+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters 0.5448706939727985 Centerline is valid? [0, False] SLAMing on 0.08592 meters 0.4809898265976377 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.00 [[ 9.99979585e-01 -2.88991430e-03 5.69893608e-03 3.64547323e-02] [ 2.89509440e-03 9.99995403e-01 -9.00918665e-04 -3.38137154e-03] [-5.69630630e-03 9.17399231e-04 9.99983355e-01 4.30265856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters 0.4323893073849855 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:0.01 [[ 0.99993424 -0.00204183 0.0112849 0.07363112] [ 0.0020223 0.99999644 0.00174206 -0.00450929] [-0.01128842 -0.00171913 0.99993481 0.00772616] [ 0. 0. 0. 1. ]] SLAMing on 0.20592 meters 0.3928573127510915 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.02 [[ 0.99993917 -0.0041637 -0.01021394 0.12860896] [ 0.00413411 0.9999872 -0.00291621 -0.00150275] [ 0.01022595 0.00287381 0.99994358 0.0206914 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26592 meters 0.3764751454117594 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.02 [[ 9.99994308e-01 -3.25230170e-03 8.97581732e-04 1.23804833e-01] [ 3.25156714e-03 9.99994379e-01 8.18636322e-04 -1.41078866e-02] [-9.00239139e-04 -8.15713116e-04 9.99999262e-01 -2.23863725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32592 meters SLAMing on 0.38592 meters SLAMing on 0.44592 meters 0.3553174675647642 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.00 [[ 0.99998467 -0.00476842 0.002815 0.16658814] [ 0.00477845 0.99998223 -0.00356494 -0.02186435] [-0.00279795 0.00357833 0.99998968 0.00333932] [ 0. 0. 0. 1. ]] SLAMing on 0.5059199999999999 meters 0.5189314983209838 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.00 [[ 0.99998677 0.00430058 0.00282383 0.19120436] [-0.00429155 0.99998568 -0.00319864 -0.02211387] [-0.00283755 0.00318648 0.9999909 0.00280653] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters 0.3474011596606696 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.04 [[ 0.99999836 -0.00113122 -0.00141705 0.23771371] [ 0.00112228 0.99997956 -0.00629448 -0.02240061] [ 0.00142414 0.00629288 0.99997919 0.04110362] [ 0. 0. 0. 1. ]] SLAMing on 0.62592 meters 0.29563380214014484 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:0.11 [[ 0.99982251 -0.00561525 -0.01798392 0.31098535] [ 0.00549014 0.99996044 -0.0069986 -0.02265411] [ 0.01802251 0.00689863 0.99981378 0.11451379] [ 0. 0. 0. 1. ]] SLAMing on 0.6859199999999999 meters 0.3475118283912561 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.02 [[ 9.99871609e-01 -4.86856289e-03 1.52663998e-02 3.14690410e-01] [ 4.87891896e-03 9.99987892e-01 -6.41186338e-04 -3.38021274e-02] [-1.52630933e-02 7.15587542e-04 9.99883256e-01 2.46977115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7459199999999999 meters 0.4747956311984496 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.15 [[ 0.99969963 -0.00207189 -0.02442038 0.41398681] [ 0.00191941 0.99997853 -0.00626605 -0.02576689] [ 0.02443284 0.0062173 0.99968214 0.14640573] [ 0. 0. 0. 1. ]] SLAMing on 0.80592 meters 0.340311355289969 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.11 [[ 9.99999619e-01 -4.88115050e-04 7.23626994e-04 4.20448582e-01] [ 4.89031216e-04 9.99999078e-01 -1.26643805e-03 -3.10844398e-02] [-7.23008160e-04 1.26679144e-03 9.99998936e-01 1.05675654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86592 meters 0.47360426661051 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.17 [[ 0.99986736 -0.00382268 -0.01583197 0.49512486] [ 0.00378505 0.99998994 -0.00240606 -0.03123334] [ 0.01584101 0.00234581 0.99987177 0.1718514 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9259199999999999 meters 0.47134725184204534 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:0.17 [[ 9.99937722e-01 -2.97970728e-03 -1.07551994e-02 5.35745682e-01] [ 2.97518237e-03 9.99995479e-01 -4.36693956e-04 -3.07601186e-02] [ 1.07564520e-02 4.04668080e-04 9.99942066e-01 1.73169795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9859199999999999 meters 0.39988359985035965 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:0.14 [[ 0.99996825 -0.00105837 0.00789747 0.55673222] [ 0.00103255 0.99999411 0.0032721 -0.03449055] [-0.00790089 -0.00326384 0.99996346 0.14482521] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters 0.48310735096974905 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:0.15 [[ 0.99989679 -0.00341386 0.0139553 0.59070184] [ 0.00338564 0.99999218 0.00204524 -0.03481422] [-0.01396217 -0.00199778 0.99990053 0.15151451] [ 0. 0. 0. 1. ]] SLAMing on 1.10592 meters 0.48188008883698236 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.15 [[ 9.99877539e-01 3.71594119e-03 1.52019151e-02 6.17222830e-01] [-3.71241371e-03 9.99993075e-01 -2.60254885e-04 -3.23136561e-02] [-1.52027770e-02 2.03787216e-04 9.99884410e-01 1.45797358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1659199999999998 meters 0.3440444108192693 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:0.12 [[ 9.99926805e-01 3.01060394e-03 1.17184237e-02 6.38990525e-01] [-3.01042273e-03 9.99995468e-01 -3.31025477e-05 -3.66370311e-02] [-1.17184702e-02 -2.17728427e-06 9.99931336e-01 1.22289916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22592 meters 0.34604112898099587 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:0.13 [[ 9.99996850e-01 1.16254275e-03 2.22466716e-03 7.05394600e-01] [-1.16327604e-03 9.99999269e-01 3.28349050e-04 -3.90983796e-02] [-2.22428382e-03 -3.30935918e-04 9.99997472e-01 1.27637030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28592 meters 0.3552047320513331 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.09 [[ 9.99993395e-01 7.67899397e-04 -3.55251979e-03 7.38974891e-01] [-7.63200098e-04 9.99998832e-01 1.32397372e-03 -4.56423101e-02] [ 3.55353232e-03 -1.32125369e-03 9.99992813e-01 9.28295485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3459199999999998 meters 0.35368411045621806 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:0.10 [[ 9.99997264e-01 -1.09432007e-03 2.06730836e-03 7.74287106e-01] [ 1.09265941e-03 9.99999080e-01 8.04253279e-04 -4.81575108e-02] [-2.06818657e-03 -8.01992215e-04 9.99997540e-01 9.86067226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters 0.35578334362198477 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:0.09 [[ 9.99976333e-01 6.74151408e-03 1.37286220e-03 8.04012229e-01] [-6.74185377e-03 9.99977244e-01 2.42957144e-04 -5.14057145e-02] [-1.37119306e-03 -2.52207030e-04 9.99999028e-01 9.13805519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46592 meters 0.3704212574907078 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.07 [[ 0.99997 0.00751329 -0.00188243 0.82555143] [-0.00751067 0.99997082 0.00139392 -0.05354924] [ 0.00189285 -0.00137974 0.99999726 0.06853744] [ 0. 0. 0. 1. ]] SLAMing on 1.52592 meters 0.36739171450589964 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.07 [[ 0.9999451 0.00961148 0.00417234 0.8616244 ] [-0.00963025 0.99994349 0.00450246 -0.05563675] [-0.00412883 -0.0045424 0.99998116 0.0725599 ] [ 0. 0. 0. 1. ]] SLAMing on 1.58592 meters 0.4886336311519924 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.06, Z:0.07 [[ 0.99995462 0.00309208 0.00901118 0.88273131] [-0.00316181 0.99996509 0.00773508 -0.05574188] [-0.00898695 -0.00776322 0.99992948 0.06798207] [ 0. 0. 0. 1. ]] SLAMing on 1.6459199999999998 meters 0.39359224670328447 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:0.07 [[ 0.99994565 0.00505746 0.00911686 0.93306677] [-0.00509314 0.99997944 0.00389481 -0.03433105] [-0.00909697 -0.00394103 0.99995086 0.07221502] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters 0.4721205069927807 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.03, Z:0.07 [[ 0.9999519 -0.00280259 0.00939929 0.9605175 ] [ 0.0027585 0.99998515 0.00470054 -0.0280736 ] [-0.00941232 -0.00467439 0.99994478 0.06552281] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters 0.4703072005830109 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.02, Z:0.07 [[ 0.99998574 -0.00322487 0.0042569 1.00965819] [ 0.00321016 0.99998887 0.00345652 -0.02013678] [-0.00426799 -0.0034428 0.99998497 0.0679992 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8259199999999998 meters 0.5034877732621287 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.06 [[ 0.99999049 0.00297468 0.00319057 1.04392009] [-0.00296843 0.99999367 -0.00196199 -0.00656646] [-0.00319639 0.0019525 0.99999299 0.0582473 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8859199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 2.00592 meters SLAMing on 2.06592 meters 0.5384687665446425 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.06, Z:0.10 [[ 9.99698673e-01 -2.45446226e-02 -3.52235522e-04 1.14611485e+00] [ 2.45446352e-02 9.99698735e-01 3.14773006e-05 -5.83855565e-02] [ 3.51356807e-04 -4.01133080e-05 9.99999937e-01 9.79745288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1259200000000003 meters 0.3518722132381901 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:0.10 [[ 0.99994596 -0.0095547 0.0040971 1.18284508] [ 0.00956082 0.9999532 -0.00147727 -0.06669669] [-0.00408279 0.00151636 0.99999052 0.10367919] [ 0. 0. 0. 1. ]] SLAMing on 2.1859200000000003 meters 0.2297392738204939 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.07, Z:0.10 [[ 9.99925751e-01 7.82511583e-03 9.34132856e-03 1.22335943e+00] [-7.81362138e-03 9.99968671e-01 -1.26635638e-03 -7.30226990e-02] [-9.35094529e-03 1.19327275e-03 9.99955567e-01 1.04044712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24592 meters 0.5551169307778713 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.09, Z:0.09 [[ 9.99942098e-01 7.25075880e-03 7.95153501e-03 1.23324311e+00] [-7.25690107e-03 9.99973392e-01 7.43882709e-04 -8.67367130e-02] [-7.94592972e-03 -8.01543140e-04 9.99968109e-01 9.22921855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30592 meters 0.6037565735812238 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.07 [[ 0.99994165 0.00968541 0.00478387 1.25054607] [-0.00970392 0.99994546 0.00386052 -0.09029898] [-0.00474622 -0.00390672 0.99998111 0.07406317] [ 0. 0. 0. 