527594 Centerline is valid? [True, True] Translation: X:311.90, Y:-65.75, Z:1.60 [[ 7.10452735e-01 7.03730772e-01 4.46230443e-03 3.11903111e+02] [-7.03717045e-01 7.10466748e-01 -4.39554313e-03 -6.57457210e+01] [-6.26359788e-03 -1.73740498e-05 9.99980383e-01 1.59562622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters 0.024755742619409642 Centerline is valid? [True, True] Translation: X:311.96, Y:-65.80, Z:1.60 [[ 7.09350281e-01 7.04827773e-01 6.32373424e-03 3.11959465e+02] [-7.04800041e-01 7.09378467e-01 -6.25235423e-03 -6.57998894e+01] [-8.89275381e-03 -2.18589201e-05 9.99960458e-01 1.59550510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters 0.024625344130252573 Centerline is valid? [True, True] Translation: X:312.02, Y:-65.85, Z:1.60 [[ 7.08681978e-01 7.05502875e-01 5.96223840e-03 3.12016254e+02] [-7.05478005e-01 7.08707058e-01 -5.92372722e-03 -6.58528235e+01] [-8.40468701e-03 -8.18932954e-06 9.99964680e-01 1.59600212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters 0.025007056791636447 Centerline is valid? [True, True] Translation: X:312.07, Y:-65.91, Z:1.59 [[ 7.06358895e-01 7.07824162e-01 6.48598613e-03 3.12073921e+02] [-7.07794563e-01 7.06388672e-01 -6.47303398e-03 -6.59057383e+01] [-9.16339698e-03 -1.84605890e-05 9.99958015e-01 1.59398671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters 0.024565028973786582 Centerline is valid? [True, True] Translation: X:312.13, Y:-65.96, Z:1.60 [[ 7.04138553e-01 7.10043005e-01 5.27535415e-03 3.12130664e+02] [-7.10023278e-01 7.04158314e-01 -5.29280505e-03 -6.59594850e+01] [-7.47280369e-03 -1.87561559e-05 9.99972078e-01 1.59592323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters 0.02473701800696206 Centerline is valid? [True, True] Translation: X:313.40, Y:-64.69, Z:3.44 [[ 7.65408303e-01 -6.43376358e-01 1.47306020e-02 3.13399343e+02] [-6.43244775e-01 -7.65549881e-01 -1.30206867e-02 -6.46937058e+01] [ 1.96542125e-02 4.90758944e-04 -9.99806717e-01 3.44371059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters 0.024824167884914244 Centerline is valid? [True, True] Translation: X:312.29, Y:-66.11, Z:1.60 [[ 7.57622779e-01 6.52662345e-01 6.29186456e-03 3.12289850e+02] [-6.52640472e-01 7.57648903e-01 -5.34363072e-03 -6.61146993e+01] [-8.25461084e-03 -5.78690977e-05 9.99965928e-01 1.59864330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters 0.024777626366682966 Centerline is valid? [True, True] Translation: X:312.35, Y:-66.16, Z:1.60 [[ 7.55879769e-01 6.54672144e-01 7.08230851e-03 3.12350279e+02] [-6.54644216e-01 7.55912945e-01 -6.04740387e-03 -6.61605581e+01] [-9.31267554e-03 -6.52820595e-05 9.99956634e-01 1.59816132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters 0.025160292980184313 Centerline is valid? [True, True] Translation: X:312.41, Y:-66.21, Z:1.60 [[ 7.52576005e-01 6.58470552e-01 6.77411087e-03 3.12409560e+02] [-6.58444949e-01 7.52606487e-01 -5.80734253e-03 -6.62080836e+01] [-8.92220382e-03 -8.99124507e-05 9.99960192e-01 1.59772975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters 0.02524615222295694 Centerline is valid? [True, True] Translation: X:312.47, Y:-66.26, Z:1.60 [[ 7.49981469e-01 6.61427711e-01 6.41709710e-03 3.12468224e+02] [-6.61404611e-01 7.50008916e-01 -5.52875811e-03 -6.62570332e+01] [-8.46975386e-03 -9.78314815e-05 9.99964126e-01 1.60125981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters 0.02606242722924491 Centerline is valid? [True, True] Translation: X:312.53, Y:-66.30, Z:1.60 [[ 7.46405767e-01 6.65457250e-01 6.71404456e-03 3.12527646e+02] [-6.65431938e-01 7.46435952e-01 -5.80572771e-03 -6.63043087e+01] [-8.87506784e-03 -1.34311032e-04 9.99960607e-01 1.59948278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters 0.026378941616114995 Centerline is valid? [True, True] Translation: X:312.59, Y:-66.35, Z:1.60 [[ 7.43406806e-01 6.68803806e-01 6.91307352e-03 3.12587225e+02] [-6.68776846e-01 7.43438931e-01 -6.00710475e-03 -6.63532389e+01] [-9.15702251e-03 -1.57580958e-04 9.99958061e-01 1.59991475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters 0.02711719829186882 Centerline is valid? [True, True] Translation: X:312.65, Y:-66.40, Z:1.60 [[ 7.39973522e-01 6.72615604e-01 5.23802332e-03 3.12645722e+02] [-6.72600083e-01 7.39992047e-01 -4.57146079e-03 -6.64026285e+01] [-6.95093146e-03 -1.40334976e-04 9.99975832e-01 1.60134895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters 0.02720160213423047 Centerline is valid? [True, True] Translation: X:312.70, Y:-66.45, Z:1.60 [[ 7.38760296e-01 6.73938051e-01 6.38180992e-03 3.12704778e+02] [-6.73914896e-01 7.38787841e-01 -5.58926983e-03 -6.64504564e+01] [-8.48162519e-03 -1.71666130e-04 9.99964016e-01 1.60061928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters 0.027406234857884362 Centerline is valid? [True, True] Translation: X:312.77, Y:-66.50, Z:1.60 [[ 7.35405617e-01 6.77611279e-01 4.64032444e-03 3.12771211e+02] [-6.77598847e-01 7.35420246e-01 -4.10647589e-03 -6.65042862e+01] [-6.19518293e-03 -1.24353056e-04 9.99980802e-01 1.60176345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters 0.027208462790461203 Centerline is valid? [True, True] Translation: X:312.83, Y:-66.55, Z:1.60 [[ 7.33539909e-01 6.79635280e-01 3.88434256e-03 3.12829838e+02] [-6.79626559e-01 7.33550184e-01 -3.44487617e-03 -6.65536212e+01] [-5.19061958e-03 -1.12948220e-04 9.99986522e-01 1.60211096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters 0.027399124212566187 Centerline is valid? [True, True] Translation: X:312.89, Y:-66.60, Z:1.60 [[ 7.31165074e-01 6.82182671e-01 4.94339132e-03 3.12889483e+02] [-6.82168474e-01 7.31181769e-01 -4.40381843e-03 -6.66039118e+01] [-6.61872623e-03 -1.52307485e-04 9.99978084e-01 1.60240054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters 0.027549478864655776 Centerline is valid? [True, True] Translation: X:312.95, Y:-66.65, Z:1.60 [[ 7.28926692e-01 6.84569050e-01 5.57615753e-03 3.12947553e+02] [-6.84550908e-01 7.28947998e-01 -4.98705970e-03 -6.66531647e+01] [-7.47871559e-03 -1.81962772e-04 9.99972017e-01 1.60235298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters 0.02699877523788406 Centerline is valid? [True, True] Translation: X:313.01, Y:-66.70, Z:1.60 [[ 7.27802378e-01 6.85772700e-01 4.41618051e-03 3.13005572e+02] [-6.85761220e-01 7.27815763e-01 -3.97043339e-03 -6.67019702e+01] [-5.93698061e-03 -1.38754476e-04 9.99982366e-01 1.60364695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters 0.027052860797892077 Centerline is valid? [True, True] Translation: X:313.07, Y:-66.75, Z:1.60 [[ 7.26248774e-01 6.87410315e-01 5.45692110e-03 3.13065397e+02] [-6.87392671e-01 7.26269254e-01 -4.92806292e-03 -6.67529275e+01] [-7.35079530e-03 -1.72047917e-04 9.99972968e-01 1.60348879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters 0.02647073324177398 Centerline is valid? [True, True] Translation: X:313.12, Y:-66.80, Z:1.61 [[ 7.26318295e-01 6.87324501e-01 6.83849174e-03 3.13122029e+02] [-6.87296583e-01 7.26350460e-01 -6.19803144e-03 -6.68033893e+01] [-9.22720049e-03 -1.98328386e-04 9.99957409e-01 1.60569339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters 0.025729966055433002 Centerline is valid? [True, True] Translation: X:313.18, Y:-66.85, Z:1.61 [[ 7.26279780e-01 6.87377743e-01 5.43319547e-03 3.13180671e+02] [-6.87359936e-01 7.26300089e-01 -4.94973384e-03 -6.68522212e+01] [-7.34846722e-03 -1.39669286e-04 9.99972990e-01 1.60517765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters 0.025368072142493335 Centerline is valid? [True, True] Translation: X:313.24, Y:-66.90, Z:1.61 [[ 7.24976556e-01 6.88758061e-01 4.61801557e-03 3.13239634e+02] [-6.88745045e-01 7.24991256e-01 -4.23584101e-03 -6.69043514e+01] [-6.26549055e-03 -1.09749915e-04 9.99980366e-01 1.60606168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters 0.02441825836287154 Centerline is valid? [True, True] Translation: X:313.30, Y:-66.95, Z:1.61 [[ 7.25894654e-01 6.87791629e-01 4.43012743e-03 3.13297572e+02] [-6.87779537e-01 7.25908167e-01 -4.07927582e-03 -6.69539264e+01] [-6.02155744e-03 -8.58264896e-05 9.99981867e-01 1.60567580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters 0.02382630693640589 Centerline is valid? [True, True] Translation: X:313.35, Y:-67.00, Z:1.61 [[ 7.26437225e-01 6.87217336e-01 4.61435741e-03 3.13354447e+02] [-6.87204090e-01 7.26451876e-01 -4.26727944e-03 -6.70041817e+01] [-6.28465700e-03 -7.10946565e-05 9.99980249e-01 1.60575888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters 0.022853273523072735 Centerline is valid? [True, True] Translation: X:313.41, Y:-67.06, Z:1.61 [[ 7.28014896e-01 6.85547939e-01 4.28195308e-03 3.13411457e+02] [-6.85536389e-01 7.28027487e-01 -3.97971485e-03 -6.70553601e+01] [-5.84566485e-03 -3.81429621e-05 9.99982913e-01 1.60729187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters 0.02235372059255497 Centerline is valid? [True, True] Translation: X:313.47, Y:-67.11, Z:1.61 [[ 7.29523086e-01 6.83939006e-01 4.84791181e-03 3.13468263e+02] [-6.83924047e-01 7.29539194e-01 -4.52347952e-03 -6.71056106e+01] [-6.63052576e-03 -1.56207266e-05 9.99978018e-01 1.60602762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters 0.022150690150108118 Centerline is valid? [True, True] Translation: X:313.52, Y:-67.16, Z:1.61 [[ 7.30724298e-01 6.82657198e-01 4.59900702e-03 3.13523473e+02] [-6.82643583e-01 7.30738770e-01 -4.31141054e-03 -6.71584158e+01] [-6.30388817e-03 1.09698147e-05 9.99980130e-01 1.60538639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters 0.02207257563014096 Centerline is valid? [True, True] Translation: X:313.58, Y:-67.21, Z:1.60 [[ 7.30099029e-01 6.83310511e-01 6.49254657e-03 3.13582460e+02] [-6.83283197e-01 7.30127896e-01 -6.10973940e-03 -6.72085727e+01] [-8.91523852e-03 2.44668310e-05 9.99960258e-01 1.60332463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters 0.02200661285814222 Centerline is valid? [True, True] Translation: X:313.64, Y:-67.26, Z:1.60 [[ 7.27372490e-01 6.86225921e-01 4.82141005e-03 3.13638341e+02] [-6.86210766e-01 7.27388469e-01 -4.56067427e-03 -6.72599941e+01] [-6.63669098e-03 8.80551761e-06 9.99977977e-01 1.60387328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters 0.02218133662131205 Centerline is valid? [True, True] Translation: X:313.70, Y:-67.31, Z:1.61 [[ 7.23079161e-01 6.90756983e-01 3.36413028e-03 3.13696185e+02] [-6.90749550e-01 7.23086987e-01 -3.20435350e-03 -6.73139752e+01] [-4.64598838e-03 -6.77023209e-06 9.99989207e-01 1.60702733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters 0.022039648783333095 Centerline is valid? [True, True] Translation: X:313.75, Y:-67.36, Z:1.61 [[ 7.23180009e-01 6.90644718e-01 4.53307330e-03 3.13754619e+02] [-6.90631148e-01 7.23194216e-01 -4.32949042e-03 -6.73634621e+01] [-6.26843208e-03 3.19305986e-07 9.99980353e-01 1.60593906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters 0.022046033888094247 Centerline is valid? [True, True] Translation: X:313.81, Y:-67.42, Z:1.61 [[ 7.22972834e-01 6.90867576e-01 3.50351507e-03 3.13809937e+02] [-6.90859382e-01 7.22981323e-01 -3.36466399e-03 -6.74153391e+01] [-4.85751321e-03 1.21243994e-05 9.99988202e-01 1.60808674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters 0.02195883979407569 Centerline is valid? [True, True] Translation: X:313.87, Y:-67.47, Z:1.61 [[ 7.21357836e-01 6.92552683e-01 3.69519143e-03 3.13867511e+02] [-6.92543513e-01 7.21367300e-01 -3.56377616e-03 -6.74653509e+01] [-5.13369300e-03 1.16770041e-05 9.99986822e-01 1.60640741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters 0.021744918774706957 Centerline is valid? [True, True] Translation: X:313.93, Y:-67.52, Z:1.61 [[ 7.20607822e-01 6.93328604e-01 4.45129133e-03 3.13925801e+02] [-6.93315189e-01 7.20621569e-01 -4.31309696e-03 -6.75187387e+01] [-6.19809004e-03 2.19035160e-05 9.99980791e-01 1.60748001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters 0.02167856159624752 Centerline is valid? [True, True] Translation: X:313.98, Y:-67.57, Z:1.61 [[ 7.19229540e-01 6.94765729e-01 3.07426029e-03 3.13981724e+02] [-6.94759271e-01 7.19236110e-01 -2.99570421e-03 -6.75706399e+01] [-4.29243163e-03 1.87281223e-05 9.99990787e-01 1.60940537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters 0.021733740719063904 Centerline is valid? [True, True] Translation: X:314.04, Y:-67.62, Z:1.61 [[ 7.15611293e-01 6.98496515e-01 1.75944727e-03 3.14037571e+02] [-6.98494375e-01 7.15613456e-01 -1.72926265e-03 -6.76233240e+01] [-2.46696808e-03 8.51586194e-06 9.99996957e-01 1.60988732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters 0.021864669288561425 Centerline is valid? [True, True] Translation: X:314.10, Y:-67.68, Z:1.61 [[ 7.12435666e-01 7.01737326e-01 3.83857632e-04 3.14095446e+02] [-7.01737215e-01 7.12435769e-01 -3.95163004e-04 -6.76782171e+01] [-5.50774537e-04 1.21610317e-05 9.99999848e-01 1.61238167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters 0.022026082650647826 Centerline is valid? [True, True] Translation: X:314.15, Y:-67.73, Z:1.61 [[ 7.09919206e-01 7.04282621e-01 8.42717242e-04 3.14153119e+02] [-7.04282113e-01 7.09919707e-01 -8.45477267e-04 -6.77301183e+01] [-1.19371652e-03 6.70987006e-06 9.99999287e-01 1.61093021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters 0.021809409742529214 Centerline is valid? [True, True] Translation: X:314.21, Y:-67.78, Z:1.61 [[ 7.09316932e-01 7.04889691e-01 1.10766115e-04 3.14210706e+02] [-7.04889680e-01 7.09316941e-01 -1.25765845e-04 -6.77831269e+01] [-1.67219329e-04 1.11299515e-05 9.99999986e-01 1.61173133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters 0.02189856000623774 Centerline is valid? [True, True] Translation: X:314.27, Y:-67.84, Z:1.61 [[ 7.08743670e-01 7.05466090e-01 7.28531863e-05 3.14267161e+02] [-7.05466085e-01 7.08743674e-01 -8.81965176e-05 -6.78353731e+01] [-1.13853887e-04 1.11132715e-05 9.99999993e-01 1.61428424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters 0.022075757820437053 Centerline is valid? [True, True] Translation: X:314.32, Y:-67.89, Z:1.61 [[ 7.07389896e-01 7.06823138e-01 7.66137320e-04 3.14324668e+02] [-7.06822706e-01 7.07390311e-01 -7.80673388e-04 -6.78871782e+01] [-1.09375613e-03 1.07172131e-05 9.99999402e-01 1.61109732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters 0.022067724949821753 Centerline is valid? [True, True] Translation: X:314.38, Y:-67.94, Z:1.61 [[ 7.06235965e-01 7.07975751e-01 1.04707898e-03 3.14380581e+02] [-7.07974950e-01 7.06236742e-01 -1.06558734e-03 -6.79404574e+01] [-1.49389565e-03 1.12504199e-05 9.99998884e-01 1.61225753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters 0.021918659747156413 Centerline is valid? [True, True] Translation: X:315.65, Y:-66.68, Z:3.45 [[ 7.62032446e-01 -6.47491840e-01 7.80183323e-03 3.15646470e+02] [-6.47452384e-01 -7.62072275e-01 -7.15945086e-03 -6.66825980e+01] [ 1.05812468e-02 4.04418322e-04 -9.99943935e-01 3.45388635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters 0.02210220217078858 Centerline is valid? [True, True] Translation: X:314.54, Y:-68.09, Z:1.62 [[ 7.60942214e-01 6.48819430e-01 5.42141282e-04 3.14540925e+02] [-6.48819264e-01 7.60942407e-01 -4.63934106e-04 -6.80932231e+01] [-7.13547754e-04 1.27533772e-06 9.99999745e-01 1.61531963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters 0.021850171976803705 Centerline is valid? [True, True] Translation: X:314.60, Y:-68.14, Z:1.62 [[ 7.59276552e-01 6.50766523e-01 -1.43142262e-03 3.14598982e+02] [-6.50765398e-01 7.59277902e-01 1.21022873e-03 -6.81416467e+01] [ 1.87442391e-03 1.26220128e-05 9.99998243e-01 1.61949302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters 0.021887497501362818 Centerline is valid? [True, True] Translation: X:314.66, Y:-68.19, Z:1.62 [[ 7.58237782e-01 6.51976261e-01 -1.55602141e-03 3.14657786e+02] [-6.51974924e-01 7.58239378e-01 1.32065083e-03 -6.81904142e+01] [ 2.04086970e-03 1.31195899e-05 9.99997917e-01 1.62032288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters 0.02196375874896915 Centerline is valid? [True, True] Translation: X:314.72, Y:-68.24, Z:1.62 [[ 7.56800248e-01 6.53645699e-01 -8.27705230e-04 3.14716998e+02] [-6.53645324e-01 7.56800700e-01 7.00511440e-04 -6.82377757e+01] [ 1.08429419e-03 1.08784222e-05 9.99999412e-01 1.61873023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters 0.021866824234124543 Centerline is valid? [True, True] Translation: X:314.78, Y:-68.28, Z:1.62 [[ 7.57269603e-01 6.53101537e-01 -1.06335293e-03 3.14775882e+02] [-6.53100907e-01 7.57270350e-01 9.07012039e-04 -6.82846888e+01] [ 1.39761660e-03 7.62411354e-06 9.99999023e-01 1.61936341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters 0.022112820134346286 Centerline is valid? [True, True] Translation: X:314.83, Y:-68.34, Z:1.62 [[ 7.54781850e-01 6.55975883e-01 -1.41627415e-05 3.14834267e+02] [-6.55975883e-01 7.54781850e-01 -2.90970138e-06 -6.83353405e+01] [ 8.78108661e-06 1.14866067e-05 1.00000000e+00 1.62102493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters 0.022282316597499637 Centerline is valid? [True, True] Translation: X:314.89, Y:-68.39, Z:1.62 [[ 7.51684405e-01 6.59522771e-01 -5.19278393e-04 3.14894388e+02] [-6.59522626e-01 7.51684584e-01 4.37684749e-04 -6.83853354e+01] [ 6.78996622e-04 1.34750495e-05 9.99999769e-01 1.62033895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters 0.022278167438669692 Centerline is valid? [True, True] Translation: X:314.95, Y:-68.43, Z:1.62 [[ 7.50843079e-01 6.60480611e-01 1.81898429e-04 3.14952860e+02] [-6.60480589e-01 7.50843101e-01 -1.71907293e-04 -6.84330950e+01] [-2.50118614e-04 8.93501971e-06 9.99999969e-01 1.61980920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters 0.022345475501650783 Centerline is valid? [True, True] Translation: X:315.01, Y:-68.48, Z:1.62 [[ 7.49509852e-01 6.61993121e-01 2.99683545e-04 3.15010585e+02] [-6.61993063e-01 7.49509912e-01 -2.76176199e-04 -6.84825424e+01] [-4.07442530e-04 8.60835412e-06 9.99999917e-01 1.61996168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters 0.022606425375383987 Centerline is valid? [True, True] Translation: X:315.07, Y:-68.53, Z:1.62 [[ 7.47314275e-01 6.64465870e-01 2.54605457e-03 3.15070400e+02] [-6.64462004e-01 7.47318612e-01 -2.26675098e-03 -6.85335617e+01] [-3.40889263e-03 2.21884277e-06 9.99994190e-01 1.61949904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters 0.022474876707812636 Centerline is valid? [True, True] Translation: X:315.13, Y:-68.58, Z:1.62 [[ 7.45780104e-01 6.66188975e-01 2.07037013e-03 3.15130722e+02] [-6.66186390e-01 7.45782978e-01 -1.85592327e-03 -6.85843901e+01] [-2.78044243e-03 4.85824614e-06 9.99996135e-01 1.62057341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters 0.022437336424439795 Centerline is valid? [True, True] Translation: X:315.21, Y:-68.65, Z:1.62 [[ 7.41060341e-01 6.71436473e-01 1.62300136e-03 3.15212873e+02] [-6.71434775e-01 7.41062118e-01 -1.51022727e-03 -6.86521163e+01] [-2.21676649e-03 2.94299864e-05 9.99997543e-01 1.62299119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters 0.02272127974594467 Centerline is valid? [True, True] Translation: X:315.27, Y:-68.70, Z:1.62 [[ 7.38880784e-01 6.73830923e-01 2.65964240e-03 3.15271137e+02] [-6.73826567e-01 7.38885571e-01 -2.42302570e-03 -6.87012460e+01] [-3.59788104e-03 -1.81057870e-06 9.99993528e-01 1.62218004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters 0.023034756042612313 Centerline is valid? [True, True] Translation: X:315.33, Y:-68.75, Z:1.62 [[ 7.36624894e-01 6.76299972e-01 1.45362067e-03 3.15330681e+02] [-6.76298641e-01 7.36626329e-01 -1.34167418e-03 -6.87536862e+01] [-1.97814947e-03 5.22891865e-06 9.99998043e-01 1.62286930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters 0.02294184512338998 Centerline is valid? [True, True] Translation: X:315.39, Y:-68.80, Z:1.62 [[ 7.36153371e-01 6.76811587e-01 2.07096960e-03 3.15389025e+02] [-6.76808903e-01 7.36156285e-01 -1.90634585e-03 -6.88037032e+01] [-2.81479425e-03 1.71226143e-06 9.99996038e-01 1.62285113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters 0.02304252058388226 Centerline is valid? [True, True] Translation: X:315.45, Y:-68.85, Z:1.62 [[ 7.36192072e-01 6.76766444e-01 2.90066554e-03 3.15448569e+02] [-6.76761141e-01 7.36197786e-01 -2.67911436e-03 -6.88522756e+01] [-3.94859825e-03 9.28502852e-06 9.99992204e-01 1.62110831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters 0.0227285805888585 Centerline is valid? [True, True] Translation: X:315.51, Y:-68.90, Z:1.62 [[ 7.34993485e-01 6.78072016e-01 1.70837743e-03 3.15506363e+02] [-6.78070150e-01 7.34995470e-01 -1.59077135e-03 -6.89026186e+01] [-2.33430721e-03 1.08068356e-05 9.99997275e-01 1.62145117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters 0.02257801591932886 Centerline is valid? [True, True] Translation: X:315.56, Y:-68.95, Z:1.62 [[ 7.33615155e-01 6.79560124e-01 2.61567988e-03 3.15564549e+02] [-6.79555749e-01 7.33619818e-01 -2.43859190e-03 -6.89525998e+01] [-3.57608441e-03 1.14876794e-05 9.99993606e-01 1.62066318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters 0.022622748494094753 Centerline is valid? [True, True] Translation: X:315.62, Y:-69.00, Z:1.62 [[ 7.32449867e-01 6.80818972e-01 1.64942403e-03 3.15623926e+02] [-6.80817203e-01 7.32451724e-01 -1.55205399e-03 -6.90033922e+01] [-2.26479127e-03 1.38454829e-05 9.99997435e-01 1.62004497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters 0.02252268906151338 Centerline is valid? [True, True] Translation: X:315.68, Y:-69.06, Z:1.62 [[ 7.30245323e-01 6.83182497e-01 1.85553874e-03 3.15681517e+02] [-6.83180250e-01 7.30247681e-01 -1.75247261e-03 -6.90563392e+01] [-2.55226148e-03 1.20675018e-05 9.99996743e-01 1.62317284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters 0.022655583713250244 Centerline is valid? [True, True] Translation: X:315.74, Y:-69.11, Z:1.62 [[ 7.28863452e-01 6.84655066e-01 2.34693149e-03 3.15739750e+02] [-6.84651464e-01 7.28867231e-01 -2.22085398e-03 -6.91059398e+01] [-3.23112039e-03 1.18692202e-05 9.99994780e-01 1.62270891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters 0.022589784770809335 Centerline is valid? [True, True] Translation: X:315.80, Y:-69.16, Z:1.62 [[ 7.28153400e-01 6.85409672e-01 2.49153921e-03 3.15797486e+02] [-6.85405584e-01 7.28157663e-01 -2.36708854e-03 -6.91550775e+01] [-3.43665875e-03 1.58886839e-05 9.99994095e-01 1.62146837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters 0.022264713809697446 Centerline is valid? [True, True] Translation: X:315.85, Y:-69.21, Z:1.63 [[ 7.26090131e-01 6.87598520e-01 1.18183163e-03 3.15852767e+02] [-6.87597582e-01 7.26091093e-01 -1.13580061e-03 -6.92077500e+01] [-1.63909224e-03 1.20690392e-05 9.99998657e-01 1.62574174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters 0.02232200419168677 Centerline is valid? [True, True] Translation: X:315.91, Y:-69.26, Z:1.62 [[ 7.25701373e-01 6.88007612e-01 1.74429152e-03 3.15910120e+02] [-6.88005570e-01 7.25703469e-01 -1.67657228e-03 -6.92574545e+01] [-2.41933289e-03 1.66085246e-05 9.99997073e-01 1.62409550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters 0.022298260407720163 Centerline is valid? [True, True] Translation: X:315.97, Y:-69.31, Z:1.63 [[ 7.23624386e-01 6.90192365e-01 1.49901069e-03 3.15968492e+02] [-6.90190840e-01 7.23625938e-01 -1.45119037e-03 -6.93104109e+01] [-2.08632353e-03 1.55132978e-05 9.99997824e-01 1.62586918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters 0.02247506381970969 Centerline is valid? [True, True] Translation: X:316.02, Y:-69.36, Z:1.63 [[ 7.21398206e-01 6.92520332e-01 4.66188878e-04 3.16023840e+02] [-6.92520177e-01 7.21398357e-01 -4.63309206e-04 -6.93627701e+01] [-6.57158936e-04 1.13852256e-05 9.99999784e-01 1.62737067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters 0.022122454333964495 Centerline is valid? [True, True] Translation: X:316.08, Y:-69.41, Z:1.63 [[ 7.19661644e-01 6.94324779e-01 4.67018920e-04 3.16081266e+02] [-6.94324623e-01 7.19661796e-01 -4.66180907e-04 -6.94124881e+01] [-6.59776630e-04 1.12297827e-05 9.99999782e-01 1.62501683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters 0.022544161918693784 Centerline is valid? [True, True] Translation: X:316.14, Y:-69.47, Z:1.63 [[ 7.16906187e-01 6.97169468e-01 5.02459009e-04 3.16136157e+02] [-6.97169287e-01 7.16906363e-01 -5.02562039e-04 -6.94657203e+01] [-7.10586970e-04 9.99084621e-06 9.99999747e-01 1.62591090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters 0.022398544294337776 Centerline is valid? [True, True] Translation: X:316.19, Y:-69.52, Z:1.62 [[ 7.15441093e-01 6.98672441e-01 9.28483797e-04 3.16194763e+02] [-6.98671835e-01 7.15441695e-01 -9.20474876e-04 -6.95159920e+01] [-1.30738645e-03 9.84007304e-06 9.99999145e-01 1.62327337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters 0.022123211671185247 Centerline is valid? [True, True] Translation: X:316.25, Y:-69.57, Z:1.63 [[ 7.14080239e-01 7.00062799e-01 -1.22092346e-03 3.16251645e+02] [-7.00061808e-01 7.14081282e-01 1.17761258e-03 -6.95703490e+01] [ 1.69624134e-03 1.38120111e-05 9.99998561e-01 1.62684504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters 0.022256928504903257 Centerline is valid? [True, True] Translation: X:316.31, Y:-69.62, Z:1.63 [[ 7.12075137e-01 7.02103057e-01 5.44593797e-04 3.16309272e+02] [-7.02102840e-01 7.12075345e-01 -5.52797518e-04 -6.96234980e+01] [-7.75912643e-04 1.12725168e-05 9.99999699e-01 1.62725756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters 0.021784636253704963 Centerline is valid? [True, True] Translation: X:316.37, Y:-69.68, Z:1.63 [[ 7.10031579e-01 7.04169829e-01 -9.33075139e-05 3.16365343e+02] [-7.04169825e-01 7.10031585e-01 7.64777480e-05 -6.96768181e+01] [ 1.20104605e-04 1.14027195e-05 9.99999993e-01 1.62791489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters 0.021564159293662302 Centerline is valid? [True, True] Translation: X:316.42, Y:-69.73, Z:1.63 [[ 7.08525641e-01 7.05685068e-01 2.20012288e-05 3.16420738e+02] [-7.05685067e-01 7.08525642e-01 -3.76621697e-05 -6.97304854e+01] [-4.21660653e-05 1.11586743e-05 9.99999999e-01 1.63090818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters 0.021591571717436718 Centerline is valid? [True, True] Translation: X:316.48, Y:-69.78, Z:1.63 [[ 7.06843277e-01 7.07370161e-01 -1.93791993e-04 3.16480166e+02] [-7.07370140e-01 7.06843303e-01 1.74219044e-04 -6.97840041e+01] [ 2.60217926e-04 1.39371098e-05 9.99999966e-01 1.63021051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters 0.02133472698592822 Centerline is valid? [True, True] Translation: X:316.54, Y:-69.84, Z:1.63 [[ 7.06262351e-01 7.07949658e-01 -8.79359158e-04 3.16537377e+02] [-7.07949128e-01 7.06262898e-01 8.66982455e-04 -6.98354406e+01] [ 1.23483868e-03 1.02244822e-05 9.99999238e-01 1.62861986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters 0.021262314058783646 Centerline is valid? [True, True] Translation: X:317.79, Y:-68.59, Z:3.47 [[ 7.61368209e-01 -6.48281335e-01 7.05417572e-03 3.17792800e+02] [-6.48248561e-01 -7.61400782e-01 -6.53079759e-03 -6.85856401e+01] [ 9.60484910e-03 3.99482399e-04 -9.99953793e-01 3.46722501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters 0.02135446118137981 Centerline is valid? [True, True] Translation: X:316.69, Y:-69.99, Z:1.63 [[ 7.61618570e-01 6.48025535e-01 -2.44875319e-04 3.16694630e+02] [-6.48025502e-01 7.61618609e-01 2.05910115e-04 -6.99859891e+01] [ 3.19936612e-04 1.86048398e-06 9.99999949e-01 1.62891834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters 0.020995831967492794 Centerline is valid? [True, True] Translation: X:316.75, Y:-70.03, Z:1.63 [[ 7.60298960e-01 6.49573222e-01 -3.47870845e-04 3.16753634e+02] [-6.49573160e-01 7.60299039e-01 2.85194180e-04 -7.00336571e+01] [ 4.49740372e-04 9.13472562e-06 9.99999899e-01 1.63001778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters 0.021017816603344543 Centerline is valid? [True, True] Translation: X:316.81, Y:-70.08, Z:1.63 [[ 7.59816347e-01 6.50135343e-01 1.77608371e-03 3.16812856e+02] [-6.50133526e-01 7.59818423e-01 -1.53722880e-03 -7.00805109e+01] [-2.34890790e-03 1.33200063e-05 9.99997241e-01 1.62899449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters 0.021086914563375126 Centerline is valid? [True, True] Translation: X:316.87, Y:-70.13, Z:1.63 [[ 7.59009077e-01 6.51077817e-01 1.70210547e-03 3.16871303e+02] [-6.51076137e-01 7.59010985e-01 -1.47934042e-03 -7.01287945e+01] [-2.25508248e-03 1.46325558e-05 9.99997457e-01 1.62934373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters 0.021010621486026858 Centerline is valid? [True, True] Translation: X:316.93, Y:-70.17, Z:1.63 [[ 7.59060092e-01 6.51019982e-01 8.72002408e-04 3.16932076e+02] [-6.51019530e-01 7.59060592e-01 -7.67266730e-04 -7.01748169e+01] [-1.16140864e-03 1.47109566e-05 9.99999325e-01 1.63018421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters 0.02099813270085416 Centerline is valid? [True, True] Translation: X:316.99, Y:-70.22, Z:1.63 [[ 7.59882586e-01 6.50060344e-01 6.54331746e-05 3.16991361e+02] [-6.50060341e-01 7.59882589e-01 -6.90857932e-05 -7.02217607e+01] [-9.46314643e-05 9.96157936e-06 9.99999995e-01 1.62987687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters 0.021363007676810458 Centerline is valid? [True, True] Translation: X:317.05, Y:-70.27, Z:1.63 [[ 7.60324514e-01 6.49541287e-01 1.65832465e-03 3.17053981e+02] [-6.49539639e-01 7.60326321e-01 -1.46358478e-03 -7.02704420e+01] [-2.21152663e-03 3.56517947e-05 9.99997554e-01 1.63022438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters 0.021786529609720842 Centerline is valid? [True, True] Translation: X:317.11, Y:-70.32, Z:1.63 [[ 7.60480520e-01 6.49358583e-01 1.67614364e-03 3.17113005e+02] [-6.49356897e-01 7.60482366e-01 -1.48047755e-03 -7.03161227e+01] [-2.23603848e-03 3.74589048e-05 9.99997499e-01 1.63006364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters 0.0220007014587122 Centerline is valid? [True, True] Translation: X:317.17, Y:-70.36, Z:1.63 [[ 7.60269661e-01 6.49607472e-01 -4.19029456e-04 3.17170845e+02] [-6.49607374e-01 7.60269776e-01 3.56674265e-04 -7.03634385e+01] [ 5.50273699e-04 1.03600236e-06 9.99999849e-01 1.63247766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters 0.021524204131747646 Centerline is valid? [True, True] Translation: X:317.23, Y:-70.41, Z:1.63 [[ 7.57903007e-01 6.52367249e-01 6.26649770e-05 3.17229418e+02] [-6.52367246e-01 7.57903010e-01 -6.71365054e-05 -7.04106203e+01] [-9.12916317e-05 1.00023809e-05 9.99999996e-01 1.63222377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters 0.022031419537585337 Centerline is valid? [True, True] Translation: X:317.29, Y:-70.46, Z:1.63 [[ 7.58316031e-01 6.51885627e-01 -1.38779360e-03 3.17288650e+02] [-6.51884490e-01 7.58317301e-01 1.21762863e-03 -7.04565321e+01] [ 1.84614251e-03 -1.86661858e-05 9.99998296e-01 1.63276287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters 0.022962220485241113 Centerline is valid? [True, True] Translation: X:317.36, Y:-70.51, Z:1.63 [[ 7.58204365e-01 6.52016368e-01 8.92688602e-04 3.17357806e+02] [-6.52015853e-01 7.58204889e-01 -8.20255573e-04 -7.05111129e+01] [-1.21166092e-03 3.98742352e-05 9.99999265e-01 1.63238275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters 0.024498139948471765 Centerline is valid? [True, True] Translation: X:317.42, Y:-70.56, Z:1.63 [[ 7.59925954e-01 6.50009191e-01 7.71445747e-04 3.17417731e+02] [-6.50008811e-01 7.59926345e-01 -7.03606187e-04 -7.05591562e+01] [-1.04359244e-03 3.32420708e-05 9.99999455e-01 1.63258652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters 0.026090652334964326 Centerline is valid? [True, True] Translation: X:317.48, Y:-70.61, Z:1.63 [[ 7.62246896e-01 6.47284389e-01 1.60919782e-03 3.17475574e+02] [-6.47282750e-01 7.62248592e-01 -1.45815024e-03 -7.06067730e+01] [-2.17044666e-03 6.98645063e-05 9.99997642e-01 1.63279585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters 0.026421153384573837 Centerline is valid? [True, True] Translation: X:317.53, Y:-70.66, Z:1.63 [[ 7.61365833e-01 6.48310588e-01 3.93051608e-03 3.17532569e+02] [-6.48300846e-01 7.61375962e-01 -3.55777285e-03 -7.06560187e+01] [-5.29914227e-03 1.60609786e-04 9.99985947e-01 1.63147944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters 0.02570902029235477 Centerline is valid? [True, True] Translation: X:317.59, Y:-70.71, Z:1.63 [[ 7.58915770e-01 6.51188651e-01 4.40398141e-04 3.17587781e+02] [-6.51188523e-01 7.58915898e-01 -4.10196516e-04 -7.07063094e+01] [-6.01340466e-04 2.45223907e-05 9.99999819e-01 1.63461294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters 0.024478111515569344 Centerline is valid? [True, True] Translation: X:317.64, Y:-70.76, Z:1.64 [[ 7.54953119e-01 6.55778759e-01 8.95444277e-05 3.17641852e+02] [-6.55778752e-01 7.54953124e-01 -9.31890576e-05 -7.07576939e+01] [-1.28713250e-04 1.16320366e-05 9.99999992e-01 1.63637652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters 0.02423622165791792 Centerline is valid? [True, True] Translation: X:317.70, Y:-70.81, Z:1.64 [[ 7.53180494e-01 6.57813903e-01 1.14284303e-04 3.17700499e+02] [-6.57813892e-01 7.53180502e-01 -1.19293658e-04 -7.08084915e+01] [-1.64549735e-04 1.46718536e-05 9.99999986e-01 1.63655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters 0.024117919161854705 Centerline is valid? [True, True] Translation: X:317.76, Y:-70.86, Z:1.63 [[ 7.51208277e-01 6.60065163e-01 3.23858403e-04 3.17757311e+02] [-6.60065091e-01 7.51208347e-01 -3.09012563e-04 -7.08580781e+01] [-4.47253563e-04 1.83651693e-05 9.99999900e-01 1.63446814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters 0.024111941229830007 Centerline is valid? [True, True] Translation: X:317.81, Y:-70.91, Z:1.63 [[ 7.49496257e-01 6.61999651e-01 3.43842879e-03 3.17813871e+02] [-6.61992046e-01 7.49504137e-01 -3.17476302e-03 -7.09079550e+01] [-4.67880862e-03 1.03260494e-04 9.99989049e-01 1.63206189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters 0.023649261024035778 Centerline is valid? [True, True] Translation: X:317.88, Y:-70.97, Z:1.63 [[ 7.45367355e-01 6.66648913e-01 2.59468601e-03 3.17879738e+02] [-6.66644488e-01 7.45371867e-01 -2.43036576e-03 -7.09659663e+01] [-3.55420665e-03 8.17821722e-05 9.99993680e-01 1.63367071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters 0.023011193867265065 Centerline is valid? [True, True] Translation: X:317.93, Y:-71.02, Z:1.63 [[ 7.41953318e-01 6.70442209e-01 3.53809477e-03 3.17934158e+02] [-6.70434073e-01 7.41961749e-01 -3.30404172e-03 -7.10180199e+01] [-4.84030002e-03 7.93854315e-05 9.99988283e-01 1.63373901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters 0.022632486497444548 Centerline is valid? [True, True] Translation: X:317.99, Y:-71.07, Z:1.63 [[ 7.39788065e-01 6.72833454e-01 2.96005127e-03 3.17990959e+02] [-6.72827724e-01 7.39793984e-01 -2.77752751e-03 -7.10687973e+01] [-4.05864155e-03 6.31771407e-05 9.99991762e-01 1.63373381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters 0.022154228946192827 Centerline is valid? [True, True] Translation: X:318.05, Y:-71.12, Z:1.64 [[ 7.36045709e-01 6.76929102e-01 1.92520524e-03 3.18045849e+02] [-6.76926661e-01 7.36048225e-01 -1.81811362e-03 -7.11217109e+01] [-2.64777792e-03 3.49919707e-05 9.99996494e-01 1.63763729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters 0.022316416767946674 Centerline is valid? [True, True] Translation: X:318.10, Y:-71.17, Z:1.64 [[ 7.34460297e-01 6.78647925e-01 2.25083126e-03 3.18102897e+02] [-6.78644577e-01 7.34463745e-01 -2.13201615e-03 -7.11728725e+01] [-3.10004229e-03 3.83667881e-05 9.99995194e-01 1.63841102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters 0.022444251644648618 Centerline is valid? [True, True] Translation: X:318.16, Y:-71.22, Z:1.64 [[ 7.33126317e-01 6.80089489e-01 