1. ]] SLAMing on 2.36592 meters 0.6099107888260421 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.09, Z:0.06 [[ 0.99992781 0.01184163 0.00203622 1.26694747] [-0.01185346 0.99991234 0.00589984 -0.08989529] [-0.00196618 -0.00592355 0.99998052 0.05727292] [ 0. 0. 0. 1. ]] SLAMing on 2.42592 meters 0.6021417101333366 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.09, Z:0.05 [[ 0.99997563 0.0047243 0.00514095 1.29182128] [-0.00476205 0.99996162 0.00735394 -0.08545157] [-0.00510601 -0.00737825 0.99995974 0.05101832] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters 0.5889978234582902 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.08, Z:0.04 [[ 0.99997913 -0.00415814 0.00494417 1.32346631] [ 0.00412736 0.99997214 0.00621924 -0.07604103] [-0.00496989 -0.00619871 0.99996844 0.0404398 ] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters 0.5707508007535881 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.06, Z:0.05 [[ 0.99994812 -0.00330695 0.00963441 1.35940349] [ 0.00327291 0.99998835 0.00354697 -0.05601051] [-0.00964603 -0.00351525 0.9999473 0.04705907] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters SLAMing on 2.66592 meters SLAMing on 2.72592 meters SLAMing on 2.78592 meters SLAMing on 2.84592 meters 0.42915654079152005 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.04 [[ 9.99814632e-01 -1.92022697e-02 1.40532157e-03 1.41636382e+00] [ 1.92086902e-02 9.99804414e-01 -4.70753283e-03 -6.09285832e-02] [-1.31465139e-03 4.73365459e-03 9.99987932e-01 3.91033840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.90592 meters 0.3375505518957135 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.07, Z:0.07 [[ 9.99981214e-01 -6.05970901e-03 9.22291560e-04 1.45496705e+00] [ 6.07173558e-03 9.99888408e-01 -1.36493963e-02 -6.63002475e-02] [-8.39477269e-04 1.36547398e-02 9.99906417e-01 6.96618785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96592 meters 0.3419239485700063 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.09, Z:0.07 [[ 0.9999587 -0.00760408 0.00497803 1.49816442] [ 0.00765874 0.99990956 -0.01105479 -0.08891448] [-0.00489352 0.01109246 0.9999265 0.06888925] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters 0.34369505410446144 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.11, Z:0.09 [[ 0.999894 -0.00325905 0.01419074 1.54145008] [ 0.00344225 0.99991081 -0.01290464 -0.1109603 ] [-0.01414742 0.01295212 0.99981603 0.0881591 ] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters 0.3543200429575781 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.13, Z:0.08 [[ 0.99988139 0.0035729 0.01498107 1.56843469] [-0.0034041 0.9999306 -0.01127834 -0.13459349] [-0.01502032 0.011226 0.99982417 0.08315763] [ 0. 0. 0. 1. ]] SLAMing on 3.1459200000000003 meters 0.3549633119006069 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:0.09 [[ 9.99804869e-01 1.23606527e-03 1.97153708e-02 1.60325182e+00] [-1.07218201e-03 9.99964806e-01 -8.32086652e-03 -1.63161612e-01] [-1.97249621e-02 8.29810440e-03 9.99771007e-01 9.35327621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20592 meters 0.3756588963069068 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.19, Z:0.08 [[ 9.99838401e-01 3.72278466e-04 1.79731440e-02 1.61478749e+00] [-2.94905248e-04 9.99990680e-01 -4.30739356e-03 -1.87889547e-01] [-1.79745800e-02 4.30139711e-03 9.99829192e-01 8.23674382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26592 meters 0.3697667381273456 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:0.10 [[ 0.99965183 0.00819663 0.02508049 1.65771931] [-0.00804406 0.99994856 -0.00617819 -0.19497658] [-0.02512984 0.00597429 0.99966634 0.10197335] [ 0. 0. 0. 1. ]] SLAMing on 3.32592 meters 0.38626340205123305 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.21, Z:0.10 [[ 9.99665551e-01 1.04870319e-03 2.58396092e-02 1.68354330e+00] [-1.03367753e-03 9.99999289e-01 -5.94847671e-04 -2.13563006e-01] [-2.58402146e-02 5.67938902e-04 9.99665925e-01 9.78961239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38592 meters 0.3982407664204729 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.23, Z:0.10 [[ 9.99994826e-01 1.54096317e-03 2.82355677e-03 1.73020560e+00] [-1.53873461e-03 9.99998503e-01 -7.91279062e-04 -2.28306139e-01] [-2.82477187e-03 7.86930264e-04 9.99995701e-01 9.52034688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44592 meters 0.41669683920382233 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.25, Z:0.09 [[ 9.99978644e-01 -6.42478030e-03 1.19769130e-03 1.76154793e+00] [ 6.42048515e-03 9.99973065e-01 3.55618782e-03 -2.45617987e-01] [-1.22050676e-03 -3.54842212e-03 9.99992960e-01 8.79010129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50592 meters 0.4079583526193746 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:0.10 [[ 9.99980793e-01 3.63835015e-04 6.18713566e-03 1.81312504e+00] [-3.56717108e-04 9.99999273e-01 -1.15150112e-03 -2.43811770e-01] [-6.18755013e-03 1.14927194e-03 9.99980197e-01 9.84038350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56592 meters 0.40664537279746976 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.27, Z:0.11 [[ 9.99958582e-01 -1.49490089e-03 8.97768606e-03 1.85168952e+00] [ 1.49346890e-03 9.99998871e-01 1.66206530e-04 -2.65293047e-01] [-8.97792438e-03 -1.52791751e-04 9.99959686e-01 1.06183461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62592 meters 0.42825264529468515 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.27, Z:0.09 [[ 9.99973193e-01 -2.93733110e-03 6.70718101e-03 1.86774493e+00] [ 2.93574809e-03 9.99995660e-01 2.45851658e-04 -2.72826548e-01] [-6.70787406e-03 -2.26154473e-04 9.99977476e-01 9.00328006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters 0.4284625940025668 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.28, Z:0.10 [[ 9.99950950e-01 4.52115946e-03 8.81231094e-03 1.88383772e+00] [-4.51083470e-03 9.99989117e-01 -1.19115307e-03 -2.80497038e-01] [-8.81760042e-03 1.15134377e-03 9.99960461e-01 9.60230903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74592 meters 0.4503192501763962 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.28, Z:0.09 [[ 9.99963798e-01 -2.71811636e-03 8.06321963e-03 1.91339116e+00] [ 2.70967410e-03 9.99995769e-01 1.05774792e-03 -2.84874519e-01] [-8.06606060e-03 -1.03586093e-03 9.99966932e-01 8.81883709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters 0.3144400490269523 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.29, Z:0.09 [[ 9.99937514e-01 -2.82303913e-03 1.08165565e-02 1.95211198e+00] [ 2.83069728e-03 9.99995754e-01 -6.92758936e-04 -2.85401115e-01] [-1.08145549e-02 7.23334045e-04 9.99941259e-01 9.06596412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86592 meters 0.3013222629360272 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:0.09 [[ 0.99992887 0.00595692 0.01033289 1.97799368] [-0.00592082 0.99997627 -0.00352117 -0.28122851] [-0.01035362 0.00345974 0.99994041 0.08657964] [ 0. 0. 0. 1. ]] SLAMing on 3.92592 meters 0.3050813214676428 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.28, Z:0.08 [[ 9.99953774e-01 2.88168387e-04 9.61073303e-03 2.00362028e+00] [-2.88272270e-04 9.99999958e-01 9.42385072e-06 -2.84187789e-01] [-9.61072991e-03 -1.21939229e-05 9.99953816e-01 8.30184780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98592 meters 0.10436058992978998 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.28, Z:0.09 [[ 9.99919143e-01 1.31791502e-03 1.26479291e-02 2.03932503e+00] [-1.30024663e-03 9.99998168e-01 -1.40506067e-03 -2.80826410e-01] [-1.26497576e-02 1.38850164e-03 9.99919025e-01 8.80846785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04592 meters 0.05758047959525714 Centerline is valid? [False, True] Translation: X:2.06, Y:-0.28, Z:0.09 [[ 0.9999137 -0.00415454 0.01246295 2.06358648] [ 0.00412688 0.99998897 0.00224411 -0.28272549] [-0.01247214 -0.00219248 0.99991982 0.08537589] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters 0.05763970117965351 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.28, Z:0.08 [[ 9.99702899e-01 -3.77051626e-04 2.43715416e-02 2.12506391e+00] [ 3.01697257e-04 9.99995163e-01 3.09550300e-03 -2.81122804e-01] [-2.43725909e-02 -3.08723049e-03 9.99698177e-01 8.36471052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16592 meters 0.05736088902960875 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.28, Z:0.08 [[ 0.99949977 -0.00449473 0.03130509 2.18571941] [ 0.00437243 0.99998254 0.00397397 -0.27648075] [-0.03132241 -0.00383511 0.99950198 0.08133337] [ 0. 0. 0. 1. ]] SLAMing on 4.22592 meters 0.05419023775245451 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.27, Z:0.08 [[ 0.99924958 -0.0127125 0.03658794 2.24552138] [ 0.01255087 0.99991045 0.00464396 -0.26711025] [-0.0366437 -0.00418127 0.99931965 0.07590702] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters 0.0503860162058961 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:0.07 [[ 0.998403 -0.02260586 0.05177289 2.3056285 ] [ 0.02229524 0.99972985 0.0065693 -0.26412038] [-0.05190741 -0.00540452 0.99863728 0.07080104] [ 0. 0. 0. 1. ]] SLAMing on 4.3459200000000004 meters 0.04851928062825018 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.26, Z:0.07 [[ 0.99813068 -0.02841368 0.0541092 2.3664037 ] [ 0.02808279 0.99958202 0.00686586 -0.26059195] [-0.05428167 -0.00533348 0.99851142 0.06912441] [ 0. 0. 0. 1. ]] SLAMing on 4.40592 meters 0.045963169158842555 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.26, Z:0.06 [[ 0.99738024 -0.03160595 0.06506699 2.42683991] [ 0.03113413 0.99948114 0.00825276 -0.25822457] [-0.06529407 -0.00620534 0.99784677 0.06207062] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters 0.046443301321853474 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.27, Z:0.06 [[ 0.99659832 -0.03190305 0.07598672 2.48910147] [ 0.03126001 0.99946482 0.00963727 -0.26540134] [-0.07625351 -0.00722914 0.99706226 0.05839224] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters 0.04586144683944516 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.27, Z:0.05 [[ 0.99636558 -0.0354794 0.07743931 2.55003725] [ 0.03482219 0.99934527 0.00982104 -0.26803178] [-0.07773706 -0.00708874 0.99694869 0.051609 ] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters 0.044484158758001206 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.28, Z:0.04 [[ 0.99549986 -0.03844716 0.08661316 2.6115598 ] [ 0.03763575 0.99923117 0.0109823 -0.2755657 ] [-0.08696881 -0.00767312 0.99618148 0.0429714 ] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters 0.04432331802810158 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.27, Z:0.03 [[ 0.99504 -0.03762582 0.09208529 2.67314168] [ 0.03670436 0.9992579 0.01168035 -0.27269421] [-0.09245644 -0.00824249 0.99568261 0.03456569] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters 0.0466021115285442 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.28, Z:0.03 [[ 0.99469061 -0.0343667 0.09700269 2.73603838] [ 0.03333289 0.99936913 0.01225844 -0.28444339] [-0.09736278 -0.00895998 0.99520863 0.02622921] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters 0.04633532705602019 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.30, Z:0.02 [[ 0.99427441 -0.03595904 0.10062479 2.79882668] [ 0.03485488 0.99931156 0.01271033 -0.29584493] [-0.10101257 -0.00913029 0.99484325 0.01905722] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters 0.05010670836213041 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.31, Z:0.01 [[ 0.99374044 -0.02805774 0.10813277 2.8614731 ] [ 0.0267362 0.99954929 0.01365225 -0.30667589] [-0.10846709 -0.01067574 0.99404272 0.0133841 ] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters 0.05282633540153626 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.30, Z:0.01 [[ 0.99403502 -0.01904272 0.107386 2.92254134] [ 0.01768821 0.9997517 0.01355196 -0.30460204] [-0.1076174 -0.01157166 0.99412504 0.00788294] [ 0. 0. 0. 1. ]] SLAMing on 4.94592 meters 0.05485617159968275 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.30, Z:0.00 [[ 9.93987493e-01 -6.11662484e-03 1.09322688e-01 2.98292276e+00] [ 4.63613892e-03 9.99894146e-01 1.37914031e-02 -2.97157667e-01] [-1.09395473e-01 -1.32016471e-02 9.93910633e-01 1.94519735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00592 meters 0.06633840601130893 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.30, Z:-0.01 [[ 0.99313331 0.00705244 0.11677537 3.04426688] [-0.00883192 0.99985253 0.01472802 -0.29591482] [-0.11665428 -0.01565823 0.99304914 -0.00577051] [ 0. 0. 0. 1. ]] SLAMing on 5.06592 meters 0.0649817918324981 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.28, Z:-0.01 [[ 0.99368174 0.01622109 0.11105622 3.10278626] [-0.01788476 0.99974203 0.01400064 -0.27654864] [-0.11080047 -0.0158984 0.9937155 -0.01399432] [ 0. 0. 0. 1. ]] SLAMing on 5.12592 meters 0.06839454130969849 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.26, Z:-0.02 [[ 0.99360218 0.01668836 0.11169692 3.16340354] [-0.0183734 0.99973214 0.01407345 -0.26488895] [-0.11143214 -0.01603567 0.99364266 -0.02183813] [ 0. 0. 0. 1. ]] SLAMing on 5.18592 meters 0.06602885844328724 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.25, Z:-0.03 [[ 0.99295506 0.01298298 0.11777817 3.22328569] [-0.01482743 0.99978056 0.01479764 -0.25244937] [-0.11756021 -0.01643974 0.99292967 -0.0283107 ] [ 0. 0. 0. 1. ]] SLAMing on 5.24592 meters 0.06519687137401228 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.24, Z:-0.03 [[ 0.99301154 0.01035185 0.1175624 3.28305373] [-0.01217096 0.9998169 0.01476621 -0.24084764] [-0.11738802 -0.01609386 0.99295571 -0.03483614] [ 0. 0. 0. 1. ]] SLAMing on 5.3059199999999995 meters 0.06625819137611308 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.23, Z:-0.04 [[ 0.99321048 0.0092029 0.11596655 3.34419393] [-0.01096438 0.99983387 0.0145608 -0.23446938] [-0.11581329 -0.01573344 0.99314638 -0.04250773] [ 0. 0. 0. 1. ]] SLAMing on 5.36592 meters 0.06498364333988027 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.22, Z:-0.05 [[ 0.99292141 0.00998482 0.11835273 3.40490605] [-0.01182441 0.9998198 0.01485129 -0.21835075] [-0.11818312 -0.01614561 0.99286055 -0.04715285] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters 0.06537978695175042 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.21, Z:-0.05 [[ 0.99321174 0.00812759 0.11603609 3.46530054] [-0.00988167 0.99984532 0.01454943 -0.20724704] [-0.11589989 -0.01559729 0.99313843 -0.0531998 ] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters 0.05692435431877339 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.18, Z:-0.06 [[ 9.93325949e-01 -5.38339895e-05 1.15341046e-01 3.52313946e+00] [-1.62416252e-03 9.99894215e-01 1.44541005e-02 -1.84580901e-01] [-1.15329622e-01 -1.45449657e-02 9.93220782e-01 -6.24602937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54592 meters 0.05683732738285594 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.18, Z:-0.07 [[ 0.99286784 -0.01097482 0.118714 3.58302758] [ 0.00927427 0.99984646 0.01486779 -0.17814054] [-0.11885895 -0.01366076 0.99281717 -0.07140994] [ 0. 0. 0. 1. ]] SLAMing on 5.60592 meters 0.05299207049482428 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.17, Z:-0.08 [[ 0.9929187 -0.01773 0.11746533 3.64381766] [ 0.01611271 0.99976206 0.01470368 -0.1713691 ] [-0.11769807 -0.01270688 0.99296813 -0.07759493] [ 0. 0. 0. 1. ]] SLAMing on 5.66592 meters 0.05464197060198486 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.17, Z:-0.08 [[ 0.99289429 -0.01391505 0.11818335 3.7053857 ] [ 0.0122518 0.99981558 0.01478839 -0.17025936] [-0.11836734 -0.01323535 0.99288166 -0.08370042] [ 0. 0. 0. 1. ]] SLAMing on 5.72592 meters 0.05737095327018526 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.17, Z:-0.09 [[ 9.92721127e-01 -5.20236446e-03 1.20323315e-01 3.76626948e+00] [ 3.41597389e-03 9.99880936e-01 1.50480860e-02 -1.66816042e-01] [-1.20387275e-01 -1.45275316e-02 9.92620700e-01 -8.93939920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78592 meters 0.0623732535232119 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.16, Z:-0.10 [[ 0.99315502 0.00654571 0.11662016 3.82702695] [-0.0083016 0.99985929 0.0145771 -0.15855659] [-0.11650834 -0.01544545 0.99306961 -0.0951719 ] [ 0. 0. 0. 1. ]] SLAMing on 5.84592 meters 0.06709395330770809 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.15, Z:-0.10 [[ 0.99260803 0.01346166 0.12061547 3.88698225] [-0.01538985 0.99976801 0.01506894 -0.14826645] [-0.12038463 -0.01681381 0.99258493 -0.10225811] [ 0. 0. 0. 1. ]] SLAMing on 5.90592 meters 0.06467964080063723 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.12, Z:-0.11 [[ 0.99259389 0.01608104 0.12041085 3.94529417] [-0.01802044 0.99972457 0.01503492 -0.12267291] [-0.12013591 -0.01709343 0.99261028 -0.10784592] [ 0. 0. 0. 1. ]] SLAMing on 5.96592 meters 0.06890770188997085 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.12 [[ 0.99270355 0.01877953 0.11910918 4.00455157] [-0.02069518 0.99967529 0.01486655 -0.10382342] [-0.11879132 -0.01722306 0.99276986 -0.11539485] [ 0. 0. 0. 1. ]] SLAMing on 6.02592 meters 0.06633924587972494 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.07, Z:-0.12 [[ 0.99302264 0.01686553 0.11671157 4.06207415] [-0.01868897 0.99971952 0.01454671 -0.07319325] [-0.11643349 -0.01662643 0.99305932 -0.12281636] [ 0. 0. 0. 1. ]] SLAMing on 6.08592 meters 0.0643415659509704 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.05, Z:-0.13 [[ 0.99325524 0.01161631 0.11536505 4.12081608] [-0.01336238 0.99980741 0.0143733 -0.05018202] [-0.11517587 -0.01581791 0.99321917 -0.12955201] [ 0. 0. 0. 1. ]] SLAMing on 6.14592 meters 0.05482847914030768 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.02, Z:-0.14 [[ 9.92702156e-01 2.84274840e-04 1.20591661e-01 4.17767891e+00] [-2.10970582e-03 9.99885120e-01 1.50098881e-02 -1.50231899e-02] [-1.20573540e-01 -1.51547612e-02 9.92588714e-01 -1.36200117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20592 meters 0.052375858072363085 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.00, Z:-0.14 [[ 9.92283666e-01 -1.29279238e-02 1.23312594e-01 4.23662792e+00] [ 1.11198786e-02 9.99820511e-01 1.53393050e-02 -1.40222818e-03] [-1.23488766e-01 -1.38497207e-02 9.92249318e-01 -1.44139190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters 0.04268016262082771 Centerline is valid? [True, True] Translation: X:4.29, Y:0.02, Z:-0.16 [[ 0.99167482 -0.03971422 0.1224901 4.29461352] [ 0.03813275 0.99915663 0.01522931 0.01843423] [-0.12299161 -0.01043163 0.99235288 -0.15613327] [ 0. 0. 0. 1. ]] SLAMing on 6.32592 meters 0.03383893885250267 Centerline is valid? [True, True] Translation: X:4.36, Y:0.02, Z:-0.16 [[ 0.98987573 -0.06487689 0.12624191 4.3552255 ] [ 0.06340014 0.99786492 0.01568503 0.02198416] [-0.12698997 -0.00752248 0.99187548 -0.16361693] [ 0. 0. 0. 1. ]] SLAMing on 6.38592 meters 0.032312918870583913 Centerline is valid? [True, True] Translation: X:4.42, Y:0.02, Z:-0.17 [[ 0.98950435 -0.06922569 0.12684218 4.41738968] [ 0.0677716 0.99757655 0.01574894 0.01814772] [-0.12762501 -0.00698735 0.99179788 -0.17169645] [ 0. 0. 0. 1. ]] SLAMing on 6.44592 meters 0.031347732887908555 Centerline is valid? [True, True] Translation: X:4.48, Y:0.02, Z:-0.18 [[ 0.9894105 -0.07113708 0.12651634 4.48012796] [ 0.06970767 0.99744398 0.01569558 0.01684916] [-0.1273095 -0.00671021 0.99184034 -0.17995991] [ 0. 0. 0. 1. ]] SLAMing on 6.50592 meters 0.03136193137047088 Centerline is valid? [True, True] Translation: X:4.54, Y:0.02, Z:-0.19 [[ 0.98931921 -0.07210949 0.1266796 4.54279399] [ 0.0706883 0.99737513 0.01568458 0.01548812] [-0.12747809 -0.00656229 0.99181968 -0.18633905] [ 0. 0. 0. 1. ]] SLAMing on 6.56592 meters 0.030900250864577674 Centerline is valid? [True, True] Translation: X:4.61, Y:0.02, Z:-0.19 [[ 0.98930511 -0.07174518 0.12699618 4.60585903] [ 0.07032079 0.99740134 0.01566994 0.01574554] [-0.1277904 -0.00657188 0.99177942 -0.19258811] [ 0. 0. 0. 