2.02271384e-03 3.18161381e+02] [-6.80086765e-01 7.33129106e-01 -1.92505640e-03 -7.12229875e+01] [-2.79212101e-03 3.56885990e-05 9.99996101e-01 1.63814430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters 0.02241557503095465 Centerline is valid? [True, True] Translation: X:318.22, Y:-71.27, Z:1.64 [[ 7.32913743e-01 6.80320505e-01 1.20676409e-03 3.18218655e+02] [-6.80319519e-01 7.32914736e-01 -1.15818737e-03 -7.12740199e+01] [-1.67239380e-03 2.78662770e-05 9.99998601e-01 1.63877161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters 0.02290959617128287 Centerline is valid? [True, True] Translation: X:318.28, Y:-71.32, Z:1.64 [[ 7.32571714e-01 6.80687661e-01 1.72946725e-03 3.18277835e+02] [-6.80685629e-01 7.32573755e-01 -1.66371874e-03 -7.13236033e+01] [-2.39943513e-03 4.15697804e-05 9.99997120e-01 1.63660939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters 0.023685592298369956 Centerline is valid? [True, True] Translation: X:318.33, Y:-71.38, Z:1.64 [[ 7.34723222e-01 6.78359474e-01 3.19548065e-03 3.18333803e+02] [-6.78352530e-01 7.34730166e-01 -3.07065012e-03 -7.13758152e+01] [-4.43082063e-03 8.84155683e-05 9.99990180e-01 1.63808325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters 0.024143955565628594 Centerline is valid? [True, True] Translation: X:318.39, Y:-71.43, Z:1.64 [[ 7.34223346e-01 6.78903235e-01 2.54469363e-03 3.18391595e+02] [-6.78898775e-01 7.34227751e-01 -2.46232372e-03 -7.14291466e+01] [-3.54006422e-03 8.03061700e-05 9.99993731e-01 1.63932460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters 0.02427759699039867 Centerline is valid? [True, True] Translation: X:318.45, Y:-71.48, Z:1.64 [[ 7.33104102e-01 6.80106036e-01 3.76234853e-03 3.18447392e+02] [-6.80096283e-01 7.33113748e-01 -3.64401171e-03 -7.14813134e+01] [-5.23654379e-03 1.12680675e-04 9.99986283e-01 1.63924927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters 0.024323774116862155 Centerline is valid? [True, True] Translation: X:318.50, Y:-71.53, Z:1.64 [[ 7.32226646e-01 6.81051907e-01 3.52685172e-03 3.18503049e+02] [-6.81043280e-01 7.32235131e-01 -3.42977138e-03 -7.15336200e+01] [-4.91833707e-03 1.09431330e-04 9.99987899e-01 1.63984419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters 0.023470720609688495 Centerline is valid? [True, True] Translation: X:318.56, Y:-71.59, Z:1.64 [[ 7.28858102e-01 6.84656567e-01 3.35454383e-03 3.18556428e+02] [-6.84648722e-01 7.28865815e-01 -3.27877964e-03 -7.15875492e+01] [-4.68985034e-03 9.30809586e-05 9.99988998e-01 1.64249930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters 0.023027884405049947 Centerline is valid? [True, True] Translation: X:318.62, Y:-71.64, Z:1.64 [[ 7.25715718e-01 6.87992273e-01 1.82461558e-03 3.18617446e+02] [-6.87989905e-01 7.25718010e-01 -1.80582077e-03 -7.16429745e+01] [-2.56654712e-03 5.51954165e-05 9.99996705e-01 1.64348644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters 0.022911617273798816 Centerline is valid? [True, True] Translation: X:318.67, Y:-71.70, Z:1.64 [[ 7.23262461e-01 6.90571842e-01 1.39401626e-03 3.18672897e+02] [-6.90570458e-01 7.23263804e-01 -1.38297725e-03 -7.16956279e+01] [-1.96328665e-03 3.75890853e-05 9.99998072e-01 1.64346843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters 0.02262266085789797 Centerline is valid? [True, True] Translation: X:318.73, Y:-71.75, Z:1.65 [[ 7.20473176e-01 6.93481058e-01 1.55731824e-03 3.18730534e+02] [-6.93479306e-01 7.20474858e-01 -1.55915543e-03 -7.17543899e+01] [-2.20325339e-03 4.33616890e-05 9.99997572e-01 1.64504643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters 0.022095979545467936 Centerline is valid? [True, True] Translation: X:318.79, Y:-71.81, Z:1.65 [[ 7.17202506e-01 6.96864165e-01 9.49364142e-04 3.18785453e+02] [-6.96863507e-01 7.17203134e-01 -9.57393178e-04 -7.18069168e+01] [-1.34805993e-03 2.50675606e-05 9.99999091e-01 1.64598465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters 0.022083931974946718 Centerline is valid? [True, True] Translation: X:318.84, Y:-71.86, Z:1.65 [[ 7.15532069e-01 6.98579887e-01 9.10410647e-06 3.18840218e+02] [-6.98579886e-01 7.15532069e-01 -2.41313566e-05 -7.18600557e+01] [-2.33719602e-05 1.09068139e-05 1.00000000e+00 1.64705042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters 0.021615931980173246 Centerline is valid? [True, True] Translation: X:318.90, Y:-71.91, Z:1.65 [[ 7.13544986e-01 7.00609414e-01 4.87223467e-05 3.18895825e+02] [-7.00609411e-01 7.13544987e-01 -6.39848386e-05 -7.19123949e+01] [-7.95939662e-05 1.15207261e-05 9.99999997e-01 1.64740047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters 0.02155710553484515 Centerline is valid? [True, True] Translation: X:320.15, Y:-70.69, Z:3.48 [[ 7.55864964e-01 -6.54688345e-01 7.16428173e-03 3.20147495e+02] [-6.54655062e-01 -7.55898854e-01 -6.60853310e-03 -7.06872877e+01] [ 9.74200195e-03 3.05025334e-04 -9.99952499e-01 3.47636765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters 0.021519306277317983 Centerline is valid? [True, True] Translation: X:319.06, Y:-72.08, Z:1.65 [[ 7.67581084e-01 6.40950778e-01 -1.17466369e-03 3.19062421e+02] [-6.40950004e-01 7.67581983e-01 9.95988629e-04 -7.20757649e+01] [ 1.54003037e-03 -1.16013315e-05 9.99998814e-01 1.65069010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters 0.021656327680535534 Centerline is valid? [True, True] Translation: X:319.13, Y:-72.13, Z:1.65 [[ 7.65959487e-01 6.42888779e-01 2.88357103e-04 3.19126739e+02] [-6.42888724e-01 7.65959541e-01 -2.65989379e-04 -7.21286709e+01] [-3.91871461e-04 1.83555582e-05 9.99999923e-01 1.65227077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters 0.021424939734210422 Centerline is valid? [True, True] Translation: X:319.19, Y:-72.18, Z:1.65 [[ 7.65931586e-01 6.42921035e-01 -1.16109978e-03 3.19186150e+02] [-6.42920281e-01 7.65932466e-01 9.85014483e-04 -7.21753166e+01] [ 1.52261055e-03 -7.95910930e-06 9.99998841e-01 1.65386072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters 0.021321355358091272 Centerline is valid? [True, True] Translation: X:319.24, Y:-72.22, Z:1.65 [[ 7.62938648e-01 6.46470600e-01 -6.18860281e-04 3.19242447e+02] [-6.46470389e-01 7.62938899e-01 5.21701361e-04 -7.22244688e+01] [ 8.09417174e-04 2.04871537e-06 9.99999672e-01 1.65276725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters 0.021297592048112813 Centerline is valid? [True, True] Translation: X:319.30, Y:-72.27, Z:1.65 [[ 7.62777962e-01 6.46659841e-01 9.11158062e-04 3.19299982e+02] [-6.46659346e-01 7.62778506e-01 -8.00060189e-04 -7.22720684e+01] [-1.21237858e-03 2.10594037e-05 9.99999265e-01 1.65314055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters 0.021316456741013422 Centerline is valid? [True, True] Translation: X:319.36, Y:-72.32, Z:1.65 [[ 7.61146999e-01 6.48577325e-01 1.64319874e-03 3.19358010e+02] [-6.48575728e-01 7.61148772e-01 -1.43924263e-03 -7.23211611e+01] [-2.18417884e-03 2.97363915e-05 9.99997614e-01 1.65290265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters 0.021030315961575594 Centerline is valid? [True, True] Translation: X:319.42, Y:-72.37, Z:1.65 [[ 7.59850697e-01 6.50092539e-01 2.57078657e-03 3.19415121e+02] [-6.50088634e-01 7.59855045e-01 -2.25367161e-03 -7.23703962e+01] [-3.41852025e-03 4.12148152e-05 9.99994156e-01 1.65426729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters 0.021367041428593872 Centerline is valid? [True, True] Translation: X:319.47, Y:-72.42, Z:1.65 [[ 7.59167571e-01 6.50888565e-01 2.94523034e-03 3.19473424e+02] [-6.50883414e-01 7.59173283e-01 -2.59005844e-03 -7.24189114e+01] [-3.92177961e-03 4.92867990e-05 9.99992309e-01 1.65498551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters 0.021956497120721494 Centerline is valid? [True, True] Translation: X:319.53, Y:-72.47, Z:1.65 [[ 7.60020511e-01 6.49889685e-01 3.49575416e-03 3.19533174e+02] [-6.49882374e-01 7.60028547e-01 -3.08351035e-03 -7.24657506e+01] [-4.66081452e-03 7.17020996e-05 9.99989136e-01 1.65421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters 0.021704786545117476 Centerline is valid? [True, True] Translation: X:319.59, Y:-72.52, Z:1.66 [[ 7.58912321e-01 6.51185459e-01 3.09627978e-03 3.19590100e+02] [-6.51179686e-01 7.58918634e-01 -2.74293977e-03 -7.25156111e+01] [-4.13598691e-03 6.54162932e-05 9.99991445e-01 1.65744317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters 0.02155501428849389 Centerline is valid? [True, True] Translation: X:319.65, Y:-72.56, Z:1.66 [[ 7.55792975e-01 6.54807815e-01 1.92479066e-03 3.19648466e+02] [-6.54805566e-01 7.55795425e-01 -1.71635663e-03 -7.25633625e+01] [-2.57863171e-03 3.68466478e-05 9.99996675e-01 1.65646915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters 0.02147634916104871 Centerline is valid? [True, True] Translation: X:319.71, Y:-72.61, Z:1.66 [[ 7.54154657e-01 6.56695254e-01 1.44802546e-03 3.19706643e+02] [-6.56693969e-01 7.54156047e-01 -1.29917114e-03 -7.26117062e+01] [-1.94519668e-03 2.88663804e-05 9.99998108e-01 1.65823292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters 0.021821364509614985 Centerline is valid? [True, True] Translation: X:319.76, Y:-72.66, Z:1.66 [[ 7.54806844e-01 6.55939849e-01 3.08926206e-03 3.19764304e+02] [-6.55934010e-01 7.54813163e-01 -2.76830428e-03 -7.26607114e+01] [-4.14765675e-03 6.31829609e-05 9.99991396e-01 1.65781100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters 0.022312986621494862 Centerline is valid? [True, True] Translation: X:319.82, Y:-72.71, Z:1.66 [[ 7.55309319e-01 6.55368161e-01 6.37559569e-04 3.19823474e+02] [-6.55367902e-01 7.55309588e-01 -5.83235129e-04 -7.27086415e+01] [-8.63788589e-04 2.26868507e-05 9.99999627e-01 1.65926504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters 0.022979902293380934 Centerline is valid? [True, True] Translation: X:319.88, Y:-72.76, Z:1.66 [[ 7.55919819e-01 6.54662103e-01 1.66059564e-03 3.19882375e+02] [-6.54660374e-01 7.55921641e-01 -1.50552094e-03 -7.27577348e+01] [-2.24088769e-03 5.09269525e-05 9.99997488e-01 1.65944624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters 0.023023815202145307 Centerline is valid? [True, True] Translation: X:319.94, Y:-72.81, Z:1.66 [[ 7.53937456e-01 6.56946158e-01 2.42130297e-04 3.19941152e+02] [-6.56946116e-01 7.53937495e-01 -2.33611860e-04 -7.28088698e+01] [-3.36021523e-04 1.70621734e-05 9.99999943e-01 1.66082946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters 0.022320102387168094 Centerline is valid? [True, True] Translation: X:320.01, Y:-72.87, Z:1.66 [[ 7.49872554e-01 6.61581929e-01 -7.09700433e-04 3.20012643e+02] [-6.61581643e-01 7.49872890e-01 6.16067892e-04 -7.28701763e+01] [ 9.39764499e-04 7.55237442e-06 9.99999558e-01 1.66323374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters 0.0226284879823671 Centerline is valid? [True, True] Translation: X:320.07, Y:-72.92, Z:1.66 [[ 7.48903765e-01 6.62678758e-01 -1.21391624e-04 3.20068686e+02] [-6.62678750e-01 7.48903775e-01 9.85177477e-05 -7.29205076e+01] [ 1.56196264e-04 6.66333732e-06 9.99999988e-01 1.66326037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters 0.022503141215675242 Centerline is valid? [True, True] Translation: X:320.13, Y:-72.97, Z:1.66 [[ 7.47120834e-01 6.64685718e-01 -1.83195852e-03 3.20126121e+02] [-6.64683619e-01 7.47123079e-01 1.67069336e-03 -7.29705401e+01] [ 2.47918451e-03 -3.05370005e-05 9.99996926e-01 1.66364404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters 0.022574515000124373 Centerline is valid? [True, True] Translation: X:320.18, Y:-73.02, Z:1.67 [[ 7.46174250e-01 6.65747805e-01 -1.96165959e-03 3.20182693e+02] [-6.65745382e-01 7.46176828e-01 1.79663800e-03 -7.30210746e+01] [ 2.65985273e-03 -3.46392001e-05 9.99996462e-01 1.66556839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters 0.022025907575003115 Centerline is valid? [True, True] Translation: X:320.24, Y:-73.07, Z:1.67 [[ 7.43106241e-01 6.69168755e-01 -2.50828139e-03 3.20238229e+02] [-6.69164771e-01 7.43110473e-01 2.30950414e-03 -7.30726560e+01] [ 3.40937818e-03 -3.77533964e-05 9.99994187e-01 1.66584924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters 0.021428540507097502 Centerline is valid? [True, True] Translation: X:320.30, Y:-73.13, Z:1.67 [[ 7.38644275e-01 6.74081167e-01 -4.38345826e-03 3.20303442e+02] [-6.74068919e-01 7.38657280e-01 4.06382819e-03 -7.31314433e+01] [ 5.97722341e-03 -4.69704633e-05 9.99982135e-01 1.66715241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters 0.02132025598900014 Centerline is valid? [True, True] Translation: X:320.36, Y:-73.18, Z:1.67 [[ 7.35479895e-01 6.77535718e-01 -3.83072931e-03 3.20359582e+02] [-6.77526286e-01 7.35489871e-01 3.57518857e-03 -7.31833123e+01] [ 5.23978056e-03 -3.40595103e-05 9.99986272e-01 1.66642313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters 0.021128039951127622 Centerline is valid? [True, True] Translation: X:320.42, Y:-73.24, Z:1.67 [[ 7.32927518e-01 6.80294412e-01 -4.09472958e-03 3.20416991e+02] [-6.80283586e-01 7.32938955e-01 3.83802801e-03 -7.32369552e+01] [ 5.61217583e-03 -2.74190256e-05 9.99984251e-01 1.66835089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters 0.02085177852220898 Centerline is valid? [True, True] Translation: X:320.47, Y:-73.29, Z:1.67 [[ 7.29725329e-01 6.83720112e-01 -5.26815115e-03 3.20471834e+02] [-6.83702078e-01 7.29744344e-01 4.96596926e-03 -7.32899743e+01] [ 7.23973656e-03 -2.19476657e-05 9.99973793e-01 1.67075139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters 0.020775256282929203 Centerline is valid? [True, True] Translation: X:320.53, Y:-73.34, Z:1.67 [[ 7.26542675e-01 6.87094055e-01 -6.12384554e-03 3.20527384e+02] [-6.87069579e-01 7.26568483e-01 5.79948468e-03 -7.33428690e+01] [ 8.43418460e-03 -6.06513357e-06 9.99964432e-01 1.67138462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters 0.020959887144419213 Centerline is valid? [True, True] Translation: X:320.58, Y:-73.40, Z:1.67 [[ 7.24218339e-01 6.89552712e-01 -4.98546898e-03 3.20584351e+02] [-6.89536429e-01 7.24235499e-01 4.73869803e-03 -7.33957127e+01] [ 6.87823569e-03 5.81045486e-06 9.99976345e-01 1.67093037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters 0.021197870147904977 Centerline is valid? [True, True] Translation: X:320.64, Y:-73.45, Z:1.68 [[ 7.19264053e-01 6.94699008e-01 -7.24641567e-03 3.20638907e+02] [-6.94664479e-01 7.19300553e-01 6.92648559e-03 -7.34490900e+01] [ 1.00241735e-02 5.18554727e-05 9.99949755e-01 1.67511788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters 0.021303128798921548 Centerline is valid? [True, True] Translation: X:320.70, Y:-73.50, Z:1.67 [[ 7.16538918e-01 6.97504915e-01 -7.67278040e-03 3.20701416e+02] [-6.97465914e-01 7.16579995e-01 7.37631058e-03 -7.35036625e+01] [ 1.06431738e-02 6.60891883e-05 9.99943358e-01 1.67474591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters 0.021154136018390286 Centerline is valid? [True, True] Translation: X:320.76, Y:-73.55, Z:1.67 [[ 7.16635989e-01 6.97424600e-01 -5.63788002e-03 3.20759620e+02] [-6.97403336e-01 7.16658166e-01 5.44614930e-03 -7.35548549e+01] [ 7.83871125e-03 2.89697409e-05 9.99969276e-01 1.67370769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters 0.021061251604140678 Centerline is valid? [True, True] Translation: X:320.82, Y:-73.61, Z:1.67 [[ 7.16782163e-01 6.97283664e-01 -4.33851436e-03 3.20816969e+02] [-6.97270973e-01 7.16795293e-01 4.20701709e-03 -7.36063080e+01] [ 6.04331096e-03 9.60531705e-06 9.99981739e-01 1.67475498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters 0.02107004613786498 Centerline is valid? [True, True] Translation: X:320.88, Y:-73.66, Z:1.68 [[ 7.17767045e-01 6.96269441e-01 -4.39718737e-03 3.20879643e+02] [-6.96256256e-01 7.17780513e-01 4.28500837e-03 -7.36593627e+01] [ 6.13973579e-03 -1.40685849e-05 9.99981152e-01 1.67727440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters 0.02122699997031438 Centerline is valid? [True, True] Translation: X:320.94, Y:-73.71, Z:1.68 [[ 7.17714053e-01 6.96318525e-01 -5.20096188e-03 3.20936199e+02] [-6.96299850e-01 7.17732896e-01 5.09982100e-03 -7.37105355e+01] [ 7.28400127e-03 -3.87842182e-05 9.99973471e-01 1.67908590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters 0.021868816515587898 Centerline is valid? [True, True] Translation: X:320.99, Y:-73.76, Z:1.68 [[ 7.18872604e-01 6.95121431e-01 -5.32690125e-03 3.20993423e+02] [-6.95101639e-01 7.18892337e-01 5.24588229e-03 -7.37618745e+01] [ 7.47599369e-03 -6.83832664e-05 9.99972052e-01 1.67869112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters 0.021773626194441703 Centerline is valid? [True, True] Translation: X:321.07, Y:-73.83, Z:1.68 [[ 7.15710360e-01 6.98382821e-01 -4.48517665e-03 3.21067878e+02] [-6.98368710e-01 7.15724412e-01 4.43979883e-03 -7.38260108e+01] [ 6.31082965e-03 -4.53029895e-05 9.99980085e-01 1.68104426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters 0.0225673838236918 Centerline is valid? [True, True] Translation: X:321.12, Y:-73.88, Z:1.68 [[ 7.16799118e-01 6.97270169e-01 -3.65183997e-03 3.21124032e+02] [-6.97260633e-01 7.16808417e-01 3.64736629e-03 -7.38780929e+01] [ 5.16086934e-03 -6.81446866e-05 9.99986680e-01 1.68311661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters 0.02254978546011393 Centerline is valid? [True, True] Translation: X:322.37, Y:-72.65, Z:3.48 [[ 7.51333007e-01 -6.59916011e-01 3.09371273e-03 3.22372724e+02] [-6.59908559e-01 -7.51339305e-01 -3.15305802e-03 -7.26533806e+01] [ 4.40518144e-03 3.27429051e-04 -9.99990244e-01 3.47681675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters 0.022708651916340403 Centerline is valid? [True, True] Translation: X:321.29, Y:-74.04, Z:1.68 [[ 7.71580014e-01 6.36131200e-01 -1.17413574e-03 3.21290962e+02] [-6.36130419e-01 7.71580907e-01 9.97395619e-04 -7.40350090e+01] [ 1.54041519e-03 -2.26670645e-05 9.99998813e-01 1.67859994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters 0.02237813304046161 Centerline is valid? [True, True] Translation: X:321.35, Y:-74.08, Z:1.68 [[ 7.69196164e-01 6.39010958e-01 -1.50205540e-03 3.21347352e+02] [-6.39009691e-01 7.69197631e-01 1.27251738e-03 -7.40833046e+01] [ 1.96853000e-03 -1.89875342e-05 9.99998062e-01 1.68201740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters 0.022485418546038503 Centerline is valid? [True, True] Translation: X:321.41, Y:-74.13, Z:1.68 [[ 7.68686079e-01 6.39611607e-01 -4.32482831e-03 3.21406377e+02] [-6.39600916e-01 7.68698242e-01 3.69880079e-03 -7.41289347e+01] [ 5.69028383e-03 -7.70525288e-05 9.99983807e-01 1.68496300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters 0.023085253919344996 Centerline is valid? [True, True] Translation: X:321.47, Y:-74.17, Z:1.68 [[ 7.69328687e-01 6.38846464e-01 -2.92683441e-03 3.21465238e+02] [-6.38841541e-01 7.69334252e-01 2.50872799e-03 -7.41738556e+01] [ 3.85440596e-03 -6.02530022e-05 9.99992570e-01 1.68219116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters 0.0248512050047781 Centerline is valid? [True, True] Translation: X:321.52, Y:-74.22, Z:1.68 [[ 7.72120334e-01 6.35474490e-01 -1.53733801e-03 3.21523654e+02] [-6.35473126e-01 7.72121863e-01 1.31697430e-03 -7.42201541e+01] [ 2.02391586e-03 -3.99256437e-05 9.99997951e-01 1.68373225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters 0.025631014151110028 Centerline is valid? [True, True] Translation: X:321.59, Y:-74.27, Z:1.68 [[ 7.71663780e-01 6.36026769e-01 -2.22717641e-03 3.21589029e+02] [-6.36023883e-01 7.71666991e-01 1.91716240e-03 -7.42710186e+01] [ 2.93800512e-03 -6.28673951e-05 9.99995682e-01 1.68372305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters 0.025293789850013473 Centerline is valid? [True, True] Translation: X:321.64, Y:-74.32, Z:1.68 [[ 7.69518192e-01 6.38624594e-01 -6.16466894e-04 3.21644061e+02] [-6.38624377e-01 7.69518439e-01 5.26584450e-04 -7.43213326e+01] [ 8.10672423e-04 -1.15255272e-05 9.99999671e-01 1.68152315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters 0.024311316703621536 Centerline is valid? [True, True] Translation: X:321.70, Y:-74.37, Z:1.68 [[ 7.67200751e-01 6.41406273e-01 -1.00014360e-03 3.21700319e+02] [-6.41405691e-01 7.67201403e-01 8.63988475e-04 -7.43707786e+01] [ 1.32147920e-03 -2.13548128e-05 9.99999127e-01 1.68286823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters 0.02483175795877462 Centerline is valid? [True, True] Translation: X:321.76, Y:-74.42, Z:1.68 [[ 7.66376061e-01 6.42389593e-01 -1.82886995e-03 3.21759769e+02] [-6.42387618e-01 7.66378242e-01 1.59353895e-03 -7.44194550e+01] [ 2.42527897e-03 -4.64066970e-05 9.99997058e-01 1.68482336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters 0.024978181083077953 Centerline is valid? [True, True] Translation: X:321.82, Y:-74.47, Z:1.68 [[ 7.65219005e-01 6.43769932e-01 -3.85306596e-04 3.21820597e+02] [-6.43769850e-01 7.65219102e-01 3.24966324e-04 -7.44700745e+01] [ 5.04047516e-04 -6.21637766e-07 9.99999873e-01 1.68288178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters 0.02405933013094208 Centerline is valid? [True, True] Translation: X:321.88, Y:-74.52, Z:1.68 [[ 7.61916742e-01 6.47674514e-01 -7.75871889e-04 3.21875030e+02] [-6.47674161e-01 7.61917137e-01 6.76484679e-04 -7.45206503e+01] [ 1.02929197e-03 -1.29128284e-05 9.99999470e-01 1.68469053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters 0.023878367013487146 Centerline is valid? [True, True] Translation: X:321.93, Y:-74.57, Z:1.69 [[ 7.60386266e-01 6.49466565e-01 -2.43045036e-03 3.21932958e+02] [-6.49463006e-01 7.60390148e-01 2.15080381e-03 -7.45694184e+01] [ 3.24496567e-03 -5.69540822e-05 9.99994733e-01 1.68793931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters 0.022780650355814232 Centerline is valid? [True, True] Translation: X:321.99, Y:-74.62, Z:1.69 [[ 7.56531911e-01 6.53949141e-01 -3.16036728e-03 3.21988040e+02] [-6.53943103e-01 7.56538510e-01 2.81095246e-03 -7.46203436e+01] [ 4.22915951e-03 -5.98748523e-05 9.99991055e-01 1.68753257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters 0.02274009258838005 Centerline is valid? [True, True] Translation: X:322.04, Y:-74.67, Z:1.69 [[ 7.54833063e-01 6.55913586e-01 -2.10101777e-03 3.22044242e+02] [-6.55910917e-01 7.54835986e-01 1.87146056e-03 -7.46711606e+01] [ 2.81344023e-03 -3.45598157e-05 9.99996042e-01 1.68893533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters 0.022718361124031028 Centerline is valid? [True, True] Translation: X:322.10, Y:-74.72, Z:1.69 [[ 7.53689560e-01 6.57229605e-01 -1.13779686e-03 3.22102461e+02] [-6.57228826e-01 7.53690418e-01 1.01169781e-03 -7.47189270e+01] [ 1.52246434e-03 -1.47131783e-05 9.99998841e-01 1.68775987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters 0.022563800803880613 Centerline is valid? [True, True] Translation: X:322.17, Y:-74.78, Z:1.69 [[ 7.51268277e-01 6.59994981e-01 -1.61271177e-03 3.22165576e+02] [-6.59993413e-01 7.51270008e-01 1.43911586e-03 -7.47751034e+01] [ 2.16139123e-03 -1.67829510e-05 9.99997664e-01 1.68974264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters 0.022395258643796177 Centerline is valid? [True, True] Translation: X:322.22, Y:-74.83, Z:1.69 [[ 7.49280175e-01 6.62251863e-01 -1.29947888e-03 3.22222020e+02] [-6.62250831e-01 7.49281302e-01 1.16955052e-03 -7.48258295e+01] [ 1.74821223e-03 -1.57400517e-05 9.99998472e-01 1.69179751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters 0.022564225239972004 Centerline is valid? [True, True] Translation: X:322.28, Y:-74.88, Z:1.69 [[ 7.48335894e-01 6.63319455e-01 -8.31390295e-04 3.22278712e+02] [-6.63319034e-01 7.48336356e-01 7.46664213e-04 -7.48755207e+01] [ 1.11743648e-03 -7.27862355e-06 9.99999376e-01 1.68957882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters 0.02203894239038789 Centerline is valid? [True, True] Translation: X:322.34, Y:-74.93, Z:1.69 [[ 7.45273673e-01 6.66758102e-01 -8.86826021e-04 3.22335046e+02] [-6.66757621e-01 7.45274201e-01 8.00309722e-04 -7.49258515e+01] [ 1.19454154e-03 -5.15175796e-06 9.99999287e-01 1.68917849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters 0.021450517247422647 Centerline is valid? [True, True] Translation: X:322.45, Y:-75.01, Z:1.69 [[ 7.33241986e-01 6.79967601e-01 -5.01471009e-04 3.22445808e+02] [-6.79967500e-01 7.33242155e-01 3.76591921e-04 -7.50144365e+01] [ 6.23769989e-04 6.48509801e-05 9.99999803e-01 1.69278538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters 0.02167336785278145 Centerline is valid? [True, True] Translation: X:322.51, Y:-75.07, Z:1.69 [[ 7.31003243e-01 6.82373953e-01 -2.16158224e-04 3.22509823e+02] [-6.82373929e-01 7.31003275e-01 1.81873592e-04 -7.50719483e+01] [ 2.82118172e-04 1.45505512e-05 9.99999960e-01 1.69276343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters 0.02178088658138962 Centerline is valid? [True, True] Translation: X:322.57, Y:-75.12, Z:1.69 [[ 7.31327701e-01 6.82026173e-01 3.05827146e-04 3.22566955e+02] [-6.82026105e-01 7.31327765e-01 -3.04897356e-04 -7.51231309e+01] [-4.31607860e-04 1.43977852e-05 9.99999907e-01 1.69270783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters 0.02176260231761838 Centerline is valid? [True, True] Translation: X:322.62, Y:-75.18, Z:1.69 [[ 7.29426756e-01 6.84058152e-01 1.02629389e-03 3.22623061e+02] [-6.84057427e-01 7.29427477e-01 -9.95882381e-04 -7.51757328e+01] [-1.42984842e-03 2.43792951e-05 9.99998977e-01 1.69217659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters 0.021658175746585597 Centerline is valid? [True, True] Translation: X:322.68, Y:-75.23, Z:1.69 [[ 7.27786488e-01 6.85801060e-01 1.93250758e-03 3.22678581e+02] [-6.85798501e-01 7.27789052e-01 -1.87373573e-03 -7.52283988e+01] [-2.69146781e-03 3.83687397e-05 9.99996377e-01 1.69349277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters 0.02147979072040803 Centerline is valid? [True, True] Translation: X:322.73, Y:-75.28, Z:1.69 [[ 7.24283489e-01 6.89502241e-01 2.95646256e-04 3.22734101e+02] [-6.89502176e-01 7.24283549e-01 -3.00476945e-04 -7.52805150e+01] [-4.21311246e-04 1.37817531e-05 9.99999911e-01 1.69265816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters 0.021503585455549385 Centerline is valid? [True, True] Translation: X:322.79, Y:-75.33, Z:1.69 [[ 7.22368649e-01 6.91507984e-01 4.92987046e-04 3.22791108e+02] [-6.91507808e-01 7.22368817e-01 -4.94286043e-04 -7.53331223e+01] [-6.97921214e-04 1.61523495e-05 9.99999756e-01 1.69271449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters 0.02098600696067685 Centerline is valid? [True, True] Translation: X:322.85, Y:-75.39, Z:1.69 [[ 7.17525890e-01 6.96531752e-01 -3.38898002e-04 3.22845888e+02] [-6.96531681e-01 7.17525970e-01 3.15431445e-04 -7.53857476e+01] [ 4.62876135e-04 9.72296663e-06 9.99999893e-01 1.69483084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters 0.020771063583234016 Centerline is valid? [True, True] Translation: X:322.90, Y:-75.44, Z:1.70 [[ 7.13091017e-01 7.01069427e-01 -1.69105282e-03 3.22902446e+02] [-7.01067508e-01 7.13093022e-01 1.64044139e-03 -7.54399995e+01] [ 2.35594127e-03 1.57581651e-05 9.99997225e-01 1.69714690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters 0.021353860892345346 Centerline is valid? [True, True] Translation: X:322.96, Y:-75.49, Z:1.70 [[ 7.08782785e-01 7.05426089e-01 -9.98271600e-04 3.22957295e+02] [-7.05425426e-01 7.08783488e-01 9.67291173e-04 -7.54932551e+01] [ 1.38991086e-03 1.86068370e-05 9.99999034e-01 1.69838675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters 0.022183567045986324 Centerline is valid? [True, True] Translation: X:323.01, Y:-75.55, Z:1.70 [[ 7.04039968e-01 7.10160094e-01 -6.03453819e-04 3.23014439e+02] [-7.10159857e-01 7.04040226e-01 5.80681140e-04 -7.55457153e+01] [ 8.37232337e-04 1.97259459e-05 9.99999649e-01 1.69593376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters 0.021570116668407274 Centerline is valid? [True, True] Translation: X:323.07, Y:-75.60, Z:1.70 [[ 7.03100401e-01 7.11086853e-01 -2.30493801e-03 3.23070870e+02] [-7.11083219e-01 7.03104178e-01 2.27392619e-03 -7.55987488e+01] [ 3.23757057e-03 4.02043230e-05 9.99994758e-01 1.69864433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters 0.02114511283410662 Centerline is valid? [True, True] Translation: X:323.13, Y:-75.65, Z:1.70 [[ 7.03137081e-01 7.11052034e-01 -1.80303666e-03 3.23130098e+02] [-7.11049798e-01 7.03139392e-01 1.78313217e-03 -7.56523861e+01] [ 2.53568585e-03 2.82625054e-05 9.99996785e-01 1.69639148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters 0.02051089034915197 Centerline is valid? [True, True] Translation: X:323.19, Y:-75.71, Z:1.70 [[ 7.06906738e-01 7.07305784e-01 -1.17950916e-03 3.23186333e+02] [-7.07304821e-01 7.06907722e-01 1.16747450e-03 -7.57053308e+01] [ 1.65956560e-03 8.97692464e-06 9.99998623e-01 1.69892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters 0.02045201264874371 Centerline is valid? [True, True] Translation: X:324.45, Y:-74.46, Z:3.48 [[ 7.59776566e-01 -6.50172252e-01 3.95125884e-03 3.24452500e+02] [-6.50160777e-01 -7.59786746e-01 -3.88133035e-03 -7.44616988e+01] [ 5.52564738e-03 3.79990330e-04 -9.99984661e-01 3.48355842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters 0.02042110975822978 Centerline is valid? [True, True] Translation: X:323.35, Y:-75.87, Z:1.70 [[ 7.64848789e-01 6.44202747e-01 -3.02498747e-03 3.23351676e+02] [-6.44197612e-01 7.64854771e-01 2.57227896e-03 -7.58657053e+01] [ 3.97074527e-03 -1.87147427e-05 9.99992116e-01 1.69877774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters 0.020474586958429523 Centerline is valid? [True, True] Translation: X:323.41, Y:-75.92, Z:1.70 [[ 7.63620950e-01 6.45654113e-01 -3.71640223e-03 3.23409432e+02] [-6.45646362e-01 7.63629993e-01 3.16362304e-03 -7.59150390e+01] [ 4.88056243e-03 -1.63272521e-05 9.99988090e-01 1.70111963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters 0.020365153927433783 Centerline is valid? [True, True] Translation: X:323.47, Y:-75.96, Z:1.70 [[ 7.60794649e-01 6.48983403e-01 -3.47053523e-03 3.23466130e+02] [-6.48976630e-01 7.60802565e-01 2.96501119e-03 -7.59643796e+01] [ 4.56463516e-03 -3.46839391e-06 9.99989582e-01 1.70191495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters 0.02016046203604206 Centerline is valid? [True, True] Translation: X:323.52, Y:-76.01, Z:1.70 [[ 7.57245940e-01 6.53118210e-01 -3.89747550e-03 3.23522982e+02] [-6.53109648e-01 7.57255970e-01 3.34419635e-03 -7.60148009e+01] [ 5.13554213e-03 1.30997454e-05 9.99986813e-01 1.70253914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters 0.02024676533357502 Centerline is valid? [True, True] Translation: X:323.58, Y:-76.06, Z:1.70 [[ 7.55503057e-01 6.55135029e-01 -3.63641332e-03 3.23581283e+02] [-6.55127545e-01 7.55511809e-01 3.13152365e-03 -7.60631009e+01] [ 4.79892405e-03 1.64388363e-05 9.99988485e-01 1.70218119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters 0.020094716982552607 Centerline is valid? [True, True] Translation: X:323.64, Y:-76.11, Z:1.70 [[ 7.55220170e-01 6.55455548e-01 -4.52968419e-03 3.23640006e+02] [-6.55443833e-01 7.55233754e-01 3.91899282e-03 -7.61102678e+01] [ 5.98969599e-03 9.25113859e-06 9.99982062e-01 1.70190541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters 0.019889680166286144 Centerline is valid? [True, True] Translation: X:323.70, Y:-76.16, Z:1.71 [[ 7.53942319e-01 6.56912756e-01 -6.05059522e-03 3.23698157e+02] [-6.56891702e-01 7.53966598e-01 5.25937091e-03 -7.61590097e+01] [ 8.01689453e-03 9.32349479e-06 9.99967864e-01 1.70612528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters 0.019887064075906735 Centerline is valid? [True, True] Translation: X:323.76, Y:-76.21, Z:1.71 [[ 7.54113277e-01 6.56719599e-01 -5.70380931e-03 3.23757280e+02] [-6.56700743e-01 7.54134848e-01 4.97648948e-03 -7.62060143e+01] [ 7.56959954e-03 -7.14098343e-06 9.99971350e-01 1.70525913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters 0.020027411953650327 Centerline is valid? [True, True] Translation: X:323.82, Y:-76.25, Z:1.71 [[ 7.54625656e-01 6.56133647e-01 -5.36256892e-03 3.23816825e+02] [-6.56116841e-01 7.54644709e-01 4.69618612e-03 -7.62532023e+01] [ 7.12815998e-03 -2.53907483e-05 9.99974594e-01 1.70707368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters 0.020063204895646496 Centerline is valid? [True, True] Translation: X:323.88, Y:-76.30, Z:1.71 [[ 7.54210955e-01 6.56605317e-01 -5.94086721e-03 3.23875632e+02] [-6.56584535e-01 7.54234351e-01 5.22412232e-03 -7.63008488e+01] [ 7.91099261e-03 -3.94087446e-05 9.99968707e-01 1.70714921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters 0.020085823517070552 Centerline is valid? [True, True] Translation: X:323.93, Y:-76.35, Z:1.71 [[ 7.52878372e-01 6.58132570e-01 -5.97300120e-03 3.23934256e+02] [-6.58111440e-01 7.52902064e-01 5.27388999e-03 -7.63498378e+01] [ 7.96800370e-03 -3.96972885e-05 9.99968254e-01 1.70816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters 0.020243100695996365 Centerline is valid? [True, True] Translation: X:323.99, Y:-76.40, Z:1.71 [[ 7.51610363e-01 6.59567413e-01 -7.25878025e-03 3.23992120e+02] [-6.59535986e-01 7.51645412e-01 6.43878953e-03 -7.63985857e+01] [ 9.70284462e-03 -5.20341455e-05 9.99952925e-01 1.70948474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters 0.020240410682825432 Centerline is valid? [True, True] Translation: X:324.05, Y:-76.45, Z:1.71 [[ 7.49718170e-01 6.61713362e-01 -7.62176685e-03 3.24050817e+02] [-6.61678549e-01 7.49756910e-01 6.78771938e-03 -7.64476487e+01] [ 1.02059970e-02 -4.57169207e-05 9.99947916e-01 1.70797870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters 0.02018126559062221 Centerline is valid? [True, True] Translation: X:324.11, Y:-76.50, Z:1.71 [[ 7.49253168e-01 6.62227582e-01 -8.62095434e-03 3.24108556e+02] [-6.62182714e-01 7.49302759e-01 7.70897090e-03 -7.64968016e+01] [ 1.15647980e-02 -6.73239238e-05 9.99933123e-01 1.71250546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters 0.020646290160142754 Centerline is valid? [True, True] Translation: X:324.17, Y:-76.54, Z:1.71 [[ 7.49414504e-01 6.62042441e-01 -8.81515470e-03 3.24167424e+02] [-6.61995157e-01 7.49466342e-01 7.91296532e-03 -7.65448642e+01] [ 1.18453806e-02 -9.45012604e-05 9.99929837e-01 1.71268134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters 0.021142409786245393 Centerline is valid? [True, True] Translation: X:324.23, Y:-76.59, Z:1.71 [[ 7.49906808e-01 6.61474402e-01 -9.56002608e-03 3.24226922e+02] [-6.61418310e-01 7.49967730e-01 8.61525981e-03 -7.65924710e+01] [ 1.28684849e-02 -1.37465693e-04 9.99917188e-01 1.71426384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters 0.021307264238860254 Centerline is valid? [True, True] Translation: X:324.28, Y:-76.64, Z:1.72 [[ 7.49241583e-01 6.62205947e-01 -1.09696516e-02 3.24284602e+02] [-6.62131590e-01 7.49321863e-01 9.92492310e-03 -7.66412113e+01] [ 1.47921429e-02 -1.72812260e-04 9.99890575e-01 1.71696675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters 0.021798325191569302 Centerline is valid? [True, True] Translation: X:324.34, Y:-76.69, Z:1.72 [[ 7.49186562e-01 6.62271003e-01 -1.07987772e-02 3.24342209e+02] [-6.62198413e-01 7.49264359e-01 9.80727216e-03 -7.66898605e+01] [ 1.45862109e-02 -1.96543361e-04 9.99893596e-01 1.71903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters 0.022316117318548857 Centerline is valid? [True, True] Translation: X:324.40, Y:-76.74, Z:1.72 [[ 7.48902969e-01 6.62577766e-01 -1.16209645e-02 3.24400727e+02] [-6.62493097e-01 7.48993090e-01 1.05947282e-02 -7.67378555e+01] [ 1.57238535e-02 -2.35614624e-04 9.99876345e-01 1.71848731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters 0.022531181117869524 Centerline is valid? [True, True] Translation: X:324.46, Y:-76.79, Z:1.72 [[ 7.48364610e-01 6.63196020e-01 -1.10204202e-02 3.24458537e+02] [-6.63119388e-01 7.48445710e-01 1.00844464e-02 -7.67869867e+01] [ 