1. ]] SLAMing on 6.62592 meters 0.03188688390853091 Centerline is valid? [True, True] Translation: X:4.67, Y:0.00, Z:-0.20 [[ 9.89708783e-01 -6.94299950e-02 1.25123943e-01 4.66966901e+00] [ 6.80364947e-02 9.97564260e-01 1.53812710e-02 3.12968453e-03] [-1.25887095e-01 -6.70998454e-03 9.92021883e-01 -2.00685140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68592 meters 0.031789556900439046 Centerline is valid? [True, True] Translation: X:4.73, Y:0.00, Z:-0.21 [[ 9.89817914e-01 -6.88779143e-02 1.24564559e-01 4.73304873e+00] [ 6.74991851e-02 9.97602619e-01 1.52602401e-02 4.21228984e-04] [-1.25317024e-01 -6.69685280e-03 9.92094147e-01 -2.08849910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74592 meters 0.03195584308137997 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.00, Z:-0.22 [[ 9.89827663e-01 -6.82187001e-02 1.24849535e-01 4.79635767e+00] [ 6.68358693e-02 9.97647646e-01 1.52362061e-02 -4.58281609e-03] [-1.25595239e-01 -6.73679107e-03 9.92058694e-01 -2.16159093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8059199999999995 meters 0.03248608208837001 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.01, Z:-0.22 [[ 0.9903489 -0.06591157 0.12192095 4.8596257 ] [ 0.06458278 0.99780226 0.01482294 -0.0116497 ] [-0.12263 -0.00680589 0.99242912 -0.22363122] [ 0. 0. 0. 1. ]] SLAMing on 6.86592 meters 0.03265521576131091 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.02, Z:-0.23 [[ 0.99066921 -0.06244435 0.12114129 4.92171466] [ 0.06111289 0.99802292 0.014679 -0.01504087] [-0.1218184 -0.00713874 0.99252673 -0.23090243] [ 0. 0. 0. 1. ]] SLAMing on 6.92592 meters 0.0344328749517362 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.24 [[ 0.99063644 -0.06096111 0.12216047 4.98469646] [ 0.05960161 0.99811318 0.01475562 -0.02128121] [-0.12282949 -0.00733649 0.99240067 -0.23798784] [ 0. 0. 0. 1. ]] SLAMing on 6.98592 meters 0.033788793711695214 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.03, Z:-0.24 [[ 0.99030193 -0.06362682 0.12350592 5.04745782] [ 0.06226362 0.99794896 0.01487001 -0.029407 ] [-0.12419873 -0.00703587 0.99223242 -0.24354077] [ 0. 0. 0. 1. ]] SLAMing on 7.04592 meters 0.031861981158580216 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.03, Z:-0.25 [[ 0.98985335 -0.06853339 0.12447296 5.10882228] [ 0.06718803 0.99762788 0.01497928 -0.03240222] [-0.12520427 -0.0064642 0.99210993 -0.25222477] [ 0. 0. 0. 1. ]] SLAMing on 7.10592 meters 0.032520010121155365 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.04, Z:-0.26 [[ 0.98987695 -0.06735558 0.1249274 5.17164914] [ 0.06599227 0.99770702 0.015024 -0.0386174 ] [-0.12565289 -0.00662767 0.99205213 -0.25801415] [ 0. 0. 0. 1. ]] SLAMing on 7.16592 meters 0.033311221921390244 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.04, Z:-0.27 [[ 0.9899629 -0.06454306 0.12572845 5.23326429] [ 0.06314577 0.9978905 0.01507165 -0.03919507] [-0.126436 -0.00698115 0.9919502 -0.26675798] [ 0. 0. 0. 1. ]] SLAMing on 7.2259199999999995 meters 0.034370164151356984 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.04, Z:-0.27 [[ 0.99064321 -0.06172726 0.12172011 5.29500656] [ 0.06040006 0.99806795 0.0145669 -0.04145662] [-0.12238412 -0.0070787 0.99245757 -0.2738764 ] [ 0. 0. 0. 1. ]] SLAMing on 7.28592 meters 0.03538997349949672 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.03, Z:-0.28 [[ 0.99126748 -0.05707923 0.1188728 5.35592303] [ 0.05578557 0.99834201 0.01418465 -0.03471199] [-0.11948536 -0.00742939 0.99280817 -0.2789119 ] [ 0. 0. 0. 1. ]] SLAMing on 7.34592 meters 0.03789574487585855 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.03, Z:-0.29 [[ 0.99119282 -0.05254363 0.12155643 5.41592171] [ 0.05115754 0.99858536 0.01449789 -0.02625302] [-0.12214624 -0.00815168 0.99247864 -0.28819356] [ 0. 0. 0. 1. ]] SLAMing on 7.40592 meters 0.03747125986271707 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.02, Z:-0.29 [[ 0.99114327 -0.05311829 0.12171055 5.47752944] [ 0.05173388 0.99855551 0.01450875 -0.01697422] [-0.12230542 -0.00808369 0.99245959 -0.29436807] [ 0. 0. 0. 1. ]] SLAMing on 7.46592 meters 0.035843072395796254 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.01, Z:-0.30 [[ 0.99109404 -0.05626531 0.12069308 5.53758821] [ 0.05492921 0.99838682 0.0143714 -0.00677324] [-0.12130699 -0.00761383 0.99258584 -0.29990045] [ 0. 0. 0. 1. ]] SLAMing on 7.52592 meters 0.036759128709655926 Centerline is valid? [True, True] Translation: X:5.60, Y:0.00, Z:-0.31 [[ 9.91018612e-01 -5.32288990e-02 1.22673532e-01 5.59821071e+00] [ 5.18264329e-02 9.98549415e-01 1.45974953e-02 1.47054671e-03] [-1.23272592e-01 -8.10865793e-03 9.92339719e-01 -3.08288476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58592 meters 0.040230174312991925 Centerline is valid? [True, True] Translation: X:5.66, Y:0.00, Z:-0.31 [[ 9.91802370e-01 -4.32805328e-02 1.20228341e-01 5.65957640e+00] [ 4.18662594e-02 9.99021376e-01 1.42655399e-02 3.16597501e-03] [-1.20728103e-01 -9.11508534e-03 9.92643763e-01 -3.13994536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters 0.042938963203518365 Centerline is valid? [True, True] Translation: X:5.72, Y:0.01, Z:-0.32 [[ 0.99182002 -0.03828161 0.1217685 5.71964485] [ 0.0367941 0.99921851 0.01444185 0.00891951] [-0.12222619 -0.00984335 0.99245346 -0.32326454] [ 0. 0. 0. 1. ]] SLAMing on 7.70592 meters 0.04385130780271223 Centerline is valid? [True, True] Translation: X:5.78, Y:0.02, Z:-0.33 [[ 0.99199697 -0.03080966 0.12244496 5.77988206] [ 0.02924975 0.99946671 0.01451725 0.01818491] [-0.12282693 -0.01081959 0.99236913 -0.32924928] [ 0. 0. 0. 1. ]] SLAMing on 7.7659199999999995 meters 0.04958749756729709 Centerline is valid? [True, True] Translation: X:5.84, Y:0.02, Z:-0.34 [[ 0.99292625 -0.01705685 0.1175012 5.83998703] [ 0.01552681 0.99978249 0.01392466 0.02463333] [-0.11771315 -0.01200174 0.99297511 -0.33556195] [ 0. 0. 0. 1. ]] SLAMing on 7.82592 meters 0.059180486047508495 Centerline is valid? [True, True] Translation: X:5.90, Y:0.03, Z:-0.34 [[ 9.93123716e-01 1.27011299e-03 1.17062683e-01 5.90113538e+00] [-2.91311661e-03 9.99899630e-01 1.38652185e-02 2.65239282e-02] [-1.17033323e-01 -1.41108945e-02 9.93027736e-01 -3.39737544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters 0.06303855121316691 Centerline is valid? [True, True] Translation: X:5.96, Y:0.05, Z:-0.34 [[ 0.99306837 0.01865149 0.11604881 5.96056693] [-0.02038142 0.99969788 0.01373814 0.0468485 ] [-0.11575751 -0.01600815 0.9931485 -0.34394563] [ 0. 0. 0. 1. ]] SLAMing on 7.94592 meters 0.07114224230385494 Centerline is valid? [True, True] Translation: X:6.02, Y:0.06, Z:-0.35 [[ 0.99246193 0.02872446 0.11913951 6.01998509] [-0.03061829 0.99943175 0.01409568 0.06164363] [-0.11866692 -0.01763727 0.99277746 -0.35195293] [ 0. 0. 0. 1. ]] SLAMing on 8.00592 meters 0.06821285784220507 Centerline is valid? [True, True] Translation: X:6.08, Y:0.08, Z:-0.36 [[ 0.99220532 0.0292242 0.12113858 6.07946174] [-0.03118357 0.99941123 0.01431008 0.0827924 ] [-0.12064905 -0.01797607 0.99253245 -0.36045955] [ 0. 0. 0. 1. ]] SLAMing on 8.065919999999998 meters 0.06743693800566804 Centerline is valid? [True, True] Translation: X:6.14, Y:0.11, Z:-0.37 [[ 0.99258824 0.02208573 0.11950235 6.13755943] [-0.02393704 0.99961433 0.01407848 0.11040553] [-0.11914533 -0.01683467 0.9927341 -0.36768031] [ 0. 0. 0. 1. ]] SLAMing on 8.125919999999999 meters 0.06618497113673802 Centerline is valid? [True, True] Translation: X:6.20, Y:0.13, Z:-0.37 [[ 0.99244844 0.01886325 0.12120344 6.19707255] [-0.02074302 0.99968305 0.01426614 0.12622915] [-0.12089592 -0.01667253 0.99252517 -0.37417815] [ 0. 0. 0. 1. ]] SLAMing on 8.18592 meters 0.06409151868392914 Centerline is valid? [True, True] Translation: X:6.26, Y:0.15, Z:-0.38 [[ 0.99212104 0.01459067 0.1244305 6.25600924] [-0.01653915 0.99975603 0.01464052 0.14518819] [-0.12418653 -0.01658314 0.99212031 -0.38052619] [ 0. 0. 0. 1. ]] SLAMing on 8.245919999999998 meters 0.06047228739247198 Centerline is valid? [True, True] Translation: X:6.31, Y:0.17, Z:-0.39 [[ 0.99264025 0.00857596 0.12079649 6.31437935] [-0.01036679 0.99984537 0.01420455 0.16767165] [-0.120656 -0.01535228 0.99257566 -0.38744097] [ 0. 0. 0. 1. ]] SLAMing on 8.305919999999999 meters 0.05865297780545355 Centerline is valid? [True, True] Translation: X:6.37, Y:0.19, Z:-0.39 [[ 9.92533749e-01 3.02475951e-03 1.21932802e-01 6.37318481e+00] [-4.80757579e-03 9.99885766e-01 1.43297556e-02 1.85047146e-01] [-1.21875529e-01 -1.48089672e-02 9.92434910e-01 -3.93962577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36592 meters 0.056069682979371635 Centerline is valid? [True, True] Translation: X:6.43, Y:0.20, Z:-0.40 [[ 9.92219262e-01 -2.06902169e-03 1.24485565e-01 6.43247852e+00] [ 2.49994688e-04 9.99893000e-01 1.46261999e-02 2.04974835e-01] [-1.24502507e-01 -1.44812765e-02 9.92113612e-01 -4.00854878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42592 meters 0.05514111763889984 Centerline is valid? [True, True] Translation: X:6.49, Y:0.22, Z:-0.41 [[ 9.92189482e-01 -3.66947956e-03 1.24685873e-01 6.49230088e+00] [ 1.85792474e-03 9.99891072e-01 1.46421276e-02 2.17367081e-01] [-1.24726021e-01 -1.42961081e-02 9.92088222e-01 -4.08403121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485919999999998 meters 0.04923959186544762 Centerline is valid? [True, True] Translation: X:6.55, Y:0.24, Z:-0.42 [[ 0.99240428 -0.01090135 0.12253536 6.55105168] [ 0.00920725 0.99985416 0.01438319 0.24089969] [-0.12267429 -0.01314573 0.99235992 -0.41695597] [ 0. 0. 0. 1. ]] SLAMing on 8.545919999999999 meters 0.04650995390785379 Centerline is valid? [True, True] Translation: X:6.61, Y:0.25, Z:-0.43 [[ 0.99189313 -0.02126833 0.12528241 6.61030589] [ 0.01957944 0.99970028 0.01469676 0.25407196] [-0.12555743 -0.01212465 0.99201226 -0.42521329] [ 0. 0. 0. 1. ]] SLAMing on 8.60592 meters 0.04287785559636319 Centerline is valid? [True, True] Translation: X:6.67, Y:0.27, Z:-0.43 [[ 0.99116671 -0.03222467 0.12864725 6.67005909] [ 0.03053545 0.99941989 0.01508204 0.26713021] [-0.12905864 -0.01102052 0.99157572 -0.43347525] [ 0. 0. 0. 1. ]] SLAMing on 8.66592 meters 0.038695346674865155 Centerline is valid? [True, True] Translation: X:6.73, Y:0.27, Z:-0.44 [[ 0.99077127 -0.04184857 0.12892242 6.73077301] [ 0.04023373 0.9990761 0.0151059 0.27280179] [-0.12943547 -0.00977946 0.99153962 -0.44138463] [ 0. 0. 0. 1. ]] SLAMing on 8.725919999999999 meters 0.036797954466197304 Centerline is valid? [True, True] Translation: X:6.79, Y:0.27, Z:-0.45 [[ 0.99053451 -0.04803781 0.12858362 6.7915769 ] [ 0.046484 0.99880551 0.01505965 0.27298028] [-0.12915346 -0.00894002 0.99158432 -0.44803614] [ 0. 