1.49361510e-02 -2.38988508e-04 9.99888421e-01 1.71855331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters 0.022622127083418098 Centerline is valid? [True, True] Translation: X:324.52, Y:-76.84, Z:1.72 [[ 7.47790241e-01 6.63851647e-01 -1.05236153e-02 3.24515896e+02] [-6.63781325e-01 7.47864247e-01 9.66544485e-03 -7.68362034e+01] [ 1.42866571e-02 -2.42346008e-04 9.99897911e-01 1.72014531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters 0.022592107770432454 Centerline is valid? [True, True] Translation: X:324.57, Y:-76.89, Z:1.72 [[ 7.45958677e-01 6.65894247e-01 -1.14238123e-02 3.24572743e+02] [-6.65810987e-01 7.46046104e-01 1.05328247e-02 -7.68858249e+01] [ 1.55364380e-02 -2.50952200e-04 9.99879271e-01 1.72252363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters 0.0206831904222484 Centerline is valid? [True, True] Translation: X:324.63, Y:-76.94, Z:1.72 [[ 7.39439093e-01 6.73152301e-01 -9.78812654e-03 3.24628527e+02] [-6.73091373e-01 7.39503866e-01 9.05737832e-03 -7.69369816e+01] [ 1.33353525e-02 -1.09076076e-04 9.99911074e-01 1.72180464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters 0.02006631629820719 Centerline is valid? [True, True] Translation: X:324.68, Y:-76.99, Z:1.72 [[ 7.34324914e-01 6.78698933e-01 -1.16051226e-02 3.24683956e+02] [-6.78613286e-01 7.34416609e-01 1.07819956e-02 -7.69880640e+01] [ 1.58407237e-02 -4.20975461e-05 9.99874527e-01 1.72490399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters 0.019884653867900105 Centerline is valid? [True, True] Translation: X:324.74, Y:-77.04, Z:1.72 [[ 7.32249795e-01 6.80994603e-01 -7.52250329e-03 3.24743468e+02] [-6.80958505e-01 7.32288434e-01 7.01168996e-03 -7.70364077e+01] [ 1.02835652e-02 -1.17959406e-05 9.99947123e-01 1.72102124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters 0.019754723120776432 Centerline is valid? [True, True] Translation: X:324.80, Y:-77.09, Z:1.72 [[ 7.31863072e-01 6.81440890e-01 -3.84151676e-03 3.24800968e+02] [-6.81431442e-01 7.31873154e-01 3.58846916e-03 -7.70867408e+01] [ 5.25683261e-03 -8.53775830e-06 9.99986183e-01 1.72036253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters 0.020490166785814612 Centerline is valid? [True, True] Translation: X:324.86, Y:-77.13, Z:1.72 [[ 7.34266687e-01 6.78848660e-01 -4.11460869e-03 3.24860950e+02] [-6.78837688e-01 7.34278214e-01 3.85980019e-03 -7.71342300e+01] [ 5.64148771e-03 -4.09712471e-05 9.99984086e-01 1.71836874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters 0.021435214891597467 Centerline is valid? [True, True] Translation: X:324.92, Y:-77.18, Z:1.72 [[ 7.37282309e-01 6.75584638e-01 4.40219773e-04 3.24919379e+02] [-6.75584502e-01 7.37282441e-01 -4.28737260e-04 -7.71838550e+01] [-6.14214615e-04 1.86947410e-05 9.99999811e-01 1.71685600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters 0.022723631501741358 Centerline is valid? [True, True] Translation: X:324.98, Y:-77.23, Z:1.71 [[ 7.40108316e-01 6.72480343e-01 3.14154296e-03 3.24977943e+02] [-6.72473694e-01 7.40114976e-01 -2.99214963e-03 -7.72327493e+01] [-4.33726480e-03 1.01909821e-04 9.99990589e-01 1.71373608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters 0.024728182841089724 Centerline is valid? [True, True] Translation: X:325.04, Y:-77.28, Z:1.71 [[ 7.43522707e-01 6.68665130e-01 7.80560948e-03 3.25035568e+02] [-6.68623763e-01 7.43563611e-01 -7.44441385e-03 -7.72829165e+01] [-1.07817871e-02 3.16074751e-04 9.99941825e-01 1.71302513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters 0.025497870451093863 Centerline is valid? [True, True] Translation: X:325.09, Y:-77.33, Z:1.71 [[ 7.43465373e-01 6.68712307e-01 9.11533370e-03 3.25092556e+02] [-6.68655514e-01 7.43521148e-01 -8.72389096e-03 -7.73339781e+01] [-1.26112166e-02 3.90892707e-04 9.99920399e-01 1.71206410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters 0.02661202031679094 Centerline is valid? [True, True] Translation: X:325.15, Y:-77.39, Z:1.71 [[ 7.44283883e-01 6.67795337e-01 9.53357750e-03 3.25148086e+02] [-6.67732703e-01 7.44344803e-01 -9.15702930e-03 -7.73859816e+01] [-1.32112903e-02 4.49547845e-04 9.99912626e-01 1.71115296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters 0.02656589473976369 Centerline is valid? [True, True] Translation: X:325.21, Y:-77.44, Z:1.71 [[ 7.42706501e-01 6.69530913e-01 1.07429129e-02 3.25205163e+02] [-6.69450833e-01 7.42784018e-01 -1.03674753e-02 -7.74401894e+01] [-1.49210092e-02 5.08139266e-04 9.99888546e-01 1.71215196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters 0.02520402706595416 Centerline is valid? [True, True] Translation: X:325.26, Y:-77.49, Z:1.71 [[ 7.40245375e-01 6.72274985e-01 9.11758557e-03 3.25258794e+02] [-6.72217106e-01 7.40301411e-01 -8.83086111e-03 -7.74933254e+01] [-1.26865285e-02 4.08007105e-04 9.99919440e-01 1.71362453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters 0.0252105158927791 Centerline is valid? [True, True] Translation: X:325.32, Y:-77.54, Z:1.71 [[ 7.38286908e-01 6.74438237e-01 8.09353749e-03 3.25315011e+02] [-6.74392411e-01 7.38331186e-01 -7.86993209e-03 -7.75445650e+01] [-1.12834943e-02 3.52047570e-04 9.99936277e-01 1.71402974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters 0.02582461837348082 Centerline is valid? [True, True] Translation: X:325.37, Y:-77.60, Z:1.71 [[ 7.38373691e-01 6.74316426e-01 1.00821626e-02 3.25371468e+02] [-6.74244822e-01 7.38442375e-01 -9.83760234e-03 -7.75959285e+01] [-1.40787530e-02 4.65980806e-04 9.99900781e-01 1.71459669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters 0.026041464635457562 Centerline is valid? [True, True] Translation: X:325.44, Y:-77.66, Z:1.71 [[ 7.35050506e-01 6.77949189e-01 9.25477066e-03 3.25441817e+02] [-6.77887720e-01 7.35108631e-01 -9.14001979e-03 -7.76591612e+01] [-1.29997308e-02 4.44680792e-04 9.99915401e-01 1.71467283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters 0.026816083080080023 Centerline is valid? [True, True] Translation: X:325.50, Y:-77.71, Z:1.71 [[ 7.34944111e-01 6.78071158e-01 8.75545404e-03 3.25499641e+02] [-6.78015979e-01 7.34996136e-01 -8.66096541e-03 -7.77098824e+01] [-1.23079757e-02 4.28987787e-04 9.99924162e-01 1.71179593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters 0.026727108255615747 Centerline is valid? [True, True] Translation: X:325.55, Y:-77.76, Z:1.71 [[ 7.33371129e-01 6.79771553e-01 8.79899623e-03 3.25554387e+02] [-6.79715541e-01 7.33423788e-01 -8.73669114e-03 -7.77638358e+01] [-1.23923473e-02 4.26422563e-04 9.99923121e-01 1.71408863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters 0.027262497171482596 Centerline is valid? [True, True] Translation: X:325.61, Y:-77.82, Z:1.71 [[ 7.33057723e-01 6.80126217e-01 7.39623926e-03 3.25611037e+02] [-6.80086349e-01 7.33094939e-01 -7.37357411e-03 -7.78157108e+01] [-1.04371066e-02 3.75174092e-04 9.99945462e-01 1.71412190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters 0.027102585727247993 Centerline is valid? [True, True] Translation: X:325.67, Y:-77.87, Z:1.71 [[ 7.31808955e-01 6.81463897e-01 7.91266540e-03 3.25666407e+02] [-6.81418022e-01 7.31851621e-01 -7.91726229e-03 -7.78686837e+01] [-1.11862254e-02 4.02090632e-04 9.99937351e-01 1.71415542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters 0.02737421792438988 Centerline is valid? [True, True] Translation: X:325.73, Y:-77.93, Z:1.71 [[ 7.29235778e-01 6.84215924e-01 7.98428883e-03 3.25733844e+02] [-6.84168457e-01 7.29279364e-01 -8.07046550e-03 -7.79315394e+01] [-1.13447181e-02 4.22673622e-04 9.99935557e-01 1.71393062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters 0.027458854216252965 Centerline is valid? [True, True] Translation: X:326.96, Y:-76.74, Z:3.50 [[ 7.36421341e-01 -6.76339481e-01 1.57643925e-02 3.26963417e+02] [-6.76194793e-01 -7.36589968e-01 -1.39935774e-02 -7.67361731e+01] [ 2.10763022e-02 -3.54631139e-04 -9.99777807e-01 3.49971127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters 0.028026347977924252 Centerline is valid? [True, True] Translation: X:325.90, Y:-78.09, Z:1.71 [[ 7.83074796e-01 6.21882451e-01 7.48869821e-03 3.25897937e+02] [-6.21849526e-01 7.83110519e-01 -6.40950064e-03 -7.80922345e+01] [-9.85043431e-03 3.62274969e-04 9.99951418e-01 1.71460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters 0.027499475851071847 Centerline is valid? [True, True] Translation: X:325.95, Y:-78.14, Z:1.72 [[ 7.81396893e-01 6.23977286e-01 8.44052307e-03 3.25953535e+02] [-6.23935217e-01 7.81442373e-01 -7.25688969e-03 -7.81414281e+01] [-1.11239167e-02 4.04171463e-04 9.99938046e-01 1.71761568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters 0.027478617368687785 Centerline is valid? [True, True] Translation: X:326.01, Y:-78.19, Z:1.72 [[ 7.80324491e-01 6.25337916e-01 6.79551932e-03 3.26011726e+02] [-6.25310500e-01 7.80354012e-01 -5.86471936e-03 -7.81874435e+01] [-8.97034215e-03 3.27074568e-04 9.99959712e-01 1.71712901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters 0.026893081036600278 Centerline is valid? [True, True] Translation: X:326.07, Y:-78.24, Z:1.72 [[ 7.78630790e-01 6.27429955e-01 8.10832769e-03 3.26067225e+02] [-6.27390799e-01 7.78672915e-01 -7.01970108e-03 -7.82367976e+01] [-1.07181059e-02 3.78665202e-04 9.99942488e-01 1.71730883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters 0.027066747250703342 Centerline is valid? [True, True] Translation: X:326.12, Y:-78.28, Z:1.72 [[ 7.77618005e-01 6.28691276e-01 7.58403920e-03 3.26124006e+02] [-6.28656847e-01 7.77654906e-01 -6.58908431e-03 -7.82847322e+01] [-1.00402651e-02 3.56032427e-04 9.99949532e-01 1.71986094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters 0.02714620181796209 Centerline is valid? [True, True] Translation: X:326.18, Y:-78.33, Z:1.72 [[ 7.76805857e-01 6.29705621e-01 6.59484394e-03 3.26180968e+02] [-6.29679441e-01 7.76833786e-01 -5.75066714e-03 -7.83315489e+01] [-8.74432501e-03 3.14514267e-04 9.99961718e-01 1.71967067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters 0.025922481257571264 Centerline is valid? [True, True] Translation: X:326.24, Y:-78.38, Z:1.72 [[ 7.73985498e-01 6.33162315e-01 7.20635471e-03 3.26239360e+02] [-6.33130958e-01 7.74018979e-01 -6.30953570e-03 -7.83828864e+01] [-9.57281554e-03 3.20922878e-04 9.99954128e-01 1.71872057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters 0.025752442535936147 Centerline is valid? [True, True] Translation: X:326.30, Y:-78.43, Z:1.72 [[ 7.72258195e-01 6.35270742e-01 6.95455973e-03 3.26295866e+02] [-6.35241436e-01 7.72289450e-01 -6.10928067e-03 -7.84310919e+01] [-9.25198037e-03 3.00117549e-04 9.99957154e-01 1.71940520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters 0.025486531702564947 Centerline is valid? [True, True] Translation: X:326.35, Y:-78.48, Z:1.72 [[ 7.70695069e-01 6.37165126e-01 7.05073555e-03 3.26352060e+02] [-6.37134876e-01 7.70727263e-01 -6.21579963e-03 -7.84807433e+01] [-9.39468486e-03 2.98216610e-04 9.99955825e-01 1.72042431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters 0.025184228519838574 Centerline is valid? [True, True] Translation: X:326.41, Y:-78.53, Z:1.72 [[ 7.68836295e-01 6.39407342e-01 7.00016865e-03 3.26411452e+02] [-6.39377336e-01 7.68868107e-01 -6.20135199e-03 -7.85297435e+01] [-9.34739641e-03 2.92075311e-04 9.99956269e-01 1.71819038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters 0.02440171459552003 Centerline is valid? [True, True] Translation: X:326.47, Y:-78.58, Z:1.72 [[ 7.66297688e-01 6.42440144e-01 7.64944344e-03 3.26467263e+02] [-6.42404255e-01 7.66335810e-01 -6.79698355e-03 -7.85802767e+01] [-1.02286975e-02 2.94477769e-04 9.99947642e-01 1.71935601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters 0.02350899097954291 Centerline is valid? [True, True] Translation: X:326.52, Y:-78.63, Z:1.72 [[ 7.63898664e-01 6.45308379e-01 5.99394084e-03 3.26523884e+02] [-6.45286254e-01 7.63922148e-01 -5.34808032e-03 -7.86300648e+01] [-8.03006520e-03 2.17583778e-04 9.99967735e-01 1.72047506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters 0.02283662587710423 Centerline is valid? [True, True] Translation: X:326.58, Y:-78.68, Z:1.72 [[ 7.61088936e-01 6.48617069e-01 6.28716085e-03 3.26584127e+02] [-6.48592583e-01 7.61114874e-01 -5.63999268e-03 -7.86823357e+01] [-8.44344716e-03 2.14730127e-04 9.99964330e-01 1.71884618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters 0.02247171071465072 Centerline is valid? [True, True] Translation: X:326.64, Y:-78.73, Z:1.72 [[ 7.59143241e-01 6.50882124e-01 7.34845753e-03 3.26640605e+02] [-6.50848607e-01 7.59178770e-01 -6.60948598e-03 -7.87322651e+01] [-9.88078923e-03 2.34813255e-04 9.99951156e-01 1.71948031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters 0.021851678276347472 Centerline is valid? [True, True] Translation: X:326.70, Y:-78.78, Z:1.72 [[ 7.56230065e-01 6.54268958e-01 6.94407931e-03 3.26701796e+02] [-6.54238782e-01 7.56261916e-01 -6.28732243e-03 -7.87848088e+01] [-9.36514262e-03 2.11576261e-04 9.99956124e-01 1.72179130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters 0.02242799888269304 Centerline is valid? [True, True] Translation: X:326.76, Y:-78.84, Z:1.72 [[ 7.55438996e-01 6.55178419e-01 7.29127950e-03 3.26763839e+02] [-6.55144840e-01 7.55474145e-01 -6.63748693e-03 -7.88371081e+01] [-9.85711133e-03 2.37372329e-04 9.99951389e-01 1.72029313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters 0.02296047095618462 Centerline is valid? [True, True] Translation: X:326.82, Y:-78.89, Z:1.72 [[ 7.55045455e-01 6.55623886e-01 7.98007856e-03 3.26819946e+02] [-6.55583476e-01 7.55087577e-01 -7.28403213e-03 -7.88874876e+01] [-1.08012436e-02 2.68167706e-04 9.99941629e-01 1.72178876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters 0.02292498775420773 Centerline is valid? [True, True] Translation: X:326.88, Y:-78.94, Z:1.72 [[ 7.53390867e-01 6.57520627e-01 8.29616441e-03 3.26877099e+02] [-6.57476758e-01 7.53436494e-01 -7.60011737e-03 -7.89376520e+01] [-1.12478670e-02 2.71323733e-04 9.99936704e-01 1.72060008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters 0.022643394124572242 Centerline is valid? [True, True] Translation: X:326.93, Y:-78.99, Z:1.72 [[ 7.51484572e-01 6.59704185e-01 7.83114745e-03 3.26934136e+02] [-6.59664921e-01 7.51525334e-01 -7.20161029e-03 -7.89869051e+01] [-1.06362381e-02 2.45965763e-04 9.99943403e-01 1.71944240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters 0.023077293897280263 Centerline is valid? [True, True] Translation: X:326.99, Y:-79.04, Z:1.72 [[ 7.51088694e-01 6.60147032e-01 8.46581770e-03 3.26991145e+02] [-6.60100837e-01 7.51136351e-01 -7.81451380e-03 -7.90379478e+01] [-1.15177115e-02 2.81099619e-04 9.99933629e-01 1.72069334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters 0.02290088833041678 Centerline is valid? [True, True] Translation: X:327.05, Y:-79.09, Z:1.72 [[ 7.49040470e-01 6.62488306e-01 6.90064540e-03 3.27052268e+02] [-6.62457305e-01 7.49072220e-01 -6.41322389e-03 -7.90907741e+01] [-9.41776760e-03 2.32381288e-04 9.99955625e-01 1.72230873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters 0.02351967111055069 Centerline is valid? [True, True] Translation: X:327.11, Y:-79.14, Z:1.72 [[ 7.48793072e-01 6.62757049e-01 7.87592552e-03 3.27109984e+02] [-6.62716477e-01 7.48834440e-01 -7.33845477e-03 -7.91405925e+01] [-1.07613769e-02 2.75478481e-04 9.99942057e-01 1.72096696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters 0.024907201801327817 Centerline is valid? [True, True] Translation: X:327.17, Y:-79.19, Z:1.72 [[ 7.50074785e-01 6.61301556e-01 8.25037841e-03 3.27171572e+02] [-6.61256520e-01 7.50120082e-01 -7.72513437e-03 -7.91899660e+01] [-1.12974179e-02 3.38811992e-04 9.99936125e-01 1.71909503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters 0.02545351150703055 Centerline is valid? [True, True] Translation: X:327.23, Y:-79.24, Z:1.72 [[ 7.49847150e-01 6.61561744e-01 8.08151986e-03 3.27227883e+02] [-6.61518269e-01 7.49890618e-01 -7.59214917e-03 -7.92405364e+01] [-1.10829314e-02 3.46878382e-04 9.99938522e-01 1.72280548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters 0.02558411003573967 Centerline is valid? [True, True] Translation: X:327.29, Y:-79.29, Z:1.72 [[ 7.48609921e-01 6.62978116e-01 6.57296677e-03 3.27285947e+02] [-6.62949187e-01 7.48638723e-01 -6.19979313e-03 -7.92899580e+01] [-9.03110462e-03 2.83683668e-04 9.99959179e-01 1.72168952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters 0.02611756421906374 Centerline is valid? [True, True] Translation: X:327.35, Y:-79.34, Z:1.72 [[ 7.48493001e-01 6.63115348e-01 6.02184617e-03 3.27345790e+02] [-6.63090820e-01 7.48517172e-01 -5.71035172e-03 -7.93409806e+01] [-8.29407713e-03 2.81127382e-04 9.99965564e-01 1.72233223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters 0.027202936297586282 Centerline is valid? [True, True] Translation: X:327.40, Y:-79.39, Z:1.72 [[ 7.48740818e-01 6.62814705e-01 7.99088702e-03 3.27404578e+02] [-6.62771154e-01 7.48783350e-01 -7.60865542e-03 -7.93938979e+01] [-1.10265719e-02 4.00781467e-04 9.99939125e-01 1.72248254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters 0.027099086956255854 Centerline is valid? [True, True] Translation: X:327.49, Y:-79.47, Z:1.72 [[ 7.42932127e-01 6.69324609e-01 7.51151920e-03 3.27491915e+02] [-6.69284815e-01 7.42969989e-01 -7.30962735e-03 -7.94664483e+01] [-1.04733468e-02 4.03211251e-04 9.99945072e-01 1.72297100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters 0.02677290914753471 Centerline is valid? [True, True] Translation: X:327.55, Y:-79.52, Z:1.72 [[ 7.41189570e-01 6.71261159e-01 6.81752095e-03 3.27547205e+02] [-6.71228585e-01 7.41220849e-01 -6.62112625e-03 -7.95181819e+01] [-9.49779355e-03 3.31394779e-04 9.99954840e-01 1.72410247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters 0.026212679009517122 Centerline is valid? [True, True] Translation: X:327.60, Y:-79.57, Z:1.72 [[ 7.38985412e-01 6.73698793e-01 5.52238832e-03 3.27601214e+02] [-6.73677319e-01 7.39006000e-01 -5.38521798e-03 -7.95713478e+01] [-7.70909296e-03 2.59289772e-04 9.99970251e-01 1.72475778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters 0.026138614998946826 Centerline is valid? [True, True] Translation: X:327.66, Y:-79.62, Z:1.72 [[ 7.37452783e-01 6.75362112e-01 7.02926564e-03 3.27656256e+02] [-6.75327182e-01 7.37486212e-01 -6.87637458e-03 -7.96233392e+01] [-9.82802935e-03 3.23947415e-04 9.99951651e-01 1.72390135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters 0.02568272538410152 Centerline is valid? [True, True] Translation: X:327.71, Y:-79.68, Z:1.72 [[ 7.34658797e-01 6.78415305e-01 5.39697050e-03 3.27714914e+02] [-6.78394522e-01 7.34678579e-01 -5.31576018e-03 -7.96769072e+01] [-7.57133168e-03 2.43994756e-04 9.99971307e-01 1.72350259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters 0.025517143359282974 Centerline is valid? [True, True] Translation: X:327.77, Y:-79.73, Z:1.72 [[ 7.33878482e-01 6.79241116e-01 7.34030886e-03 3.27769894e+02] [-6.79202549e-01 7.33915115e-01 -7.24584206e-03 -7.97305544e+01] [-1.03088375e-02 3.32011080e-04 9.99946807e-01 1.72367482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters 0.025219525457891592 Centerline is valid? [True, True] Translation: X:327.82, Y:-79.79, Z:1.72 [[ 7.31772479e-01 6.81523990e-01 5.83867634e-03 3.27824365e+02] [-6.81499455e-01 7.31795727e-01 -5.78854461e-03 -7.97850276e+01] [-8.21775041e-03 2.56842895e-04 9.99966201e-01 1.72335592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters 0.02405185653929938 Centerline is valid? [True, True] Translation: X:327.88, Y:-79.84, Z:1.72 [[ 7.28561654e-01 6.84940565e-01 7.37151003e-03 3.27879511e+02] [-6.84901377e-01 7.28598886e-01 -7.33263182e-03 -7.98383009e+01] [-1.03932910e-02 2.93516999e-04 9.99945945e-01 1.72180222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters 0.02318231157968697 Centerline is valid? [True, True] Translation: X:327.93, Y:-79.89, Z:1.72 [[ 7.25624634e-01 6.88033417e-01 8.88301816e-03 3.27932691e+02] [-6.87976348e-01 7.25678932e-01 -8.86745577e-03 -7.98932167e+01] [-1.25473250e-02 3.23137958e-04 9.99921227e-01 1.72185829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters 0.021271908103240596 Centerline is valid? [True, True] Translation: X:327.99, Y:-79.95, Z:1.72 [[ 7.20108101e-01 6.93822241e-01 7.41759948e-03 3.27986143e+02] [-6.93782364e-01 7.20146272e-01 -7.44169154e-03 -7.99482073e+01] [-1.05049677e-02 2.12622661e-04 9.99944799e-01 1.72445526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters 0.02074972340094741 Centerline is valid? [True, True] Translation: X:329.23, Y:-78.73, Z:3.52 [[ 7.51057487e-01 -6.60075261e-01 1.46048702e-02 3.29226271e+02] [-6.59948787e-01 -7.51199472e-01 -1.29209885e-02 -7.87288352e+01] [ 1.94999956e-02 6.59387635e-05 -9.99809855e-01 3.52094942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters 0.02072355084284681 Centerline is valid? [True, True] Translation: X:328.15, Y:-80.11, Z:1.72 [[ 7.72697334e-01 6.34737138e-01 6.89895858e-03 3.28148741e+02] [-6.34710033e-01 7.72728117e-01 -5.86786564e-03 -8.01071304e+01] [-9.05557151e-03 1.55245911e-04 9.99958985e-01 1.72411825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters 0.020921663795527606 Centerline is valid? [True, True] Translation: X:328.21, Y:-80.15, Z:1.72 [[ 7.72018148e-01 6.35561639e-01 7.02727302e-03 3.28206990e+02] [-6.35533270e-01 7.72050111e-01 -6.00743717e-03 -8.01538694e+01] [-9.24350353e-03 1.71784714e-04 9.99957263e-01 1.72391100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters 0.021350771374655474 Centerline is valid? [True, True] Translation: X:328.27, Y:-80.20, Z:1.72 [[ 7.72014134e-01 6.35554176e-01 8.06637034e-03 3.28265781e+02] [-6.35516545e-01 7.72056243e-01 -6.91945389e-03 -8.02004087e+01] [-1.06253794e-02 2.15604398e-04 9.99943526e-01 1.72445131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters 0.020829566237478024 Centerline is valid? [True, True] Translation: X:328.32, Y:-80.25, Z:1.72 [[ 7.69624691e-01 6.38440415e-01 8.46586520e-03 3.28323765e+02] [-6.38398849e-01 7.69671225e-01 -7.28799816e-03 -8.02482131e+01] [-1.11688854e-02 2.04424732e-04 9.99937605e-01 1.72374541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters 0.0210307989474272 Centerline is valid? [True, True] Translation: X:328.38, Y:-80.30, Z:1.72 [[ 7.68605209e-01 6.39668063e-01 8.41441886e-03 3.28382082e+02] [-6.39626780e-01 7.68651239e-01 -7.27021680e-03 -8.02955150e+01] [-1.11182790e-02 2.05838863e-04 9.99938169e-01 1.72348366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters 0.02149813418985249 Centerline is valid? [True, True] Translation: X:328.44, Y:-80.34, Z:1.72 [[ 7.69163953e-01 6.39006663e-01 7.56951781e-03 3.28441087e+02] [-6.38972957e-01 7.69201169e-01 -6.56669580e-03 -8.03425941e+01] [-1.00186443e-02 2.14148520e-04 9.99949789e-01 1.72447387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters 0.021962332520861463 Centerline is valid? [True, True] Translation: X:328.50, Y:-80.39, Z:1.72 [[ 7.68569080e-01 6.39722340e-01 7.54295704e-03 3.28499497e+02] [-6.39688675e-01 7.68606062e-01 -6.56666971e-03 -8.03892292e+01] [-9.99840782e-03 2.21795112e-04 9.99949990e-01 1.72395544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters 0.022335034758742132 Centerline is valid? [True, True] Translation: X:328.56, Y:-80.44, Z:1.72 [[ 7.68101161e-01 6.40284918e-01 7.47199212e-03 3.28557385e+02] [-6.40251675e-01 7.68137468e-01 -6.52855947e-03 -8.04371041e+01] [-9.91965528e-03 2.30638632e-04 9.99950772e-01 1.72392242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters 0.022757704269034087 Centerline is valid? [True, True] Translation: X:328.62, Y:-80.48, Z:1.72 [[ 7.68316832e-01 6.40030095e-01 7.12198228e-03 3.28616074e+02] [-6.39999667e-01 7.68349803e-01 -6.24556342e-03 -8.04834424e+01] [-9.46952222e-03 2.40505214e-04 9.99955134e-01 1.72306864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters 0.02291374440976544 Centerline is valid? [True, True] Translation: X:328.67, Y:-80.53, Z:1.72 [[ 7.67109291e-01 6.41452928e-01 9.02646618e-03 3.28672786e+02] [-6.41403844e-01 7.67162336e-01 -7.94095404e-03 -8.05322784e+01] [-1.20185131e-02 3.01969518e-04 9.99927729e-01 1.72438865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters 0.023342244745015134 Centerline is valid? [True, True] Translation: X:328.73, Y:-80.58, Z:1.72 [[ 7.66698724e-01 6.41955441e-01 8.14112339e-03 3.28731692e+02] [-6.41915237e-01 7.66741892e-01 -7.19025565e-03 -8.05805410e+01] [-1.08579641e-02 2.86848684e-04 9.99941009e-01 1.72499607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters 0.02336519402070485 Centerline is valid? [True, True] Translation: X:328.79, Y:-80.63, Z:1.73 [[ 7.64894586e-01 6.44094925e-01 8.83171549e-03 3.28793379e+02] [-6.44047190e-01 7.64945507e-01 -7.84781854e-03 -8.06321892e+01] [-1.18105212e-02 3.14712372e-04 9.99930204e-01 1.72522235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters 0.023622955389465513 Centerline is valid? [True, True] Translation: X:328.85, Y:-80.68, Z:1.73 [[ 7.64395487e-01 6.44674757e-01 9.69521980e-03 3.28852525e+02] [-6.44616958e-01 7.64456887e-01 -8.63981400e-03 -8.06798591e+01] [-1.29814475e-02 3.54531736e-04 9.99915675e-01 1.72632131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters 0.024634787207265276 Centerline is valid? [True, True] Translation: X:328.91, Y:-80.73, Z:1.73 [[ 7.65872838e-01 6.42938505e-01 8.29908443e-03 3.28911459e+02] [-6.42895750e-01 7.65917722e-01 -7.42285084e-03 -8.07265667e+01] [-1.11288525e-02 3.49513732e-04 9.99938011e-01 1.72665667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters 0.025818087107147784 Centerline is valid? [True, True] Translation: X:328.97, Y:-80.78, Z:1.73 [[ 7.65777001e-01 6.43014752e-01 1.08450335e-02 3.28970292e+02] [-6.42941255e-01 7.65853640e-01 -9.73366284e-03 -8.07750341e+01] [-1.45645972e-02 4.81095690e-04 9.99893815e-01 1.72594371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters 0.026580596884823976 Centerline is valid? [True, True] Translation: X:329.03, Y:-80.82, Z:1.73 [[ 7.65775078e-01 6.43030244e-01 1.00316980e-02 3.29028126e+02] [-6.42966927e-01 7.65840640e-01 -9.03578153e-03 -8.08228837e+01] [-1.34929628e-02 4.69326298e-04 9.99908856e-01 1.72624782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters 0.026932873596892722 Centerline is valid? [True, True] Translation: X:329.09, Y:-80.87, Z:1.73 [[ 7.65062444e-01 6.43892895e-01 9.02197853e-03 3.29087679e+02] [-6.43841263e-01 7.65115513e-01 -8.16580830e-03 -8.08720817e+01] [-1.21607617e-02 4.38631207e-04 9.99925959e-01 1.72639718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters 0.02717431571038328 Centerline is valid? [True, True] Translation: X:329.14, Y:-80.92, Z:1.73 [[ 7.64177819e-01 6.44914823e-01 1.08227363e-02 3.29144149e+02] [-6.44840208e-01 7.64254272e-01 -9.82419847e-03 -8.09208439e+01] [-1.46070937e-02 5.28499006e-04 9.99893171e-01 1.72517941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters 0.027624132877082198 Centerline is valid? [True, True] Translation: X:329.20, Y:-80.97, Z:1.73 [[ 7.63814325e-01 6.45380098e-01 8.49740134e-03 3.29201002e+02] [-6.45333792e-01 7.63861469e-01 -7.74292559e-03 -8.09702088e+01] [-1.14879675e-02 4.30497251e-04 9.99933918e-01 1.72675449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters 0.02747464783267684 Centerline is valid? [True, True] Translation: X:329.27, Y:-81.02, Z:1.73 [[ 7.61567776e-01 6.47993523e-01 1.09048558e-02 3.29266189e+02] [-6.47916450e-01 7.61645641e-01 -1.00095588e-02 -8.10249645e+01] [-1.47917651e-02 5.57522000e-04 9.99890440e-01 1.72505047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters 0.027618434309560177 Centerline is valid? [True, True] Translation: X:329.32, Y:-81.07, Z:1.73 [[ 7.60618342e-01 6.49123071e-01 9.94865800e-03 3.29322630e+02] [-6.49058694e-01 7.60683233e-01 -9.15588862e-03 -8.10746438e+01] [-1.35110759e-02 5.06873864e-04 9.99908593e-01 1.72633900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters 0.027492260647151625 Centerline is valid? [True, True] Translation: X:329.38, Y:-81.12, Z:1.73 [[ 7.59380202e-01 6.50582752e-01 9.15372998e-03 3.29377954e+02] [-6.50527980e-01 7.59435228e-01 -8.45470663e-03 -8.11246825e+01] [-1.24521513e-02 4.65579361e-04 9.99922361e-01 1.72658627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters 0.027586300093990056 Centerline is valid? [True, True] Translation: X:329.43, Y:-81.17, Z:1.73 [[ 7.58489145e-01 6.51601257e-01 1.04889603e-02 3.29434185e+02] [-6.51528978e-01 7.58561475e-01 -9.72005684e-03 -8.11746768e+01] [-1.42901224e-02 5.38696035e-04 9.99897746e-01 1.72677896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters 0.026906302039626708 Centerline is valid? [True, True] Translation: X:329.49, Y:-81.23, Z:1.73 [[ 7.56128917e-01 6.54344375e-01 1.01242224e-02 3.29490282e+02] [-6.54276795e-01 7.56196531e-01 -9.41711560e-03 -8.12259337e+01] [-1.38179385e-02 4.96509650e-04 9.99904404e-01 1.72645069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters 0.026611285436193177 Centerline is valid? [True, True] Translation: X:329.55, Y:-81.28, Z:1.73 [[ 7.54980722e-01 6.55669045e-01 1.01100638e-02 3.29545344e+02] [-6.55601320e-01 7.55048248e-01 -9.43677384e-03 -8.12764859e+01] [-1.38209864e-02 4.96411186e-04 9.99904362e-01 1.72545004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters 0.026573789569593713 Centerline is valid? [True, True] Translation: X:329.60, Y:-81.33, Z:1.72 [[ 7.53176351e-01 6.57748120e-01 9.63296325e-03 3.29602701e+02] [-6.57686355e-01 7.53237809e-01 -9.02563359e-03 -8.13266360e+01] [-1.31925057e-02 4.62425291e-04 9.99912868e-01 1.72479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters 0.02643653018704094 Centerline is valid? [True, True] Translation: X:329.66, Y:-81.38, Z:1.73 [[ 7.52367603e-01 6.58696464e-01 7.87138410e-03 3.29658489e+02] [-6.58654970e-01 7.52408679e-01 -7.40338260e-03 -8.13774231e+01] [-1.07990797e-02 3.85538962e-04 9.99941614e-01 1.72608290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters 0.02656262946106806 Centerline is valid? [True, True] Translation: X:329.72, Y:-81.43, Z:1.72 [[ 7.51125094e-01 6.60081467e-01 1.01759586e-02 3.29716867e+02] [-6.60011795e-01 7.51193857e-01 -9.60314325e-03 -8.14265334e+01] [-1.39829745e-02 4.96909175e-04 9.99902110e-01 1.72228064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters 0.02716340063958333 Centerline is valid? [True, True] Translation: X:329.77, Y:-81.48, Z:1.72 [[ 7.50534017e-01 6.60731401e-01 1.15198069e-02 3.29771973e+02] [-6.60641604e-01 7.50622198e-01 -1.09081525e-02 -8.14776419e+01] [-1.58543817e-02 5.76475805e-04 9.99874145e-01 1.72260139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters 0.02817075399601217 Centerline is valid? [True, True] Translation: X:329.83, Y:-81.53, Z:1.72 [[ 7.50509068e-01 6.60773151e-01 1.07229540e-02 3.29832371e+02] [-6.60694577e-01 7.50585446e-01 -1.02061055e-02 -8.15293017e+01] [-1.47924137e-02 5.75177135e-04 9.99890421e-01 1.72240707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters 0.028658176695108874 Centerline is valid? [True, True] Translation: X:329.89, Y:-81.58, Z:1.72 [[ 7.49985636e-01 6.61381541e-01 9.79813452e-03 3.29887969e+02] [-6.61315561e-01 7.50049444e-01 -9.35738295e-03 -8.15805717e+01] [-1.35378857e-02 5.38243969e-04 9.99908214e-01 1.72248937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters 0.027494486251928924 Centerline is valid? [True, True] Translation: X:329.94, Y:-81.63, Z:1.72 [[ 7.47080758e-01 6.64653349e-01 1.03085335e-02 3.29941767e+02] [-6.64580128e-01 7.47151688e-01 -9.87974649e-03 -8.16342973e+01] [-1.42686448e-02 5.30122014e-04 9.99898057e-01 1.72272023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters 0.026892986159358073 Centerline is valid? [True, True] Translation: X:330.00, Y:-81.69, Z:1.72 [[ 7.44941968e-01 6.67062000e-01 9.47376085e-03 3.29995785e+02] [-6.66999902e-01 7.45002058e-01 -9.11396742e-03 -8.16869175e+01] [-1.31375527e-02 4.70379277e-04 9.99913588e-01 1.72393921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters 0.026493690774233282 Centerline is valid? [True, True] Translation: X:330.05, Y:-81.74, Z:1.72 [[ 7.42895333e-01 6.69329472e-01 1.02265153e-02 3.30050939e+02] [-6.69256829e-01 7.42965556e-01 -9.87314419e-03 -8.17387479e+01] [-1.42063350e-02 4.90547543e-04 9.99898965e-01 1.72331271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters 0.02558820629390848 Centerline is valid? [True, True] Translation: X:330.10, Y:-81.79, Z:1.72 [[ 7.40141396e-01 6.72373279e-01 1.02414386e-02 3.30104532e+02] [-6.72300201e-01 7.40212107e-01 -9.92355935e-03 -8.17926225e+01] [-1.42531730e-02 4.59515834e-04 9.99898313e-01 1.72384835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters 0.024712235706212823 Centerline is valid? [True, True] Translation: X:330.16, Y:-81.85, Z:1.72 [[ 7.37639300e-01 6.75137495e-01 8.81051351e-03 3.30159461e+02] [-6.75083196e-01 7.37691821e-01 -8.57068662e-03 -8.18455967e+01] [-1.22858356e-02 3.74245665e-04 9.99924456e-01 1.72416289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters 0.023682281965735127 Centerline is valid? [True, True] Translation: X:330.21, Y:-81.90, Z:1.72 [[ 7.33825944e-01 6.79258482e-01 1.03633774e-02 3.30212482e+02] [-6.79183111e-01 7.33899013e-01 -1.01261898e-02 -8.19015166e+01] [-1.44839727e-02 3.92229824e-04 9.99895025e-01 1.72488738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters 0.02329232532344764 Centerline is valid? [True, True] Translation: X:330.27, Y:-81.95, Z:1.72 [[ 7.31717050e-01 6.81548903e-01 9.01398787e-03 3.30268810e+02] [-6.81491561e-01 7.31772494e-01 -8.84695061e-03 -8.19532851e+01] [-1.26258179e-02 3.30507931e-04 9.99920237e-01 1.72371889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters 0.022662453925890245 Centerline is valid? [True, True] Translation: X:330.32, Y:-82.01, Z:1.72 [[ 7.29120020e-01 6.84314932e-01 9.85244401e-03 3.30323268e+02] [-6.84246209e-01 7.29186508e-01 -9.70370813e-03 -8.20063905e+01] [-1.38246616e-02 3.33670403e-04 9.99904379e-01 1.72287590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters 0.022615436464008216 Centerline is valid? [True, True] Translation: X:330.38, Y:-82.06, Z:1.72 [[ 7.27256295e-01 6.86292749e-01 1.00271134e-02 3.30378617e+02] [-6.86221225e-01 7.27325343e-01 -9.91345011e-03 -8.20592440e+01] [-1.40965026e-02 3.28800943e-04 9.99900585e-01 1.72413560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters 0.022989581247827788 Centerline is valid? [True, True] Translation: X:330.43, Y:-82.11, Z:1.73 [[ 7.26929884e-01 6.86662158e-01 8.24767754e-03 3.30433251e+02] [-6.86613402e-01 7.26976614e-01 -8.18773649e-03 -8.21126784e+01] [-1.16180775e-02 2.88944411e-04 9.99932466e-01 1.72567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters 0.023288252078503734 Centerline is valid? [True, True] Translation: X:330.49, Y:-82.16, Z:1.72 [[ 7.26353361e-01 6.87265076e-01 8.80403535e-03 3.30490828e+02] [-6.87209163e-01 7.26406644e-01 -8.77232573e-03 -8.21631080e+01] [-1.24242229e-02 3.21594509e-04 9.99922765e-01 1.72305825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters 0.024137800674581194 Centerline is valid? [True, True] Translation: X:330.55, Y:-82.22, Z:1.72 [[ 7.26905403e-01 6.86672129e-01 9.48270038e-03 3.30545498e+02] [-6.86606746e-01 7.26967152e-01 -9.48346014e-03 -8.22163327e+01] [-1.34056395e-02 3.82692372e-04 9.99910067e-01 1.72470680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters 0.02430949363176479 Centerline is valid? [True, True] Translation: X:330.60, Y:-82.27, Z:1.72 [[ 7.25670071e-01 6.87990199e-01 8.51081777e-03 3.30602729e+02] [-6.87937217e-01 7.25719895e-01 -8.54518640e-03 -8.22680132e+01] [-1.20554743e-02 3.46077737e-04 9.99927270e-01 1.72234000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters 0.024580495771446866 Centerline