0. 0. 1. ]] SLAMing on 8.785919999999999 meters 0.03695118235976997 Centerline is valid? [True, True] Translation: X:6.86, Y:0.27, Z:-0.45 [[ 0.99089346 -0.04724082 0.12608904 6.85514109] [ 0.04574213 0.99884428 0.01475665 0.27215094] [-0.12664043 -0.00885469 0.99190917 -0.45303464] [ 0. 0. 0. 1. ]] SLAMing on 8.84592 meters 0.038452059030982824 Centerline is valid? [True, True] Translation: X:6.92, Y:0.27, Z:-0.46 [[ 0.99059481 -0.04480651 0.12928382 6.916205 ] [ 0.04321751 0.998952 0.01507159 0.27408509] [-0.12982364 -0.00934251 0.99149309 -0.46145764] [ 0. 0. 0. 1. ]] SLAMing on 8.905919999999998 meters 0.040248417659858114 Centerline is valid? [True, True] Translation: X:6.98, Y:0.27, Z:-0.47 [[ 0.99085578 -0.04063 0.12866243 6.97799159] [ 0.03902703 0.99912622 0.01495649 0.2712629 ] [-0.12915769 -0.00979841 0.99157566 -0.46852467] [ 0. 0. 0. 1. ]] SLAMing on 8.965919999999999 meters 0.03847236687767936 Centerline is valid? [True, True] Translation: X:7.04, Y:0.28, Z:-0.47 [[ 0.99116372 -0.03821033 0.12702148 7.0388414 ] [ 0.03662972 0.99921994 0.01475714 0.28255178] [-0.12748627 -0.00997398 0.99179018 -0.4747974 ] [ 0. 0. 0. 1. ]] SLAMing on 9.02592 meters 0.04066172966854069 Centerline is valid? [True, True] Translation: X:7.10, Y:0.29, Z:-0.48 [[ 0.99124178 -0.03639111 0.12694655 7.10030235] [ 0.03479984 0.99928573 0.01473104 0.2863789 ] [-0.12739195 -0.0101843 0.99180017 -0.48144794] [ 0. 0. 0. 1. ]] SLAMing on 9.08592 meters 0.04337633655775344 Centerline is valid? [True, True] Translation: X:7.16, Y:0.30, Z:-0.49 [[ 0.99132292 -0.03075679 0.12780022 7.16021552] [ 0.02909937 0.99946671 0.01481628 0.29676445] [-0.12818776 -0.01096881 0.99168926 -0.488513 ] [ 0. 0. 0. 1. ]] SLAMing on 9.145919999999998 meters 0.04460770440678796 Centerline is valid? [True, True] Translation: X:7.22, Y:0.31, Z:-0.49 [[ 0.99192458 -0.02720364 0.12387734 7.22037248] [ 0.02562068 0.99956868 0.01435388 0.30656154] [-0.12421439 -0.01106414 0.99219372 -0.49448469] [ 0. 0. 0. 1. ]] SLAMing on 9.205919999999999 meters 0.04587287305411971 Centerline is valid? [True, True] Translation: X:7.28, Y:0.32, Z:-0.50 [[ 0.99204592 -0.02235808 0.12387496 7.2804673 ] [ 0.02074111 0.99968221 0.01432773 0.32195598] [-0.12415593 -0.01164447 0.99219439 -0.49890538] [ 0. 0. 0. 1. ]] SLAMing on 9.26592 meters 0.04613254139457212 Centerline is valid? [True, True] Translation: X:7.34, Y:0.34, Z:-0.51 [[ 0.9920371 -0.02169398 0.12406351 7.34051034] [ 0.02006806 0.99969577 0.01434043 0.34213187] [-0.12433687 -0.01173653 0.99217065 -0.50728456] [ 0. 0. 0. 1. ]] SLAMing on 9.325919999999998 meters 0.045260548425052304 Centerline is valid? [True, True] Translation: X:7.40, Y:0.35, Z:-0.51 [[ 0.99190867 -0.02374892 0.12471239 7.40027737] [ 0.02212739 0.99965186 0.01437144 0.35404146] [-0.12501028 -0.01149559 0.99208885 -0.51349038] [ 0. 0. 0. 1. ]] SLAMing on 9.385919999999999 meters 0.041178633176555464 Centerline is valid? [True, True] Translation: X:7.46, Y:0.37, Z:-0.52 [[ 0.99117668 -0.02966627 0.12918478 7.45885463] [ 0.02797604 0.99949785 0.0148793 0.37456281] [-0.12956133 -0.01113394 0.9915089 -0.52264318] [ 0. 0. 0. 1. ]] SLAMing on 9.44592 meters 0.042941542190307484 Centerline is valid? [True, True] Translation: X:7.52, Y:0.38, Z:-0.53 [[ 0.99137356 -0.0298143 0.12763059 7.52030367] [ 0.02816773 0.99949531 0.014687 0.38205214] [-0.12800405 -0.01096524 0.99171303 -0.52863052] [ 0. 0. 0. 1. ]] SLAMing on 9.50592 meters 0.0420963834987353 Centerline is valid? [True, True] Translation: X:7.58, Y:0.39, Z:-0.54 [[ 0.9914791 -0.02887218 0.12702593 7.58125988] [ 0.02724003 0.99952277 0.01456774 0.39235301] [-0.12738591 -0.01098342 0.99179241 -0.5350836 ] [ 0. 0. 0. 1. ]] SLAMing on 9.565919999999998 meters 0.04193077341801345 Centerline is valid? [True, True] Translation: X:7.64, Y:0.40, Z:-0.54 [[ 0.99144014 -0.02855231 0.12740182 7.64315825] [ 0.02691422 0.99953169 0.01456098 0.40463427] [-0.1277579 -0.01100742 0.9917443 -0.54272196] [ 0. 0. 0. 1. ]] SLAMing on 9.625919999999999 meters 0.04567880474516863 Centerline is valid? [True, True] Translation: X:7.70, Y:0.42, Z:-0.55 [[ 0.99166437 -0.0206827 0.12717706 7.70265397] [ 0.01899306 0.9997147 0.01448419 0.422178 ] [-0.12744035 -0.01194797 0.99177427 -0.54752747] [ 0. 0. 0. 1. ]] SLAMing on 9.68592 meters 0.04881872504807421 Centerline is valid? [True, True] Translation: X:7.76, Y:0.44, Z:-0.55 [[ 0.99156844 -0.01224692 0.129004 7.76098961] [ 0.01043815 0.99983764 0.01468784 0.44315826] [-0.12916294 -0.01321743 0.99153529 -0.55446413] [ 0. 0. 0. 1. ]] SLAMing on 9.745919999999998 meters 0.048500809237344296 Centerline is valid? [True, True] Translation: X:7.82, Y:0.47, Z:-0.56 [[ 0.99152773 -0.01217454 0.1293234 7.82080612] [ 0.01035722 0.99983807 0.01471577 0.46631652] [-0.12948162 -0.01325166 0.99149327 -0.56226288] [ 0. 0. 0. 1. ]] SLAMing on 9.805919999999999 meters 0.04531246346362755 Centerline is valid? [True, True] Translation: X:7.88, Y:0.49, Z:-0.57 [[ 0.99118108 -0.01913004 0.13112631 7.87894003] [ 0.01732706 0.99973919 0.01487721 0.49124093] [-0.13137672 -0.01247398 0.99125403 -0.57025127] [ 0. 0. 0. 1. ]] SLAMing on 9.86592 meters 0.04275270459734336 Centerline is valid? [True, True] Translation: X:7.94, Y:0.51, Z:-0.58 [[ 0.99103423 -0.02537221 0.131177 7.93865 ] [ 0.02362258 0.99961025 0.01487709 0.50856841] [-0.13150333 -0.01164497 0.99124733 -0.57632042] [ 0. 0. 0. 1. ]] SLAMing on 9.92592 meters 0.03977078229961062 Centerline is valid? [True, True] Translation: X:8.00, Y:0.53, Z:-0.58 [[ 0.99051753 -0.03309429 0.13334087 7.99799023] [ 0.03135676 0.99939403 0.01511029 0.52828022] [-0.13376013 -0.01078587 0.99095504 -0.58454542] [ 0. 0. 0. 1. ]] SLAMing on 9.985919999999998 meters 0.036764651968171434 Centerline is valid? [True, True] Translation: X:8.06, Y:0.55, Z:-0.59 [[ 0.99083675 -0.03971334 0.1290945 8.05684281] [ 0.03814236 0.99916536 0.01461991 0.55063501] [-0.12956736 -0.00956197 0.99152452 -0.59176147] [ 0. 0. 0. 1. ]] SLAMing on 10.045919999999999 meters 0.035221262630063546 Centerline is valid? [True, True] Translation: X:8.12, Y:0.57, Z:-0.60 [[ 0.99069549 -0.04350698 0.12895579 8.11630573] [ 0.04197281 0.99901219 0.01459204 0.57144274] [-0.12946327 -0.00904364 0.99154298 -0.59622937] [ 0. 0. 0. 1. ]] SLAMing on 10.10592 meters 0.035835843284364094 Centerline is valid? [True, True] Translation: X:8.18, Y:0.59, Z:-0.60 [[ 0.990269 -0.04236256 0.13256215 8.17630531] [ 0.04073197 0.99905767 0.01498939 0.59176633] [-0.13307222 -0.00944401 0.99106135 -0.60455143] [ 0. 0. 0. 1. ]] SLAMing on 10.165919999999998 meters 0.0340710440188121 Centerline is valid? [True, True] Translation: X:8.24, Y:0.61, Z:-0.61 [[ 0.9903622 -0.04481594 0.13105051 8.23563623] [ 0.04324578 0.99895477 0.0148043 0.61139128] [-0.131577 -0.00899424 0.99126515 -0.61065974] [ 0. 0. 0. 1. ]] SLAMing on 10.225919999999999 meters 0.03141761836066937 Centerline is valid? [True, True] Translation: X:8.29, Y:0.63, Z:-0.62 [[ 9.89414261e-01 -5.31854906e-02 1.35021198e-01 8.29485951e+00] [ 5.15969529e-02 9.98551702e-01 1.52398377e-02 6.28479512e-01] [-1.35636185e-01 -8.11183040e-03 9.90725504e-01 -6.19365860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters 0.02962906512563859 Centerline is valid? [True, True] Translation: X:8.35, Y:0.64, Z:-0.63 [[ 9.88648940e-01 -6.10421423e-02 1.37284849e-01 8.35461913e+00] [ 5.94794993e-02 9.98109803e-01 1.54599484e-02 6.37222776e-01] [-1.37969062e-01 -7.11882748e-03 9.90410955e-01 -6.27907235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters 0.027265855563578568 Centerline is valid? [True, True] Translation: X:8.41, Y:0.65, Z:-0.63 [[ 9.88361413e-01 -6.89742205e-02 1.35588618e-01 8.41479245e+00] [ 6.75262095e-02 9.97600866e-01 1.52552789e-02 6.48544156e-01] [-1.36315544e-01 -5.92194354e-03 9.90647769e-01 -6.34642046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters 0.024937221865856767 Centerline is valid? [True, True] Translation: X:8.48, Y:0.65, Z:-0.64 [[ 9.88148975e-01 -7.75579148e-02 1.32462722e-01 8.47596448e+00] [ 7.62567273e-02 9.96977245e-01 1.48756515e-02 6.52920939e-01] [-1.33216044e-01 -4.59818615e-03 9.91076355e-01 -6.41030976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters 0.024540189933364848 Centerline is valid? [True, True] Translation: X:8.54, Y:0.66, Z:-0.65 [[ 9.87603998e-01 -8.00818487e-02 1.35000888e-01 8.53731800e+00] [ 7.87557660e-02 9.96778914e-01 1.51435209e-02 6.56112520e-01] [-1.35778760e-01 -4.32370342e-03 9.90729748e-01 -6.48502506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters 0.024103231998273755 Centerline is valid? [True, True] Translation: X:8.60, Y:0.66, Z:-0.65 [[ 9.87829861e-01 -8.16959181e-02 1.32355365e-01 8.59918637e+00] [ 8.04438372e-02 9.96649428e-01 1.47887134e-02 6.59008304e-01] [-1.33120077e-01 -3.96155923e-03 9.91091999e-01 -6.54861511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters 0.02468885492794511 Centerline is valid? [True, True] Translation: X:8.66, Y:0.66, Z:-0.66 [[ 9.87828043e-01 -7.73063099e-02 1.34979596e-01 8.66059494e+00] [ 7.59707144e-02 9.96996832e-01 1.50255592e-02 6.63336797e-01] [-1.35735800e-01 -4.58817239e-03 9.90734445e-01 -6.61135403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters 0.02713162735338091 Centerline is valid? [True, True] Translation: X:8.72, Y:0.67, Z:-0.67 [[ 9.88346097e-01 -6.85540116e-02 1.35912987e-01 8.72115396e+00] [ 6.71218753e-02 9.97630554e-01 1.50974026e-02 6.66839504e-01] [-1.36625936e-01 -5.79872438e-03 9.90605738e-01 -6.70072326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters 0.02905283502125321 Centerline is valid? [True, True] Translation: X:8.78, Y:0.68, Z:-0.67 [[ 9.89406642e-01 -5.92101811e-02 1.32546787e-01 8.78221440e+00] [ 5.77708198e-02 9.98221903e-01 1.46821126e-02 6.75183052e-01] [-1.33180437e-01 -6.86924314e-03 9.91068002e-01 -6.74264345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters 0.030481693599850847 Centerline is valid? [True, True] Translation: X:8.84, Y:0.68, Z:-0.68 [[ 9.89697373e-01 -5.59700867e-02 1.31781864e-01 8.84310701e+00] [ 5.45204445e-02 9.98406118e-01 1.45857424e-02 