is valid? [True, True] Translation: X:331.83, Y:-81.06, Z:3.56 [[ 7.42630505e-01 -6.69484906e-01 1.70262588e-02 3.31825048e+02] [-6.69316967e-01 -7.42825615e-01 -1.49967770e-02 -8.10583664e+01] [ 2.26876570e-02 -2.58899861e-04 -9.99742568e-01 3.55533025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters 0.024982179246675867 Centerline is valid? [True, True] Translation: X:330.76, Y:-82.42, Z:1.72 [[ 7.80125302e-01 6.25524008e-01 1.11457959e-02 3.30759862e+02] [-6.25452145e-01 7.80204799e-01 -9.49138449e-03 -8.24208426e+01] [-1.46330923e-02 4.33307248e-04 9.99892837e-01 1.72134354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters 0.024818977579314037 Centerline is valid? [True, True] Translation: X:330.82, Y:-82.47, Z:1.72 [[ 7.78746905e-01 6.27242970e-01 1.09322433e-02 3.30817882e+02] [-6.27173417e-01 7.78823520e-01 -9.35036175e-03 -8.24667201e+01] [-1.43792369e-02 4.25152909e-04 9.99896523e-01 1.71949660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters 0.024117417666833906 Centerline is valid? [True, True] Translation: X:330.87, Y:-82.51, Z:1.72 [[ 7.76472459e-01 6.30072451e-01 9.96123993e-03 3.30874984e+02] [-6.30014539e-01 7.76536267e-01 -8.55018700e-03 -8.25146471e+01] [-1.31225014e-02 3.63258743e-04 9.99913830e-01 1.72006739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters 0.024743535923840067 Centerline is valid? [True, True] Translation: X:330.93, Y:-82.56, Z:1.72 [[ 7.76148695e-01 6.30470344e-01 1.00173599e-02 3.30934141e+02] [-6.30411415e-01 7.76213243e-01 -8.62839722e-03 -8.25599514e+01] [-1.32155560e-02 3.81861223e-04 9.99912598e-01 1.72109484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters 0.024940649733677905 Centerline is valid? [True, True] Translation: X:330.99, Y:-82.61, Z:1.72 [[ 7.75445654e-01 6.31317244e-01 1.10713609e-02 3.30993017e+02] [-6.31244885e-01 7.75524565e-01 -9.56784123e-03 -8.26055839e+01] [-1.46264555e-02 4.30600981e-04 9.99892935e-01 1.72040851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters 0.026152607173149076 Centerline is valid? [True, True] Translation: X:331.05, Y:-82.65, Z:1.72 [[ 7.76482166e-01 6.30032794e-01 1.15812393e-02 3.31051142e+02] [-6.29952951e-01 7.76568366e-01 -1.00425920e-02 -8.26518305e+01] [-1.53207864e-02 5.02257724e-04 9.99882504e-01 1.71959871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters 0.027799496051495728 Centerline is valid? [True, True] Translation: X:331.11, Y:-82.70, Z:1.72 [[ 7.78068440e-01 6.28069287e-01 1.17674442e-02 3.31110261e+02] [-6.27986093e-01 7.78157206e-01 -1.02386109e-02 -8.26970735e+01] [-1.55874785e-02 5.76548668e-04 9.99878342e-01 1.71830045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters 0.028261117167114932 Centerline is valid? [True, True] Translation: X:331.17, Y:-82.74, Z:1.72 [[ 7.77932530e-01 6.28236088e-01 1.18489045e-02 3.31166667e+02] [-6.28151207e-01 7.78022527e-01 -1.03444498e-02 -8.27449399e+01] [-1.57174713e-02 6.04380322e-04 9.99876290e-01 1.72041011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters 0.030457556242218152 Centerline is valid? [True, True] Translation: X:331.23, Y:-82.79, Z:1.72 [[ 7.80053689e-01 6.25595801e-01 1.20887209e-02 3.31225420e+02] [-6.25506569e-01 7.80147042e-01 -1.05889467e-02 -8.27900525e+01] [-1.60553804e-02 6.98372564e-04 9.99870860e-01 1.71956260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters 0.030765485579109443 Centerline is valid? [True, True] Translation: X:331.28, Y:-82.84, Z:1.72 [[ 7.79403456e-01 6.26413647e-01 1.16702841e-02 3.31282871e+02] [-6.26330041e-01 7.79490522e-01 -1.02570122e-02 -8.28363728e+01] [-1.55220083e-02 6.84901200e-04 9.99879292e-01 1.71953896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters 0.03141933790341455 Centerline is valid? [True, True] Translation: X:331.34, Y:-82.88, Z:1.72 [[ 7.79097742e-01 6.26802796e-01 1.11787166e-02 3.31339504e+02] [-6.26725646e-01 7.79177644e-01 -9.85717187e-03 -8.28835209e+01] [-1.48887089e-02 6.73711988e-04 9.99888930e-01 1.71956206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters 0.03147536810470422 Centerline is valid? [True, True] Translation: X:331.40, Y:-82.93, Z:1.72 [[ 7.78183761e-01 6.27955158e-01 1.01170280e-02 3.31396448e+02] [-6.27891638e-01 7.78249281e-01 -8.95256363e-03 -8.29319288e+01] [-1.34953783e-02 6.14342346e-04 9.99908745e-01 1.72075171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters 0.031216624993904495 Centerline is valid? [True, True] Translation: X:331.45, Y:-82.98, Z:1.72 [[ 7.76919566e-01 6.29470035e-01 1.27852739e-02 3.31452260e+02] [-6.29368191e-01 7.77024377e-01 -1.13489341e-02 -8.29806071e+01] [-1.70782835e-02 7.70564254e-04 9.99853859e-01 1.71922959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters 0.030237466605852387 Centerline is valid? [True, True] Translation: X:331.51, Y:-83.03, Z:1.72 [[ 7.74700595e-01 6.32227833e-01 1.12674292e-02 3.31507941e+02] [-6.32148499e-01 7.74782254e-01 -1.00366016e-02 -8.30295459e+01] [-1.50752230e-02 6.52672783e-04 9.99886149e-01 1.71881291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters 0.028991712611893792 Centerline is valid? [True, True] Translation: X:331.56, Y:-83.08, Z:1.72 [[ 7.71768026e-01 6.35829969e-01 9.71417318e-03 3.31562335e+02] [-6.35770887e-01 7.71828980e-01 -8.68360725e-03 -8.30797442e+01] [-1.30189781e-02 5.25741933e-04 9.99915111e-01 1.72110344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters 0.028646218402044853 Centerline is valid? [True, True] Translation: X:331.62, Y:-83.13, Z:1.72 [[ 7.69789920e-01 6.38212319e-01 1.04171034e-02 3.31617882e+02] [-6.38144159e-01 7.69860208e-01 -9.34302267e-03 -8.31283154e+01] [-1.39825456e-02 5.44550952e-04 9.99902091e-01 1.72010592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters 0.028020661562459723 Centerline is valid? [True, True] Translation: X:331.68, Y:-83.18, Z:1.72 [[ 7.67489773e-01 6.40997728e-01 9.02006054e-03 3.31677622e+02] [-6.40946296e-01 7.67542638e-01 -8.13295963e-03 -8.31800033e+01] [-1.21364897e-02 4.60588948e-04 9.99926244e-01 1.72032456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters 0.027311221250157402 Centerline is valid? [True, True] Translation: X:331.73, Y:-83.23, Z:1.72 [[ 7.65934108e-01 6.42863940e-01 8.42008266e-03 3.31732846e+02] [-6.42818971e-01 7.65980273e-01 -7.61521266e-03 -8.32301152e+01] [-1.13451628e-02 4.20162238e-04 9.99935553e-01 1.72028504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters 0.026638314670501328 Centerline is valid? [True, True] Translation: X:331.79, Y:-83.28, Z:1.72 [[ 7.62908950e-01 6.46441145e-01 9.15309331e-03 3.31788282e+02] [-6.46387902e-01 7.62963740e-01 -8.30733834e-03 -8.32805842e+01] [-1.23536836e-02 4.21293990e-04 9.99923602e-01 1.72151493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters 0.025967887331913086 Centerline is valid? [True, True] Translation: X:331.84, Y:-83.33, Z:1.72 [[ 7.60987942e-01 6.48715561e-01 8.09156386e-03 3.31843989e+02] [-6.48673790e-01 7.61030874e-01 -7.37040856e-03 -8.33305712e+01] [-1.09392286e-02 3.60006647e-04 9.99940100e-01 1.72201088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters 0.02551263211158724 Centerline is valid? [True, True] Translation: X:331.90, Y:-83.38, Z:1.72 [[ 7.58974130e-01 6.51062697e-01 8.69680057e-03 3.31899570e+02] [-6.51014274e-01 7.59023864e-01 -7.94913352e-03 -8.33809129e+01] [-1.17764635e-02 3.71445384e-04 9.99930586e-01 1.71991786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters 0.024314023331140553 Centerline is valid? [True, True] Translation: X:331.95, Y:-83.43, Z:1.72 [[ 7.55945606e-01 6.54577916e-01 8.60186895e-03 3.31953790e+02] [-6.54530440e-01 7.55994471e-01 -7.89074024e-03 -8.34326684e+01] [-1.16680697e-02 3.34785352e-04 9.99931870e-01 1.72177276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters 0.02352771069528778 Centerline is valid? [True, True] Translation: X:332.01, Y:-83.48, Z:1.72 [[ 7.53241005e-01 6.57679394e-01 9.26295328e-03 3.32010223e+02] [-6.57624175e-01 7.53297885e-01 -8.52882831e-03 -8.34839020e+01] [-1.25869978e-02 3.32721202e-04 9.99920725e-01 1.72171988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters 0.022415123760724798 Centerline is valid? [True, True] Translation: X:332.07, Y:-83.54, Z:1.72 [[ 7.49041786e-01 6.62463195e-01 8.88357843e-03 3.32070538e+02] [-6.62412128e-01 7.49094411e-01 -8.23013219e-03 -8.35374299e+01] [-1.21067986e-02 2.80122819e-04 9.99926671e-01 1.71982433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters 0.022269163643688177 Centerline is valid? [True, True] Translation: X:332.13, Y:-83.59, Z:1.72 [[ 7.47633135e-01 6.64063864e-01 7.99250465e-03 3.32127117e+02] [-6.64022362e-01 7.47675815e-01 -7.42823320e-03 -8.35871927e+01] [-1.09086237e-02 2.46391455e-04 9.99940469e-01 1.72068262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters 0.022344564379612627 Centerline is valid? [True, True] Translation: X:332.18, Y:-83.64, Z:1.72 [[ 7.46493713e-01 6.65344488e-01 7.99052397e-03 3.32184338e+02] [-6.65302778e-01 7.46536436e-01 -7.45404194e-03 -8.36364948e+01] [-1.09247230e-02 2.48277648e-04 9.99940293e-01 1.72115328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters 0.02312355561070006 Centerline is valid? [True, True] Translation: X:332.24, Y:-83.68, Z:1.72 [[ 7.47001209e-01 6.64766495e-01 8.64295618e-03 3.32244131e+02] [-6.64717306e-01 7.47051148e-01 -8.09235884e-03 -8.36848420e+01] [-1.18362594e-02 2.99879288e-04 9.99929904e-01 1.71915520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters 0.0236364522800425 Centerline is valid? [True, True] Translation: X:332.30, Y:-83.73, Z:1.72 [[ 7.46822025e-01 6.64967811e-01 8.64136812e-03 3.32302843e+02] [-6.64918287e-01 7.46871949e-01 -8.12181975e-03 -8.37344464e+01] [-1.18547442e-02 3.19750178e-04 9.99929679e-01 1.71989349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters 0.0248015632196758 Centerline is valid? [True, True] Translation: X:332.36, Y:-83.78, Z:1.72 [[ 7.47850519e-01 6.63805828e-01 9.02353853e-03 3.32360224e+02] [-6.63751363e-01 7.47904861e-01 -8.51159152e-03 -8.37837238e+01] [-1.23987924e-02 3.76012141e-04 9.99923061e-01 1.72045748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters 0.026266964960933094 Centerline is valid? [True, True] Translation: X:332.42, Y:-83.83, Z:1.72 [[ 7.48898821e-01 6.62604807e-01 1.02677059e-02 3.32419040e+02] [-6.62533689e-01 7.48969054e-01 -9.71945597e-03 -8.38322368e+01] [-1.41303522e-02 4.76188044e-04 9.99900048e-01 1.71936034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters 0.027313004174477094 Centerline is valid? [True, True] Translation: X:332.47, Y:-83.88, Z:1.72 [[ 7.49836297e-01 6.61568109e-01 8.55367943e-03 3.32474551e+02] [-6.61518302e-01 7.49884955e-01 -8.12958466e-03 -8.38831193e+01] [-1.17925495e-02 4.37442168e-04 9.99930370e-01 1.72239130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters 0.02912706161123682 Centerline is valid? [True, True] Translation: X:332.53, Y:-83.93, Z:1.72 [[ 7.50668344e-01 6.60639818e-01 7.21582388e-03 3.32533151e+02] [-6.60604059e-01 7.50702917e-01 -6.88534300e-03 -8.39321443e+01] [-9.96567178e-03 4.01806482e-04 9.99950261e-01 1.72170230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters 0.030211553103458463 Centerline is valid? [True, True] Translation: X:332.59, Y:-83.98, Z:1.72 [[ 7.51599707e-01 6.59545377e-01 9.88815951e-03 3.32588332e+02] [-6.59477758e-01 7.51664517e-01 -9.46254162e-03 -8.39827162e+01] [-1.36735542e-02 5.91022241e-04 9.99906338e-01 1.72169126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters 0.031194619563697994 Centerline is valid? [True, True] Translation: X:332.64, Y:-84.03, Z:1.72 [[ 7.51630008e-01 6.59518792e-01 9.34313407e-03 3.32643233e+02] [-6.59458017e-01 7.51687850e-01 -8.97217483e-03 -8.40337974e+01] [-1.29404383e-02 5.82351178e-04 9.99916099e-01 1.72216674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters 0.030954174964263562 Centerline is valid? [True, True] Translation: X:332.70, Y:-84.09, Z:1.72 [[ 7.49878531e-01 6.61502192e-01 9.85089065e-03 3.32701446e+02] [-6.61434152e-01 7.49942981e-01 -9.50730835e-03 -8.40878421e+01] [-1.36767116e-02 6.13610919e-04 9.99906281e-01 1.72069037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters 0.030361422413531323 Centerline is valid? [True, True] Translation: X:332.76, Y:-84.14, Z:1.72 [[ 7.48080461e-01 6.63523410e-01 1.05975192e-02 3.32755781e+02] [-6.63444393e-01 7.48155244e-01 -1.02600131e-02 -8.41413013e+01] [-1.47363484e-02 6.44450652e-04 9.99891206e-01 1.72161081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters 0.029492371033003686 Centerline is valid? [True, True] Translation: X:332.81, Y:-84.20, Z:1.72 [[ 7.45643062e-01 6.66288686e-01 8.70694774e-03 3.32810442e+02] [-6.66235122e-01 7.45693722e-01 -8.46376108e-03 -8.41950778e+01] [-1.21320245e-02 5.10070346e-04 9.99926274e-01 1.72073896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters 0.0280859374897844 Centerline is valid? [True, True] Translation: X:332.86, Y:-84.25, Z:1.72 [[ 7.42070371e-01 6.70253144e-01 9.60666389e-03 3.32863106e+02] [-6.70187833e-01 7.42132372e-01 -9.37072666e-03 -8.42495396e+01] [-1.34101753e-02 5.15469353e-04 9.99909947e-01 1.72215979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters 0.02746491298755546 Centerline is valid? [True, True] Translation: X:332.92, Y:-84.30, Z:1.72 [[ 7.39983026e-01 6.72563873e-01 9.10813139e-03 3.32918021e+02] [-6.72504901e-01 7.40038926e-01 -8.91891021e-03 -8.43024997e+01] [-1.27389086e-02 4.74579165e-04 9.99918744e-01 1.72220382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters 0.0255667454635149 Centerline is valid? [True, True] Translation: X:332.98, Y:-84.36, Z:1.72 [[ 7.35083270e-01 6.77914679e-01 9.18016312e-03 3.32976551e+02] [-6.77854415e-01 7.35140466e-01 -9.04918201e-03 -8.43615709e+01] [-1.28832827e-02 4.29088200e-04 9.99916915e-01 1.72319940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters 0.024466386003807575 Centerline is valid? [True, True] Translation: X:333.03, Y:-84.41, Z:1.72 [[ 7.31057387e-01 6.82233844e-01 1.05867188e-02 3.33031567e+02] [-6.82153706e-01 7.31133913e-01 -1.04653626e-02 -8.44149259e+01] [-1.48801337e-02 4.29011148e-04 9.99889193e-01 1.72114328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters 0.022695034890435575 Centerline is valid? [True, True] Translation: X:333.09, Y:-84.47, Z:1.72 [[ 7.26821143e-01 6.86783333e-01 7.72523681e-03 3.33085365e+02] [-6.86740554e-01 7.26862147e-01 -7.67010787e-03 -8.44702093e+01] [-1.08828845e-02 2.69563167e-04 9.99940743e-01 1.72347840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters 0.022290067077334483 Centerline is valid? [True, True] Translation: X:333.14, Y:-84.52, Z:1.72 [[ 7.23446436e-01 6.90320748e-01 9.08397415e-03 3.33140845e+02] [-6.90261446e-01 7.23503412e-01 -9.05254450e-03 -8.45225545e+01] [-1.28214456e-02 2.78713922e-04 9.99917763e-01 1.72350650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters 0.02179132580233368 Centerline is valid? [True, True] Translation: X:333.20, Y:-84.58, Z:1.72 [[ 7.20045277e-01 6.93859363e-01 9.69450388e-03 3.33196085e+02] [-6.93791649e-01 7.20110491e-01 -9.69683246e-03 -8.45758107e+01] [-1.37093519e-02 2.56192577e-04 9.99905990e-01 1.72273245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters 0.021136955956464334 Centerline is valid? [True, True] Translation: X:333.25, Y:-84.63, Z:1.72 [[ 7.16906843e-01 6.97127597e-01 7.59547484e-03 3.33254050e+02] [-6.97085748e-01 7.16947055e-01 -7.64072383e-03 -8.46297165e+01] [-1.07721128e-02 1.82989942e-04 9.99941962e-01 1.72397610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters 0.02082709466801646 Centerline is valid? [True, True] Translation: X:334.48, Y:-83.43, Z:3.59 [[ 7.53022988e-01 -6.57827629e-01 1.48050770e-02 3.34478432e+02] [-6.57696877e-01 -7.53168501e-01 -1.31159337e-02 -8.34254310e+01] [ 1.97787412e-02 1.39346624e-04 -9.99804372e-01 3.58618817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters 0.020492904239560086 Centerline is valid? [True, True] Translation: X:333.41, Y:-84.79, Z:1.73 [[ 7.67925011e-01 6.40491712e-01 7.84501140e-03 3.33413895e+02] [-6.40456843e-01 7.67965074e-01 -6.68411226e-03 -8.47871738e+01] [-1.03058133e-02 1.08505748e-04 9.99946888e-01 1.72634497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters 0.020521848487880343 Centerline is valid? [True, True] Translation: X:333.47, Y:-84.83, Z:1.72 [[ 7.65871169e-01 6.42938060e-01 8.48544783e-03 3.33471857e+02] [-6.42897010e-01 7.65918167e-01 -7.26609176e-03 -8.48342065e+01] [-1.11708056e-02 1.09621153e-04 9.99937599e-01 1.72496528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters 0.020445090352721962 Centerline is valid? [True, True] Translation: X:333.53, Y:-84.88, Z:1.73 [[ 7.64628949e-01 6.44410824e-01 8.78976133e-03 3.33530624e+02] [-6.44366554e-01 7.64679461e-01 -7.55422613e-03 -8.48807520e+01] [-1.15893750e-02 1.12351767e-04 9.99932835e-01 1.72539774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters 0.020153634394212774 Centerline is valid? [True, True] Translation: X:333.59, Y:-84.93, Z:1.73 [[ 7.61853474e-01 6.47711947e-01 6.96553598e-03 3.33587333e+02] [-6.47684056e-01 7.61885313e-01 -6.01116754e-03 -8.49292863e+01] [-9.20044459e-03 6.81622741e-05 9.99957673e-01 1.72764363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters 0.020453393304969952 Centerline is valid? [True, True] Translation: X:333.65, Y:-84.98, Z:1.73 [[ 7.59919226e-01 6.49966968e-01 8.10621067e-03 3.33646426e+02] [-6.49929050e-01 7.59962457e-01 -7.02101546e-03 -8.49760623e+01] [-1.07238439e-02 6.69428307e-05 9.99942496e-01 1.72562205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters 0.020270828159841454 Centerline is valid? [True, True] Translation: X:333.72, Y:-85.03, Z:1.73 [[ 7.56531856e-01 6.53902705e-01 8.41448949e-03 3.33717186e+02] [-6.53861234e-01 7.56578646e-01 -7.36473114e-03 -8.50326880e+01] [-1.11820407e-02 6.97452362e-05 9.99937477e-01 1.72604226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters 0.020363547450307266 Centerline is valid? [True, True] Translation: X:333.77, Y:-85.08, Z:1.73 [[ 7.54553087e-01 6.56197217e-01 7.40608169e-03 3.33774390e+02] [-6.56165068e-01 7.54589431e-01 -6.49568939e-03 -8.50823052e+01] [-9.85100427e-03 4.17303900e-05 9.99951477e-01 1.72962782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters 0.020277704943639552 Centerline is valid? [True, True] Translation: X:333.84, Y:-85.13, Z:1.73 [[ 7.53341970e-01 6.57584333e-01 7.66295388e-03 3.33836469e+02] [-6.57549609e-01 7.53380941e-01 -6.75794904e-03 -8.51317827e+01] [-1.02170448e-02 5.22743083e-05 9.99947803e-01 1.72982286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters 0.02038287075180256 Centerline is valid? [True, True] Translation: X:333.90, Y:-85.18, Z:1.73 [[ 7.50736132e-01 6.60553542e-01 8.01739090e-03 3.33895272e+02] [-6.60515452e-01 7.50778940e-01 -7.09375113e-03 -8.51792485e+01] [-1.07050907e-02 2.99247096e-05 9.99942698e-01 1.72935320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters 0.02052043520585465 Centerline is valid? [True, True] Translation: X:333.96, Y:-85.23, Z:1.73 [[ 7.48668306e-01 6.62898468e-01 7.83512725e-03 3.33962440e+02] [-6.62861602e-01 7.48709302e-01 -6.99122718e-03 -8.52316462e+01] [-1.05007064e-02 4.05052060e-05 9.99944865e-01 1.73073620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters 0.020340761791180734 Centerline is valid? [True, True] Translation: X:334.02, Y:-85.28, Z:1.73 [[ 7.47657508e-01 6.64053235e-01 6.44610385e-03 3.34021917e+02] [-6.64028185e-01 7.47685295e-01 -5.76796748e-03 -8.52791695e+01] [-8.64989453e-03 3.20695593e-05 9.99962588e-01 1.73130572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters 0.02019653414977674 Centerline is valid? [True, True] Translation: X:334.08, Y:-85.33, Z:1.73 [[ 7.46534919e-01 6.65327747e-01 4.96029874e-03 3.34079784e+02] [-6.65312809e-01 7.46551397e-01 -4.45840480e-03 -8.53277635e+01] [-6.66941838e-03 2.82045793e-05 9.99977759e-01 1.73309566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters 0.020443181866387536 Centerline is valid? [True, True] Translation: X:334.14, Y:-85.37, Z:1.73 [[ 7.46801036e-01 6.65022561e-01 5.76250444e-03 3.34140569e+02] [-6.65002245e-01 7.46823266e-01 -5.19836572e-03 -8.53742931e+01] [-7.76060287e-03 5.00665113e-05 9.99969885e-01 1.73273987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters 0.020550594623607685 Centerline is valid? [True, True] Translation: X:334.20, Y:-85.42, Z:1.74 [[ 7.47064555e-01 6.64734379e-01 4.77044067e-03 3.34197908e+02] [-6.64720333e-01 7.47079783e-01 -4.32156247e-03 -8.54233499e+01] [-6.43659092e-03 5.74772293e-05 9.99979283e-01 1.73600464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters 0.020851143680461866 Centerline is valid? [True, True] Translation: X:334.26, Y:-85.47, Z:1.74 [[ 7.47140880e-01 6.64647758e-01 4.88510925e-03 3.34258206e+02] [-6.64632918e-01 7.47156846e-01 -4.44203790e-03 -8.54697785e+01] [-6.60233335e-03 7.20236873e-05 9.99978202e-01 1.73504991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters 0.020871254343660862 Centerline is valid? [True, True] Translation: X:334.32, Y:-85.52, Z:1.74 [[ 7.46159545e-01 6.65736995e-01 6.33937032e-03 3.34316452e+02] [-6.65711886e-01 7.46186468e-01 -5.78276225e-03 -8.55189761e+01] [-8.58015110e-03 9.46690746e-05 9.99963185e-01 1.73583512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters 0.021121829281904897 Centerline is valid? [True, True] Translation: X:334.38, Y:-85.57, Z:1.74 [[ 7.46240432e-01 6.65647580e-01 6.20627660e-03 3.34375431e+02] [-6.65623328e-01 7.46266231e-01 -5.68313986e-03 -8.55663083e+01] [-8.41450294e-03 1.09946260e-04 9.99964591e-01 1.73631429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters 0.020982868390643852 Centerline is valid? [True, True] Translation: X:334.43, Y:-85.62, Z:1.74 [[ 7.44787883e-01 6.67274452e-01 5.98447040e-03 3.34433357e+02] [-6.67251784e-01 7.44811919e-01 -5.50117311e-03 -8.56158246e+01] [-8.12809716e-03 1.04058522e-04 9.99966961e-01 1.73672132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters 0.020834700041718057 Centerline is valid? [True, True] Translation: X:334.51, Y:-85.68, Z:1.74 [[ 7.40387247e-01 6.72151364e-01 6.26641071e-03 3.34514798e+02] [-6.72125821e-01 7.40413754e-01 -5.86116219e-03 -8.56780155e+01] [-8.57932484e-03 1.27713296e-04 9.99963189e-01 1.73640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters 0.021054072688708944 Centerline is valid? [True, True] Translation: X:334.57, Y:-85.73, Z:1.74 [[ 7.39469813e-01 6.73169710e-01 5.19018750e-03 3.34572138e+02] [-6.73152234e-01 7.39488021e-01 -4.85144198e-03 -8.57281094e+01] [-7.10392527e-03 9.37085870e-05 9.99974762e-01 1.73748640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters 0.021242865448411863 Centerline is valid? [True, True] Translation: X:334.63, Y:-85.78, Z:1.74 [[ 7.39190756e-01 6.73471145e-01 5.80022506e-03 3.34630653e+02] [-6.73449178e-01 7.39213503e-01 -5.44072311e-03 -8.57762529e+01] [-7.95177471e-03 1.15575430e-04 9.99968377e-01 1.74006250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters 0.021577646019409577 Centerline is valid? [True, True] Translation: X:334.69, Y:-85.82, Z:1.74 [[ 7.38785231e-01 6.73903611e-01 7.09261147e-03 3.34688935e+02] [-6.73870561e-01 7.38819260e-01 -6.67593763e-03 -8.58249590e+01] [-9.73909644e-03 1.52582056e-04 9.99952562e-01 1.73717455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters 0.021952634371017826 Centerline is valid? [True, True] Translation: X:334.75, Y:-85.87, Z:1.74 [[ 7.38546684e-01 6.74161415e-01 7.42846929e-03 3.34746550e+02] [-6.74124914e-01 7.38584021e-01 -7.01747271e-03 -8.58749250e+01] [-1.02174581e-02 1.75014979e-04 9.99947785e-01 1.73754519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters 0.022300684558992392 Centerline is valid? [True, True] Translation: X:334.80, Y:-85.92, Z:1.74 [[ 7.38559174e-01 6.74155728e-01 6.66339195e-03 3.34804305e+02] [-6.74126127e-01 7.38589211e-01 -6.31993029e-03 -8.59245198e+01] [-9.18212661e-03 1.75675890e-04 9.99957828e-01 1.73996396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters 0.02224282020379061 Centerline is valid? [True, True] Translation: X:334.86, Y:-85.98, Z:1.74 [[ 7.37215846e-01 6.75617341e-01 7.34883650e-03 3.34861805e+02] [-6.75581144e-01 7.37252448e-01 -6.99618489e-03 -8.59752082e+01] [-1.01446915e-02 1.92963000e-04 9.99948523e-01 1.73879106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters 0.02187688613183533 Centerline is valid? [True, True] Translation: X:334.92, Y:-86.02, Z:1.74 [[ 7.34917700e-01 6.78116282e-01 7.36759763e-03 3.34919408e+02] [-6.78079763e-01 7.34954608e-01 -7.03977814e-03 -8.60242244e+01] [-1.01886380e-02 1.77838703e-04 9.99948079e-01 1.73944596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters 0.021064956022735937 Centerline is valid? [True, True] Translation: X:334.98, Y:-86.08, Z:1.74 [[ 7.31624627e-01 6.81691251e-01 4.73748541e-03 3.34978609e+02] [-6.81676041e-01 7.31639958e-01 -4.55488716e-03 -8.60754823e+01] [-6.57116035e-03 1.03037317e-04 9.99978404e-01 1.74006649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters 0.021075747145351244 Centerline is valid? [True, True] Translation: X:335.04, Y:-86.13, Z:1.74 [[ 7.29345843e-01 6.84093280e-01 8.42765320e-03 3.35035647e+02] [-6.84045119e-01 7.29394515e-01 -8.11883832e-03 -8.61256448e+01] [-1.17011268e-02 1.56545935e-04 9.99931527e-01 1.73994422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters 0.020690922226837088 Centerline is valid? [True, True] Translation: X:335.09, Y:-86.17, Z:1.74 [[ 7.27753217e-01 6.85796546e-01 7.63889148e-03 3.35094781e+02] [-6.85756763e-01 7.27793294e-01 -7.38802059e-03 -8.61737973e+01] [-1.06262130e-02 1.38234257e-04 9.99943531e-01 1.74083522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters 0.020691378784878575 Centerline is valid? [True, True] Translation: X:335.15, Y:-86.22, Z:1.74 [[ 7.25553136e-01 6.88110688e-01 8.73659044e-03 3.35152364e+02] [-6.88058452e-01 7.25605720e-01 -8.47972829e-03 -8.62226562e+01] [-1.21743117e-02 1.41208560e-04 9.99925880e-01 1.73943139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters 0.020623269296714073 Centerline is valid? [True, True] Translation: X:335.21, Y:-86.27, Z:1.74 [[ 7.24376073e-01 6.89356373e-01 8.19113954e-03 3.35209637e+02] [-6.89310184e-01 7.24422371e-01 -7.98111446e-03 -8.62731500e+01] [-1.14356769e-02 1.35092451e-04 9.99934601e-01 1.74261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters 0.020905128036019825 Centerline is valid? [True, True] Translation: X:335.27, Y:-86.32, Z:1.74 [[ 7.24816795e-01 6.88914705e-01 6.09453442e-03 3.35268451e+02] [-6.88888901e-01 7.24842407e-01 -5.96381542e-03 -8.63215951e+01] [-8.52613713e-03 1.24216457e-04 9.99963644e-01 1.74212126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters 0.02121324858958835 Centerline is valid? [True, True] Translation: X:335.32, Y:-86.37, Z:1.74 [[ 7.24865061e-01 6.88850609e-01 7.44855087e-03 3.35324764e+02] [-6.88811804e-01 7.24903310e-01 -7.31371079e-03 -8.63734918e+01] [-1.04375333e-02 1.70803658e-04 9.99945513e-01 1.74233048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters 0.02124084634896268 Centerline is valid? [True, True] Translation: X:335.38, Y:-86.42, Z:1.74 [[ 7.24045579e-01 6.89727957e-01 5.77444588e-03 3.35380324e+02] [-6.89704469e-01 7.24068592e-01 -5.69384374e-03 -8.64247241e+01] [-8.10829811e-03 1.39941260e-04 9.99967117e-01 1.74291997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters 0.021451908132935713 Centerline is valid? [True, True] Translation: X:335.44, Y:-86.48, Z:1.74 [[ 7.23682343e-01 6.90093039e-01 7.44743305e-03 3.35435995e+02] [-6.90053736e-01 7.23720637e-01 -7.36755965e-03 -8.64765840e+01] [-1.04741626e-02 1.92643829e-04 9.99945126e-01 1.74296074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters 0.021184159313024392 Centerline is valid? [True, True] Translation: X:335.49, Y:-86.53, Z:1.74 [[ 7.21751302e-01 6.92118142e-01 6.89460007e-03 3.35490632e+02] [-6.92084282e-01 7.21784211e-01 -6.84827731e-03 -8.65298476e+01] [-9.71623044e-03 1.71108727e-04 9.99952782e-01 1.74467871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters 0.020992505890179213 Centerline is valid? [True, True] Translation: X:335.54, Y:-86.58, Z:1.74 [[ 7.19425785e-01 6.94529719e-01 7.41685333e-03 3.35544989e+02] [-6.94490388e-01 7.19463996e-01 -7.39320814e-03 -8.65823830e+01] [-1.04709617e-02 1.67931215e-04 9.99945164e-01 1.74410230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters 0.0206594719667741 Centerline is valid? [True, True] Translation: X:335.60, Y:-86.64, Z:1.75 [[ 7.17066119e-01 6.96969536e-01 7.04603143e-03 3.35604072e+02] [-6.96933697e-01 7.17100719e-01 -7.06977664e-03 -8.66383298e+01] [-9.98013314e-03 1.58880567e-04 9.99950185e-01 1.74555407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters 0.020320125706524715 Centerline is valid? [True, True] Translation: X:336.74, Y:-85.52, Z:3.59 [[ 7.53221818e-01 -6.57596655e-01 1.49509789e-02 3.36740847e+02] [-6.57464073e-01 -7.53370178e-01 -1.32048373e-02 -8.55187395e+01] [ 1.99470785e-02 1.16440114e-04 -9.99801030e-01 3.59448085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters 0.02046562201687339 Centerline is valid? [True, True] Translation: X:335.76, Y:-86.79, Z:1.74 [[ 7.71032462e-01 6.36749515e-01 7.68096663e-03 3.35757192e+02] [-6.36716042e-01 7.71070707e-01 -6.53052954e-03 -8.67882176e+01] [-1.00808799e-02 1.44655606e-04 9.99949176e-01 1.74472756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters 0.020204144054311396 Centerline is valid? [True, True] Translation: X:335.81, Y:-86.84, Z:1.75 [[ 7.68972321e-01 6.39245439e-01 6.84393244e-03 3.35814365e+02] [-6.39218697e-01 7.69002766e-01 -5.84832780e-03 -8.68362270e+01] [-9.00151985e-03 1.22432626e-04 9.99959478e-01 1.74634167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters 0.019958976662536033 Centerline is valid? [True, True] Translation: X:335.87, Y:-86.88, Z:1.75 [[ 7.66612690e-01 6.42044289e-01 9.17134949e-03 3.35872416e+02] [-6.41996140e-01 7.66667536e-01 -7.86418394e-03 -8.68849236e+01] [-1.20805303e-02 1.40812238e-04 9.99927018e-01 1.74554891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters 0.019785778915600332 Centerline is valid? [True, True] Translation: X:335.93, Y:-86.93, Z:1.75 [[ 7.63624829e-01 6.45604389e-01 8.49083841e-03 3.35927901e+02] [-6.45563045e-01 7.63672026e-01 -7.30690241e-03 -8.69343081e+01] [-1.12015840e-02 9.83606014e-05 9.99937255e-01 1.74681497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters 0.01965449505192632 Centerline is valid? [True, True] Translation: X:335.99, Y:-86.98, Z:1.75 [[ 7.60069982e-01 6.49764533e-01 9.98374316e-03 3.35986967e+02] [-6.49707308e-01 7.60135545e-01 -8.62362793e-03 -8.69826029e+01] [-1.31923256e-02 6.80498354e-05 9.99912975e-01 1.74592398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters 0.019433856499461645 Centerline is valid? [True, True] Translation: X:336.04, Y:-87.03, Z:1.75 [[ 7.56837878e-01 6.53554239e-01 7.95499794e-03 3.36043469e+02] [-6.53517837e-01 7.56879684e-01 -6.89788244e-03 -8.70301412e+01] [-1.05291166e-02 2.18456602e-05 9.99944567e-01 1.74799926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters 0.019679564918941694 Centerline is valid? [True, True] Translation: X:336.10, Y:-87.08, Z:1.75 [[ 7.54696587e-01 6.56017376e-01 8.61765366e-03 3.36101455e+02] [-6.55974518e-01 7.54745786e-01 -7.49860285e-03 -8.70766184e+01] [-1.14233516e-02 6.20876806e-06 9.99934751e-01 1.74812687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters 0.01939681369406483 Centerline is valid? [True, True] Translation: X:336.16, Y:-87.12, Z:1.75 [[ 7.52784168e-01 6.58229486e-01 7.06682901e-03 3.36158894e+02] [-6.58200536e-01 7.52817337e-01 -6.17345556e-03 -8.71241426e+01] [-9.38358188e-03 -4.11102894e-06 9.99955973e-01 1.75002733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters 0.019719119395145847 Centerline is valid? [True, True] Translation: X:336.22, Y:-87.17, Z:1.75 [[ 7.50834753e-01 6.60445025e-01 7.71631970e-03 3.36217221e+02] [-6.60410386e-01 7.50874402e-01 -6.76415107e-03 -8.71707319e+01] [-1.02613369e-02 -1.71779734e-05 9.99947351e-01 1.75036527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters 0.019991330515814386 Centerline is valid? [True, True] Translation: X:336.28, Y:-87.22, Z:1.75 [[ 7.50035546e-01 6.61335122e-01 9.08498251e-03 3.36276788e+02] [-6.61286843e-01 7.50090566e-01 -7.99089684e-03 -8.72152742e+01] [-1.20992204e-02 -1.43227276e-05 9.99926802e-01 1.74965368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters 0.019458624883726076 Centerline is valid? [True, True] Translation: X:336.34, Y:-87.26, Z:1.75 [[ 7.49369482e-01 6.62113953e-01 7.10577857e-03 3.36335337e+02] [-6.62084209e-01 7.49403171e-01 -6.27588927e-03 -8.72613800e+01] [-9.48044685e-03 -1.66389173e-06 9.99955060e-01 1.75153772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters 0.01989687796244197 Centerline is valid? [True, True] Translation: X:336.39, Y:-87.31, Z:1.75 [[ 7.46958708e-01 6.64814358e-01 8.63474073e-03 3.36394900e+02] [-6.64770326e-01 7.47008614e-01 -7.65146351e-03 -8.73065975e+01] [-1.15370285e-02 -2.47921149e-05 9.99933446e-01 1.74987751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters 0.019575637172048563 Centerline is valid? [True, True] Translation: X:336.45, Y:-87.35, Z:1.75 [[ 7.46657708e-01 6.65164368e-01 7.65704131e-03 3.36451532e+02] [-6.65129499e-01 7.46696969e-01 -6.81074928e-03 -8.73546996e+01] [-1.02477573e-02 -7.62559919e-06 9.99947490e-01 1.75349618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters 0.019432011672474565 Centerline is valid? [True, True] Translation: X:336.52, Y:-87.40, Z:1.75 [[ 7.45608451e-01 6.66351209e-01 6.64111966e-03 3.36515449e+02] [-6.66324717e-01 7.45638026e-01 -5.94182065e-03 -8.74008639e+01] [-8.91121073e-03 5.12950905e-06 9.99960294e-01 1.75269512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters 0.019685056853148954 Centerline is valid? [True, True] Translation: X:336.57, Y:-87.45, Z:1.75 [[ 7.44324183e-01 6.67767214e-01 8.27398461e-03 3.36572987e+02] [-6.67725970e-01 7.44370169e-01 -7.42160506e-03 -8.74477872e+01] [-1.11148119e-02 -6.74273706e-07 9.99938229e-01 1.75358327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters 0.019587837179284803 Centerline is valid? [True, True] Translation: X:336.63, Y:-87.50, Z:1.76 [[ 7.42746279e-01 6.69535025e-01 7.12846855e-03 3.36630257e+02] [-6.69504258e-01 7.42780486e-01 -6.41864830e-03 -8.74953595e+01] [-9.59239719e-03 -5.11290639e-06 9.99953992e-01 1.75556063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters 0.01996517745257081 Centerline is valid? [True, True] Translation: X:336.69, Y:-87.54, Z:1.75 [[ 7.41509380e-01 6.70898992e-01 7.64076492e-03 3.36690911e+02] [-6.70863450e-01 7.41548746e-01 -6.90579201e-03 -8.75403944e+01] [-1.02990885e-02 -5.20035804e-06 9.99946963e-01 1.75379644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters 0.019942872533374414 Centerline is valid? [True, True] Translation: X:336.75, Y:-87.59, Z:1.76 [[ 7.39980485e-01 6.72583615e-01 7.75646965e-03 3.36747352e+02] [-6.72546824e-01 7.40021136e-01 -7.03479287e-03 -8.75883390e+01] [-1.04714379e-02 -1.09795905e-05 9.99945173e-01 1.75578896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters 0.019908510684123047 Centerline is valid? [True, True] Translation: X:336.81, Y:-87.63, Z:1.76 [[ 7.38682761e-01 6.74018547e-01 6.83937737e-03 3.36806820e+02] [-6.73989773e-01 7.38714422e-01 -6.22802346e-03 -8.76346931e+01] [-9.25015003e-03 -9.13683607e-06 9.99957216e-01 1.75556024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters 0.019784461459478563 Centerline is valid? [True, True] Translation: X:336.87, Y:-87.68, Z:1.76 [[ 7.37390636e-01 6.75439171e-01 6.08081349e-03 3.36865233e+02] [-6.75416294e-01 7.37415708e-01 -5.55908752e-03 -8.76825951e+01] [-8.23891284e-03 -7.86143182e-06 9.99966060e-01 1.75781672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters 0.019870538430906158 Centerline is valid? [True, True] Translation: X:336.92, Y:-87.73, Z:1.76 [[ 7.35008987e-01 6.78027129e-01 6.40327290e-03 3.36923096e+02] [-6.78001685e-01 7.35036878e-01 -5.87400341e-03 -8.77292323e+01] [-8.68937539e-03 -2.39845241e-05 9.99962246e-01 1.75744061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters 0.019875591001838132 Centerline is valid? [True, True] Translation: X:336.98, Y:-87.78, Z:1.76 [[ 7.33645419e-01 6.79502508e-01 6.38280305e-03 3.36979809e+02] [-6.79477099e-01 7.33673184e-01 -5.87628035e-03 -8.77777787e+01] [-8.67583867e-03 -2.58623467e-05 9.99962364e-01 1.75773970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters 0.020283570875522263 Centerline is valid? [True, True] Translation: X:337.04, Y:-87.82, Z:1.76 [[ 7.31911063e-01 6.81361397e-01 7.26927061e-03 3.37037918e+02] [-6.81328306e-01 7.31947160e-01 -6.71518957e-03 -8.78244527e+01] [-9.89619292e-03 -3.78382961e-05 9.99951031e-01 1.75787466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters 0.02035113559424998 Centerline is valid? [True, True] Translation: X:337.10, Y:-87.87, Z:1.76 [[ 7.30094161e-01 6.83306752e-01 7.37555627e-03 3.37095077e+02] [-6.83272543e-01 7.30131413e-01 -6.83749795e-03 -8.78713962e+01] [-1.00572338e-02 -4.74977607e-05 9.99949424e-01 1.76027841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters 0.02032197336227731 Centerline is valid? [True, True] Translation: X:337.15, Y:-87.92, Z:1.76 [[ 7.29098634e-01 6.84379157e-01 6.35229075e-03 3.37152812e+02] [-6.84353624e-01 7.29126305e-01 -5.91169821e-03 -8.79190032e+01] [-8.67746531e-03 -3.70021097e-05 9.99962349e-01 1.76109071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters 0.02047696981327355 Centerline is valid? [True, True] Translation: X:337.21, Y:-87.96, Z:1.76 [[ 7.28016581e-01 6.85524402e-01 6.93919275e-03 3.37211368e+02] [-6.85493775e-01 7.28049650e-01 -6.48002381e-03 -8.79648355e+01] [-9.49429130e-03 -3.92086567e-05 9.99954927e-01 1.76090834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters 0.020145966257247735 Centerline is valid? [True, True] Translation: X:337.27, Y:-88.01, Z:1.76 [[ 7.28179418e-01 6.85363658e-01 5.60282497e-03 3.37268232e+02] [-6.85343527e-01 7.28200972e-01 -5.25309252e-03 -8.80126711e+01] [-7.68026130e-03 -1.46659700e-05 9.99970506e-01 1.76157606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters 0.020552319706144278 Centerline is valid? [True, True] Translation: X:337.33, Y:-88.06, Z:1.76 [[ 7.26769885e-01 6.86818286e-01 9.28313651e-03 3.37330211e+02] [-6.86762524e-01 7.26829170e-01 -8.75177105e-03 -8.80642143e+01] [-1.27581308e-02 -1.47866234e-05 9.99918612e-01 1.76034699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters 0.020757398158436313 Centerline is valid? [True, True] Translation: X:337.39, Y:-88.11, Z:1.76 [[ 7.24237077e-01 6.89490451e-01 9.14187319e-03 3.37387600e+02] [-6.89436259e-01 7.24294771e-01 -8.64458864e-03 -8.81130448e+01] [-1.25817723e-02 -4.20072500e-05 9.99920845e-01 1.76020828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters 0.021516876212554818 Centerline is valid? [True, True] Translation: X:337.44, Y:-88.16, Z:1.76 [[ 7.20172373e-01 6.93725691e-01 9.81938042e-03 3.37442717e+02] [-6.93663127e-01 7.20239305e-01 -9.31717269e-03 -8.81623395e+01] [-1.35358658e-02 -1.01371775e-04 9.99908381e-01 1.76005791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters 0.021530454959254895 Centerline is valid? [True, True] Translation: X:337.50, Y:-88.21, Z:1.76 [[ 7.18205079e-01 6.95768379e-01 9.37164068e-03 3.37499027e+02] [-6.95711126e-01 7.18266212e-01 -8.92625126e-03 -8.82119348e+01] [-1.29419362e-02 -1.09075704e-04 9.99916244e-01 1.76146301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters 0.022567537413426056 Centerline is valid? [True, True] Translation: X:337.56, Y:-88.26, Z:1.76 [[ 7.13079339e-01 7.01016926e-01 9.65016820e-03 3.37559786e+02] [-7.00956039e-01 7.13144613e-01 -9.24075812e-03 -8.82625110e+01] [-1.33598933e-02 -1.74949987e-04 9.99910737e-01 1.76114920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters 0.023046260189633044 Centerline is valid? [True, True] Translation: X:337.62, Y:-88.31, Z:1.76 [[ 7.10033334e-01 7.04111378e-01 8.93486375e-03 3.37617722e+02] [-7.04059071e-01 7.10089522e-01 -8.58456187e-03 -8.83101118e+01] [-1.23890408e-02 -1.95346779e-04 9.99923234e-01 1.76289293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters 0.022612314865368518 Centerline is valid? [True, True] Translation: X:337.68, Y:-88.36, Z:1.76 [[ 7.09117138e-01 7.05040407e-01 8.42079563e-03 3.37676590e+02] [-7.04993650e-01 7.09167112e-01 -8.12155835e-03 -8.83566554e+01] [-1.16977781e-02 -1.77471238e-04 9.99931563e-01 1.76446130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters 0.022336825227646857 Centerline is valid? [True, True] Translation: X:337.74, Y:-88.40, Z:1.76 [[ 7.08457446e-01 7.05695177e-01 9.07547004e-03 3.37736792e+02] [-7.05640502e-01 7.08515550e-01 -8.78617840e-03 -8.84039307e+01] [-1.26304754e-02 -1.79385733e-04 9.99920216e-01 1.76317812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters 0.022048713362855184 Centerline is valid? [True, True] Translation: X:337.80, Y:-88.45, Z:1.76 [[ 7.07299457e-01 7.06864123e-01 8.40172286e-03 3.37796811e+02] [-7.06816953e-01 7.07349338e-01 -8.16760371e-03 -8.84525996e+01] [-1.17163391e-02 -1.61538478e-04 9.99931348e-01 1.76482036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters 0.022205218742642027 Centerline is valid? [True, True] Translation: X:337.85, Y:-88.50, Z:1.77 [[ 7.05688256e-01 7.08484651e-01 7.32014095e-03 3.37853817e+02] [-7.08448638e-01 7.05726206e-01 -7.14484293e-03 -8.85030540e+01] [-1.02280269e-02 -1.43912141e-04 9.99947682e-01 1.76520807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters 0.02173296182811916 Centerline is valid? [True, True] Translation: X:337.91, Y:-88.55, Z:1.76 [[ 7.05342427e-01 7.08827533e-01 7.45582975e-03 3.37912690e+02] [-7.08789932e-01 7.05381819e-01 -7.30221936e-03 -8.85496828e+01] [-1.04352209e-02 -1.34051933e-04 9.99945543e-01 1.76495473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters 0.02088812305002712 Centerline is valid? [True, True] Translation: X:337.97, Y:-88.60, Z:1.77 [[ 7.06363341e-01 7.07811110e-01 7.36641065e-03 3.37969771e+02] [-7.07774081e-01 7.06401743e-01 -7.24069999e-03 -8.85974473e+01] [-1.03286932e-02 -9.91894966e-05 9.99946653e-01 1.76605425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters 0.020231296786229917 Centerline is valid? [True, True] Translation: X:338.03, Y:-88.65, Z:1.77 [[ 7.06889281e-01 7.07294138e-01 6.52276909e-03 3.38027555e+02] [-7.07264846e-01 7.06919371e-01 -6.43737742e-03 -8.86454540e+01] [-9.16419114e-03 -6.28121848e-05 9.99958006e-01 1.76750755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters 0.019965993999008447 Centerline is valid? [True, True] Translation: X:338.08, Y:-88.69, Z:1.77 [[ 7.07613988e-01 7.06573880e-01 5.98297577e-03 3.38084870e+02] [-7.06549019e-01 7.07639280e-01 -5.92731362e-03 -8.86938016e+01] [-8.42187365e-03 -3.30156356e-05 9.99964535e-01 1.76824662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters 0.019812283212251473 Centerline is valid? [True, True] Translation: X:338.14, Y:-88.74, Z:1.77 [[ 7.06621382e-01 7.07564249e-01 6.24945776e-03 3.38141927e+02] [-7.07536972e-01 7.06649017e-01 -6.21289649e-03 -8.87415962e+01] [-8.81219662e-03 -3.15569201e-05 9.99961171e-01 1.76825011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters 0.01984049570706105 Centerline is valid? [True, True] Translation: X:338.20, Y:-88.79, Z:1.77 [[ 7.06155781e-01 7.08008025e-01 8.28550761e-03 3.38198811e+02] [-7.07959804e-01 7.06204387e-01 -8.26311639e-03 -8.87899649e+01] [-1.17016145e-02 -3.07589336e-05 9.99931533e-01 1.76712413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters 0.019617475649942786 Centerline is valid? [True, True] Translation: X:338.26, Y:-88.84, Z:1.77 [[ 7.04407013e-01 7.09766920e-01 6.45592924e-03 3.38256034e+02] [-7.09737476e-01 7.04436596e-01 -6.46504978e-03 -8.88377270e+01] [-9.13647130e-03 -2.79885204e-05 9.99958261e-01 1.76717340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters 0.019519614336598046 Centerline is valid? [True, True] Translation: X:338.32, Y:-88.90, Z:1.77 [[ 7.01888145e-01 7.12253462e-01 6.93097146e-03 3.38324020e+02] [-7.12218945e-01 7.01922365e-01 -7.01197517e-03 -8.88958213e+01] [-9.85930746e-03 -1.47469441e-05 9.99951396e-01 1.76838990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters 0.01952547575910539 Centerline is valid? [True, True] Translation: X:339.29, Y:-87.96, Z:3.61 [[ 7.60837090e-01 -6.48765670e-01 1.51666623e-02 3.39287775e+02] [-6.48625689e-01 -7.60988126e-01 -1.34828596e-02 -8.79572353e+01] [ 2.02888664e-02 4.20772837e-04 -9.99794071e-01 3.60669652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters 0.019129696710174254 Centerline is valid? [True, True] Translation: X:338.47, Y:-89.02, Z:1.77 [[ 7.59706397e-01 6.50232276e-01 6.64655327e-03 3.38468118e+02] [-6.50207350e-01 7.59735471e-01 -5.69346969e-03 -8.90242697e+01] [-8.75170005e-03 3.72755890e-06 9.99961703e-01 1.76918740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters 0.019075390502589096 Centerline is valid? [True, True] Translation: X:338.52, Y:-89.07, Z:1.77 [[ 7.59987622e-01 6.49900643e-01 6.92592370e-03 3.38524724e+02] [-6.49873376e-01 7.60019180e-01 -5.95334673e-03 -8.90664181e+01] [-9.13291871e-03 2.34964126e-05 9.99958294e-01 1.76855505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters 0.01917693189345285 Centerline is valid? [True, True] Translation: X:338.58, Y:-89.11, Z:1.77 [[ 7.60136455e-01 6.49733145e-01 6.27778261e-03 3.38580131e+02] [-6.49710618e-01 7.60162377e-01 -5.41046470e-03 -8.91104680e+01] [-8.28749240e-03 3.39494357e-05 9.99965658e-01 1.76943742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters 0.01908749276103737 Centerline is valid? [True, True] Translation: X:338.64, Y:-89.16, Z:1.77 [[ 7.59320892e-01 6.50688189e-01 6.05507994e-03 3.38637800e+02] [-6.50667088e-01 7.59345033e-01 -5.24034732e-03 -8.91556182e+01] [-8.00772698e-03 3.92639745e-05 9.99967937e-01 1.76936620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters 0.0189016138960613 Centerline is valid? [True, True] Translation: X:338.69, Y:-89.20, Z:1.77 [[ 7.56942069e-01 6.53458357e-01 5.55703092e-03 3.38693293e+02] [-6.53440586e-01 7.56962466e-01 -4.81918937e-03 -8.91993330e+01] [-7.35560340e-03 1.66576234e-05 9.99972947e-01 1.76943956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters 0.01890423155414214 Centerline is valid? [True, True] Translation: X:338.75, Y:-89.24, Z:1.77 [[ 7.55564088e-01 6.55043401e-01 6.40715790e-03 3.38747133e+02] [-6.55019728e-01 7.55591254e-01 -5.56893332e-03 -8.92442925e+01] [-8.48908549e-03 1.08711974e-05 9.99963967e-01 1.76941424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters 0.0186296311748326 Centerline is valid? [True, True] Translation: X:338.80, Y:-89.29, Z:1.77 [[ 7.53214885e-01 6.57754721e-01 5.10530275e-03 3.38802558e+02] [-6.57739666e-01 7.53232187e-01 -4.45023262e-03 -8.92883389e+01] [-6.77263987e-03 -5.97866986e-06 9.99977065e-01 1.77090475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters 0.01892681016903837 Centerline is valid? [True, True] Translation: X:338.86, Y:-89.33, Z:1.77 [[ 7.51079848e-01 6.60190699e-01 5.22514991e-03 3.38858385e+02] [-6.60174909e-01 7.51098023e-01 -4.56615319e-03 -8.93316700e+01] [-6.93913164e-03 -1.99672237e-05 9.99975924e-01 1.77081261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters 0.01949973910749353 Centerline is valid? [True, True] Translation: X:338.91, Y:-89.38, Z:1.77 [[ 7.48404289e-01 6.63216997e-01 5.85116865e-03 3.38912726e+02] [-6.63197193e-01 7.48427160e-01 -5.12540732e-03 -8.93764882e+01] [-7.77843078e-03 -4.46018054e-05 9.99969747e-01 1.77064720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters 0.019471084094208276 Centerline is valid? [True, True] Translation: X:338.97, Y:-89.42, Z:1.77 [[ 7.47104768e-01 6.64678946e-01 6.03029890e-03 3.38969231e+02] [-6.64657856e-01 7.47129102e-01 -5.29517120e-03 -8.94191678e+01] [-8.02500062e-03 -5.20378917e-05 9.99967798e-01 1.77132215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters 0.019534615539570418 Centerline is valid? [True, True] Translation: X:339.03, Y:-89.46, Z:1.77 [[ 7.46276186e-01 6.65606690e-01 6.29201705e-03 3.39025738e+02] [-6.65583645e-01 7.46302708e-01 -5.53896220e-03 -8.94619244e+01] [-8.38251966e-03 -5.42680590e-05 9.99964865e-01 1.77057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters 0.019461836155527823 Centerline is valid? [True, True] Translation: X:339.08, Y:-89.50, Z:1.77 [[ 7.45975209e-01 6.65962088e-01 3.93509131e-03 3.39081796e+02] [-6.65953018e-01 7.45985587e-01 -3.47592052e-03 -8.95048912e+01] [-5.25035269e-03 -2.76354009e-05 9.99986216e-01 1.77262943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters 0.01897320042010882 Centerline is valid? [True, True] Translation: X:339.14, Y:-89.55, Z:1.78 [[ 7.46044469e-01 6.65867733e-01 6.14911562e-03 3.39140328e+02] [-6.65845475e-01 7.46069809e-01 -5.44457691e-03 -8.95455940e+01] [-8.21303761e-03 -3.24643149e-05 9.99966272e-01 1.77542952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters 0.018948245594145676 Centerline is valid? [True, True] Translation: X:339.20, Y:-89.59, Z:1.77 [[ 7.47952263e-01 6.63722623e-01 6.30021410e-03 3.39197283e+02] [-6.63699046e-01 7.47978796e-01 -5.59430879e-03 -8.95870629e+01] [-8.42549587e-03 2.82982850e-06 9.99964505e-01 1.77243003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters 0.018995317225782314 Centerline is valid? [True, True] Translation: X:339.25, Y:-89.63, Z:1.77 [[ 7.51311371e-01 6.59918928e-01 6.18323813e-03 3.39254825e+02] [-6.59895985e-01 7.51336812e-01 -5.50301471e-03 -8.96286074e+01] [-8.27723800e-03 5.41835128e-05 9.99965742e-01 1.77350837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters 0.018873017150581456 Centerline is valid? [True, True] Translation: X:339.31, Y:-89.67, Z:1.78 [[ 7.52658178e-01 6.58375984e-01 6.83593109e-03 3.39309830e+02] [-6.58347709e-01 7.52689215e-01 -6.10241063e-03 -8.96731646e+01] [-9.16301222e-03 9.26097010e-05 9.99958014e-01 1.77559939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters 0.0196537122956222 Centerline is valid? [True, True] Translation: X:339.37, Y:-89.72, Z:1.77 [[ 7.52949608e-01 6.58039907e-01 7.09712951e-03 3.39365700e+02] [-6.58009237e-01 7.52983046e-01 -6.35423980e-03 -8.97171988e+01] [-9.52536156e-03 1.14445589e-04 9.99954626e-01 1.77270705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters 0.020499225081172256 Centerline is valid? [True, True] Translation: X:339.42, Y:-89.76, Z:1.77 [[ 7.54796530e-01 6.55925761e-01 6.60263808e-03 3.39418141e+02] [-6.55899022e-01 7.54825394e-01 -5.92420944e-03 -8.97627240e+01] [-8.86968048e-03 1.40908864e-04 9.99960654e-01 1.77189233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters 0.019264976437261924 Centerline is valid? [True, True] Translation: X:339.47, Y:-89.81, Z:1.78 [[ 7.54979713e-01 6.55731198e-01 4.71480370e-03 3.39467975e+02] [-6.55717455e-01 7.54994426e-01 -4.24692410e-03 -8.98132523e+01] [-6.34449114e-03 1.14762462e-04 9.99979867e-01 1.77600032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters 0.02058092245936963 Centerline is valid? [True, True] Translation: X:339.52, Y:-89.86, Z:1.77 [[ 7.52869641e-01 6.58152210e-01 4.79289999e-03 3.39523785e+02] [-6.58137923e-01 7.52884889e-01 -4.33800158e-03 -8.98595421e+01] [-6.46356731e-03 1.11560444e-04 9.99979105e-01 1.77431269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters 0.019708614233706644 Centerline is valid? [True, True] Translation: X:339.57, Y:-89.91, Z:1.78 [[ 7.50041140e-01 6.61361296e-01 6.28682100e-03 3.39572739e+02] [-6.61336795e-01 7.50067479e-01 -5.69384830e-03 -8.99098485e+01] [-8.48123087e-03 1.12914416e-04 9.99964027e-01 1.77508594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters 0.018686337013620446 Centerline is valid? [True, True] Translation: X:339.62, Y:-89.96, Z:1.78 [[ 7.46244824e-01 6.65635004e-01 6.97879821e-03 3.39621406e+02] [-6.65604812e-01 7.46277451e-01 -6.34035781e-03 -8.99611498e+01] [-9.42848384e-03 8.63375306e-05 9.99955547e-01 1.77780731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters 0.01898075594135262 Centerline is valid? [True, True] Translation: X:339.68, Y:-90.01, Z:1.77 [[ 7.42657827e-01 6.69624645e-01 7.88584634e-03 3.39677071e+02] [-6.69585988e-01 7.42699690e-01 -7.19545077e-03 -9.00086168e+01] [-1.06750668e-02 6.35056227e-05 9.99943018e-01 1.77342373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters 0.019155663980003065 Centerline is valid? [True, True] Translation: X:339.73, Y:-90.06, Z:1.77 [[ 7.38431297e-01 6.74273438e-01 8.63421110e-03 3.39727102e+02] [-6.74227244e-01 7.38481774e-01 -7.89262309e-03 -9.00578245e+01] [-1.16979936e-02 6.73955688e-06 9.99931576e-01 1.77388754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters 0.01944715587082882 Centerline is valid? [True, True] Translation: X:339.78, Y:-90.11, Z:1.77 [[ 7.34013084e-01 6.79101203e-01 6.80801063e-03 3.39782731e+02] [-6.79072501e-01 7.34044655e-01 -6.24370003e-03 -9.01054197e+01] [-9.23748801e-03 -4.01752913e-05 9.99957333e-01 1.77481077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters 0.02001816347065012 Centerline is valid? [True, True] Translation: X:339.84, Y:-90.15, Z:1.78 [[ 7.30522551e-01 6.82852803e-01 6.98950968e-03 3.39836702e+02] [-6.82822571e-01 7.30555983e-01 -6.42588669e-03 -9.01521939e+01] [-9.49416285e-03 -7.83398343e-05 9.99954926e-01 1.77647167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters 0.019784485360077726 Centerline is valid? [True, True] Translation: X:339.90, Y:-90.20, Z:1.78 [[ 7.28051288e-01 6.85470016e-01 8.49584728e-03 3.39895063e+02] [-6.85425163e-01 7.28100848e-01 -7.84222645e-03 -9.01974157e+01] [-1.15614447e-02 -1.13724438e-04 9.99933158e-01 1.77863576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters 0.020715211213358727 Centerline is valid? [True, True] Translation: X:339.95, Y:-90.24, Z:1.78 [[ 7.25919241e-01 6.87744622e-01 6.97071857e-03 3.39950379e+02] [-6.87714332e-01 7.25952701e-01 -6.45552270e-03 -9.02435212e+01] [-9.50016299e-03 -1.07674925e-04 9.99954867e-01 1.78025761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters 0.02057686320580632 Centerline is valid? [True, True] Translation: X:340.01, Y:-90.29, Z:1.78 [[ 7.25928858e-01 6.87733935e-01 7.02331600e-03 3.40006878e+02] [-6.87703037e-01 7.25962826e-01 -6.51976097e-03 -9.02874458e+01] [-9.58252720e-03 -9.70731036e-05 9.99954082e-01 1.77933505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters 0.020394989949809237 Centerline is valid? [True, True] Translation: X:340.06, Y:-90.33, Z:1.78 [[ 7.26494289e-01 6.87136564e-01 7.02786518e-03 3.40062270e+02] [-6.87105432e-01 7.26528276e-01 -6.54129459e-03 -9.03332785e+01] [-9.60070547e-03 -7.66711814e-05 9.99953909e-01 1.77973615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters 0.019983266823549364 Centerline is valid? [True, True] Translation: X:340.12, Y:-90.38, Z:1.78 [[ 7.27382978e-01 6.86204305e-01 6.13637049e-03 3.40121428e+02] [-6.86180307e-01 7.27408860e-01 -5.73894635e-03 -9.03811309e+01] [-8.40173995e-03 -3.62447040e-05 9.99964704e-01 1.78241906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters 0.020027178594791542 Centerline is valid? [True, True] Translation: X:340.18, Y:-90.43, Z:1.78 [[ 7.27101991e-01 6.86499858e-01 6.37497295e-03 3.40175585e+02] [-6.86473880e-01 7.27129936e-01 -5.97224931e-03 -9.04266016e+01] [-8.73538198e-03 -3.38180591e-05 9.99961845e-01 1.78177664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters 0.020439006745366466 Centerline is valid? [True, True] Translation: X:340.23, Y:-90.47, Z:1.78 [[ 7.26232655e-01 6.87395894e-01 8.54493383e-03 3.40229351e+02] [-6.87349075e-01 7.26282922e-01 -8.02284060e-03 -9.04723535e+01] [-1.17209072e-02 -4.69035342e-05 9.99931307e-01 1.78223137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters 0.019845277342938606 Centerline is valid? [True, True] Translation: X:340.28, Y:-90.52, Z:1.79 [[ 7.25471793e-01 6.88206881e-01 7.87187449e-03 3.40283264e+02] [-6.88166940e-01 7.25514498e-01 -7.41453858e-03 -9.05180766e+01] [-1.08138955e-02 -3.81251849e-05 9.99941527e-01 1.78733513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters 0.020130072312113338 Centerline is valid? [True, True] Translation: X:340.37, Y:-90.58, Z:1.79 [[ 7.19820998e-01 6.94108241e-01 8.45460184e-03 3.40365259e+02] [-6.94060665e-01 7.19870648e-01 -8.12672712e-03 -9.05806712e+01] [-1.17270480e-02 -1.82177512e-05 9.99931236e-01 1.78587808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters 0.020302690490938094 Centerline is valid? [True, True] Translation: X:340.42, Y:-90.63, Z:1.79 [[ 7.18718932e-01 6.95249646e-01 8.42770293e-03 3.40420321e+02] [-6.95202604e-01 7.18768341e-01 -8.08776718e-03 -9.06276499e+01] [-1.16805833e-02 -4.61296291e-05 9.99931779e-01 1.78846853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters 0.02017263875509838 Centerline is valid? [True, True] Translation: X:340.48, Y:-90.67, Z:1.79 [[ 7.18896550e-01 6.95083525e-01 6.82962271e-03 3.40476770e+02] [-6.95052422e-01 7.18928990e-01 -6.57554590e-03 -9.06724447e+01] [-9.48056738e-03 -1.98085503e-05 9.99955058e-01 1.78940955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters 0.020100645649910886 Centerline is valid? [True, True] Translation: X:340.53, Y:-90.72, Z:1.79 [[ 7.18860219e-01 6.95117906e-01 7.14724922e-03 3.40533608e+02] [-6.95083515e-01 7.18895748e-01 -6.91445394e-03 -9.07200699e+01] [-9.94448782e-03 2.59075081e-06 9.99950552e-01 1.78862108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters 0.02030620043330082 Centerline is valid? [True, True] Translation: X:340.59, Y:-90.77, Z:1.79 [[ 7.20312536e-01 6.93586631e-01 9.35070772e-03 3.40588860e+02] [-6.93527260e-01 7.20373224e-01 -9.07508419e-03 -9.07679372e+01] [-1.30303565e-02 5.19261963e-05 9.99915100e-01 1.78868585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters 0.02026494685399851 Centerline is valid? [True, True] Translation: X:340.64, Y:-90.82, Z:1.79 [[ 7.22559003e-01 6.91267097e-01 7.63472757e-03 3.40641598e+02] [-6.91227166e-01 7.22599331e-01 -7.43051898e-03 -9.08153914e+01] [-1.06533223e-02 9.16572815e-05 9.99943248e-01 1.79123368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters 0.020418708789763457 Centerline is valid? [True, True] Translation: X:340.69, Y:-90.86, Z:1.79 [[ 7.22355962e-01 6.91462301e-01 9.04160255e-03 3.40693298e+02] [-6.91406002e-01 7.22412535e-01 -8.82436416e-03 -9.08630786e+01] [-1.26334822e-02 1.22913794e-04 9.99920187e-01 1.79275990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters 0.020700386047074287 Centerline is valid? [True, True] Translation: X:340.75, Y:-90.91, Z:1.79 [[ 7.22527185e-01 6.91300040e-01 7.66303289e-03 3.40748351e+02] [-6.91259195e-01 7.22567808e-01 -7.51586896e-03 -9.09123028e+01] [-1.07327814e-02 1.33277693e-04 9.99942393e-01 1.79271652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters 0.020883823313214023 Centerline is valid? [True, True] Translation: X:340.80, Y:-90.96, Z:1.79 [[ 7.21394441e-01 6.92443947e-01 1.05565657e-02 3.40800711e+02] [-6.92366238e-01 7.21471655e-01 -1.03751191e-02 -9.09597286e+01] [-1.48004514e-02 1.75543594e-04 9.99890452e-01 1.79401912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters 0.020714009630005376 Centerline is valid? [True, True] Translation: X:340.86, Y:-91.01, Z:1.79 [[ 7.20462293e-01 6.93472123e-01 5.52257595e-03 3.40856799e+02] [-6.93450640e-01 7.20483451e-01 -5.45947487e-03 -9.10093821e+01] [-7.76491821e-03 1.03711954e-04 9.99969847e-01 1.79310826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters 0.020829946483479207 Centerline is valid? [True, True] Translation: X:340.91, Y:-91.06, Z:1.79 [[ 7.19802913e-01 6.94114709e-01 9.40943028e-03 3.40909293e+02] [-6.94052213e-01 7.19864390e-01 -9.31591449e-03 -9.10571046e+01] [-1.32398271e-02 1.74986480e-04 9.99912334e-01 1.79445720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters 0.020895847640940414 Centerline is valid? [True, True] Translation: X:340.96, Y:-91.11, Z:1.80 [[ 7.20377150e-01 6.93526076e-01 8.85119216e-03 3.40960502e+02] [-6.93470402e-01 7.20431499e-01 -8.78960115e-03 -9.11062163e+01] [-1.24724952e-02 1.93788038e-04 9.99922197e-01 1.79697859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters 0.021147891454139756 Centerline is valid? [True, True] Translation: X:341.02, Y:-91.15, Z:1.80 [[ 7.20306742e-01 6.93578720e-01 1.03323351e-02 3.41015431e+02] [-6.93502433e-01 7.20380801e-01 -1.02896326e-02 -9.11516863e+01] [-1.45798861e-02 2.46192188e-04 9.99893678e-01 1.79595253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters 0.02220075285801033 Centerline is valid? [True, True] Translation: X:341.07, Y:-91.20, Z:1.79 [[ 7.18270313e-01 6.95669599e-01 1.14702157e-02 3.41068370e+02] [-6.95575322e-01 7.18361849e-01 -1.14553724e-02 -9.11985136e+01] [-1.62089197e-02 2.49654945e-04 9.99868596e-01 1.79351085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters 0.020592055553746397 Centerline is valid? [True, True] Translation: X:341.12, Y:-91.24, Z:1.80 [[ 7.14529550e-01 6.99526939e-01 1.04682364e-02 3.41124760e+02] [-6.99448354e-01 7.14606208e-01 -1.04865411e-02 -9.12423790e+01] [-1.48162847e-02 1.70952751e-04 9.99890218e-01 1.79715205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:341.92, Y:-90.48, Z:3.61 [[ 7.54750673e-01 -6.55767363e-01 1.79049498e-02 3.41919921e+02] [-6.55578542e-01 -7.54963010e-01 -1.57362125e-02 -9.04824059e+01] [ 2.38368694e-02 1.38816071e-04 -9.99715852e-01 3.61171070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:341.26, Y:-91.37, Z:1.80 [[ 7.67704370e-01 6.40710030e-01 1.09843995e-02 3.41256956e+02] [-6.40641675e-01 7.67782935e-01 -9.36001900e-03 -9.13706971e+01] [-1.44306926e-02 1.48663380e-04 9.99895861e-01 1.79763128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters 0.02033399477680172 Centerline is valid? [True, True] Translation: X:341.31, Y:-91.41, Z:1.80 [[ 7.67149070e-01 6.41389436e-01 1.00943836e-02 3.41310516e+02] [-6.41331384e-01 7.67215465e-01 -8.63051055e-03 -9.14135028e+01] [-1.32800855e-02 1.47043159e-04 9.99911805e-01 1.79914435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters 0.020735807635122047 Centerline is valid? [True, True] Translation: X:341.37, Y:-91.46, Z:1.80 [[ 7.68454880e-01 6.39804366e-01 1.12902979e-02 3.41368442e+02] [-6.39731092e-01 7.68537784e-01 -9.68528416e-03 -9.14571659e+01] [-1.48737076e-02 2.19949285e-04 9.99889356e-01 1.80107484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters 0.021134082634430115 Centerline is valid? [True, True] Translation: X:341.42, Y:-91.50, Z:1.80 [[ 7.68921810e-01 6.39248036e-01 1.10090122e-02 3.41423293e+02] [-6.39178010e-01 7.69000579e-01 -9.46471510e-03 -9.14973111e+01] [-1.45162373e-02 2.40907385e-04 9.99894605e-01 1.80150288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters 0.02103218350679495 Centerline is valid? [True, True] Translation: X:341.48, Y:-91.54, Z:1.80 [[ 7.67948024e-01 6.40412244e-01 1.13132551e-02 3.41476505e+02] [-6.40338049e-01 7.68031313e-01 -9.75112910e-03 -9.15404389e+01] [-1.49336766e-02 2.44052646e-04 9.99888457e-01 1.80149556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters 0.02085934455183922 Centerline is valid? [True, True] Translation: X:341.53, Y:-91.58, Z:1.80 [[ 7.67326007e-01 6.41164308e-01 1.09146124e-02 3.41529171e+02] [-6.41095061e-01 7.67403593e-01 -9.42593715e-03 -9.15834694e+01] [-1.44194873e-02 2.35462612e-04 9.99896006e-01 1.80320367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters 0.020732894523396994 Centerline is valid? [True, True] Translation: X:341.58, Y:-91.62, Z:1.80 [[ 7.66054004e-01 6.42715482e-01 8.83583485e-03 3.41584470e+02] [-6.42669937e-01 7.66104937e-01 -7.65356946e-03 -9.16243150e+01] [-1.16882443e-02 1.84522108e-04 9.99931673e-01 1.80276771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters 0.020693706694548043 Centerline is valid? [True, True] Translation: X:341.64, Y:-91.67, Z:1.80 [[ 7.64584471e-01 6.44441265e-01 1.02977030e-02 3.41636292e+02] [-6.44379290e-01 7.64653788e-01 -8.93950958e-03 -9.16675175e+01] [-1.36351665e-02 1.99383672e-04 9.99907017e-01 1.80315104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters 0.0206093817298641 Centerline is valid? [True, True] Translation: X:341.69, Y:-91.71, Z:1.81 [[ 7.63217062e-01 6.46052399e-01 1.07709208e-02 3.41687029e+02] [-6.45984429e-01 7.63293036e-01 -9.37330283e-03 -9.17121241e+01] [-1.42770136e-02 1.96017515e-04 9.99898059e-01 1.80573720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters 0.02034051969878563 Centerline is valid? [True, True] Translation: X:341.74, Y:-91.76, Z:1.81 [[ 7.60820880e-01 6.48883369e-01 1.00976031e-02 3.41739431e+02] [-6.48823563e-01 7.60887870e-01 -8.81100892e-03 -9.17560390e+01] [-1.34004608e-02 1.52036768e-04 9.99910198e-01 1.80539652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters 0.02002949380850429 Centerline is valid? [True, True] Translation: X:341.79, Y:-91.80, Z:1.81 [[ 7.56770243e-01 6.53610246e-01 9.61485133e-03 3.41791827e+02] [-6.53556055e-01 7.56831315e-01 -8.41690399e-03 -9.18036301e+01] [-1.27781953e-02 8.58181705e-05 9.99918352e-01 1.80802268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters 0.01985931704619839 Centerline is valid? [True, True] Translation: X:341.84, Y:-91.85, Z:1.81 [[ 7.50935494e-01 6.60303241e-01 9.77313531e-03 3.41843518e+02] [-6.60247523e-01 7.50999088e-01 -8.57773881e-03 -9.18495603e+01] [-1.30035244e-02 -1.13598519e-05 9.99915451e-01 1.80758862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters 0.020088958504384014 Centerline is valid? [True, True] Translation: X:341.90, Y:-91.89, Z:1.81 [[ 7.45598745e-01 6.66340215e-01 8.55735926e-03 3.41897357e+02] [-6.66297623e-01 7.45647846e-01 -7.53443099e-03 -9.18949138e+01] [-1.14012709e-02 -8.40858346e-05 9.99935000e-01 1.80881164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters 0.020467525898687985 Centerline is valid? [True, True] Translation: X:341.95, Y:-91.94, Z:1.81 [[ 7.41576650e-01 6.70809669e-01 8.85780953e-03 3.41951713e+02] [-6.70764116e-01 7.41629535e-01 -7.81874789e-03 -9.19377615e+01] [-1.18141048e-02 -1.43299917e-04 9.99930201e-01 1.80915408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters 0.021012379470589284 Centerline is valid? [True, True] Translation: X:342.01, Y:-91.98, Z:1.81 [[ 7.38670439e-01 6.73999962e-01 9.48855097e-03 3.42005470e+02] [-6.73947692e-01 7.38731354e-01 -8.39610355e-03 -9.19805443e+01] [-1.26684636e-02 -1.92833532e-04 9.99919733e-01 1.81127229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters 0.02057998565076315 Centerline is valid? [True, True] Translation: X:342.06, Y:-92.02, Z:1.81 [[ 7.38626896e-01 6.74059358e-01 8.61917202e-03 3.42061498e+02] [-6.74015994e-01 7.38677167e-01 -7.64742698e-03 -9.20215681e+01] [-1.15216053e-02 -1.60864546e-04 9.99933611e-01 1.81223519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters 0.020698272792351858 Centerline is valid? [True, True] Translation: X:342.12, Y:-92.06, Z:1.81 [[ 7.38758746e-01 6.73880846e-01 1.09599637e-02 3.42118531e+02] [-6.73810364e-01 7.38840018e-01 -9.74789855e-03 -9.20616771e+01] [-1.46665819e-02 -1.83591797e-04 9.99892423e-01 1.81182975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters 0.02003372824579054 Centerline is valid? [True, True] Translation: X:342.17, Y:-92.10, Z:1.81 [[ 7.39348410e-01 6.73254523e-01 9.60598124e-03 3.42173899e+02] [-6.73200030e-01 7.39410799e-01 -8.56678328e-03 -9.21037804e+01] [-1.28703919e-02 -1.32909266e-04 9.99917164e-01 1.81293617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters 0.019775870780744425 Centerline is valid? [True, True] Translation: X:342.23, Y:-92.14, Z:1.81 [[ 7.40474578e-01 6.72013905e-01 9.73192449e-03 3.42230350e+02] [-6.71957565e-01 7.40538522e-01 -8.70222607e-03 -9.21448990e+01] [-1.30548819e-02 -9.56631077e-05 9.99914777e-01 1.81183358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters 0.019255963609780113 Centerline is valid? [True, True] Translation: X:342.28, Y:-92.19, Z:1.81 [[ 7.42321269e-01 6.69976397e-01 9.52686875e-03 3.42283695e+02] [-6.69921945e-01 7.42382399e-01 -8.54175471e-03 -9.21883651e+01] [-1.27953537e-02 -4.15322437e-05 9.99918135e-01 1.81430010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters 0.01922016025133349 Centerline is valid? [True, True] Translation: X:342.34, Y:-92.23, Z:1.81 [[ 7.42627055e-01 6.69657911e-01 7.95858982e-03 3.42337132e+02] [-6.69619688e-01 7.42669699e-01 -7.15484556e-03 -9.22304260e+01] [-1.07019024e-02 -1.58465425e-05 9.99942733e-01 1.81447577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters 0.019149826507999863 Centerline is valid? [True, True] Translation: X:342.39, Y:-92.28, Z:1.82 [[ 7.43131182e-01 6.69100563e-01 7.77708439e-03 3.42389423e+02] [-6.69063826e-01 7.43171876e-01 -7.01143068e-03 -9.22755836e+01] [-1.04710626e-02 7.04693219e-06 9.99945177e-01 1.81590393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters 0.019042644399793727 Centerline is valid? [True, True] Translation: X:342.44, Y:-92.32, Z:1.82 [[ 7.41998058e-01 6.70372151e-01 6.32935044e-03 3.42443747e+02] [-6.70347674e-01 7.42025053e-01 -5.72857808e-03 -9.23227352e+01] [-8.53681581e-03 7.72846827e-06 9.99963561e-01 1.81669298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters 0.01911084713440021 Centerline is valid? [True, True] Translation: X:342.49, Y:-92.37, Z:1.82 [[ 7.39308585e-01 6.73341189e-01 5.87018957e-03 3.42494768e+02] [-6.73320141e-01 7.39331889e-01 -5.32405045e-03 -9.23675966e+01] [-7.92492081e-03 -1.64006670e-05 9.99968597e-01 1.81766491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters 0.019342632114097286 Centerline is valid? [True, True] Translation: X:342.55, Y:-92.41, Z:1.82 [[ 7.36620708e-01 6.76264560e-01 7.49511550e-03 3.42548021e+02] [-6.76230185e-01 7.36658837e-01 -6.81860718e-03 -9.24145301e+01] [-1.01325255e-02 -4.56960891e-05 9.99948664e-01 1.81668087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters 0.01949887385634195 Centerline is valid? [True, True] Translation: X:342.60, Y:-92.46, Z:1.82 [[ 7.34678560e-01 6.78377120e-01 7.20393010e-03 3.42598930e+02] [-6.78345315e-01 7.34713876e-01 -6.56913366e-03 -9.24593579e+01] [-9.74917738e-03 -6.05505742e-05 9.99952474e-01 1.81616557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters 0.019584840916550137 Centerline is valid? [True, True] Translation: X:342.65, Y:-92.50, Z:1.82 [[ 7.33086252e-01 6.80086420e-01 8.18588947e-03 3.42650020e+02] [-6.80045266e-01 7.33131949e-01 -7.48205487e-03 -9.25043870e+01] [-1.10897810e-02 -8.17838246e-05 9.99938503e-01 1.81655253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters 0.01950885110130944 Centerline is valid? [True, True] Translation: X:342.70, Y:-92.55, Z:1.82 [[ 7.30951575e-01 6.82367275e-01 9.20313401e-03 3.42703183e+02] [-6.82315184e-01 7.31009500e-01 -8.43208602e-03 -9.25475141e+01] [-1.24813579e-02 -1.15991519e-04 9.99922098e-01 1.81800089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters 0.019828951224624088 Centerline is valid? [True, True] Translation: X:342.76, Y:-92.59, Z:1.82 [[ 7.28833888e-01 6.84598555e-01 1.12241860e-02 3.42755933e+02] [-6.84520930e-01 7.28920291e-01 -1.03105319e-02 -9.25926614e+01] [-1.52401122e-02 -1.68525126e-04 9.99883849e-01 1.81605355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters 0.0201068476701461 Centerline is valid? [True, True] Translation: X:342.81, Y:-92.64, Z:1.81 [[ 7.27504117e-01 6.86005536e-01 1.15829868e-02 3.42808293e+02] [-6.85922605e-01 7.27596297e-01 -1.06681057e-02 -9.26376789e+01] [-1.57461178e-02 -1.83941639e-04 9.99876005e-01 1.81456432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters 0.019793092558544313 Centerline is valid? [True, True] Translation: X:342.86, Y:-92.68, Z:1.82 [[ 7.26357330e-01 6.87223726e-01 1.13392615e-02 3.42861168e+02] [-6.87144025e-01 7.26445810e-01 -1.04677619e-02 -9.26806463e+01] [-1.54310533e-02 -1.88370144e-04 9.99880916e-01 1.81635917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters 0.019915147545479166 Centerline is valid? [True, True] Translation: X:342.91, Y:-92.73, Z:1.82 [[ 7.25954978e-01 6.87606246e-01 1.36755481e-02 3.42913556e+02] [-6.87489752e-01 7.26083746e-01 -1.26584044e-02 -9.27256196e+01] [-1.86335911e-02 -2.12367471e-04 9.99826357e-01 1.81556533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters 0.019850577646752278 Centerline is valid? [True, True] Translation: X:342.97, Y:-92.77, Z:1.82 [[ 7.26499726e-01 6.87021653e-01 1.41207947e-02 3.42966305e+02] [-6.86896668e-01 7.26636922e-01 -1.31053918e-02 -9.27706719e+01] [-1.92643787e-02 -1.78463280e-04 9.99814409e-01 1.81644799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters 0.020012190962588005 Centerline is valid? [True, True] Translation: X:343.02, Y:-92.82, Z:1.82 [[ 7.26393278e-01 6.87167358e-01 1.24027576e-02 3.43018164e+02] [-6.87070516e-01 7.26499142e-01 -1.15370569e-02 -9.28159430e+01] [-1.69384816e-02 -1.41128491e-04 9.99856524e-01 1.81664908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters 0.020034955781904774 Centerline is valid? [True, True] Translation: X:343.07, Y:-92.86, Z:1.82 [[ 7.25974608e-01 6.87601977e-01 1.28214596e-02 3.43068627e+02] [-6.87498024e-01 7.26087807e-01 -1.19567210e-02 -9.28615625e+01] [-1.75309705e-02 -1.34452283e-04 9.99846312e-01 1.81810120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters 0.019681335302012434 Centerline is valid? [True, True] Translation: X:343.12, Y:-92.91, Z:1.82 [[ 7.26613123e-01 6.86913342e-01 1.35436393e-02 3.43122256e+02] [-6.86796608e-01 7.26739328e-01 -1.26636817e-02 -9.29056468e+01] [-1.85415472e-02 -1.00128226e-04 9.99828086e-01 1.81599269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters 0.019549602312320436 Centerline is valid? [True, True] Translation: X:343.17, Y:-92.95, Z:1.82 [[ 7.26737150e-01 6.86778490e-01 1.37266537e-02 3.43172720e+02] [-6.86657909e-01 7.26866769e-01 -1.28691947e-02 -9.29527137e+01] [-1.88157345e-02 -7.29934458e-05 9.99822966e-01 1.81640929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters 0.019160994510422098 Centerline is valid? [True, True] Translation: X:343.22, Y:-93.00, Z:1.82 [[ 7.28402926e-01 6.85019754e-01 1.33084416e-02 3.43224024e+02] [-6.84905551e-01 7.28524493e-01 -1.25079588e-02 -9.29990304e+01] [-1.82637246e-02 -4.19173953e-06 9.99833204e-01 1.81620679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters 0.019493120608122912 Centerline is valid? [True, True] Translation: X:343.28, Y:-93.05, Z:1.82 [[ 7.27649629e-01 6.85812120e-01 1.37023205e-02 3.43276100e+02] [-6.85690419e-01 7.27778631e-01 -1.29194843e-02 -9.30468154e+01] [-1.88325950e-02 5.30807952e-06 9.99822651e-01 1.81691681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters 0.019568460657526612 Centerline is valid? [True, True] Translation: X:343.32, Y:-93.10, Z:1.82 [[ 7.27342898e-01 6.86127921e-01 1.41698816e-02 3.43324464e+02] [-6.85997147e-01 7.27480911e-01 -1.33954329e-02 -9.30959344e+01] [-1.94992989e-02 2.25746468e-05 9.99809870e-01 1.81627014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters 0.019732237096799866 Centerline is valid? [True, True] Translation: X:343.37, Y:-93.14, Z:1.82 [[ 7.27059845e-01 6.86418269e-01 1.46267529e-02 3.43374403e+02] [-6.86278247e-01 7.27206957e-01 -1.38639474e-02 -9.31433960e+01] [-2.01531433e-02 4.18971057e-05 9.99796904e-01 1.81567729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters 0.019577984673189313 Centerline is valid? [True, True] Translation: X:343.42, Y:-93.19, Z:1.81 [[ 7.26404690e-01 6.87119293e-01 1.42584506e-02 3.43423542e+02] [-6.86985648e-01 7.26544613e-01 -1.35515646e-02 -9.31919982e+01] [-1.96709420e-02 4.85691305e-05 9.99806507e-01 1.81447914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters 0.019117012927110832 Centerline is valid? [True, True] Translation: X:343.47, Y:-93.24, Z:1.82 [[ 7.25305612e-01 6.88312626e-01 1.25498115e-02 3.43470361e+02] [-6.88208699e-01 7.25414177e-01 -1.19607190e-02 -9.32427442e+01] [-1.73365251e-02 3.82871683e-05 9.99849710e-01 1.81592924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters 0.019290756185260903 Centerline is valid? [True, True] Translation: X:343.52, Y:-93.29, Z:1.81 [[ 7.22608756e-01 6.91122743e-01 1.36359878e-02 3.43517148e+02] [-6.90999911e-01 7.22737403e-01 -1.30295591e-02 -9.32930720e+01] [-1.88602630e-02 -7.19287111e-06 9.99822129e-01 1.81466821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters 0.01933356601373006 Centerline is valid? [True, True] Translation: X:343.58, Y:-93.35, Z:1.81 [[ 7.17454381e-01 6.96497276e-01 1.22782701e-02 3.43577594e+02] [-6.96396478e-01 7.17559434e-01 -1.18492312e-02 -9.33528970e+01] [-1.70633458e-02 -4.92612344e-05 9.99854409e-01 1.81446190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters 0.019335084200912515 Centerline is valid? [True, True] Translation: X:343.64, Y:-93.42, Z:1.82 [[ 7.11509325e-01 7.02589748e-01 1.10511236e-02 3.43643568e+02] [-7.02506794e-01 7.11595138e-01 -1.07965269e-02 -9.34185939e+01] [-1.54494549e-02 -8.16598639e-05 9.99880647e-01 1.81604463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters 0.020101667659984477 Centerline is valid? [True, True] Translation: X:343.69, Y:-93.47, Z:1.82 [[ 7.07006316e-01 7.07088252e-01 1.29720051e-02 3.43691145e+02] [-7.06974622e-01 7.07125279e-01 -1.26776940e-02 -9.34712075e+01] [-1.81370812e-02 -2.07668630e-04 9.99835488e-01 1.81602658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters 0.020232286417219216 Centerline is valid? [True, True] Translation: X:343.74, Y:-93.52, Z:1.82 [[ 7.03711573e-01 7.10399463e-01 1.10735908e-02 3.43740514e+02] [-7.10316571e-01 7.03798658e-01 -1.08543922e-02 -9.35214216e+01] [-1.55045328e-02 -2.27393639e-04 9.99879772e-01 1.81672416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters 0.020988574655104477 Centerline is valid? [True, True] Translation: X:343.79, Y:-93.57, Z:1.82 [[ 7.00537044e-01 7.13530473e-01 1.10505279e-02 3.43789247e+02] [-7.13447824e-01 7.00624143e-01 -1.08633505e-02 -9.35724448e+01] [-1.54935983e-02 -2.73795614e-04 9.99879930e-01 1.81622049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters 0.021284225246183463 Centerline is valid? [True, True] Translation: X:343.84, Y:-93.62, Z:1.82 [[ 6.98461494e-01 7.15535818e-01 1.26505119e-02 3.43840119e+02] [-7.15427235e-01 6.98575964e-01 -1.24697042e-02 -9.36219233e+01] [-1.77598636e-02 -3.40912527e-04 9.99842223e-01 1.81560393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters 0.021717923178271814 Centerline is valid? [True, True] Translation: X:343.89, Y:-93.67, Z:1.82 [[ 6.96711953e-01 7.17238375e-01 1.27109726e-02 3.43889660e+02] [-7.17128412e-01 6.96827800e-01 -1.25641205e-02 -9.36716936e+01] [-1.78688284e-02 -3.61826734e-04 9.99840274e-01 1.81531757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters 0.020987761932379907 Centerline is valid? [True, True] Translation: X:343.94, Y:-93.72, Z:1.82 [[ 6.96539356e-01 7.17431047e-01 1.12079137e-02 3.43941384e+02] [-7.17345057e-01 6.96629458e-01 -1.11115966e-02 -9.37206956e+01] [-1.57795672e-02 -3.00277138e-04 9.99875450e-01 1.81592482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters 0.020395182477549456 Centerline is valid? [True, True] Translation: X:343.99, Y:-93.77, Z:1.82 [[ 6.97151545e-01 7.16833685e-01 1.13662299e-02 3.43992195e+02] [-7.16744645e-01 6.97244144e-01 -1.13012165e-02 -9.37701602e+01] [-1.60261300e-02 -2.68023869e-04 9.99871537e-01 1.81790099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters 0.02018131296217245 Centerline is valid? [True, True] Translation: X:344.04, Y:-93.82, Z:1.82 [[ 6.99788022e-01 7.14250989e-01 1.19268360e-02 3.44042294e+02] [-7.14151976e-01 6.99889625e-01 -1.18940618e-02 -9.38202241e+01] [-1.68428142e-02 -1.94251527e-04 9.99858131e-01 1.81666099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters 0.01966677955260472 Centerline is valid? [True, True] Translation: X:344.09, Y:-93.87, Z:1.82 [[ 7.01841359e-01 7.12248353e-01 1.09995823e-02 3.44092190e+02] [-7.12163375e-01 7.01927540e-01 -1.10025435e-02 -9.38710361e+01] [-1.55574532e-02 -1.11459572e-04 9.99878969e-01 1.81505946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters 0.01970524833533048 Centerline is valid? [True, True] Translation: X:344.14, Y:-93.92, Z:1.82 [[ 7.02143120e-01 7.11960131e-01 1.03831646e-02 3.44138633e+02] [-7.11883933e-01 7.02219884e-01 -1.04163485e-02 -9.39241244e+01] [-1.47072894e-02 -7.78406121e-05 9.99891839e-01 1.81599766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters 0.019743820746244756 Centerline is valid? [True, True] Translation: X:344.91, Y:-93.20, Z:3.63 [[ 7.64004464e-01 -6.44959455e-01 1.80133102e-02 3.44907860e+02] [-6.44764985e-01 -7.64216631e-01 -1.58447120e-02 -9.31961856e+01] [ 2.39852681e-02 4.91079042e-04 -9.99712191e-01 3.63118004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters 0.0196478494716532 Centerline is valid? [True, True] Translation: X:344.27, Y:-94.06, Z:1.81 [[ 7.58451040e-01 6.51621756e-01 1.18788273e-02 3.44265387e+02] [-6.51542973e-01 7.58544055e-01 -1.01326073e-02 -9.40595791e+01] [-1.56132412e-02 -5.44798932e-05 9.99878104e-01 1.81484560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters 0.019699744842763156 Centerline is valid? [True, True] Translation: X:344.33, Y:-94.12, Z:1.82 [[ 7.56184069e-01 6.54263416e-01 1.11819666e-02 3.44325912e+02] [-6.54192584e-01 7.56266740e-01 -9.62712778e-03 -9.41160228e+01] [-1.47552269e-02 -3.52789643e-05 9.99891135e-01 1.81538095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters 0.01991294305065159 Centerline is valid? [True, True] Translation: X:344.38, Y:-94.16, Z:1.82 [[ 7.55127917e-01 6.55462147e-01 1.22964738e-02 3.44376046e+02] [-6.55376463e-01 7.55228026e-01 -1.05981414e-02 -9.41635123e+01] [-1.62333221e-02 -5.58671040e-05 9.99868229e-01 1.81525454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters 0.01956521919873341 Centerline is valid? [True, True] Translation: X:344.43, Y:-94.21, Z:1.81 [[ 7.54523087e-01 6.56183637e-01 1.08603394e-02 3.44425838e+02] [-6.56116506e-01 7.54601241e-01 -9.38602539e-03 -9.42109179e+01] [-1.43541819e-02 -4.36750786e-05 9.99896972e-01 1.81427347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters 0.019636811433930326 Centerline is valid? [True, True] Translation: X:344.50, Y:-94.27, Z:1.81 [[ 7.50732984e-01 6.60499795e-01 1.18324339e-02 3.44496561e+02] [-6.60418444e-01 7.50826224e-01 -1.03662365e-02 -9.42696516e+01] [-1.57309988e-02 -3.20819285e-05 9.99876260e-01 1.81441760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters 0.01996395124392792 Centerline is valid? [True, True] Translation: X:344.55, Y:-94.32, Z:1.81 [[ 7.48553216e-01 6.62974658e-01 1.15189733e-02 3.44546032e+02] [-6.62897758e-01 7.48641835e-01 -1.00977500e-02 -9.43199634e+01] [-1.53181377e-02 -7.71983695e-05 9.99882667e-01 1.81454714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters 0.019938767967335437 Centerline is valid? [True, True] Translation: X:344.60, Y:-94.37, Z:1.82 [[ 7.46011169e-01 6.65846167e-01 1.07804325e-02 3.44602676e+02] [-6.65778260e-01 7.46089053e-01 -9.50966008e-03 -9.43724917e+01] [-1.43751334e-02 -8.30649450e-05 9.99896669e-01 1.81513357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters 0.0201345684003899 Centerline is valid? [True, True] Translation: X:344.65, Y:-94.42, Z:1.82 [[ 7.44209459e-01 6.67839508e-01 1.19445956e-02 3.44653767e+02] [-6.67756053e-01 7.44305299e-01 -1.05581959e-02 -9.44211792e+01] [-1.59416061e-02 -1.18566767e-04 9.99872917e-01 1.81594537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters 0.02044402467806225 Centerline is valid? [True, True] Translation: X:344.71, Y:-94.47, Z:1.82 [[ 7.41535361e-01 6.70826730e-01 1.08077433e-02 3.44705898e+02] [-6.70758317e-01 7.41614103e-01 -9.58138462e-03 -9.44683172e+01] [-1.44426238e-02 -1.44448231e-04 9.99895689e-01 1.81517405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters 0.02056984277983537 Centerline is valid? [True, True] Translation: X:344.76, Y:-94.52, Z:1.82 [[ 7.38717655e-01 6.73933703e-01 1.04685659e-02 3.44758336e+02] [-6.73869443e-01 7.38791806e-01 -9.30813079e-03 -9.45150699e+01] [-1.40071538e-02 -1.78366131e-04 9.99901879e-01 1.81658744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters 0.022216492718058572 Centerline is valid? [True, True] Translation: X:344.81, Y:-94.56, Z:1.81 [[ 7.36979681e-01 6.75794118e-01 1.27773204e-02 3.44811195e+02] [-6.75698101e-01 7.37090398e-01 -1.13939290e-02 -9.45616742e+01] [-1.71179904e-02 -2.36516966e-04 9.99853448e-01 1.81288017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters 0.020953443636383042 Centerline is valid? [True, True] Translation: X:344.87, Y:-94.61, Z:1.82 [[ 7.36528167e-01 6.76294022e-01 1.23553823e-02 3.44865751e+02] [-6.76203823e-01 7.36631759e-01 -1.10472067e-02 -9.46051831e+01] [-1.65725268e-02 -2.18177890e-04 9.99862642e-01 1.81679011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters 0.020865189659004645 Centerline is valid? [True, True] Translation: X:344.92, Y:-94.65, Z:1.82 [[ 7.36390566e-01 6.76419949e-01 1.36010266e-02 3.44921837e+02] [-6.76310029e-01 7.36516127e-01 -1.21958774e-02 -9.46478929e+01] [-1.82669102e-02 -2.17581627e-04 9.99833122e-01 1.81503117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters 0.020453137852816997 Centerline is valid? [True, True] Translation: X:344.98, Y:-94.69, Z:1.82 [[ 7.36849879e-01 6.75941298e-01 1.24746426e-02 3.44975937e+02] [-6.75848214e-01 7.36955449e-01 -1.12186306e-02 -9.46929023e+01] [-1.67763916e-02 -1.64518265e-04 9.99859253e-01 1.81548239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters 0.02003997970949859 Centerline is valid? [True, True] Translation: X:345.03, Y:-94.74, Z:1.82 [[ 7.38426494e-01 6.74192768e-01 1.37994364e-02 3.45031000e+02] [-6.74077897e-01 7.38555414e-01 -1.24454650e-02 -9.47367512e+01] [-1.85822909e-02 -1.11833931e-04 9.99827328e-01 1.81504756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters 0.019613346625963833 Centerline is valid? [True, True] Translation: X:345.09, Y:-94.78, Z:1.82 [[ 7.40422973e-01 6.72016797e-01 1.29323064e-02 3.45085389e+02] [-6.71914974e-01 7.40535903e-01 -1.16980519e-02 -9.47823639e+01] [-1.74381246e-02 -2.79039252e-05 9.99847944e-01 1.81697405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters 0.019558023525105862 Centerline is valid? [True, True] Translation: X:345.14, Y:-94.83, Z:1.82 [[ 7.41596521e-01 6.70737343e-01 1.20837123e-02 3.45138491e+02] [-6.70647726e-01 7.41694961e-01 -1.09640941e-02 -9.48284866e+01] [-1.63164559e-02 2.70198651e-05 9.99866877e-01 1.81569814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters 0.01931199712685663 Centerline is valid? [True, True] Translation: X:345.19, Y:-94.87, Z:1.82 [[ 7.42399701e-01 6.69824011e-01 1.33595721e-02 3.45190561e+02] [-6.69713780e-01 7.42519891e-01 -1.21517370e-02 -9.48738617e+01] [-1.80592732e-02 7.43564364e-05 9.99836915e-01 1.81661662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters 0.01904868605492986 Centerline is valid? [True, True] Translation: X:345.24, Y:-94.92, Z:1.82 [[ 7.42102495e-01 6.70145429e-01 1.37473872e-02 3.45241094e+02] [-6.70028086e-01 7.42229813e-01 -1.25406878e-02 -9.49225388e+01] [-1.86078052e-02 9.53401307e-05 9.99826855e-01 1.81589975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters 0.019028188461235423 Centerline is valid? [True, True] Translation: X:345.29, Y:-94.97, Z:1.82 [[ 7.41304332e-01 6.71023754e-01 1.39646006e-02 3.45292981e+02] [-6.70902098e-01 7.41435844e-01 -1.27774557e-02 -9.49708002e+01] [-1.89278318e-02 1.03103457e-04 9.99820847e-01 1.81631461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters 0.01888907943112198 Centerline is valid? [True, True] Translation: X:345.35, Y:-95.02, Z:1.82 [[ 7.39710337e-01 6.72806270e-01 1.26625244e-02 3.45345197e+02] [-6.72705652e-01 7.39818704e-01 -1.16357834e-02 -9.50219704e+01] [-1.71966004e-02 8.89575351e-05 9.99852124e-01 1.81841395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters 0.018804091217113114 Centerline is valid? [True, True] Translation: X:345.40, Y:-95.07, Z:1.82 [[ 7.38258464e-01 6.74417127e-01 1.16609981e-02 3.45396410e+02] [-6.74331536e-01 7.38350549e-01 -1.07445938e-02 -9.50702487e+01] [-1.58562424e-02 6.89085237e-05 9.99874280e-01 1.81526246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters 0.01863845977384729 Centerline is valid? [True, True] Translation: X:345.44, Y:-95.12, Z:1.82 [[ 7.37581714e-01 6.75160997e-01 1.14386395e-02 3.45444789e+02] [-6.75078244e-01 7.37670402e-01 -1.05708339e-02 -9.51213609e+01] [-1.55749605e-02 7.48771485e-05 9.99878700e-01 1.81791116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters 0.018889925271579476 Centerline is valid? [True, True] Translation: X:345.50, Y:-95.17, Z:1.82 [[ 7.36712656e-01 6.76071859e-01 1.34649098e-02 3.45498308e+02] [-6.75956670e-01 7.36835689e-01 -1.24799098e-02 -9.51683217e+01] [-1.83587419e-02 9.24119094e-05 9.99831460e-01 1.81594064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters 0.018790292300834233 Centerline is valid? [True, True] Translation: X:345.55, Y:-95.22, Z:1.81 [[ 7.35930786e-01 6.76926236e-01 1.32946772e-02 3.45550374e+02] [-6.76813428e-01 7.36050855e-01 -1.23580945e-02 -9.52160047e+01] [-1.81510769e-02 9.66861829e-05 9.99835251e-01 1.81394305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters 0.018927173110041155 Centerline is valid? [True, True] Translation: X:345.60, Y:-95.26, Z:1.81 [[ 7.34662933e-01 6.78276117e-01 1.45562320e-02 3.45602544e+02] [-6.78140357e-01 7.34807117e-01 -1.35704266e-02 -9.52636655e+01] [-1.99005191e-02 9.85210099e-05 9.99801960e-01 1.81487672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters 0.01884768446418427 Centerline is valid? [True, True] Translation: X:345.66, Y:-95.31, Z:1.81 [[ 7.34296180e-01 6.78708101e-01 1.28232027e-02 3.45655828e+02] [-6.78602162e-01 7.34408131e-01 -1.19917428e-02 -9.53104808e+01] [-1.75563573e-02 1.03637883e-04 9.99845870e-01 1.81434398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters 0.019014644654460608 Centerline is valid? [True, True] Translation: X:345.71, Y:-95.36, Z:1.81 [[ 7.33931767e-01 6.79061682e-01 1.48119395e-02 3.45709091e+02] [-6.78919599e-01 7.34081203e-01 -1.38911538e-02 -9.53575429e+01] [-2.03061167e-02 1.39043041e-04 9.99793800e-01 1.81349809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters 0.01935845758818746 Centerline is valid? [True, True] Translation: X:345.76, Y:-95.41, Z:1.81 [[ 7.35603857e-01 6.77241065e-01 1.52153230e-02 3.45761842e+02] [-6.77089852e-01 7.35761163e-01 -1.43123441e-02 -9.54053080e+01] [-2.08877509e-02 2.26074763e-04 9.99781802e-01 1.81314994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters 0.02002069555091886 Centerline is valid? [True, True] Translation: X:345.82, Y:-95.45, Z:1.81 [[ 7.37710707e-01 6.74915521e-01 1.64909597e-02 3.45817706e+02] [-6.74736086e-01 7.37894920e-01 -1.55660269e-02 -9.54520174e+01] [-2.26743485e-02 3.56179064e-04 9.99742840e-01 1.81158933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters 0.020038693134538613 Centerline is valid? [True, True] Translation: X:345.87, Y:-95.50, Z:1.81 [[ 7.38057362e-01 6.74562189e-01 1.54007474e-02 3.45870158e+02] [-6.74404737e-01 7.38217931e-01 -1.45786464e-02 -9.54988347e+01] [-2.12033115e-02 3.73540294e-04 9.99775115e-01 1.81191873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters 0.020007812172701988 Centerline is valid? [True, True] Translation: X:345.92, Y:-95.55, Z:1.81 [[ 7.37850818e-01 6.74798991e-01 1.49162024e-02 3.45921894e+02] [-6.74650491e-01 7.38001472e-01 -1.41612524e-02 -9.55467747e+01] [-2.05641782e-02 3.85668385e-04 9.99788461e-01 1.81295351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters 0.020569461247202263 Centerline is valid? [True, True] Translation: X:345.97, Y:-95.59, Z:1.81 [[ 7.39152245e-01 6.73364593e-01 1.52997760e-02 3.45974089e+02] [-6.73207173e-01 7.39310426e-01 -1.45669560e-02 -9.55937757e+01] [-2.11201563e-02 4.67279323e-04 9.99776835e-01 1.81374320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters 0.02120634392144146 Centerline is valid? [True, True] Translation: X:346.03, Y:-95.64, Z:1.81 [[ 7.40871554e-01 6.71489642e-01 1.45258547e-02 3.46026901e+02] [-6.71346547e-01 7.41013754e-01 -1.38718981e-02 -9.56411452e+01] [-2.00786940e-02 5.25412293e-04 9.99798265e-01 1.81206554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters 0.02102518251727736 Centerline is valid? [True, True] Translation: X:346.08, Y:-95.69, Z:1.81 [[ 7.40442767e-01 6.71976913e-01 1.38396937e-02 3.46077109e+02] [-6.71846401e-01 7.40571916e-01 -1.32533086e-02 -9.56898751e+01] [-1.91552059e-02 5.15168115e-04 9.99816389e-01 1.81475743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters 0.021136926647558566 Centerline is valid? [True, True] Translation: X:346.13, Y:-95.74, Z:1.81 [[ 7.38718057e-01 6.73890989e-01 1.29061261e-02 3.46127693e+02] [-6.73777145e-01 7.38830646e-01 -1.23949657e-02 -9.57373351e+01] [-1.78882972e-02 4.60532108e-04 9.99839886e-01 1.81430818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters 0.02125451649721715 Centerline is valid? [True, True] Translation: X:346.18, Y:-95.79, Z:1.81 [[ 7.38052911e-01 6.74609062e-01 1.34355298e-02 3.46178477e+02] [-6.74485098e-01 7.38175029e-01 -1.29413359e-02 -9.57865944e+01] [-1.86481151e-02 4.89325960e-04 9.99825989e-01 1.81388126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters 0.02135718379851988 Centerline is valid? [True, True] Translation: X:346.23, Y:-95.84, Z:1.81 [[ 7.37012153e-01 6.75739347e-01 1.37630256e-02 3.46231391e+02] [-6.75608397e-01 7.37140469e-01 -1.33124890e-02 -9.58373648e+01] [-1.91410558e-02 5.13050474e-04 9.99816662e-01 1.81395066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters 0.021444162647153063 Centerline is valid? [True, True] Translation: X:346.29, Y:-95.89, Z:1.81 [[ 7.35851263e-01 6.77000831e-01 1.38849905e-02 3.46286444e+02] [-6.76866271e-01 7.35982052e-01 -1.35081706e-02 -9.58913771e+01] [-1.93641465e-02 5.41722618e-04 9.99812351e-01 1.81466117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters 0.02130860606142263 Centerline is valid? [True, True] Translation: X:346.34, Y:-95.94, Z:1.81 [[ 7.34391948e-01 6.78599202e-01 1.30991928e-02 3.46335788e+02] [-6.78479142e-01 7.34508597e-01 -1.27740149e-02 -9.59422315e+01] [-1.82899061e-02 4.93604618e-04 9.99832604e-01 1.81439339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters 0.02416685884998689 Centerline is valid? [True, True] Translation: X:346.39, Y:-95.99, Z:1.81 [[ 7.33540024e-01 6.79517732e-01 1.32168085e-02 3.46386789e+02] [-6.79394963e-01 7.33658912e-01 -1.29261411e-02 -9.59913189e+01] [-1.84801715e-02 5.02408750e-04 9.99829101e-01 1.80992060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters 0.02066809443045348 Centerline is valid? [True, True] Translation: X:346.43, Y:-96.05, Z:1.82 [[ 7.30417170e-01 6.82874527e-01 1.31581826e-02 3.46430279e+02] [-6.82752689e-01 7.30535546e-01 -1.29066868e-02 -9.60476201e+01] [-1.84261678e-02 4.43481151e-04 9.99830125e-01 1.81587340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters 0.020640112199599873 Centerline is valid? [True, True] Translation: X:346.48, Y:-96.10, Z:1.81 [[ 7.29335605e-01 6.84046481e-01 1.22469379e-02 3.46478875e+02] [-6.83940480e-01 7.29438306e-01 -1.20489639e-02 -9.60995152e+01] [-1.71754370e-02 4.11561838e-04 9.99852407e-01 1.81476353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters 0.02042298861440079 Centerline is valid? [True, True] Translation: X:346.53, Y:-96.15, Z:1.82 [[ 7.26620880e-01 6.86944396e-01 1.13795645e-02 3.46527090e+02] [-6.86852681e-01 7.26709900e-01 -1.12301273e-02 -9.61513703e+01] [-1.59841152e-02 3.43960587e-04 9.99872187e-01 1.81533222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters 0.02018161129420634 Centerline is valid? [True, True] Translation: X:346.61, Y:-96.22, Z:1.81 [[ 7.18910508e-01 6.95017197e-01 1.08984950e-02 3.46606328e+02] [-6.94930285e-01 7.18993036e-01 -1.09960340e-02 -9.62236249e+01] [-1.54783748e-02 3.31470139e-04 9.99880148e-01 1.81459849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters 0.019865614595485387 Centerline is valid? [True, True] Translation: X:347.46, Y:-95.41, Z:3.66 [[ 7.49496101e-01 -6.61761092e-01 1.81066961e-02 3.47456101e+02] [-6.61568973e-01 -7.49714783e-01 -1.59448328e-02 -9.54088764e+01] [ 2.41265277e-02 -2.82383465e-05 -9.99708913e-01 3.66193479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters 0.020039364754263905 Centerline is valid? [True, True] Translation: X:346.74, Y:-96.36, Z:1.82 [[ 7.71325478e-01 6.36338357e-01 1.14237942e-02 3.46738404e+02] [-6.36263576e-01 7.71410026e-01 -9.75875144e-03 -9.63599005e+01] [-1.50222972e-02 2.58629495e-04 9.99887125e-01 1.81518649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters 0.019994893184739737 Centerline is valid? [True, True] Translation: X:346.79, Y:-96.41, Z:1.81 [[ 7.69669040e-01 6.38337040e-01 1.16358100e-02 3.46789168e+02] [-6.38259196e-01 7.69756950e-01 -9.97177725e-03 -9.64063123e+01] [-1.53221004e-02 2.48305474e-04 9.99882579e-01 1.81482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters 0.0197984746387431 Centerline is valid? [True, True] Translation: X:346.84, Y:-96.46, Z:1.81 [[ 7.68814755e-01 6.39372779e-01 1.12393265e-02 3.46844191e+02] [-6.39299573e-01 7.68896862e-01 -9.67844670e-03 -9.64559914e+01] [-1.48300183e-02 2.55635982e-04 9.99889997e-01 1.81406028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters 0.021552564211743674 Centerline is valid? [True, True] Translation: X:346.90, Y:-96.50, Z:1.81 [[ 7.68556458e-01 6.39694895e-01 1.05551729e-02 3.46896697e+02] [-6.39630073e-01 7.68628895e-01 -9.10995010e-03 -9.65009837e+01] [-1.39405994e-02 2.50104997e-04 9.99902794e-01 1.81186062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters 0.019721470744872027 Centerline is valid? [True, True] Translation: X:346.95, Y:-96.55, Z:1.82 [[ 7.66869249e-01 6.41729075e-01 9.76470193e-03 3.46947165e+02] [-6.41673469e-01 7.66931384e-01 -8.45047492e-03 -9.65480814e+01] [-1.29117718e-02 2.14659192e-04 9.99916617e-01 1.81521592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters 0.01999507920391887 Centerline is valid? [True, True] Translation: X:347.00, Y:-96.60, Z:1.81 [[ 7.62602152e-01 6.46798911e-01 9.44064860e-03 3.46999479e+02] [-6.46746989e-01 7.62660572e-01 -8.19662427e-03 -9.65962668e+01] [-1.25015781e-02 1.45052255e-04 9.99921842e-01 1.81317105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters 0.018932791663627144 Centerline is valid? [True, True] Translation: X:347.05, Y:-96.65, Z:1.82 [[ 7.57939087e-01 6.52257334e-01 9.41862854e-03 3.47053216e+02] [-6.52205694e-01 7.57997602e-01 -8.20785064e-03 -9.66456186e+01] [-1.24929286e-02 7.81676637e-05 9.99921957e-01 1.81813267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters 0.01923725420545682 Centerline is valid? [True, True] Translation: X:347.11, Y:-96.69, Z:1.82 [[ 7.54235902e-01 6.56542521e-01 8.95104871e-03 3.47106189e+02] [-6.56495913e-01 7.54289014e-01 -7.82299258e-03 -9.66923266e+01] [-1.18878050e-02 2.40549723e-05 9.99929337e-01 1.81544336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters 0.01940907801841826 Centerline is valid? [True, True] Translation: X:347.16, Y:-96.74, Z:1.82 [[ 7.51659260e-01 6.59484704e-01 9.39590730e-03 3.47159659e+02] [-6.59433361e-01 7.51717983e-01 -8.22899132e-03 -9.67378798e+01] [-1.24899664e-02 -1.05772151e-05 9.99921997e-01 1.81580507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters 0.019563554457820553 Centerline is valid? [True, True] Translation: X:347.21, Y:-96.78, Z:1.82 [[ 7.49007496e-01 6.62495006e-01 9.38814962e-03 3.47214422e+02] [-6.62443739e-01 7.49066329e-01 -8.24179126e-03 -9.67818437e+01] [-1.24924923e-02 -4.59575009e-05 9.99921965e-01 1.81805985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters 0.019529376945551336 Centerline is valid? [True, True] Translation: X:347.27, Y:-96.83, Z:1.82 [[ 7.47516094e-01 6.64190788e-01 8.38368556e-03 3.47268873e+02] [-6.64149794e-01 7.47563104e-01 -7.37952586e-03 -9.68274420e+01] [-1.11687471e-02 -5.17086850e-05 9.99937626e-01 1.82002821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters 0.019093046058276494 Centerline is valid? [True, True] Translation: X:347.33, Y:-96.87, Z:1.82 [[ 7.46133467e-01 6.65749480e-01 7.90443352e-03 3.47328399e+02] [-6.65712889e-01 7.46175333e-01 -6.98010828e-03 -9.68666427e+01] [-1.05450968e-02 -5.39908842e-05 9.99944397e-01 1.82074486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters 0.019791676928146526 Centerline is valid? [True, True] Translation: X:347.38, Y:-96.91, Z:1.82 [[ 7.45262069e-01 6.66711736e-01 8.93926319e-03 3.47383098e+02] [-6.66664736e-01 7.45315677e-01 -7.91658362e-03 -9.69110683e+01] [-1.19406522e-02 -5.95620445e-05 9.99928706e-01 1.81872495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters 0.018825431414437148 Centerline is valid? [True, True] Translation: X:347.44, Y:-96.95, Z:1.82 [[ 7.45868159e-01 6.66050972e-01 7.53601438e-03 3.47440341e+02] [-6.66017330e-01 7.45906229e-01 -6.69436756e-03 -9.69530827e+01] [-1.00799501e-02 -2.60005630e-05 9.99949196e-01 1.82176244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters 0.018901140399457575 Centerline is valid? [True, True] Translation: X:347.50, Y:-96.99, Z:1.82 [[ 7.46714537e-01 6.65106923e-01 7.08380942e-03 3.47498184e+02] [-6.65076974e-01 7.46748137e-01 -6.31174971e-03 -9.69945070e+01] [-9.48780991e-03 1.79673089e-06 9.99954990e-01 1.81823012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters 0.01858660314454912 Centerline is valid? [True, True] Translation: X:347.55, Y:-97.04, Z:1.82 [[ 7.45985724e-01 6.65921884e-01 7.30369351e-03 3.47553043e+02] [-6.65889888e-01 7.46021477e-01 -6.52780300e-03 -9.70404338e+01] [-9.79571909e-03 6.19219126e-06 9.99952021e-01 1.82029850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters 0.01869239563048092 Centerline is valid? [True, True] Translation: X:347.61, Y:-97.08, Z:1.82 [[ 7.45913506e-01 6.66000065e-01 7.54691623e-03 3.47609415e+02] [-6.65965713e-01 7.45951683e-01 -6.76429859e-03 -9.70830013e+01] [-1.01346582e-02 1.95942240e-05 9.99948643e-01 1.81962322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters 0.018687041246688716 Centerline is valid? [True, True] Translation: X:347.66, Y:-97.13, Z:1.82 [[ 7.45132053e-01 6.66876581e-01 7.33820097e-03 3.47663413e+02] [-6.66843948e-01 7.45168186e-01 -6.59727751e-03 -9.71287581e+01] [-9.86776377e-03 2.24080324e-05 9.99951312e-01 1.81991751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters 0.01868284668598555 Centerline is valid? [True, True] Translation: X:347.72, Y:-97.17, Z:1.82 [[ 7.44867526e-01 6.67175088e-01 7.05475337e-03 3.47718828e+02] [-6.67144757e-01 7.44900933e-01 -6.36184457e-03 -9.71734028e+01] [-9.49955658e-03 3.21897058e-05 9.99954878e-01 1.81900479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters 0.01880167777677476 Centerline is valid? [True, True] Translation: X:347.77, Y:-97.22, Z:1.82 [[ 7.43531237e-01 6.68656151e-01 7.76213785e-03 3.47773386e+02] [-6.68619309e-01 7.43571752e-01 -7.01918946e-03 -9.72177411e+01] [-1.04651307e-02 2.90713821e-05 9.99945239e-01 1.81894963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters 0.019125378447686813 Centerline is valid? [True, True] Translation: X:347.83, Y:-97.26, Z:1.82 [[ 7.42589911e-01 6.69692865e-01 8.46706576e-03 3.47828731e+02] [-6.69648842e-01 7.42638179e-01 -7.67871589e-03 -9.72617569e+01] [-1.14303475e-02 3.21761582e-05 9.99934671e-01 1.81649532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters 0.018962077723949828 Centerline is valid? [True, True] Translation: X:347.88, Y:-97.31, Z:1.82 [[ 7.41627274e-01 6.70764238e-01 8.02017570e-03 3.47881514e+02] [-6.70724568e-01 7.41670638e-01 -7.29511963e-03 -9.73078797e+01] [-1.08416342e-02 3.09308046e-05 9.99941227e-01 1.82015720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters 0.019093044242658265 Centerline is valid? [True, True] Translation: X:347.93, Y:-97.35, Z:1.82 [[ 7.40443523e-01 6.72075060e-01 7.64872631e-03 3.47934488e+02] [-6.72038829e-01 7.40483027e-01 -6.97846336e-03 -9.73538968e+01] [-1.03538032e-02 2.69169230e-05 9.99946398e-01 1.81687976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters 0.019373084883602246 Centerline is valid? [True, True] Translation: X:347.99, Y:-97.40, Z:1.82 [[ 7.38726238e-01 6.73948646e-01 8.76169657e-03 3.47987379e+02] [-6.73901060e-01 7.38778196e-01 -8.00863547e-03 -9.73983467e+01] [-1.18703594e-02 1.16725452e-05 9.99929545e-01 1.81708830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters 0.019147440184341103 Centerline is valid? [True, True] Translation: X:348.04, Y:-97.44, Z:1.82 [[ 7.36038661e-01 6.76895209e-01 7.74381569e-03 3.48039425e+02] [-6.76858019e-01 7.36079395e-01 -7.09551002e-03 -9.74444264e+01] [-1.05029799e-02 -1.88940583e-05 9.99944842e-01 1.81849019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters 0.019778686028403943 Centerline is valid? [True, True] Translation: X:348.09, Y:-97.49, Z:1.82 [[ 7.33801729e-01 6.79293005e-01 9.79981049e-03 3.48092852e+02] [-6.79233412e-01 7.33867162e-01 -8.99787716e-03 -9.74878523e+01] [-1.33039541e-02 -5.37008964e-05 9.99911497e-01 1.81554016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters 0.019360129550741456 Centerline is valid? [True, True] Translation: X:348.15, Y:-97.53, Z:1.82 [[ 7.32343128e-01 6.80861472e-01 1.00597771e-02 3.48147426e+02] [-6.80798461e-01 7.32412214e-01 -9.26306303e-03 -9.75314201e+01] [-1.36747663e-02 -6.49401808e-05 9.99906494e-01 1.81970739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters 0.01884997332221608 Centerline is valid? [True, True] Translation: X:348.20, Y:-97.57, Z:1.82 [[ 7.32711781e-01 6.80472442e-01 9.52373055e-03 3.48204610e+02] [-6.80415603e-01 7.32773672e-01 -8.79501581e-03 -9.75718415e+01] [-1.29635049e-02 -3.58831693e-05 9.99915970e-01 1.82014068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters 0.018778362520030095 Centerline is valid? [True, True] Translation: X:348.26, Y:-97.62, Z:1.82 [[ 7.32398732e-01 6.80792145e-01 1.06842066e-02 3.48260124e+02] [-6.80720222e-01 7.32476658e-01 -9.89573477e-03 -9.76161993e+01] [-1.45628704e-02 -2.53318553e-05 9.99893955e-01 1.81897594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters 0.01889151675089886 Centerline is valid? [True, True] Translation: X:348.31, Y:-97.66, Z:1.82 [[ 7.33303901e-01 6.79795201e-01 1.19947338e-02 3.48313692e+02] [-6.79703974e-01 7.33401994e-01 -1.11365689e-02 -9.76596091e+01] [-1.63675478e-02 1.36211877e-05 9.99866043e-01 1.82132417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters 0.018745953612336514 Centerline is valid? [True, True] Translation: X:348.37, Y:-97.70, Z:1.82 [[ 7.33978006e-01 6.79109509e-01 9.30379179e-03 3.48370209e+02] [-6.79054254e-01 7.34036970e-01 -8.66296519e-03 -9.77000510e+01] [-1.27124292e-02 4.06465213e-05 9.99919193e-01 1.81959064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters 0.01872448388411674 Centerline is valid? [True, True] Translation: X:348.42, Y:-97.75, Z:1.82 [[ 7.35084716e-01 6.77931721e-01 7.68384370e-03 3.48422992e+02] [-6.77893737e-01 7.35124872e-01 -7.17662917e-03 -9.77462067e+01] [-1.05138492e-02 6.66008981e-05 9.99944726e-01 1.82130481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters 0.01865913211713185 Centerline is valid? [True, True] Translation: X:348.47, Y:-97.79, Z:1.82 [[ 7.34488277e-01 6.78562753e-01 8.91973774e-03 3.48474119e+02] [-6.78511360e-01 7.34542432e-01 -8.35167410e-03 -9.77923552e+01] [-1.22190608e-02 8.20633364e-05 9.99925341e-01 1.82086811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters 0.01865511196444832 Centerline is valid? [True, True] Translation: X:348.53, Y:-97.84, Z:1.82 [[ 7.32367745e-01 6.80849453e-01 9.02813554e-03 3.48530569e+02] [-6.80796301e-01 7.32423385e-01 -8.50771649e-03 -9.78441356e+01] [-1.24048917e-02 8.44558554e-05 9.99923053e-01 1.82115339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters 0.018473411621187562 Centerline is valid? [True, True] Translation: X:348.58, Y:-97.89, Z:1.82 [[ 7.28704478e-01 6.84810833e-01 4.88946670e-03 3.48581673e+02] [-6.84795252e-01 7.28720881e-01 -4.61957505e-03 -9.78913318e+01] [-6.72659152e-03 1.80214489e-05 9.99977376e-01 1.82155896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters 0.01874401934724976 Centerline is valid? [True, True] Translation: X:348.63, Y:-97.94, Z:1.82 [[ 7.24446156e-01 6.89293608e-01 7.21728298e-03 3.48633283e+02] [-6.89259707e-01 7.24482106e-01 -6.83625324e-03 -9.79396547e+01] [-9.94097803e-03 -2.20849706e-05 9.99950587e-01 1.82098792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters 0.0189456664707381 Centerline is valid? [True, True] Translation: X:348.69, Y:-97.99, Z:1.82 [[ 7.20477392e-01 6.93449170e-01 6.37000033e-03 3.48689132e+02] [-6.93422649e-01 7.20505550e-01 -6.06485287e-03 -9.79893235e+01] [-8.79528778e-03 -4.75131222e-05 9.99961320e-01 1.81957697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters 0.018976852475796578 Centerline is valid? [True, True] Translation: X:348.74, Y:-98.03, Z:1.82 [[ 7.18189699e-01 6.95816489e-01 6.55519537e-03 3.48742799e+02] [-6.95788394e-01 7.18219611e-01 -6.25308060e-03 -9.80342150e+01] [-9.05906645e-03 -7.01307854e-05 9.99958963e-01 1.82060798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters 0.019077105229820056 Centerline is valid? [True, True] Translation: X:348.79, Y:-98.08, Z:1.82 [[ 7.16329910e-01 6.97735882e-01 6.00825370e-03 3.48794894e+02] [-6.97712218e-01 7.16355103e-01 -5.74688843e-03 -9.80802621e+01] [-8.31385347e-03 -7.53639384e-05 9.99965436e-01 1.82070100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters 0.019718658322607635 Centerline is valid? [True, True] Translation: X:348.85, Y:-98.13, Z:1.82 [[ 7.12750645e-01 7.01389529e-01 6.26463775e-03 3.48847498e+02] [-7.01363808e-01 7.12778167e-01 -6.00776090e-03 -9.81257228e+01] [-8.67907760e-03 -1.11754727e-04 9.99962330e-01 1.82017046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters 0.019790011846153727 Centerline is valid? [True, True] Translation: X:348.90, Y:-98.17, Z:1.82 [[ 7.11428285e-01 7.02726117e-01 6.76759270e-03 3.48898421e+02] [-7.02695998e-01 7.11460462e-01 -6.50737408e-03 -9.81734158e+01] [-9.38777635e-03 -1.26030323e-04 9.99955926e-01 1.82131425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters 0.019816056478424653 Centerline is valid? [True, True] Translation: X:348.95, Y:-98.22, Z:1.82 [[ 7.10086367e-01 7.04084869e-01 6.46909410e-03 3.48953424e+02] [-7.04057250e-01 7.10115823e-01 -6.23752899e-03 -9.82172409e+01] [-8.98555586e-03 -1.25428310e-04 9.99959621e-01 1.82141727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters 0.019932074413955187 Centerline is valid? [True, True] Translation: X:349.01, Y:-98.26, Z:1.82 [[ 7.08337575e-01 7.05858844e-01 4.60118597e-03 3.49005622e+02] [-7.05844823e-01 7.08352513e-01 -4.45009057e-03 -9.82621510e+01] [-6.40039743e-03 -9.55569358e-05 9.99979513e-01 1.82309438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters 0.019882801940745196 Centerline is valid? [True, True] Translation: X:349.06, Y:-98.31, Z:1.82 [[ 7.06951044e-01 7.07239895e-01 5.65265359e-03 3.49059178e+02] [-7.07218679e-01 7.06973632e-01 -5.47938314e-03 -9.83067860e+01] [-7.87151539e-03 -1.24006569e-04 9.99969011e-01 1.82230208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters 0.020159828512751228 Centerline is valid? [True, True] Translation: X:349.11, Y:-98.35, Z:1.82 [[ 7.04602254e-01 7.09588886e-01 4.39047169e-03 3.49113471e+02] [-7.09576057e-01 7.04615924e-01 -4.26830722e-03 -9.83493148e+01] [-6.12233963e-03 -1.07914703e-04 9.99981252e-01 1.82413203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters 0.020472145464125832 Centerline is valid? [True, True] Translation: X:349.17, Y:-98.39, Z:1.82 [[ 7.02774068e-01 7.11402103e-01 3.95690229e-03 3.49166040e+02] [-7.11391651e-01 7.02785200e-01 -3.85779216e-03 -9.83940426e+01] [-5.52529383e-03 -1.03750960e-04 9.99984730e-01 1.82380844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters 0.020661682426919795 Centerline is valid? [True, True] Translation: X:349.22, Y:-98.44, Z:1.82 [[ 7.01485822e-01 7.12677530e-01 2.89482401e-03 3.49219174e+02] [-7.12671908e-01 7.01491791e-01 -2.83179457e-03 -9.84381837e+01] [-4.04885164e-03 -7.65960105e-05 9.99991800e-01 1.82332511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters 0.02046538727413437 Centerline is valid? [True, True] Translation: X:349.27, Y:-98.48, Z:1.82 [[ 7.00601860e-01 7.13540717e-01 4.08399964e-03 3.49273317e+02] [-7.13529491e-01 7.00613754e-01 -4.00400509e-03 -9.84834954e+01] [-5.71832699e-03 -1.08840773e-04 9.99983644e-01 1.82304136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters 0.020702275932153825 Centerline is valid? [True, True] Translation: X:349.33, Y:-98.53, Z:1.82 [[ 6.99274335e-01 7.14843686e-01 3.72950382e-03 3.49327362e+02] [-7.14834294e-01 6.99284273e-01 -3.66564893e-03 -9.85273897e+01] [-5.22834936e-03 -1.02683009e-04 9.99986327e-01 1.82482822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters 0.02085220750543487 Centerline is valid? [True, True] Translation: X:349.38, Y:-98.57, Z:1.82 [[ 6.97767497e-01 7.16320868e-01 2.22132565e-03 3.49379925e+02] [-7.16317516e-01 6.97771030e-01 -2.19226480e-03 -9.85730892e+01] [-3.12034171e-03 -6.14833484e-05 9.99995130e-01 1.82369545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters 0.02066208002385278 Centerline is valid? [True, True] Translation: X:349.43, Y:-98.62, Z:1.82 [[ 6.96871826e-01 7.17192715e-01 2.06604921e-03 3.49433542e+02] [-7.17189802e-01 6.96874886e-01 -2.04485239e-03 -9.86166289e+01] [-2.90633104e-03 -5.67494055e-05 9.99995775e-01 1.82281743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters 0.02037452286215717 Centerline is valid? [True, True] Translation: X:349.49, Y:-98.66, Z:1.82 [[ 6.96059168e-01 7.17979324e-01 2.70639135e-03 3.49493985e+02] [-7.17974270e-01 6.96064426e-01 -2.69500127e-03 -9.86645643e+01] [-3.81877794e-03 -6.72390116e-05 9.99992706e-01 1.82444100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters 0.02043650367658013 Centerline is valid? [True, True] Translation: X:349.55, Y:-98.71, Z:1.82 [[ 6.95509325e-01 7.18509911e-01 3.20729232e-03 3.49548005e+02] [-7.18502822e-01 6.95516715e-01 -3.19281451e-03 -9.87078064e+01] [-4.52479429e-03 -8.38163156e-05 9.99989760e-01 1.82266220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters 0.02042559869271577 Centerline is valid? [True, True] Translation: X:349.60, Y:-98.75, Z:1.82 [[ 6.94894939e-01 7.19101867e-01 3.67815162e-03 3.49598448e+02] [-7.19092514e-01 6.94904666e-01 -3.66883137e-03 -9.87538569e+01] [-5.19422821e-03 -9.54789468e-05 9.99986505e-01 1.82242115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters 0.020493345797388034 Centerline is valid? [True, True] Translation: X:349.65, Y:-98.80, Z:1.83 [[ 6.94263451e-01 7.19712700e-01 3.44804528e-03 3.49648679e+02] [-7.19704444e-01 6.94272008e-01 -3.44841448e-03 -9.88001521e+01] [-4.87574902e-03 -8.74653683e-05 9.99988110e-01 1.82500084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters 0.020718431911433282 Centerline is valid? [True, True] Translation: X:349.70, Y:-98.84, Z:1.82 [[ 6.93053389e-01 7.20872387e-01 4.47227636e-03 3.49702988e+02] [-7.20858475e-01 6.93067809e-01 -4.48017736e-03 -9.88418381e+01] [-6.32922693e-03 -1.18876207e-04 9.99979963e-01 1.82239228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters 0.02086557113264355 Centerline is valid? [True, True] Translation: X:350.36, Y:-98.23, Z:3.69 [[ 7.75048296e-01 -6.31807602e-01 1.09220976e-02 3.50362533e+02] [-6.31732085e-01 -7.75124943e-01 -9.79258874e-03 -9.82317232e+01] [ 1.46530223e-02 6.89889698e-04 -9.99892401e-01 3.69355356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters 0.021327002476068994 Centerline is valid? [True, True] Translation: X:349.83, Y:-98.96, Z:1.82 [[ 7.44907243e-01 6.67152332e-01 4.57869857e-03 3.49832745e+02] [-6.67140915e-01 7.44921301e-01 -3.90578483e-03 -9.89624115e+01] [-6.01652356e-03 -1.45189742e-04 9.99981890e-01 1.82439185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters 0.021297368479569017 Centerline is valid? [True, True] Translation: X:349.89, Y:-99.00, Z:1.82 [[ 7.45424393e-01 6.66553076e-01 7.03353211e-03 3.49886172e+02] [-6.66526017e-01 7.45457546e-01 -6.00959308e-03 -9.90010746e+01] [-9.24891234e-03 -2.08334872e-04 9.99957206e-01 1.82387767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters 0.020650274365885856 Centerline is valid? [True, True] Translation: X:349.94, Y:-99.04, Z:1.82 [[ 7.46099917e-01 6.65807188e-01 5.97511643e-03 3.49938898e+02] [-6.65787572e-01 7.46123824e-01 -5.11349243e-03 -9.90408340e+01] [-7.86277674e-03 -1.62981983e-04 9.99969075e-01 1.82389130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters 0.02031240917681 Centerline is valid? [True, True] Translation: X:349.99, Y:-99.08, Z:1.82 [[ 7.46583585e-01 6.65258104e-01 6.67870646e-03 3.49993018e+02] [-6.65233501e-01 7.46613438e-01 -5.72390128e-03 -9.90786324e+01] [-8.79428371e-03 -1.69528540e-04 9.99961315e-01 1.82396779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters 0.021006177157978877 Centerline is valid? [True, True] Translation: X:350.04, Y:-99.12, Z:1.82 [[ 7.44120743e-01 6.67994898e-01 8.19365850e-03 3.50043500e+02] [-6.67957934e-01 7.44165814e-01 -7.03134336e-03 -9.91205628e+01] [-1.07943420e-02 -2.40850758e-04 9.99941710e-01 1.82457867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters 0.020974574017064446 Centerline is valid? [True, True] Translation: X:350.10, Y:-99.16, Z:1.83 [[ 7.42599126e-01 6.69669653e-01 9.43898210e-03 3.50095868e+02] [-6.69620592e-01 7.42659052e-01 -8.11139726e-03 -9.91612503e+01] [-1.24419021e-02 -2.97020270e-04 9.99922552e-01 1.82523294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters 0.02131786887822915 Centerline is valid? [True, True] Translation: X:350.15, Y:-99.20, Z:1.82 [[ 7.42225486e-01 6.70101061e-01 8.11759248e-03 3.50147822e+02] [-6.70064681e-01 7.42269832e-01 -6.98709776e-03 -9.92024993e+01] [-1.07075056e-02 -2.53309984e-04 9.99942641e-01 1.82340206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters 0.020947579376313967 Centerline is valid? [True, True] Translation: X:350.20, Y:-99.24, Z:1.82 [[ 7.41419848e-01 6.71008511e-01 6.64728480e-03 3.50200283e+02] [-6.70984068e-01 7.41449616e-01 -5.73124298e-03 -9.92435701e+01] [-8.77433958e-03 -2.10964900e-04 9.99961482e-01 1.82170672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters 0.02167148188461699 Centerline is valid? [True, True] Translation: X:350.25, Y:-99.28, Z:1.82 [[ 7.39490146e-01 6.73115066e-01 8.39237586e-03 3.50251858e+02] [-6.73076133e-01 7.39537710e-01 -7.24534012e-03 -9.92847627e+01] [-1.10834260e-02 -2.90850267e-04 9.99938535e-01 1.82066545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters 0.0221341657260048 Centerline is valid? [True, True] Translation: X:350.30, Y:-99.33, Z:1.82 [[ 7.36611890e-01 6.76261874e-01 8.53230686e-03 3.50304067e+02] [-6.76221724e-01 7.36661228e-01 -7.37671320e-03 -9.93253837e+01] [-1.12740095e-02 -3.35956598e-04 9.99936390e-01 1.82117656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters 0.023200858593343986 Centerline is valid? [True, True] Translation: X:350.36, Y:-99.37, Z:1.82 [[ 7.34623114e-01 6.78426856e-01 8.11676453e-03 3.50355207e+02] [-6.78390543e-01 7.34667873e-01 -7.02762461e-03 -9.93665235e+01] [-1.07308554e-02 -3.43680821e-04 9.99942364e-01 1.82187043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters 0.023428150078279055 Centerline is valid? [True, True] Translation: X:350.41, Y:-99.40, Z:1.82 [[ 7.33040048e-01 6.80127786e-01 8.85899427e-03 3.50409262e+02] [-6.80084525e-01 7.33093472e-01 -7.68113571e-03 -9.94048285e+01] [-1.17186247e-02 -3.94284820e-04 9.99931257e-01 1.82033688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters 0.023198105694420993 Centerline is valid? [True, True] Translation: X:350.46, Y:-99.44, Z:1.82 [[ 7.33553447e-01 6.79559484e-01 9.91207270e-03 3.50462210e+02] [-6.79505114e-01 7.33620290e-01 -8.60640527e-03 -9.94442183e+01] [-1.31202620e-02 -4.22045842e-04 9.99913837e-01 1.82052926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters 0.023033360396744133 Centerline is valid? [True, True] Translation: X:350.52, Y:-99.48, Z:1.82 [[ 7.33530601e-01 6.79606379e-01 8.24780549e-03 3.50516009e+02] [-6.79568630e-01 7.33576888e-01 -7.17125148e-03 -9.94816005e+01] [-1.09240277e-02 -3.44617470e-04 9.99940272e-01 1.82242247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters 0.02307861190239648 Centerline is valid? [True, True] Translation: X:350.57, Y:-99.52, Z:1.82 [[ 7.33187202e-01 6.79964715e-01 9.19306713e-03 3.50570278e+02] [-6.79917720e-01 7.33244734e-01 -8.00342023e-03 -9.95188804e+01] [-1.21828114e-02 -3.82523950e-04 9.99925714e-01 1.82322878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters 0.022658935459510084 Centerline is valid? [True, True] Translation: X:350.62, Y:-99.56, Z:1.82 [[ 7.34193071e-01 6.78867178e-01 9.99444604e-03 3.50622495e+02] [-6.78811381e-01 7.34260992e-01 -8.71236819e-03 -9.95581504e+01] [-1.32530727e-02 -3.87783360e-04 9.99912099e-01 1.82408715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters 0.022114509733622122 Centerline is valid? [True, True] Translation: X:350.68, Y:-99.60, Z:1.82 [[ 7.35339514e-01 6.77624364e-01 1.00508806e-02 3.50675645e+02] [-6.77567662e-01 7.35408113e-01 -8.77334932e-03 -9.95964442e+01] [-1.33365344e-02 -3.58761223e-04 9.99911000e-01 1.82395176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters 0.02192761285119709 Centerline is valid? [True, True] Translation: X:350.73, Y:-99.63, Z:1.82 [[ 7.35845992e-01 6.77108217e-01 7.42555573e-03 3.50728548e+02] [-6.77077156e-01 7.35883414e-01 -6.49042257e-03 -9.96343612e+01] [-9.85906175e-03 -2.51722722e-04 9.99951367e-01 1.82394700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters 0.02209806075726169 Centerline is valid? [True, True] Translation: X:350.78, Y:-99.67, Z:1.82 [[ 7.34768390e-01 6.78267243e-01 8.30415690e-03 3.50779823e+02] [-6.78228371e-01 7.34815256e-01 -7.26747699e-03 -9.96741529e+01] [-1.10313128e-02 -2.92202440e-04 9.99939111e-01 1.82239154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters 0.021995042298005956 Centerline is valid? [True, True] Translation: X:350.83, Y:-99.72, Z:1.82 [[ 7.34114657e-01 6.78946295e-01 1.03729731e-02 3.50830342e+02] [-6.78885550e-01 7.34187845e-01 -9.08947516e-03 -9.97160618e+01] [-1.37869762e-02 -3.69344585e-04 9.99904887e-01 1.82229102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters 0.02267106754083153 Centerline is valid? [True, True] Translation: X:350.88, Y:-99.75, Z:1.82 [[ 7.32434741e-01 6.80767556e-01 9.74084827e-03 3.50883131e+02] [-6.80713995e-01 7.32499418e-01 -8.54753443e-03 -9.97546316e+01] [-1.29540498e-02 -3.70220566e-04 9.99916024e-01 1.82321980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters 0.02294696528855076 Centerline is valid? [True, True] Translation: X:350.93, Y:-99.80, Z:1.82 [[ 7.30579472e-01 6.82766095e-01 9.17028638e-03 3.50933605e+02] [-6.82718644e-01 7.30636927e-01 -8.05808890e-03 -9.97963707e+01] [-1.22019398e-02 -3.73651152e-04 9.99925484e-01 1.82329060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters 0.024704625394141227 Centerline is valid? [True, True] Translation: X:350.98, Y:-99.84, Z:1.82 [[ 7.26722271e-01 6.86861069e-01 9.82915682e-03 3.50983695e+02] [-6.86806795e-01 7.26788590e-01 -8.64710380e-03 -9.98368038e+01] [-1.30830780e-02 -4.66688770e-04 9.99914304e-01 1.82267054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters 0.025216389561104682 Centerline is valid? [True, True] Translation: X:351.04, Y:-99.87, Z:1.82 [[ 7.25610880e-01 6.87995290e-01 1.23016810e-02 3.51035235e+02] [-6.87910256e-01 7.25714902e-01 -1.08333115e-02 -9.98749656e+01] [-1.63807805e-02 -6.01683864e-04 9.99865645e-01 1.82454711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters 0.024855534986834984 Centerline is valid? [True, True] Translation: X:351.09, Y:-99.91, Z:1.83 [[ 7.24672945e-01 6.89025981e-01 9.60838854e-03 3.51087036e+02] [-6.88974055e-01 7.24736482e-01 -8.47256114e-03 -9.99133508e+01] [-1.28013645e-02 -4.80094577e-04 9.99917944e-01 1.82686872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters 0.02599265425305203 Centerline is valid? [True, True] Translation: X:351.14, Y:-99.95, Z:1.83 [[ 7.22973037e-01 6.90805587e-01 9.88078335e-03 3.51140548e+02] [-6.90750702e-01 7.23040367e-01 -8.72321419e-03 -9.99503976e+01] [-1.31702503e-02 -5.18509389e-04 9.99913134e-01 1.82742409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters 0.02616224090569186 Centerline is valid? [True, True] Translation: X:351.19, Y:-99.99, Z:1.83 [[ 7.22408659e-01 6.91384494e-01 1.06400926e-02 3.51191562e+02] [-6.91320759e-01 7.22486793e-01 -9.40438913e-03 -9.99899204e+01] [-1.41893752e-02 -5.61904767e-04 9.99899168e-01 1.82997402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters 0.025556781197003935 Centerline is valid? [True, True] Translation: X:351.25, Y:-100.03, Z:1.83 [[ 7.22242374e-01 6.91605916e-01 6.87098241e-03 3.51245246e+02] [-6.91579280e-01 7.22274967e-01 -6.08040736e-03 -1.00025063e+02] [-9.16798429e-03 -3.60301217e-04 9.99957908e-01 1.82902494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters 0.025712681733318872 Centerline is valid? [True, True] Translation: X:351.29, Y:-100.07, Z:1.83 [[ 7.22222384e-01 6.91626164e-01 6.93379032e-03 3.51294823e+02] [-6.91598968e-01 7.22255579e-01 -6.14384361e-03 -1.00066527e+02] [-9.25721172e-03 -3.58180846e-04 9.99957087e-01 1.82955725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters 0.024348815474989738 Centerline is valid? [True, True] Translation: X:351.35, Y:-100.10, Z:1.83 [[ 7.24465678e-01 6.89258613e-01 8.48795548e-03 3.51347831e+02] [-6.89217617e-01 7.24515291e-01 -7.52789426e-03 -1.00103052e+02] [-1.13383195e-02 -3.96347421e-04 9.99935641e-01 1.83053591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters 0.024412145996359977 Centerline is valid? [True, True] Translation: X:351.40, Y:-100.14, Z:1.83 [[ 7.25855155e-01 6.87806551e-01 7.51282038e-03 3.51396292e+02] [-6.87774276e-01 7.25893961e-01 -6.67099498e-03 -1.00144065e+02] [-1.00418650e-02 -3.24948507e-04 9.99949526e-01 1.83090686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters 0.023675989884475692 Centerline is valid? [True, True] Translation: X:351.45, Y:-100.18, Z:1.83 [[ 7.26074719e-01 6.87576519e-01 7.35073985e-03 3.51448312e+02] [-6.87545540e-01 7.26111861e-01 -6.53416337e-03 -1.00181742e+02] [-9.83019669e-03 -3.09677565e-04 9.99951634e-01 1.82962459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters 0.02445245572837895 Centerline is valid? [True, True] Translation: X:351.50, Y:-100.22, Z:1.83 [[ 7.25362790e-01 6.88331390e-01 6.97996804e-03 3.51498126e+02] [-6.88303426e-01 7.25396311e-01 -6.21171166e-03 -1.00221563e+02] [-9.33895919e-03 -2.98591415e-04 9.99956346e-01 1.82984017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters 0.024081787139705543 Centerline is valid? [True, True] Translation: X:351.55, Y:-100.26, Z:1.83 [[ 7.26015833e-01 6.87634214e-01 7.75870548e-03 3.51548393e+02] [-6.87599548e-01 7.26057221e-01 -6.91185329e-03 -1.00260529e+02] [-1.03860909e-02 -3.16767460e-04 9.99946013e-01 1.83123861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters 0.023605432313580914 Centerline is valid? [True, True] Translation: X:351.60, Y:-100.30, Z:1.83 [[ 7.26831381e-01 6.86773366e-01 7.64771422e-03 3.51600626e+02] [-6.86739560e-01 7.26871554e-01 -6.82056246e-03 -1.00297213e+02] [-1.02430866e-02 -2.94589064e-04 9.99947495e-01 1.83468883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters 0.02352012342829313 Centerline is valid? [True, True] Translation: X:351.65, Y:-100.33, Z:1.83 [[ 7.27589449e-01 6.85921595e-01 1.11874539e-02 3.51653640e+02] [-6.85849007e-01 7.27675340e-01 -9.98699327e-03 -1.00333405e+02] [-1.49911286e-02 -4.06473199e-04 9.99887544e-01 1.83363347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters 0.02315959920588656 Centerline is valid? [True, True] Translation: X:351.70, Y:-100.37, Z:1.83 [[ 7.28176766e-01 6.85322181e-01 9.59715692e-03 3.51704910e+02] [-6.85268583e-01 7.28239932e-01 -8.57737856e-03 -1.00372016e+02] [-1.28673007e-02 -3.30782341e-04 9.99917158e-01 1.83481514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters 0.02246258556859495 Centerline is valid? [True, True] Translation: X:351.75, Y:-100.41, Z:1.84 [[ 7.30052741e-01 6.83319666e-01 9.86045098e-03 3.51754849e+02] [-6.83262793e-01 7.30119268e-01 -8.82101264e-03 -1.00410914e+02] [-1.32268767e-02 -2.97474821e-04 9.99912477e-01 1.83654351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters 0.02182229846153568 Centerline is valid? [True, True] Translation: X:351.81, Y:-100.45, Z:1.84 [[ 7.32087499e-01 6.81149181e-01 9.14809323e-03 3.51805697e+02] [-6.81099962e-01 7.32144616e-01 -8.19166584e-03 -1.00447471e+02] [-1.22774737e-02 -2.33749794e-04 9.99924602e-01 1.83760198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters 0.02154886643789608 Centerline is valid? [True, True] Translation: X:351.85, Y:-100.49, Z:1.84 [[ 7.32655327e-01 6.80546808e-01 8.49784101e-03 3.51853365e+02] [-6.80504202e-01 7.32704580e-01 -7.61777347e-03 -1.00488389e+02] [-1.14106584e-02 -2.01614203e-04 9.99934876e-01 1.83772989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters 0.022116284535419518 Centerline is valid? [True, True] Translation: X:351.90, Y:-100.53, Z:1.84 [[ 7.32190655e-01 6.81022597e-01 1.02501786e-02 3.51901435e+02] [-6.80960531e-01 7.32262358e-01 -9.19745220e-03 -1.00529351e+02] [-1.37694928e-02 -2.45678538e-04 9.99905166e-01 1.83666462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters 0.021916701904979862 Centerline is valid? [True, True] Translation: X:351.95, Y:-100.57, Z:1.84 [[ 7.32494395e-01 6.80708951e-01 9.34262830e-03 3.51948419e+02] [-6.80657254e-01 7.32553943e-01 -8.39191033e-03 -1.00570850e+02] [-1.25564277e-02 -2.12100432e-04 9.99921142e-01 1.83604084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters 0.02169247134171827 Centerline is valid? [True, True] Translation: X:352.00, Y:-100.61, Z:1.84 [[ 7.33563724e-01 6.79557975e-01 9.23160505e-03 3.51995917e+02] [-6.79507302e-01 7.33621786e-01 -8.30070066e-03 -1.00611966e+02] [-1.24133139e-02 -1.83850146e-04 9.99922935e-01 1.83614702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters 0.021589065171815233 Centerline is valid? [True, True] Translation: X:352.04, Y:-100.65, Z:1.84 [[ 7.34105785e-01 6.78966099e-01 9.68160562e-03 3.52041412e+02] [-6.78910201e-01 7.34169603e-01 -8.71400534e-03 -1.00654947e+02] [-1.30244548e-02 -1.75939083e-04 9.99915163e-01 1.83762902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters 0.021802981066858785 Centerline is valid? [True, True] Translation: X:352.09, Y:-100.70, Z:1.84 [[ 7.32464675e-01 6.80741118e-01 9.32896670e-03 3.52088977e+02] [-6.80689253e-01 7.32524056e-01 -8.40530615e-03 -1.00695571e+02] [-1.25555300e-02 -1.93537529e-04 9.99921157e-01 1.83866202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters 0.022357800962583486 Centerline is valid? [True, True] Translation: X:352.14, Y:-100.74, Z:1.84 [[ 7.29928064e-01 6.83466138e-01 8.89152001e-03 3.52136297e+02] [-6.83419123e-01 7.29982183e-01 -8.01964453e-03 -1.00737528e+02] [-1.19718067e-02 -2.22871202e-04 9.99928311e-01 1.83898059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters 0.022584581453553586 Centerline is valid? [True, True] Translation: X:352.18, Y:-100.78, Z:1.84 [[ 7.28998087e-01 6.84461061e-01 8.65137725e-03 3.52183632e+02] [-6.84416528e-01 7.29049385e-01 -7.81093014e-03 -1.00778870e+02] [-1.16535588e-02 -2.26992450e-04 9.99932069e-01 1.84019238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters 0.02204408813369296 Centerline is valid? [True, True] Translation: X:352.23, Y:-100.82, Z:1.84 [[ 7.31079316e-01 6.82247429e-01 7.84089772e-03 3.52230945e+02] [-6.82210643e-01 7.31121343e-01 -7.08667489e-03 -1.00819899e+02] [-1.05675134e-02 -1.68222444e-04 9.99944148e-01 1.84176596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters 0.021790954013090794 Centerline is valid? [True, True] Translation: X:352.28, Y:-100.86, Z:1.84 [[ 7.32411510e-01 6.80812812e-01 8.20337908e-03 3.52278151e+02] [-6.80772374e-01 7.32457434e-01 -7.42168050e-03 -1.00861870e+02] [-1.10614012e-02 -1.48909629e-04 9.99938810e-01 1.84252668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters 0.021668082332005914 Centerline is valid? [True, True] Translation: X:352.32, Y:-100.90, Z:1.84 [[ 7.33070877e-01 6.80106812e-01 7.86215223e-03 3.52324187e+02] [-6.80069548e-01 7.33113026e-01 -7.12048346e-03 -1.00904980e+02] [-1.06065355e-02 -1.26991260e-04 9.99943741e-01 1.84300957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters 0.021729638848949757 Centerline is valid? [True, True] Translation: X:352.37, Y:-100.95, Z:1.84 [[ 7.33576199e-01 6.79557930e-01 8.18419822e-03 3.52371674e+02] [-6.79517432e-01 7.33621842e-01 -7.41980667e-03 -1.00946491e+02] [-1.10462950e-02 -1.18311783e-04 9.99938981e-01 1.84292698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters 0.021772383418994158 Centerline is valid? [True, True] Translation: X:352.42, Y:-100.99, Z:1.84 [[ 7.32423619e-01 6.80780386e-01 9.68027927e-03 3.52417635e+02] [-6.80723735e-01 7.32487571e-01 -8.78379606e-03 -1.00988753e+02] [-1.30705203e-02 -1.56136159e-04 9.99914565e-01 1.84303915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters 0.02179546782823463 Centerline is valid? [True, True] Translation: X:352.46, Y:-101.03, Z:1.85 [[ 7.31784190e-01 6.81493753e-01 7.62651424e-03 3.52464590e+02] [-6.81458540e-01 7.31823919e-01 -6.92883755e-03 -1.01031231e+02] [-1.03032251e-02 -1.26739487e-04 9.99946912e-01 1.84516629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters 0.022012275204458063 Centerline is valid? [True, True] Translation: X:352.51, Y:-101.07, Z:1.84 [[ 7.30408925e-01 6.82968799e-01 7.51145037e-03 3.52510698e+02] [-6.82934650e-01 7.30447534e-01 -6.83113370e-03 -1.01073797e+02] [-1.01521716e-02 -1.40308706e-04 9.99948456e-01 1.84484164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters 0.021909720279712577 Centerline is valid? [True, True] Translation: X:352.56, Y:-101.11, Z:1.85 [[ 7.30482934e-01 6.82876294e-01 8.64005793e-03 3.52557778e+02] [-6.82831017e-01 7.30534012e-01 -7.86505765e-03 -1.01114876e+02] [-1.16827176e-02 -1.54409160e-04 9.99931743e-01 1.84632930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters 0.021971922519024106 Centerline is valid? [True, True] Translation: X:352.60, Y:-101.16, Z:1.85 [[ 7.28801225e-01 6.84684171e-01 7.50732342e-03 3.52604401e+02] [-6.84650008e-01 7.28839874e-01 -6.84141325e-03 -1.01157105e+02] [-1.01558440e-02 -1.53858672e-04 9.99948416e-01 1.84781801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters 0.022449349188549413 Centerline is valid? [True, True] Translation: X:352.65, Y:-101.20, Z:1.85 [[ 7.26512292e-01 6.87108861e-01 7.82968581e-03 3.52651988e+02] [-6.87071765e-01 7.26554456e-01 -7.14225669e-03 -1.01198533e+02] [-1.05962010e-02 -1.90618778e-04 9.99943841e-01 1.84871143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters 0.022525621509761312 Centerline is valid? [True, True] Translation: X:352.70, Y:-101.24, Z:1.85 [[ 7.25282882e-01 6.88413367e-01 7.19565507e-03 3.52698446e+02] [-6.88382034e-01 7.25318551e-01 -6.57076417e-03 -1.01240492e+02] [-9.74254399e-03 -1.87696898e-04 9.99952523e-01 1.84934623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters 0.022537409715065626 Centerline is valid? [True, True] Translation: X:352.75, Y:-101.28, Z:1.85 [[ 7.24792281e-01 6.88937232e-01 6.45290074e-03 3.52748305e+02] [-6.88911999e-01 7.24820986e-01 -5.89880785e-03 -1.01278545e+02] [-8.74110623e-03 -1.70070351e-04 9.99961781e-01 1.84950716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters 0.02246669327292165 Centerline is valid? [True, True] Translation: X:352.80, Y:-101.32, Z:1.85 [[ 7.25347374e-01 6.88349050e-01 6.83910915e-03 3.52795178e+02] [-6.88320623e-01 7.25379596e-01 -6.25799327e-03 -1.01320126e+02] [-9.26863395e-03 -1.68280888e-04 9.99957031e-01 1.85074997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters 0.022450402381408333 Centerline is valid? [True, True] Translation: X:352.84, Y:-101.36, Z:1.85 [[ 7.25984954e-01 6.87676190e-01 6.87777747e-03 3.52844708e+02] [-6.87647351e-01 7.26017516e-01 -6.29977423e-03 -1.01359440e+02] [-9.32559165e-03 -1.55944150e-04 9.99956504e-01 1.85077044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters 0.022156840935903508 Centerline is valid? [True, True] Translation: X:352.90, Y:-101.40, Z:1.85 [[ 7.25620523e-01 6.88076841e-01 5.01168697e-03 3.52896080e+02] [-6.88061500e-01 7.25637821e-01 -4.59605344e-03 -1.01397064e+02] [-6.79910755e-03 -1.13358160e-04 9.99976879e-01 1.85099091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters 0.022701594712174363 Centerline is valid? [True, True] Translation: X:352.95, Y:-101.43, Z:1.85 [[ 7.25169998e-01 6.88526878e-01 7.69493394e-03 3.52947096e+02] [-6.88490684e-01 7.25210802e-01 -7.06192034e-03 -1.01434600e+02] [-1.04427712e-02 -1.76797570e-04 9.99945457e-01 1.85231246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters 0.022100921738125653 Centerline is valid? [True, True] Translation: X:353.00, Y:-101.47, Z:1.85 [[ 7.26880646e-01 6.86721242e-01 7.64601852e-03 3.52999315e+02] [-6.86685338e-01 7.26920845e-01 -7.02370526e-03 -1.01470654e+02] [-1.03813778e-02 -1.45013395e-04 9.99946102e-01 1.85227862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters 0.02241774446740506 Centerline is valid? [True, True] Translation: X:353.05, Y:-101.51, Z:1.85 [[ 7.27321705e-01 6.86222099e-01 1.01177273e-02 3.53052634e+02] [-6.86159062e-01 7.27392053e-01 -9.30280874e-03 -1.01505977e+02] [-1.37433473e-02 -1.76235540e-04 9.99905540e-01 1.85159291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters 0.022324046868909698 Centerline is valid? [True, True] Translation: X:353.10, Y:-101.54, Z:1.85 [[ 7.26878505e-01 6.86706223e-01 9.06652160e-03 3.53102540e+02] [-6.86655534e-01 7.26935030e-01 -8.34504864e-03 -1.01544854e+02] [-1.23213690e-02 -1.59740752e-04 9.99924076e-01 1.85457802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters 0.022557986735386153 Centerline is valid? [True, True] Translation: X:353.15, Y:-101.58, Z:1.85 [[ 7.26218459e-01 6.87380971e-01 1.06841093e-02 3.53152074e+02] [-6.87310520e-01 7.26297021e-01 -9.84312805e-03 -1.01583433e+02] [-1.45258157e-02 -1.95039456e-04 9.99894476e-01 1.85445014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters 0.02247697890540024 Centerline is valid? [True, True] Translation: X:353.20, Y:-101.62, Z:1.85 [[ 7.28297532e-01 6.85147386e-01 1.24805308e-02 3.53203937e+02] [-6.85050724e-01 7.28404442e-01 -1.15097895e-02 -1.01620370e+02] [-1.69767763e-02 -1.67245351e-04 9.99855870e-01 1.85318513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters 0.022653365544526054 Centerline is valid? [True, True] Translation: X:353.25, Y:-101.66, Z:1.85 [[ 7.30116273e-01 6.83182636e-01 1.38460879e-02 3.53254238e+02] [-6.83063061e-01 7.30247541e-01 -1.27821965e-02 -1.01659108e+02] [-1.88436463e-02 -1.25261519e-04 9.99822435e-01 1.85246447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters 0.022331434923775945 Centerline is valid? [True, True] Translation: X:353.30, Y:-101.70, Z:1.85 [[ 7.32103342e-01 6.81057987e-01 1.35909909e-02 3.53301429e+02] [-6.80942176e-01 7.32229483e-01 -1.25593918e-02 -1.01700950e+02] [-1.85053983e-02 -5.99062042e-05 9.99828759e-01 1.85364612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters 0.022814290092190607 Centerline is valid? [True, True] Translation: X:353.35, Y:-101.74, Z:1.85 [[ 7.32184343e-01 6.80890396e-01 1.71568060e-02 3.53347122e+02] [-6.80705432e-01 7.32385325e-01 -1.58697913e-02 -1.01743329e+02] [-2.33709814e-02 -5.91183033e-05 9.99726860e-01 1.85131765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters 0.02312035472137242 Centerline is valid? [True, True] Translation: X:353.39, Y:-101.79, Z:1.85 [[ 7.31254707e-01 6.81849895e-01 1.86352919e-02 3.53391421e+02] [-6.81631549e-01 7.31492114e-01 -1.72545314e-02 -1.01787741e+02] [-2.53965695e-02 -8.49456132e-05 9.99677452e-01 1.85188532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters 0.023443185921576272 Centerline is valid? [True, True] Translation: X:353.44, Y:-101.83, Z:1.85 [[ 7.29617557e-01 6.83600054e-01 1.86865177e-02 3.53436011e+02] [-6.83380613e-01 7.29856800e-01 -1.73202092e-02 -1.01831668e+02] [-2.54785780e-02 -1.32875203e-04 9.99675360e-01 1.85146326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters 0.023755842693619026 Centerline is valid? [True, True] Translation: X:353.48, Y:-101.88, Z:1.85 [[ 7.28310615e-01 6.84908985e-01 2.15250882e-02 3.53480517e+02] [-6.84617796e-01 7.28628606e-01 -1.99706993e-02 -1.01875752e+02] [-2.93619064e-02 -1.91586091e-04 9.99568828e-01 1.85241915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters 0.02425196566298894 Centerline is valid? [True, True] Translation: X:353.53, Y:-101.92, Z:1.85 [[ 7.25214787e-01 6.88216010e-01 2.05483682e-02 3.53526438e+02] [-6.87951412e-01 7.25505779e-01 -1.90845156e-02 -1.01919158e+02] [-2.80422291e-02 -2.95906050e-04 9.99606696e-01 1.85213316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters 0.024553643223099473 Centerline is valid? [True, True] Translation: X:353.57, Y:-101.96, Z:1.85 [[ 7.23408039e-01 6.90083072e-01 2.15908112e-02 3.53572040e+02] [-6.89791199e-01 7.23730071e-01 -2.00720326e-02 -1.01962139e+02] [-2.94772892e-02 -3.72881805e-04 9.99565381e-01 1.85241684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters 0.025364627452811796 Centerline is valid? [True, True] Translation: X:353.62, Y:-102.00, Z:1.85 [[ 7.21799734e-01 6.91620500e-01 2.58113743e-02 3.53620752e+02] [-6.91203517e-01 7.22260915e-01 -2.40181144e-02 -1.02001737e+02] [-3.52539671e-02 -5.04644039e-04 9.99378258e-01 1.85125186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters 0.025205872929461814 Centerline is valid? [True, True] Translation: X:353.67, Y:-102.04, Z:1.85 [[ 7.22885923e-01 6.90525853e-01 2.46979386e-02 3.53669365e+02] [-6.90142753e-01 7.23307592e-01 -2.30023599e-02 -1.02040980e+02] [-3.37479307e-02 -4.17021113e-04 9.99430289e-01 1.85140520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters 0.025505784917807243 Centerline is valid? [True, True] Translation: X:353.72, Y:-102.08, Z:1.85 [[ 7.23520347e-01 6.89813538e-01 2.59921288e-02 3.53718850e+02] [-6.89387904e-01 7.23986971e-01 -2.42318790e-02 -1.02080145e+02] [-3.55334408e-02 -3.86401705e-04 9.99368413e-01 1.84998056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters 0.025714464949327737 Centerline is valid? [True, True] Translation: X:353.77, Y:-102.12, Z:1.85 [[ 7.24648914e-01 6.88569933e-01 2.74845336e-02 3.53769252e+02] [-6.88092160e-01 7.25169871e-01 -2.56483565e-02 -1.02117693e+02] [-3.75916428e-02 -3.25838397e-04 9.99293131e-01 1.84905720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters 0.025759139468564774 Centerline is valid? [True, True] Translation: X:353.82, Y:-102.16, Z:1.85 [[ 7.25480232e-01 6.87700095e-01 2.73315180e-02 3.53818692e+02] [-6.87226036e-01 7.25994843e-01 -2.55316370e-02 -1.02157328e+02] [-3.74006503e-02 -2.60232807e-04 9.99300317e-01 1.84898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters 0.025901376275891064 Centerline is valid? [True, True] Translation: X:353.87, Y:-102.20, Z:1.85 [[ 7.27155241e-01 6.85799300e-01 3.04068449e-02 3.53868290e+02] [-6.85209721e-01 7.27790694e-01 -2.84313851e-02 -1.02195749e+02] [-4.16280427e-02 -1.61035089e-04 9.99133164e-01 1.84714106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters 0.02597515207787642 Centerline is valid? [True, True] Translation: X:353.92, Y:-102.23, Z:1.85 [[ 7.29676471e-01 6.83139878e-01 2.98689724e-02 3.53918245e+02] [-6.82567583e-01 7.30287551e-01 -2.79568839e-02 -1.02233688e+02] [-4.09114010e-02 1.18881348e-05 9.99162778e-01 1.84712833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters 0.02583847632149001 Centerline is valid? [True, True] Translation: X:353.97, Y:-102.28, Z:1.85 [[ 7.30878003e-01 6.81881624e-01 2.92368865e-02 3.53965203e+02] [-6.81331189e-01 7.31462535e-01 -2.73928998e-02 -1.02275585e+02] [-4.00644021e-02 1.00865306e-04 9.99197094e-01 1.84715058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters 0.026016695211044476 Centerline is valid? [True, True] Translation: X:354.01, Y:-102.32, Z:1.85 [[ 7.29587640e-01 6.83261871e-01 2.92419483e-02 3.54012358e+02] [-6.82711181e-01 7.30173413e-01 -2.74268101e-02 -1.02317074e+02] [-4.00913867e-02 4.64565840e-05 9.99196016e-01 1.84643207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters 0.02589002335084548 Centerline is valid? [True, True] Translation: X:354.06, Y:-102.36, Z:1.85 [[ 7.27841669e-01 6.85154297e-01 2.84621698e-02 3.54059338e+02] [-6.84633095e-01 7.28397960e-01 -2.67196135e-02 -1.02357989e+02] [-3.90388444e-02 -3.84953624e-05 9.99237693e-01 1.84565601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters 0.025808907730111432 Centerline is valid? [True, True] Translation: X:354.11, Y:-102.40, Z:1.84 [[ 7.26912688e-01 6.86197468e-01 2.70366273e-02 3.54105711e+02] [-6.85727033e-01 7.27415307e-01 -2.54048624e-02 -1.02399156e+02] [-3.70996088e-02 -7.26293786e-05 9.99311570e-01 1.84401419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters 0.02567459815444441 Centerline is valid? [True, True] Translation: X:354.15, Y:-102.44, Z:1.84 [[ 7.26546798e-01 6.86629546e-01 2.58769332e-02 3.54153041e+02] [-6.86198434e-01 7.27007469e-01 -2.43279529e-02 -1.02440159e+02] [-3.55170149e-02 -8.13147799e-05 9.99369068e-01 1.84358801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters 0.025830007651477263 Centerline is valid? [True, True] Translation: X:354.20, Y:-102.48, Z:1.84 [[ 7.25092768e-01 6.88172579e-01 2.56705921e-02 3.54200383e+02] [-6.87748337e-01 7.25547024e-01 -2.41607416e-02 -1.02481890e+02] [-3.52519816e-02 -1.36128004e-04 9.99378446e-01 1.84360774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters 0.025986894299321408 Centerline is valid? [True, True] Translation: X:354.25, Y:-102.52, Z:1.85 [[ 7.22280940e-01 6.91172938e-01 2.42943101e-02 3.54245620e+02] [-6.90793983e-01 7.22689357e-01 -2.28859434e-02 -1.02523980e+02] [-3.33753841e-02 -2.52282522e-04 9.99442855e-01 1.84593577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters 0.02647267584770718 Centerline is valid? [True, True] Translation: X:354.29, Y:-102.57, Z:1.85 [[ 7.20153868e-01 6.93407971e-01 2.37442989e-02 3.54292287e+02] [-6.93046421e-01 7.20545124e-01 -2.23915498e-02 -1.02566615e+02] [-3.26353179e-02 -3.30540125e-04 9.99467271e-01 1.84632014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters 0.02659075183900508 Centerline is valid? [True, True] Translation: X:354.34, Y:-102.61, Z:1.85 [[ 7.18463764e-01 6.95168857e-01 2.34537959e-02 3.54338843e+02] [-6.94816301e-01 7.18846374e-01 -2.21404339e-02 -1.02609327e+02] [-3.22510163e-02 -3.88980220e-04 9.99479725e-01 1.84625308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters 0.027234762380353668 Centerline is valid? [True, True] Translation: X:354.39, Y:-102.65, Z:1.85 [[ 7.14350304e-01 6.99461897e-01 2.13704730e-02 3.54385437e+02] [-6.99170584e-01 7.14669704e-01 -2.01917946e-02 -1.02649939e+02] [-2.93962206e-02 -5.17591510e-04 9.99567704e-01 1.84945660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters 0.027273274598119943 Centerline is valid? [True, True] Translation: X:354.43, Y:-102.69, Z:1.85 [[ 7.13091237e-01 7.00778064e-01 2.02729468e-02 3.54433780e+02] [-7.00515966e-01 7.13379159e-01 -1.91717831e-02 -1.02689107e+02] [-2.78974628e-02 -5.30292377e-04 9.99610649e-01 1.84997415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters 0.027329961514068905 Centerline is valid? [True, True] Translation: X:354.48, Y:-102.73, Z:1.85 [[ 7.13430123e-01 7.00452741e-01 1.95810281e-02 3.54482012e+02] [-7.00207662e-01 7.13698619e-01 -1.85340260e-02 -1.02729005e+02] [-2.69571621e-02 -4.88053471e-04 9.99636471e-01 1.85063830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters 0.027372897835424924 Centerline is valid? [True, True] Translation: X:354.53, Y:-102.77, Z:1.85 [[ 7.14294679e-01 6.99587940e-01 1.89690730e-02 3.54532650e+02] [-6.99357215e-01 7.14546380e-01 -1.79709928e-02 -1.02765769e+02] [-2.61265723e-02 -4.29573570e-04 9.99658551e-01 1.85075260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters 0.027156915257706818 Centerline is valid? [True, True] Translation: X:354.58, Y:-102.81, Z:1.85 [[ 7.14543241e-01 6.99401611e-01 1.62893593e-02 3.54579815e+02] [-6.99231107e-01 7.14728803e-01 -1.54465901e-02 -1.02805908e+02] [-2.24458443e-02 -3.52770197e-04 9.99747998e-01 1.85005648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters 0.027522946162209676 Centerline is valid? [True, True] Translation: X:354.63, Y:-102.84, Z:1.85 [[ 7.13264650e-01 7.00640208e-01 1.88901351e-02 3.54629235e+02] [-7.00410931e-01 7.13514612e-01 -1.79283675e-02 -1.02844590e+02] [-2.60397226e-02 -4.43186295e-04 9.99660811e-01 1.85013376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters 0.02786591197368307 Centerline is valid? [True, True] Translation: X:354.68, Y:-102.89, Z:1.85 [[ 7.12479520e-01 7.01402352e-01 2.01909194e-02 3.54675969e+02] [-7.01140235e-01 7.12765388e-01 -1.91800037e-02 -1.02885919e+02] [-2.78442882e-02 -4.91306109e-04 9.99612152e-01 1.85119164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters 0.02787112612204518 Centerline is valid? [True, True] Translation: X:354.73, Y:-102.92, Z:1.85 [[ 7.12862293e-01 7.00977194e-01 2.14085424e-02 3.54726257e+02] [-7.00681775e-01 7.13183520e-01 -2.03547530e-02 -1.02923218e+02] [-2.95364373e-02 -4.90439607e-04 9.99563584e-01 1.85177262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters 0.027892344036048778 Centerline is valid? [True, True] Translation: X:354.77, Y:-102.96, Z:1.85 [[ 7.13961156e-01 6.99834876e-01 2.21498147e-02 3.54774946e+02] [-6.99517410e-01 7.14304523e-01 -2.10818033e-02 -1.02963438e+02] [-3.05754940e-02 -4.42592310e-04 9.99532362e-01 1.85357846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters 0.027810283392720337 Centerline is valid? [True, True] Translation: X:354.82, Y:-103.00, Z:1.86 [[ 7.14093438e-01 6.99737458e-01 2.09297098e-02 3.54823343e+02] [-6.99453454e-01 7.14399979e-01 -1.99382986e-02 -1.03003063e+02] [-2.89037586e-02 -4.01549653e-04 9.99582118e-01 1.85608990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters 0.0276055634800333 Centerline is valid? [True, True] Translation: X:354.87, Y:-103.04, Z:1.86 [[ 7.14858352e-01 6.98966164e-01 2.05873470e-02 3.54872566e+02] [-6.98690551e-01 7.15154654e-01 -1.96299500e-02 -1.03041782e+02] [-2.84438079e-02 -3.51551089e-04 9.99595331e-01 1.85644565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters 0.02756301866921902 Centerline is valid? [True, True] Translation: X:354.92, Y:-103.08, Z:1.86 [[ 7.15631891e-01 6.98171587e-01 2.06744173e-02 3.54922745e+02] [-6.97892701e-01 7.15930402e-01 -1.97341551e-02 -1.03080901e+02] [-2.85792703e-02 -3.06134255e-04 9.99591482e-01 1.85618054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters 0.027455266925672666 Centerline is valid? [True, True] Translation: X:354.97, Y:-103.12, Z:1.86 [[ 7.16411554e-01 6.97368796e-01 2.07665213e-02 3.54970464e+02] [-6.97086489e-01 7.16712421e-01 -1.98426759e-02 -1.03122416e+02] [-2.87212867e-02 -2.60539148e-04 9.99587425e-01 1.85756542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters 0.027467720026006344 Centerline is valid? [True, True] Translation: X:355.02, Y:-103.16, Z:1.86 [[ 7.17548322e-01 6.96205887e-01 2.05369886e-02 3.55019229e+02] [-6.95928810e-01 7.17842130e-01 -1.96409740e-02 -1.03161864e+02] [-2.84164774e-02 -1.98934171e-04 9.99596151e-01 1.85669012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters 0.027404376059600152 Centerline is valid? [True, True] Translation: X:355.07, Y:-103.20, Z:1.86 [[ 7.17434664e-01 6.96309366e-01 2.09945129e-02 3.55066500e+02] [-6.96019265e-01 7.17741757e-01 -2.00985871e-02 -1.03202810e+02] [-2.90634730e-02 -1.93162375e-04 9.99577549e-01 1.85858252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters 0.027567224085309976 Centerline is valid? [True, True] Translation: X:355.12, Y:-103.24, Z:1.86 [[ 7.15100379e-01 6.98695447e-01 2.13569812e-02 3.55115213e+02] [-6.98395749e-01 7.15419173e-01 -2.04642331e-02 -1.03242363e+02] [-2.95774603e-02 -2.81644046e-04 9.99562452e-01 1.85853202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters 0.02742613779826475 Centerline is valid? [True, True] Translation: X:355.16, Y:-103.28, Z:1.86 [[ 7.15711632e-01 6.98084285e-01 2.08612255e-02 3.55162473e+02] [-6.97797552e-01 7.16015555e-01 -2.00075607e-02 -1.03282541e+02] [-2.89039257e-02 -2.37268194e-04 9.99582166e-01 1.85947886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters 0.027370006035063822 Centerline is valid? [True, True] Translation: X:355.21, Y:-103.32, Z:1.86 [[ 7.17084963e-01 6.96611220e-01 2.28465351e-02 3.55207770e+02] [-6.96265971e-01 7.17448796e-01 -2.19299455e-02 -1.03324308e+02] [-3.16678652e-02 -1.81630791e-04 9.99498431e-01 1.85990716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters 0.02701321286639571 Centerline is valid? [True, True] Translation: X:355.25, Y:-103.37, Z:1.86 [[ 7.18498236e-01 6.95232954e-01 2.02835772e-02 3.55254452e+02] [-6.94959760e-01 7.18784481e-01 -1.94884965e-02 -1.03365111e+02] [-2.81285655e-02 -9.38195789e-05 9.99604309e-01 1.86107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters 0.027156381670796904 Centerline is valid? [True, True] Translation: X:355.30, Y:-103.41, Z:1.86 [[ 7.18471840e-01 6.95260509e-01 2.02741353e-02 3.55302250e+02] [-6.94986974e-01 7.18757830e-01 -1.95009449e-02 -1.03406099e+02] [-2.81304304e-02 -7.93801853e-05 9.99604258e-01 1.86004801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters 0.026922029412932497 Centerline is valid? [True, True] Translation: X:355.35, Y:-103.45, Z:1.86 [[ 7.18312123e-01 6.95439573e-01 1.97862291e-02 3.55348028e+02] [-6.95179005e-01 7.18584577e-01 -1.90356986e-02 -1.03448856e+02] [-2.74562571e-02 -8.13979878e-05 9.99623003e-01 1.86008614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters 0.026543854660892135 Centerline is valid? [True, True] Translation: X:355.39, Y:-103.49, Z:1.86 [[ 7.19675661e-01 6.94083441e-01 1.77516445e-02 3.55393679e+02] [-6.93872851e-01 7.19894560e-01 -1.70964759e-02 -1.03490468e+02] [-2.46456931e-02 -1.34665887e-05 9.99696249e-01 1.86100736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters 0.026600631557797648 Centerline is valid? [True, True] Translation: X:355.44, Y:-103.53, Z:1.86 [[ 7.18689669e-01 6.95065298e-01 1.92195503e-02 3.55438838e+02] [-6.94818569e-01 7.18946611e-01 -1.85182902e-02 -1.03532462e+02] [-2.66892515e-02 -4.51965635e-05 9.99643777e-01 1.86117452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters 0.026384539642544114 Centerline is valid? [True, True] Translation: X:355.48, Y:-103.58, Z:1.86 [[ 7.16167124e-01 6.97713920e-01 1.73186904e-02 3.55483053e+02] [-6.97513951e-01 7.16376488e-01 -1.67037724e-02 -1.03575519e+02] [-2.40611571e-02 -1.17335512e-04 9.99710482e-01 1.86229110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters 0.026371956771872145 Centerline is valid? [True, True] Translation: X:355.53, Y:-103.62, Z:1.86 [[ 7.14369499e-01 6.99582029e-01 1.61617821e-02 3.55527767e+02] [-6.99408033e-01 7.14552279e-01 -1.56026873e-02 -1.03618248e+02] [-2.24637978e-02 -1.57596314e-04 9.99747645e-01 1.86404620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters 0.026479175715979714 Centerline is valid? [True, True] Translation: X:355.57, Y:-103.66, Z:1.86 [[ 7.12185018e-01 7.01782213e-01 1.71530180e-02 3.55572199e+02] [-7.01586492e-01 7.12391517e-01 -1.65747181e-02 -1.03661076e+02] [-2.38515069e-02 -2.30059806e-04 9.99715486e-01 1.86433051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters 0.02682792162621258 Centerline is valid? [True, True] Translation: X:355.62, Y:-103.70, Z:1.87 [[ 7.08002745e-01 7.06008391e-01 1.68601537e-02 3.55618996e+02] [-7.05820136e-01 7.08203379e-01 -1.63067532e-02 -1.03702333e+02] [-2.34531224e-02 -3.55009909e-04 9.99724875e-01 1.86611575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters 0.02702126769819475 Centerline is valid? [True, True] Translation: X:355.66, Y:-103.74, Z:1.87 [[ 7.04026796e-01 7.10011515e-01 1.51630753e-02 3.55664407e+02] [-7.09859891e-01 7.04189935e-01 -1.46789511e-02 -1.03744854e+02] [-2.10999093e-02 -4.29284045e-04 9.99777280e-01 1.86725938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters 0.027536677871218294 Centerline is valid? [True, True] Translation: X:355.71, Y:-103.78, Z:1.87 [[ 7.02519279e-01 7.11460961e-01 1.70283258e-02 3.55711352e+02] [-7.11270018e-01 7.02725425e-01 -1.64905356e-02 -1.03784955e+02] [-2.36986098e-02 -5.26818381e-04 9.99719010e-01 1.86613510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters 0.02746379641294096 Centerline is valid? [True, True] Translation: X:355.76, Y:-103.83, Z:1.87 [[ 7.02569060e-01 7.11397751e-01 1.76055819e-02 3.55756996e+02] [-7.11193150e-01 7.02789414e-01 -1.70687967e-02 -1.03827874e+02] [-2.45157201e-02 -5.28960785e-04 9.99699305e-01 1.86722033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters 0.027321934779955964 Centerline is valid? [True, True] Translation: X:355.81, Y:-103.87, Z:1.87 [[ 7.03685115e-01 7.10279689e-01 1.81665185e-02 3.55806018e+02] [-7.10061083e-01 7.03919398e-01 -1.76278394e-02 -1.03866008e+02] [-2.53084611e-02 -4.94889624e-04 9.99679567e-01 1.86805710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters 0.026913007586162375 Centerline is valid? [True, True] Translation: X:355.85, Y:-103.91, Z:1.87 [[ 7.04244827e-01 7.09726793e-01 1.80860073e-02 3.55852477e+02] [-7.09509537e-01 7.04476874e-01 -1.75655946e-02 -1.03906850e+02] [-2.52079471e-02 -4.61715555e-04 9.99682123e-01 1.87074469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters 0.026938121761870916 Centerline is valid? [True, True] Translation: X:355.90, Y:-103.95, Z:1.87 [[ 7.04220171e-01 7.09761941e-01 1.76617723e-02 3.55897326e+02] [-7.09554374e-01 7.04441476e-01 -1.71696515e-02 -1.03950432e+02] [-2.46280501e-02 -4.40772911e-04 9.99696586e-01 1.87193429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters 0.026973622953454898 Centerline is valid? [True, True] Translation: X:355.95, Y:-103.99, Z:1.87 [[ 7.04160617e-01 7.09813189e-01 1.79739247e-02 3.55945351e+02] [-7.09597770e-01 7.04389839e-01 -1.74916970e-02 -1.03992096e+02] [-2.50764872e-02 -4.37292673e-04 9.99685440e-01 1.87252702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters 0.026619279550502795 Centerline is valid? [True, True] Translation: X:355.99, Y:-104.03, Z:1.88 [[ 7.05889003e-01 7.08072476e-01 1.88171212e-02 3.55991329e+02] [-7.07835242e-01 7.06139664e-01 -1.83315496e-02 -1.04034914e+02] [-2.62675814e-02 -3.79382324e-04 9.99654876e-01 1.87522011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters 0.02656942040730921 Centerline is valid? [True, True] Translation: X:356.04, Y:-104.08, Z:1.87 [[ 7.07388289e-01 7.06591460e-01 1.81746423e-02 3.56037609e+02] [-7.06369256e-01 7.07621662e-01 -1.77216635e-02 -1.04076072e+02] [-2.53827467e-02 -3.01911327e-04 9.99677761e-01 1.87365738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters 0.026763388256750092 Centerline is valid? [True, True] Translation: X:356.08, Y:-104.12, Z:1.87 [[ 7.09656013e-01 7.04255965e-01 2.02947850e-02 3.56084909e+02] [-7.03977420e-01 7.09946112e-01 -1.98068130e-02 -1.04117182e+02] [-2.83572699e-02 -2.31046445e-04 9.99597825e-01 1.87403363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters 0.026645469755224752 Centerline is valid? [True, True] Translation: X:356.13, Y:-104.16, Z:1.87 [[ 7.11637955e-01 7.02227536e-01 2.11638656e-02 3.56134519e+02] [-7.01923052e-01 7.11952574e-01 -2.06775533e-02 -1.04157092e+02] [-2.95880158e-02 -1.40473373e-04 9.99562169e-01 1.87365073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters 0.02677595885584492 Centerline is valid? [True, True] Translation: X:356.18, Y:-104.20, Z:1.87 [[ 7.14095795e-01 6.99740377e-01 2.07509239e-02 3.56178921e+02] [-6.99446065e-01 7.14397232e-01 -2.02928023e-02 -1.04200955e+02] [-2.90240957e-02 -2.31472730e-05 9.99578712e-01 1.87436970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters 0.026746132684971724 Centerline is valid? [True, True] Translation: X:356.23, Y:-104.24, Z:1.87 [[ 7.14355071e-01 6.99436228e-01 2.20407845e-02 3.56225694e+02] [-6.99103414e-01 7.14695014e-01 -2.15743573e-02 -1.04242211e+02] [-3.08423259e-02 2.96379312e-06 9.99524262e-01 1.87435654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters 0.026675319327406796 Centerline is valid? [True, True] Translation: X:356.27, Y:-104.29, Z:1.88 [[ 7.12185486e-01 7.01669171e-01 2.12652019e-02 3.56269367e+02] [-7.01359777e-01 7.12502891e-01 -2.08349181e-02 -1.04285955e+02] [-2.97707376e-02 -7.62309810e-05 9.99556750e-01 1.87654633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters 0.02682811941222006 Centerline is valid? [True, True] Translation: X:356.31, Y:-104.33, Z:1.88 [[ 7.09910641e-01 7.03992503e-01 2.05289435e-02 3.56314503e+02] [-7.03704589e-01 7.10207387e-01 -2.01325246e-02 -1.04329066e+02] [-2.87529537e-02 -1.54018356e-04 9.99586536e-01 1.87717164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters 0.027353867234629615 Centerline is valid? [True, True] Translation: X:356.36, Y:-104.37, Z:1.88 [[ 7.07248414e-01 7.06630677e-01 2.17432035e-02 3.56357667e+02] [-7.06308327e-01 7.07582516e-01 -2.13431465e-02 -1.04374078e+02] [-3.04668327e-02 -2.62499209e-04 9.99535744e-01 1.87730402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters 0.027254339183894954 Centerline is valid? [True, True] Translation: X:356.40, Y:-104.42, Z:1.88 [[ 7.05680268e-01 7.08233261e-01 2.05184682e-02 3.56404639e+02] [-7.07946745e-01 7.05978436e-01 -2.01458325e-02 -1.04415656e+02] [-2.87535447e-02 -3.09466307e-04 9.99586483e-01 1.87771220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters 0.027658588484394772 Centerline is valid? [True, True] Translation: X:356.45, Y:-104.46, Z:1.88 [[ 7.03157533e-01 7.10765390e-01 1.95459686e-02 3.56448626e+02] [-7.10505744e-01 7.03429043e-01 -1.92137852e-02 -1.04460169e+02] [-2.74056955e-02 -3.77205191e-04 9.99624322e-01 1.87981670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters 0.027942394664319255 Centerline is valid? [True, True] Translation: X:356.49, Y:-104.50, Z:1.88 [[ 7.01075052e-01 7.12780862e-01 2.09096879e-02 3.56494379e+02] [-7.12484380e-01 7.01386634e-01 -2.05620577e-02 -1.04501573e+02] [-2.93220168e-02 -4.82280379e-04 9.99569901e-01 1.88021134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters 0.027928371763639995 Centerline is valid? [True, True] Translation: X:356.54, Y:-104.55, Z:1.88 [[ 7.00959854e-01 7.12922797e-01 1.99089779e-02 3.56538490e+02] [-7.12653536e-01 7.01242384e-01 -1.95973400e-02 -1.04545905e+02] [-2.79324096e-02 -4.51254903e-04 9.99609712e-01 1.87933816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters 0.027626901514758582 Centerline is valid? [True, True] Translation: X:356.58, Y:-104.59, Z:1.88 [[ 7.02506406e-01 7.11439285e-01 1.84090748e-02 3.56584007e+02] [-7.11208356e-01 7.02747477e-01 -1.81289158e-02 -1.04589055e+02] [-2.58345537e-02 -3.57008379e-04 9.99666168e-01 1.88185197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters 0.027761588825843047 Centerline is valid? [True, True] Translation: X:356.63, Y:-104.63, Z:1.88 [[ 7.02309523e-01 7.11608088e-01 1.93717083e-02 3.56627376e+02] [-7.11351925e-01 7.02576539e-01 -1.90956983e-02 -1.04633968e+02] [-2.71987612e-02 -3.69011194e-04 9.99629977e-01 1.88164081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters 0.02797863019361308 Centerline is valid? [True, True] Translation: X:356.67, Y:-104.68, Z:1.88 [[ 6.99390367e-01 7.14510285e-01 1.81153581e-02 3.56672035e+02] [-7.14286754e-01 6.99624800e-01 -1.78765735e-02 -1.04679011e+02] [-2.54469495e-02 -4.36857027e-04 9.99676078e-01 1.88262827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters 0.028556339651801835 Centerline is valid? [True, True] Translation: X:356.71, Y:-104.72, Z:1.88 [[ 6.97554779e-01 7.16288794e-01 1.86465537e-02 3.56714873e+02] [-7.16052167e-01 6.97803775e-01 -1.84169772e-02 -1.04723632e+02] [-2.62035100e-02 -5.05054768e-04 9.99656501e-01 1.88356574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters 0.028944850758763387 Centerline is valid? [True, True] Translation: X:356.76, Y:-104.77, Z:1.88 [[ 6.95175551e-01 7.18600413e-01 1.85580108e-02 3.56760171e+02] [-7.18366415e-01 6.95422974e-01 -1.83461342e-02 -1.04765824e+02] [-2.60892066e-02 -5.77667751e-04 9.99659452e-01 1.88181011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters 0.029419713194919424 Centerline is valid? [True, True] Translation: X:356.81, Y:-104.81, Z:1.88 [[ 6.92014370e-01 7.21665473e-01 1.77498501e-02 3.56805408e+02] [-7.21452237e-01 6.92241657e-01 -1.75544039e-02 -1.04807858e+02] [-2.49555928e-02 -6.57769321e-04 9.99688344e-01 1.88313627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters 0.029676049161831607 Centerline is valid? [True, True] Translation: X:356.85, Y:-104.85, Z:1.88 [[ 6.91313763e-01 7.22320804e-01 1.83830771e-02 3.56851381e+02] [-7.22091856e-01 6.91557789e-01 -1.81982353e-02 -1.04850251e+02] [-2.58579241e-02 -6.93579736e-04 9.99665387e-01 1.88305827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters 0.029519984320544243 Centerline is valid? [True, True] Translation: X:356.90, Y:-104.89, Z:1.88 [[ 6.92460757e-01 7.21218528e-01 1.84914828e-02 3.56898380e+02] [-7.20986376e-01 6.92707303e-01 -1.83095218e-02 -1.04891883e+02] [-2.60143515e-02 -6.53481876e-04 9.99661356e-01 1.88459859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters 0.029060785009714162 Centerline is valid? [True, True] Translation: X:356.95, Y:-104.93, Z:1.88 [[ 6.93496363e-01 7.20235598e-01 1.79855226e-02 3.56946642e+02] [-7.20015189e-01 6.93729298e-01 -1.78266013e-02 -1.04931259e+02] [-2.53164369e-02 -5.87166299e-04 9.99679315e-01 1.88466170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters 0.02884969955543224 Centerline is valid? [True, True] Translation: X:356.99, Y:-104.97, Z:1.89 [[ 6.94101691e-01 7.19650625e-01 1.80504740e-02 3.56992815e+02] [-7.19428012e-01 6.94336135e-01 -1.79072158e-02 -1.04972383e+02] [-2.54200354e-02 -5.56587818e-04 9.99676704e-01 1.88519405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters 0.028442646450371895 Centerline is valid? [True, True] Translation: X:357.04, Y:-105.01, Z:1.89 [[ 6.95123195e-01 7.18704890e-01 1.63408665e-02 3.57038275e+02] [-7.18521846e-01 6.95315085e-01 -1.62261949e-02 -1.05014617e+02] [-2.30238966e-02 -4.62065182e-04 9.99734808e-01 1.88673326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters 0.028189182598900596 Centerline is valid? [True, True] Translation: X:357.09, Y:-105.06, Z:1.89 [[ 6.95033383e-01 7.18784063e-01 1.66753320e-02 3.57085097e+02] [-7.18593051e-01 6.95233240e-01 -1.65761581e-02 -1.05056936e+02] [-2.35079233e-02 -4.61794442e-04 9.99723544e-01 1.88792085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters 0.028435500273814383 Centerline is valid? [True, True] Translation: X:357.13, Y:-105.10, Z:1.89 [[ 6.94127359e-01 7.19627887e-01 1.79698182e-02 3.57129870e+02] [-7.19405986e-01 6.94359731e-01 -1.78771183e-02 -1.05099292e+02] [-2.53423910e-02 -5.18597899e-04 9.99678696e-01 1.88755932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters 0.027999391997829266 Centerline is valid? [True, True] Translation: X:357.18, Y:-105.14, Z:1.89 [[ 6.92850632e-01 7.20938591e-01 1.43370171e-02 3.57176479e+02] [-7.20797352e-01 6.92998811e-01 -1.42767402e-02 -1.05140191e+02] [-2.02281887e-02 -4.42435468e-04 9.99795291e-01 1.88982833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters 0.045699409408892326 Centerline is valid? [True, True] Translation: X:357.22, Y:-105.18, Z:1.92 [[ 6.91422441e-01 7.22393574e-01 9.08474640e-03 3.57224897e+02] [-7.22336965e-01 6.91482054e-01 -9.04870898e-03 -1.05180057e+02] [-1.28186683e-02 -3.05767691e-04 9.99917791e-01 1.91916238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters 0.028473251882699193 Centerline is valid? [True, True] Translation: X:357.27, Y:-105.22, Z:1.89 [[ 6.90188313e-01 7.23493250e-01 1.40573665e-02 3.57270034e+02] [-7.23357871e-01 6.90331272e-01 -1.40044745e-02 -1.05223256e+02] [-1.98363824e-02 -5.02782101e-04 9.99803113e-01 1.89037204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters 0.028126916104559953 Centerline is valid? [True, True] Translation: X:357.32, Y:-105.26, Z:1.89 [[ 6.90259501e-01 7.23455910e-01 1.23841238e-02 3.57316535e+02] [-7.23350603e-01 6.90370450e-01 -1.23509950e-02 -1.05264654e+02] [-1.74850335e-02 -4.32671791e-04 9.99847032e-01 1.89095362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters 0.02777431285784879 Centerline is valid? [True, True] Translation: X:357.37, Y:-105.30, Z:1.89 [[ 6.92216473e-01 7.21609878e-01 1.07488635e-02 3.57366201e+02] [-7.21530167e-01 6.92299845e-01 -1.07304215e-02 -1.05303009e+02] [-1.51846147e-02 -3.27854794e-04 9.99884653e-01 1.89177434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters 0.027851391497659462 Centerline is valid? [True, True] Translation: X:357.41, Y:-105.34, Z:1.89 [[ 6.95103966e-01 7.18797293e-01 1.26857580e-02 3.57414428e+02] [-7.18685599e-01 6.95219647e-01 -1.26748880e-02 -1.05342639e+02] [-1.79300634e-02 -3.06706675e-04 9.99839196e-01 1.89375040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters 0.03980503441726358 Centerline is valid? [True, True] Translation: X:357.46, Y:-105.38, Z:1.92 [[ 6.96900243e-01 7.17114692e-01 8.75042097e-03 3.57462245e+02] [-7.17061305e-01 6.96955155e-01 -8.75198290e-03 -1.05382787e+02] [-1.23748265e-02 -1.75329273e-04 9.99923414e-01 1.91797095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters 0.04784352817629349 Centerline is valid? [True, True] Translation: X:357.51, Y:-105.42, Z:1.92 [[ 7.00160959e-01 7.13963791e-01 5.50791127e-03 3.57510730e+02] [-7.13942491e-01 7.00182619e-01 -5.51532907e-03 -1.05421782e+02] [-7.79428899e-03 -7.07137990e-05 9.99969622e-01 1.92438647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters 0.026653557419964176 Centerline is valid? [True, True] Translation: X:357.49, Y:-105.43, Z:3.72 [[ 7.59093479e-01 -6.50690063e-01 1.94815835e-02 3.57494973e+02] [-6.50459322e-01 -7.59343272e-01 -1.73339344e-02 -1.05429405e+02] [ 2.60722282e-02 4.86098994e-04 -9.99659943e-01 3.71521645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters 0.026896679332046043 Centerline is valid? [True, True] Translation: X:357.51, Y:-105.52, Z:3.72 [[ 8.06909465e-01 -5.90327565e-01 2.02603118e-02 3.57512465e+02] [-5.90126009e-01 -8.07163626e-01 -1.54329313e-02 -1.05523732e+02] [ 2.54638715e-02 4.96841454e-04 -9.99675620e-01 3.71513705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters 0.02738966291225326 Centerline is valid? [True, True] Translation: X:357.53, Y:-105.61, Z:3.71 [[ 8.49965746e-01 -5.26400004e-01 2.14771194e-02 3.57531605e+02] [-5.26217982e-01 -8.50236917e-01 -1.38499288e-02 -1.05608704e+02] [ 2.55512424e-02 4.70318585e-04 -9.99673403e-01 3.71333666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters 0.02775639965515041 Centerline is valid? [True, True] Translation: X:357.55, Y:-105.70, Z:3.71 [[ 8.88064004e-01 -4.59374645e-01 1.78118040e-02 3.57554319e+02] [-4.59272688e-01 -8.88242511e-01 -9.68714684e-03 -1.05695150e+02] [ 2.02712311e-02 4.22331332e-04 -9.99794428e-01 3.71023512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters 0.028174780886914275 Centerline is valid? [True, True] Translation: X:357.58, Y:-105.78, Z:3.71 [[ 9.21361566e-01 -3.88365617e-01 1.62791916e-02 3.57582717e+02] [-3.88296985e-01 -9.21505276e-01 -7.31284015e-03 -1.05781750e+02] [ 1.78414166e-02 4.16608857e-04 -9.99840742e-01 3.70690650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters 0.02847943008538709 Centerline is valid? [True, True] Translation: X:357.62, Y:-105.86, Z:3.70 [[ 9.49263757e-01 -3.14221741e-01 1.27677893e-02 3.57620092e+02] [-3.14187413e-01 -9.49349527e-01 -4.66313381e-03 -1.05861518e+02] [ 1.35863527e-02 4.15065237e-04 -9.99907615e-01 3.70408983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters 0.029078506922932266 Centerline is valid? [True, True] Translation: X:357.66, Y:-105.94, Z:3.70 [[ 9.70986474e-01 -2.38892392e-01 1.07560767e-02 3.57664101e+02] [-2.38873087e-01 -9.71045962e-01 -3.06397457e-03 -1.05937192e+02] [ 1.11766051e-02 4.05740611e-04 -9.99937457e-01 3.70432010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters 0.02927324310879116 Centerline is valid? [True, True] Translation: X:357.71, Y:-106.01, Z:3.70 [[ 9.86397807e-01 -1.64039946e-01 1.05005788e-02 3.57714157e+02] [-1.64026505e-01 -9.86453623e-01 -2.13454913e-03 -1.06009942e+02] [ 1.07084853e-02 3.83141339e-04 -9.99942589e-01 3.70330290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters 0.02965617992891919 Centerline is valid? [True, True] Translation: X:357.77, Y:-106.07, Z:3.70 [[ 9.96111670e-01 -8.77690113e-02 7.62509057e-03 3.57770315e+02] [-8.77636375e-02 -9.96140787e-01 -1.03716969e-03 -1.06074315e+02] [ 7.68669508e-03 3.63931149e-04 -9.99970391e-01 3.70296886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters 0.030258260953798008 Centerline is valid? [True, True] Translation: X:357.83, Y:-106.14, Z:3.70 [[ 9.99938171e-01 -7.38433392e-03 8.31424710e-03 3.57829649e+02] [-7.38090296e-03 -9.99972663e-01 -4.43268313e-04 -1.06137959e+02] [ 8.31729305e-03 3.81874254e-04 -9.99965338e-01 3.70255786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters 0.030613223090823607 Centerline is valid? [True, True] Translation: X:357.89, Y:-106.20, Z:3.70 [[ 9.97291686e-01 7.33279625e-02 5.68358597e-03 3.57894556e+02] [ 7.33289728e-02 -9.97307806e-01 3.07125288e-05 -1.06195173e+02] [ 5.67053675e-03 3.86142171e-04 -9.99983848e-01 3.70191897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters 0.0311549225073368 Centerline is valid? [True, True] Translation: X:357.96, Y:-106.24, Z:3.70 [[ 9.87830188e-01 1.55505467e-01 3.09333476e-03 3.57962780e+02] [ 1.55505909e-01 -9.87834957e-01 9.86796630e-05 -1.06242195e+02] [ 3.07104944e-03 3.83553084e-04 -9.99995211e-01 3.69914864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters 0.031694844483731596 Centerline is valid? [True, True] Translation: X:358.02, Y:-106.18, Z:1.92 [[ 9.91334527e-01 -1.31162277e-01 -7.23275960e-03 3.58024383e+02] [ 1.31158024e-01 9.91360906e-01 -1.06139746e-03 -1.06176774e+02] [ 7.30949042e-03 1.03565497e-04 9.99973280e-01 1.92058883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters 0.03190193069880663 Centerline is valid? [True, True] Translation: X:358.08, Y:-106.17, Z:1.92 [[ 9.91541990e-01 -1.29517290e-01 -8.35186114e-03 3.58084046e+02] [ 1.29511581e-01 9.91577155e-01 -1.22311121e-03 -1.06167716e+02] [ 8.43992876e-03 1.31103379e-04 9.99964375e-01 1.92179471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters 0.0325968085137456 Centerline is valid? [True, True] Translation: X:358.14, Y:-106.16, Z:1.92 [[ 9.91782178e-01 -1.27098167e-01 -1.46344685e-02 3.58144161e+02] [ 1.27080374e-01 9.91890107e-01 -2.14318487e-03 -1.06158141e+02] [ 1.47881794e-02 2.65818827e-04 9.99890614e-01 1.92390424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters 0.032800537978015104 Centerline is valid? [True, True] Translation: X:358.20, Y:-106.15, Z:1.93 [[ 9.91829329e-01 -1.26229334e-01 -1.84590879e-02 3.58201991e+02] [ 1.26200837e-01 9.92001023e-01 -2.70524330e-03 -1.06149848e+02] [ 1.86529151e-02 3.53587292e-04 9.99825957e-01 1.92704212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters 0.03297881954169526 Centerline is valid? [True, True] Translation: X:358.26, Y:-106.14, Z:1.93 [[ 9.91744818e-01 -1.26577096e-01 -2.05050028e-02 3.58259864e+02] [ 1.26541945e-01 9.91956697e-01 -3.00801260e-03 -1.06142264e+02] [ 2.07208203e-02 3.88437970e-04 9.99785225e-01 1.92906735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters 0.033392373985645867 Centerline is valid? [True, True] Translation: X:358.32, Y:-106.14, Z:1.93 [[ 9.91694471e-01 -1.25653280e-01 -2.74468522e-02 3.58319441e+02] [ 1.25589874e-01 9.92074066e-01 -4.02877861e-03 -1.06135417e+02] [ 2.77355395e-02 5.48270772e-04 9.99615146e-01 1.93183112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters 0.03366711017822092 Centerline is valid? [True, True] Translation: X:358.38, Y:-106.13, Z:1.94 [[ 9.91571549e-01 -1.25480587e-01 -3.22565680e-02 3.58377319e+02] [ 1.25392775e-01 9.92095859e-01 -4.73896592e-03 -1.06125885e+02] [ 3.25962558e-02 6.54283198e-04 9.99468387e-01 1.93596133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters 0.033846041064659944 Centerline is valid? [True, True] Translation: X:358.44, Y:-106.12, Z:1.94 [[ 9.91477080e-01 -1.24860259e-01 -3.71902552e-02 3.58436741e+02] [ 1.24742970e-01 9.92174030e-01 -5.46675951e-03 -1.06119663e+02] [ 3.75817864e-02 7.80943856e-04 9.99293250e-01 1.94148388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters 0.0340291254060824 Centerline is valid? [True, True] Translation: X:358.50, Y:-106.11, Z:1.94 [[ 9.91122756e-01 -1.26832048e-01 -3.98661937e-02 3.58495073e+02] [ 1.26698156e-01 9.91923904e-01 -5.87751341e-03 -1.06113393e+02] [ 4.02896876e-02 7.74364052e-04 9.99187741e-01 1.94456573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters 0.03438578879661568 Centerline is valid? [True, True] Translation: X:358.55, Y:-106.10, Z:1.95 [[ 9.90859736e-01 -1.27920713e-01 -4.28167617e-02 3.58552950e+02] [ 1.27766361e-01 9.91784071e-01 -6.33356163e-03 -1.06104953e+02] [ 4.32751759e-02 8.05129385e-04 9.99062866e-01 1.95005257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters 0.03445212013929453 Centerline is valid? [True, True] Translation: X:358.61, Y:-106.10, Z:1.96 [[ 9.90853083e-01 -1.27445492e-01 -4.43600509e-02 3.58611627e+02] [ 1.27278360e-01 9.91845188e-01 -6.58344477e-03 -1.06098299e+02] [ 4.48373334e-02 8.77152003e-04 9.98993916e-01 1.95552088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters 0.03456057087051422 Centerline is valid? [True, True] Translation: X:358.67, Y:-106.09, Z:1.96 [[ 9.90926602e-01 -1.27058563e-01 -4.38245560e-02 3.58669379e+02] [ 1.26894000e-01 9.91894802e-01 -6.52803574e-03 -1.06090802e+02] [ 4.42987921e-02 9.07731084e-04 9.99017914e-01 1.95821992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2932.33 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%| | 0/12024 [00:00