6.82507786e-01] [-1.32388185e-01 -7.25066512e-03 9.91171426e-01 -6.82834905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters 0.030952252756169755 Centerline is valid? [True, True] Translation: X:8.90, Y:0.70, Z:-0.69 [[ 9.89669321e-01 -5.40395546e-02 1.32794430e-01 8.90393417e+00] [ 5.25530964e-02 9.98510287e-01 1.46757958e-02 6.95014607e-01] [-1.33389678e-01 -7.54542638e-03 9.91034944e-01 -6.89057977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters 0.03209197508364339 Centerline is valid? [True, True] Translation: X:8.96, Y:0.70, Z:-0.70 [[ 9.89852849e-01 -4.97766705e-02 1.33092525e-01 8.96402158e+00] [ 4.82525971e-02 9.98727661e-01 1.46542190e-02 7.01946977e-01] [-1.33652625e-01 -8.08346042e-03 9.90995274e-01 -6.97423309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters 0.03252646061095369 Centerline is valid? [True, True] Translation: X:9.02, Y:0.71, Z:-0.70 [[ 9.90268969e-01 -4.81113006e-02 1.30585878e-01 9.02498754e+00] [ 4.66360858e-02 9.98809106e-01 1.43333761e-02 7.10432178e-01] [-1.31119962e-01 -8.10388334e-03 9.91333386e-01 -7.04634183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters 0.03161217545682758 Centerline is valid? [True, True] Translation: X:9.09, Y:0.73, Z:-0.71 [[ 9.90173089e-01 -5.00792739e-02 1.30573047e-01 9.08539962e+00] [ 4.86285174e-02 9.98714883e-01 1.42775780e-02 7.27315994e-01] [-1.31120256e-01 -7.78769978e-03 9.91335882e-01 -7.12159468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters 0.031544612919078424 Centerline is valid? [True, True] Translation: X:9.15, Y:0.74, Z:-0.72 [[ 9.90051224e-01 -4.96649904e-02 1.31650909e-01 9.14690227e+00] [ 4.81938838e-02 9.98735070e-01 1.43390884e-02 7.41159232e-01] [-1.32196530e-01 -7.85166341e-03 9.91192428e-01 -7.20056959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters 0.030488344770236125 Centerline is valid? [True, True] Translation: X:9.21, Y:0.76, Z:-0.73 [[ 9.89707503e-01 -4.96891385e-02 1.34201518e-01 9.20653345e+00] [ 4.81689744e-02 9.98733182e-01 1.45527118e-02 7.59216629e-01] [-1.34754621e-01 -7.93857857e-03 9.90847199e-01 -7.27414794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters 0.029233737354681617 Centerline is valid? [True, True] Translation: X:9.27, Y:0.77, Z:-0.74 [[ 9.88993420e-01 -5.76388044e-02 1.36270992e-01 9.26630677e+00] [ 5.61527938e-02 9.98313568e-01 1.47269564e-02 7.72375871e-01] [-1.36890025e-01 -6.91286605e-03 9.90562130e-01 -7.37275416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters 0.025521126498017774 Centerline is valid? [True, True] Translation: X:9.33, Y:0.79, Z:-0.74 [[ 9.88353560e-01 -7.19614742e-02 1.34084996e-01 9.32624225e+00] [ 7.06552465e-02 9.97395676e-01 1.44811037e-02 7.86879003e-01] [-1.34777877e-01 -4.83864194e-03 9.90864023e-01 -7.43795077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters 0.022912590450351558 Centerline is valid? [True, True] Translation: X:9.39, Y:0.80, Z:-0.75 [[ 9.86440887e-01 -8.76530724e-02 1.38749111e-01 9.38633396e+00] [ 8.64095061e-02 9.96147181e-01 1.49730051e-02 7.95077237e-01] [-1.39526965e-01 -2.78074232e-03 9.90214367e-01 -7.53439454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters 0.021445483008256456 Centerline is valid? [True, True] Translation: X:9.45, Y:0.79, Z:-0.76 [[ 9.84207443e-01 -1.04723357e-01 1.42719055e-01 9.44861902e+00] [ 1.03587797e-01 9.94501328e-01 1.53843244e-02 7.94806924e-01] [-1.43545388e-01 -3.57414047e-04 9.89643670e-01 -7.59271306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters 0.021608762778980932 Centerline is valid? [True, True] Translation: X:9.51, Y:0.79, Z:-0.77 [[ 9.82930400e-01 -1.19170045e-01 1.40165366e-01 9.51180125e+00] [ 1.18226948e-01 9.92872295e-01 1.50663098e-02 7.88776177e-01] [-1.40961762e-01 1.76218956e-03 9.90013473e-01 -7.67372160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters 0.021538682520976196 Centerline is valid? [True, True] Translation: X:9.58, Y:0.78, Z:-0.77 [[ 9.82560179e-01 -1.21234192e-01 1.40988527e-01 9.57564320e+00] [ 1.20311860e-01 9.92621612e-01 1.50795010e-02 7.77244580e-01] [-1.41776410e-01 2.14607465e-03 9.89896380e-01 -7.72595120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters 0.021332012705868722 Centerline is valid? [True, True] Translation: X:9.64, Y:0.77, Z:-0.78 [[ 9.83150238e-01 -1.16469291e-01 1.40891851e-01 9.63863023e+00] [ 1.15509235e-01 9.93193121e-01 1.50013414e-02 7.70024243e-01] [-1.41680013e-01 1.52573754e-03 9.89911332e-01 -7.79618921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters 0.02073119372279306 Centerline is valid? [True, True] Translation: X:9.70, Y:0.75, Z:-0.79 [[ 9.85504470e-01 -1.05266205e-01 1.33041218e-01 9.70217504e+00] [ 1.04315998e-01 9.94444078e-01 1.41119618e-02 7.53983815e-01] [-1.33787565e-01 -2.90739864e-05 9.91010034e-01 -7.87440924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters 0.021416393105846223 Centerline is valid? [True, True] Translation: X:9.77, Y:0.74, Z:-0.79 [[ 9.86370754e-01 -9.50520190e-02 1.34305063e-01 9.76579046e+00] [ 9.39921962e-02 9.95471313e-01 1.42243692e-02 7.42006078e-01] [-1.35048892e-01 -1.40687389e-03 9.90837937e-01 -7.93661688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters 0.02272741830280345 Centerline is valid? [True, True] Translation: X:9.83, Y:0.73, Z:-0.80 [[ 9.87320587e-01 -8.49789893e-02 1.34076953e-01 9.82843423e+00] [ 8.38382201e-02 9.96379026e-01 1.41417439e-02 7.30548351e-01] [-1.34793215e-01 -2.72166180e-03 9.90870013e-01 -8.01367197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters 0.02422557774617244 Centerline is valid? [True, True] Translation: X:9.89, Y:0.72, Z:-0.81 [[ 9.88262210e-01 -7.72513711e-02 1.31795413e-01 9.89165888e+00] [ 7.60853469e-02 9.97004866e-01 1.38678567e-02 7.21691963e-01] [-1.32471979e-01 -3.67737896e-03 9.91179929e-01 -8.09360060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters 0.025641472944752046 Centerline is valid? [True, True] Translation: X:9.95, Y:0.71, Z:-0.82 [[ 9.88845885e-01 -7.02876684e-02 1.31314353e-01 9.95414938e+00] [ 6.90768433e-02 9.97516456e-01 1.37589954e-02 7.12745227e-01] [-1.31955316e-01 -4.53474500e-03 9.91245293e-01 -8.17861090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters 0.026950602207079625 Centerline is valid? [True, True] Translation: X:10.02, Y:0.71, Z:-0.83 [[ 9.88978695e-01 -6.55069325e-02 1.32777945e-01 1.00163348e+01] [ 6.42325621e-02 9.97838660e-01 1.38631032e-02 7.09057911e-01] [-1.33399096e-01 -5.18164610e-03 9.91048854e-01 -8.25733267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters 0.02839843999629462 Centerline is valid? [True, True] Translation: X:10.08, Y:0.70, Z:-0.83 [[ 9.89136665e-01 -6.03832923e-02 1.34024309e-01 1.00777216e+01] [ 5.90405321e-02 9.98157770e-01 1.39743108e-02 7.01099410e-01] [-1.34621220e-01 -5.90963662e-03 9.90879510e-01 -8.32736535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters 0.03056779464092693 Centerline is valid? [True, True] Translation: X:10.14, Y:0.70, Z:-0.84 [[ 9.89784912e-01 -5.44818260e-02 1.31748084e-01 1.01395063e+01] [ 5.31363700e-02 9.98493158e-01 1.37091411e-02 6.95774350e-01] [-1.32296459e-01 -6.56848603e-03 9.91188429e-01 -8.39460854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters 0.03266017907569666 Centerline is valid? [True, True] Translation: X:10.20, Y:0.70, Z:-0.85 [[ 9.90390056e-01 -4.70560160e-02 1.30051026e-01 1.02005654e+01] [ 4.56826326e-02 9.98864439e-01 1.35251224e-02 6.97290363e-01] [-1.30539783e-01 -7.45407356e-03 9.91415050e-01 -8.46297295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters 0.0360653294216716 Centerline is valid? [True, True] Translation: X:10.26, Y:0.70, Z:-0.85 [[ 9.91573089e-01 -3.32008624e-02 1.25221854e-01 1.02620160e+01] [ 3.18193060e-02 9.99408864e-01 1.30174456e-02 6.96919659e-01] [-1.25580021e-01 -8.92327621e-03 9.92043363e-01 -8.50312966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters 0.037377699355980024 Centerline is valid? [True, True] Translation: X:10.32, Y:0.71, Z:-0.86 [[ 9.91575938e-01 -3.17128022e-02 1.25584459e-01 1.03230121e+01] [ 3.03130669e-02 9.99455369e-01 1.30416033e-02 7.06966631e-01] [-1.25929648e-01 -9.12488991e-03 9.91997208e-01 -8.59338757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters 0.03643510709919316 Centerline is valid? [True, True] Translation: X:10.38, Y:0.72, Z:-0.87 [[ 9.91299784e-01 -3.36337243e-02 1.27253725e-01 1.03848589e+01] [ 3.22181981e-02 9.99394135e-01 1.31662474e-02 7.15474390e-01] [-1.27619456e-01 -8.95181247e-03 9.91782809e-01 -8.65913552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters 0.03510983547804873 Centerline is valid? [True, True] Translation: X:10.45, Y:0.72, Z:-0.87 [[ 9.90784045e-01 -3.83057875e-02 1.29921683e-01 1.04452161e+01] [ 3.68719401e-02 9.99229823e-01 1.34246670e-02 7.24952671e-01] [-1.30335863e-01 -8.51048133e-03 9.91433374e-01 -8.72921520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters 0.034357846132020343 Centerline is valid? [True, True] Translation: X:10.51, Y:0.73, Z:-0.88 [[ 9.90681314e-01 -4.15138628e-02 1.29719438e-01 1.05057088e+01] [ 4.01128570e-02 9.99105359e-01 1.33955628e-02 7.31993174e-01] [-1.30159488e-01 -8.06731645e-03 9.91460249e-01 -8.80830699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters 0.03250326086353737 Centerline is valid? [True, True] Translation: X:10.57, Y:0.74, Z:-0.89 [[ 9.90864763e-01 -4.52337653e-02 1.27046954e-01 1.05661470e+01] [ 4.39216076e-02 9.98948931e-01 1.31120668e-02 7.40990214e-01] [-1.27506527e-01 -7.41217848e-03 9.91810035e-01 -8.89250171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters 0.031766284468120805 Centerline is valid? [True, True] Translation: X:10.63, Y:0.74, Z:-0.89 [[ 9.91003511e-01 -4.60256667e-02 1.25672905e-01 1.06282811e+01] [ 4.47499656e-02 9.98914191e-01 1.29567997e-02 7.42797352e-01] [-1.26132794e-01 -7.21637580e-03 9.91987118e-01 -8.94467949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters 0.03152353829838028 Centerline is valid? [True, True] Translation: X:10.69, Y:0.75, Z:-0.90 [[ 9.90947176e-01 -4.64936605e-02 1.25944570e-01 1.06894055e+01] [ 4.52227512e-02 9.98893207e-01 1.29330228e-02 7.48688241e-01] [-1.26406479e-01 -7.12038244e-03 9.91952974e-01 -9.01714360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters 0.03211691718019363 Centerline is valid? [True, True] Translation: X:10.75, Y:0.75, Z:-0.91 [[ 9.91199724e-01 -4.38812910e-02 1.24890113e-01 1.07507582e+01] [ 4.26175641e-02 9.99009796e-01 1.27738040e-02 7.51671271e-01] [-1.25326978e-01 -7.33887862e-03 9.92088348e-01 -9.08304215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters 0.03338001537764014 Centerline is valid? [True, True] Translation: X:10.81, Y:0.76, Z:-0.92 [[ 9.90799788e-01 -4.18752640e-02 1.28694375e-01 1.08120009e+01] [ 4.05221337e-02 9.99092553e-01 1.31159034e-02 7.55136046e-01] [-1.29126824e-01 -7.78026363e-03 9.91597565e-01 -9.17398885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters 0.03241961308570408 Centerline is valid? [True, True] Translation: X:10.87, Y:0.76, Z:-0.92 [[ 9.90389548e-01 -4.51469941e-02 1.30729846e-01 1.08725226e+01] [ 4.37806280e-02 9.98952521e-01 1.33085694e-02 7.60441566e-01] [-1.31193751e-01 -7.45723330e-03 9.91328699e-01 -9.23854205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters 0.02994830519202657 Centerline is valid? [True, True] Translation: X:10.93, Y:0.77, Z:-0.93 [[ 9.89830196e-01 -5.40758258e-02 1.31575032e-01 1.09321505e+01] [ 5.27709943e-02 9.98516915e-01 1.33863020e-02 7.69147862e-01] [-1.32103770e-01 -6.30682066e-03 9.91215828e-01 -9.32844393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters 0.027953214060138072 Centerline is valid? [True, True] Translation: X:10.99, Y:0.77, Z:-0.94 [[ 9.89255059e-01 -6.05204426e-02 1.33085329e-01 1.09930091e+01] [ 5.92447547e-02 9.98151814e-01 1.35282856e-02 7.71318710e-01] [-1.33658100e-01 -5.49831729e-03 9.91012251e-01 -9.42549115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters 0.02644824830465043 Centerline is valid? [True, True] Translation: X:11.05, Y:0.77, Z:-0.95 [[ 9.88863270e-01 -6.57994696e-02 1.33491062e-01 1.10543960e+01] [ 6.45652718e-02 9.97821378e-01 1.35581484e-02 7.70119137e-01] [-1.34092354e-01 -4.78826829e-03 9.90957271e-01 -9.49043919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters 0.02581476559524825 Centerline is valid? [True, True] Translation: X:11.12, Y:0.77, Z:-0.96 [[ 9.88726221e-01 -6.92114357e-02 1.32778904e-01 1.11166958e+01] [ 6.80230801e-02 9.97592803e-01 1.34707190e-02 7.65656163e-01] [-1.33391607e-01 -4.28682306e-03 9.91054137e-01 -9.56533053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters 0.025409208545510303 Centerline is valid? [True, True] Translation: X:11.18, Y:0.76, Z:-0.96 [[ 9.88931357e-01 -7.01308172e-02 1.30753353e-01 1.11785355e+01] [ 6.89940722e-02 9.97529614e-01 1.32093406e-02 7.62797933e-01] [-1.31356724e-01 -4.04192482e-03 9.91326926e-01 -9.64517426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters 0.02617528384370746 Centerline is valid? [True, True] Translation: X:11.24, Y:0.75, Z:-0.97 [[ 9.88992049e-01 -6.69823535e-02 1.31939724e-01 1.12411536e+01] [ 6.58044560e-02 9.97744262e-01 1.32725389e-02 7.52177479e-01] [-1.32531128e-01 -4.44421366e-03 9.91168880e-01 -9.70895794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters 0.02784562784784616 Centerline is valid? [True, True] Translation: X:11.30, Y:0.75, Z:-0.98 [[ 9.89291428e-01 -6.02849049e-02 1.32921782e-01 1.13019975e+01] [ 5.90359622e-02 9.98166975e-01 1.33208402e-02 7.49270207e-01] [-1.33481179e-01 -5.33102773e-03 9.91037010e-01 -9.78189974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters 0.031775816247173856 Centerline is valid? [True, True] Translation: X:11.36, Y:0.74, Z:-0.98 [[ 9.90292126e-01 -4.61120863e-02 1.31130398e-01 1.13645011e+01] [ 4.47771118e-02 9.98910943e-01 1.31124926e-02 7.39917889e-01] [-1.31592234e-01 -7.11355770e-03 9.91278408e-01 -9.83332537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters 0.03799135938863601 Centerline is valid? [True, True] Translation: X:11.43, Y:0.73, Z:-0.99 [[ 9.90939599e-01 -3.14062407e-02 1.30584679e-01 1.14264804e+01] [ 2.99569360e-02 9.99466015e-01 1.30486671e-02 7.34628711e-01] [-1.30924758e-01 -9.01852412e-03 9.91351287e-01 -9.91211612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters 0.04164905702087985 Centerline is valid? [True, True] Translation: X:11.49, Y:0.74, Z:-1.00 [[ 9.91413273e-01 -2.14045365e-02 1.29002198e-01 1.14866323e+01] [ 1.99073440e-02 9.99718806e-01 1.28843738e-02 7.40646740e-01] [-1.29241708e-01 -1.02056481e-02 9.91560601e-01 -9.97909934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters 0.044203313311567946 Centerline is valid? [True, True] Translation: X:11.55, Y:0.75, Z:-1.00 [[ 9.91800260e-01 -1.60593636e-02 1.26784629e-01 1.15464345e+01] [ 1.45709859e-02 9.99813711e-01 1.26581933e-02 7.50189665e-01] [-1.26964293e-01 -1.07070224e-02 9.91849499e-01 -1.00455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters 0.046509790694768516 Centerline is valid? [True, True] Translation: X:11.61, Y:0.77, Z:-1.01 [[ 9.91726084e-01 -8.68829175e-03 1.28077660e-01 1.16052201e+01] [ 7.10926740e-03 9.99893051e-01 1.27806569e-02 7.69862599e-01] [-1.28175004e-01 -1.17643725e-02 9.91681788e-01 -1.01042000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters 0.048126946917261534 Centerline is valid? [True, True] Translation: X:11.66, Y:0.79, Z:-1.02 [[ 9.91664010e-01 -5.94446321e-03 1.28713460e-01 1.16649515e+01] [ 4.32849592e-03 9.99908312e-01 1.28308614e-02 7.85191415e-01] [-1.28777931e-01 -1.21667677e-02 9.91598817e-01 -1.01645727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters 0.04457980619367812 Centerline is valid? [True, True] Translation: X:11.72, Y:0.82, Z:-1.02 [[ 9.91758930e-01 -8.82080059e-03 1.27813998e-01 1.17226652e+01] [ 7.25576882e-03 9.99892962e-01 1.27050475e-02 8.16066333e-01] [-1.27912385e-01 -1.16729555e-02 9.91716776e-01 -1.02291523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters 0.041279429704227884 Centerline is valid? [True, True] Translation: X:11.78, Y:0.84, Z:-1.03 [[ 9.91175025e-01 -1.85362929e-02 1.31257290e-01 1.17810167e+01] [ 1.69703622e-02 9.99770971e-01 1.30388820e-02 8.40232062e-01] [-1.31468921e-01 -1.06963304e-02 9.91262584e-01 -1.03098926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters 0.038182374890686856 Centerline is valid? [True, True] Translation: X:11.84, Y:0.86, Z:-1.04 [[ 9.90883862e-01 -2.67661076e-02 1.32033127e-01 1.18396311e+01] [ 2.52552602e-02 9.99595139e-01 1.31045999e-02 8.64295041e-01] [-1.32330431e-01 -9.65060554e-03 9.91158677e-01 -1.04087321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters 0.033822920884250804 Centerline is valid? [True, True] Translation: X:11.90, Y:0.88, Z:-1.05 [[ 9.91034059e-01 -3.57378431e-02 1.28741217e-01 1.18988361e+01] [ 3.43785121e-02 9.99327346e-01 1.27661330e-02 8.83206607e-01] [-1.29110853e-01 -8.22574107e-03 9.91596049e-01 -1.04647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters 0.031815394806462796 Centerline is valid? [True, True] Translation: X:11.96, Y:0.90, Z:-1.05 [[ 9.90310008e-01 -4.38999750e-02 1.31753102e-01 1.19586578e+01] [ 4.25486352e-02 9.99009090e-01 1.30557437e-02 8.99151045e-01] [-1.32195693e-01 -7.32331898e-03 9.91196584e-01 -1.05381661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters 0.030425495140125408 Centerline is valid? [True, True] Translation: X:12.02, Y:0.91, Z:-1.06 [[ 9.90372315e-01 -4.53926061e-02 1.30775338e-01 1.20188674e+01] [ 4.40760221e-02 9.98944296e-01 1.29459650e-02 9.13395471e-01] [-1.31224929e-01 -7.05726859e-03 9.91327500e-01 -1.06064023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters 0.031125410856157866 Centerline is valid? [True, True] Translation: X:12.08, Y:0.93, Z:-1.07 [[ 9.90634021e-01 -4.51758967e-02 1.28854081e-01 1.20789329e+01] [ 4.39029776e-02 9.98955028e-01 1.27035627e-02 9.27696394e-01] [-1.29293327e-01 -6.92750358e-03 9.91582193e-01 -1.06860265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters 0.02955008024937239 Centerline is valid? [True, True] Translation: X:12.14, Y:0.95, Z:-1.07 [[ 9.90642340e-01 -4.75204540e-02 1.27943585e-01 1.21387238e+01] [ 4.62913103e-02 9.98848954e-01 1.25650994e-02 9.45193961e-01] [-1.28393415e-01 -6.52484331e-03 9.91701849e-01 -1.07407510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters 0.02975503029286387 Centerline is valid? [True, True] Translation: X:12.20, Y:0.96, Z:-1.08 [[ 9.90491790e-01 -4.81726709e-02 1.28861975e-01 1.21993032e+01] [ 4.69333233e-02 9.98818063e-01 1.26388133e-02 9.58464878e-01] [-1.29318514e-01 -6.47072005e-03 9.91581995e-01 -1.08206745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters 0.028890205170446305 Centerline is valid? [True, True] Translation: X:12.26, Y:0.97, Z:-1.09 [[ 9.90386266e-01 -4.92192942e-02 1.29276851e-01 1.22598482e+01] [ 4.79879334e-02 9.98768130e-01 1.26246285e-02 9.70729773e-01] [-1.29738974e-01 -6.29952972e-03 9.91528171e-01 -1.08897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters 0.028475950649768236 Centerline is valid? [True, True] Translation: X:12.32, Y:0.98, Z:-1.10 [[ 9.90276459e-01 -5.13892862e-02 1.29273650e-01 1.23206967e+01] [ 5.01834224e-02 9.98660909e-01 1.25703067e-02 9.80722958e-01] [-1.29746519e-01 -5.96068468e-03 9.91529279e-01 -1.09669185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters 0.026859380059507772 Centerline is valid? [True, True] Translation: X:12.38, Y:0.99, Z:-1.10 [[ 9.89700260e-01 -5.69667595e-02 1.31332341e-01 1.23804297e+01] [ 5.57773520e-02 9.98362198e-01 1.27203966e-02 9.92025276e-01] [-1.31841884e-01 -5.26400966e-03 9.91256782e-01 -1.10450379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters 0.026157544593346342 Centerline is valid? [True, True] Translation: X:12.44, Y:1.00, Z:-1.11 [[ 9.89582727e-01 -5.98273975e-02 1.30945445e-01 1.24418251e+01] [ 5.86711980e-02 9.98196913e-01 1.26733645e-02 1.00181089e+00] [-1.31467553e-01 -4.85861653e-03 9.91308568e-01 -1.11296033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters 0.025240660876884737 Centerline is valid? [True, True] Translation: X:12.50, Y:1.01, Z:-1.12 [[ 9.89529903e-01 -6.42601169e-02 1.29233153e-01 1.25024679e+01] [ 6.31741383e-02 9.97924368e-01 1.24893462e-02 1.00685164e+00] [-1.29767479e-01 -4.19438845e-03 9.91535581e-01 -1.12078769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters 0.023694761916329823 Centerline is valid? [True, True] Translation: X:12.56, Y:1.01, Z:-1.13 [[ 9.88664067e-01 -7.23251220e-02 1.31576746e-01 1.25628258e+01] [ 7.12712646e-02 9.97376021e-01 1.27074436e-02 1.01329980e+00] [-1.32150558e-01 -3.18575184e-03 9.91224536e-01 -1.12782216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters 0.02283494680444534 Centerline is valid? [True, True] Translation: X:12.62, Y:1.01, Z:-1.13 [[ 9.88202855e-01 -7.68189671e-02 1.32491371e-01 1.26249715e+01] [ 7.57925732e-02 9.97041699e-01 1.27802759e-02 1.01379985e+00] [-1.33081189e-01 -2.58764318e-03 9.91101761e-01 -1.13458009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters 0.0226871596757772 Centerline is valid? [True, True] Translation: X:12.69, Y:1.01, Z:-1.14 [[ 9.88259392e-01 -7.63319070e-02 1.32351100e-01 1.26873909e+01] [ 7.53114308e-02 9.97079101e-01 1.27065083e-02 1.01410283e+00] [-1.32934428e-01 -2.58977546e-03 9.91121451e-01 -1.14285094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters 0.023316458944597683 Centerline is valid? [True, True] Translation: X:12.75, Y:1.01, Z:-1.15 [[ 9.88460243e-01 -7.32061364e-02 1.32616774e-01 1.27493858e+01] [ 7.21625038e-02 9.97312471e-01 1.26652660e-02 1.00749514e+00] [-1.33187538e-01 -2.94915343e-03 9.91086466e-01 -1.15068304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters 0.023695895279648063 Centerline is valid? [True, True] Translation: X:12.81, Y:1.01, Z:-1.16 [[ 9.88865834e-01 -7.12435057e-02 1.30647334e-01 1.28118364e+01] [ 7.02211890e-02 9.97454109e-01 1.24211706e-02 1.00705173e+00] [-1.31199648e-01 -3.10866009e-03 9.91351093e-01 -1.15822751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters 0.023433321447372247 Centerline is valid? [True, True] Translation: X:12.87, Y:1.00, Z:-1.16 [[ 9.88754026e-01 -7.28096520e-02 1.30630132e-01 1.28740130e+01] [ 7.18099018e-02 9.97341828e-01 1.23538261e-02 1.00338836e+00] [-1.31182373e-01 -2.83435834e-03 9.91354201e-01 -1.16427886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters 0.02318101109492599 Centerline is valid? [True, True] Translation: X:12.94, Y:1.00, Z:-1.17 [[ 9.88659835e-01 -7.31425660e-02 1.31155999e-01 1.29367664e+01] [ 7.21454674e-02 9.97317725e-01 1.23444731e-02 1.00022458e+00] [-1.31707109e-01 -2.74217395e-03 9.91284882e-01 -1.17400955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters 0.023389702799354657 Centerline is valid? [True, True] Translation: X:13.00, Y:1.00, Z:-1.18 [[ 9.88683911e-01 -7.25645455e-02 1.31295513e-01 1.29995147e+01] [ 7.15691302e-02 9.97359913e-01 1.22907578e-02 9.96203789e-01] [-1.31840754e-01 -2.75496881e-03 9.91267081e-01 -1.18016726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters 0.023763574118359082 Centerline is valid? [True, True] Translation: X:13.06, Y:0.99, Z:-1.19 [[ 9.88308631e-01 -7.18165684e-02 1.34493232e-01 1.30616332e+01] [ 7.07741964e-02 9.97413766e-01 1.25217066e-02 9.92613583e-01] [-1.35044667e-01 -2.85666022e-03 9.90835394e-01 -1.18713823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters 0.023329953941446727 Centerline is valid? [True, True] Translation: X:13.12, Y:0.99, Z:-1.20 [[ 9.87845709e-01 -7.46371850e-02 1.36345686e-01 1.31236600e+01] [ 7.36008669e-02 9.97207759e-01 1.26331797e-02 9.87644520e-01] [-1.36907881e-01 -2.44447175e-03 9.90580767e-01 -1.19643072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters 0.02277803605025175 Centerline is valid? [True, True] Translation: X:13.19, Y:0.99, Z:-1.20 [[ 9.87998800e-01 -7.70711225e-02 1.33859680e-01 1.31855367e+01] [ 7.61026044e-02 9.97023573e-01 1.23445999e-02 9.86216349e-01] [-1.34412668e-01 -2.00937962e-03 9.90923406e-01 -1.20198383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters 0.02238176493369149 Centerline is valid? [True, True] Translation: X:13.25, Y:0.97, Z:-1.21 [[ 9.87527084e-01 -8.05548631e-02 1.35281825e-01 1.32488412e+01] [ 7.96063565e-02 9.96749061e-01 1.24152010e-02 9.74222893e-01] [-1.35842137e-01 -1.49105406e-03 9.90729373e-01 -1.21040371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters 0.02243584949201046 Centerline is valid? [True, True] Translation: X:13.31, Y:0.97, Z:-1.22 [[ 9.87740333e-01 -8.01823735e-02 1.33939618e-01 1.33108660e+01] [ 7.92573539e-02 9.96779131e-01 1.22326121e-02 9.69258793e-01] [-1.34489056e-01 -1.46694459e-03 9.90913993e-01 -1.21743488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters 0.02213837612510808 Centerline is valid? [True, True] Translation: X:13.37, Y:0.96, Z:-1.22 [[ 9.88878437e-01 -7.73068993e-02 1.27055424e-01 1.33734877e+01] [ 7.64583372e-02 9.97005883e-01 1.15495456e-02 9.60756775e-01] [-1.27567865e-01 -1.70665011e-03 9.91828376e-01 -1.22324075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters 0.023134614115766932 Centerline is valid? [True, True] Translation: X:13.44, Y:0.95, Z:-1.23 [[ 9.88977949e-01 -7.25726394e-02 1.29057465e-01 1.34357642e+01] [ 7.16639704e-02 9.97360479e-01 1.16769370e-02 9.53532634e-01] [-1.29564242e-01 -2.29946280e-03 9.91568364e-01 -1.22810443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters 0.024607584524145895 Centerline is valid? [True, True] Translation: X:13.50, Y:0.94, Z:-1.23 [[ 9.89193360e-01 -6.49633002e-02 1.31439210e-01 1.34985094e+01] [ 6.39582318e-02 9.97882119e-01 1.18583902e-02 9.43231295e-01] [-1.31931197e-01 -3.32362140e-03 9.91253304e-01 -1.23314574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters 0.026223901904116633 Centerline is valid? [True, True] Translation: X:13.56, Y:0.94, Z:-1.24 [[ 9.89673476e-01 -5.74924556e-02 1.31305094e-01 1.35596762e+01] [ 5.64304202e-02 9.98336824e-01 1.17980602e-02 9.38747848e-01] [-1.31765010e-01 -4.26662566e-03 9.91271798e-01 -1.24186092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters 0.027494607123074676 Centerline is valid? [True, True] Translation: X:13.62, Y:0.94, Z:-1.25 [[ 9.89866383e-01 -5.15821898e-02 1.32302009e-01 1.36210643e+01] [ 5.04533513e-02 9.98655846e-01 1.18726770e-02 9.38757970e-01] [-1.32736593e-01 -5.07728414e-03 9.91138345e-01 -1.24811359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters 0.029192537779846862 Centerline is valid? [True, True] Translation: X:13.68, Y:0.94, Z:-1.25 [[ 9.90414057e-01 -4.84491698e-02 1.29354839e-01 1.36823428e+01] [ 4.73455120e-02 9.98811269e-01 1.15953616e-02 9.40397376e-01] [-1.29762856e-01 -5.35983802e-03 9.91530571e-01 -1.25485557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters 0.02678691337779656 Centerline is valid? [True, True] Translation: X:13.74, Y:0.95, Z:-1.26 [[ 9.90547395e-01 -5.40393604e-02 1.26077779e-01 1.37425642e+01] [ 5.30420335e-02 9.98528833e-01 1.12566338e-02 9.48406447e-01] [-1.26500599e-01 -4.46280754e-03 9.91956492e-01 -1.26349158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters 0.025877842505341673 Centerline is valid? [True, True] Translation: X:13.80, Y:0.95, Z:-1.27 [[ 9.89509020e-01 -5.90996864e-02 1.31829917e-01 1.38043929e+01] [ 5.80556905e-02 9.98244170e-01 1.17521733e-02 9.49261275e-01] [-1.32292996e-01 -3.97540462e-03 9.91202683e-01 -1.27105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters 0.02420429036947788 Centerline is valid? [True, True] Translation: X:13.87, Y:0.95, Z:-1.28 [[ 9.89068196e-01 -6.65541699e-02 1.31585127e-01 1.38654654e+01] [ 6.55862946e-02 9.97778532e-01 1.16806808e-02 9.50900456e-01] [-1.32070213e-01 -2.92280896e-03 9.91236055e-01 -1.27852376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters 0.02304296798498197 Centerline is valid? [True, True] Translation: X:13.93, Y:0.95, Z:-1.29 [[ 9.88828464e-01 -7.32199348e-02 1.29834933e-01 1.39275378e+01] [ 7.23360731e-02 9.97313820e-01 1.15168144e-02 9.46275931e-01] [-1.30329434e-01 -1.99640468e-03 9.91468735e-01 -1.28579351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters 0.023298217639055357 Centerline is valid? [True, True] Translation: X:13.99, Y:0.94, Z:-1.29 [[ 9.88318456e-01 -7.48322260e-02 1.32765836e-01 1.39906639e+01] [ 7.39249934e-02 9.97194506e-01 1.17564073e-02 9.41261276e-01] [-1.33273121e-01 -1.80436075e-03 9.91077706e-01 -1.29422717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters 0.02366806691589192 Centerline is valid? [True, True] Translation: X:14.05, Y:0.93, Z:-1.30 [[ 9.88533912e-01 -7.14133702e-02 1.33044485e-01 1.40535467e+01] [ 7.04804068e-02 9.97444372e-01 1.17148183e-02 9.33525572e-01] [-1.33541067e-01 -2.20346580e-03 9.91040831e-01 -1.30139053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters 0.02375713307607036 Centerline is valid? [True, True] Translation: X:14.12, Y:0.92, Z:-1.31 [[ 9.88793970e-01 -7.15490543e-02 1.31023729e-01 1.41161830e+01] [ 7.06530005e-02 9.97434882e-01 1.14808343e-02 9.23502431e-01] [-1.31509081e-01 -2.09496008e-03 9.91312752e-01 -1.30939503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters 0.02345552476869742 Centerline is valid? [True, True] Translation: X:14.18, Y:0.92, Z:-1.32 [[ 9.88448493e-01 -7.50626861e-02 1.31663093e-01 1.41783907e+01] [ 7.41964663e-02 9.97177568e-01 1.14796140e-02 9.17172415e-01] [-1.32153174e-01 -1.57807088e-03 9.91228051e-01 -1.31837028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters 0.023276734917493692 Centerline is valid? [True, True] Translation: X:14.24, Y:0.92, Z:-1.33 [[ 9.88288821e-01 -7.58317330e-02 1.32418863e-01 1.42405394e+01] [ 7.49701509e-02 9.97119610e-01 1.14873817e-02 9.17079122e-01] [-1.32908553e-01 -1.42538878e-03 9.91127280e-01 -1.32541812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters 0.023378899517585407 Centerline is valid? [True, True] Translation: X:14.30, Y:0.90, Z:-1.33 [[ 9.88207682e-01 -7.56451595e-02 1.33129211e-01 1.43042739e+01] [ 7.47815457e-02 9.97133829e-01 1.14824505e-02 9.04679697e-01] [-1.33616232e-01 -1.39143758e-03 9.91032172e-01 -1.33296119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters 0.02431417731242045 Centerline is valid? [True, True] Translation: X:14.37, Y:0.89, Z:-1.34 [[ 9.88765812e-01 -6.88614647e-02 1.32666002e-01 1.43669202e+01] [ 6.79517573e-02 9.97623728e-01 1.13778706e-02 8.91102021e-01] [-1.33134248e-01 -2.23516154e-03 9.91095493e-01 -1.34015935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters 0.026024195769080744 Centerline is valid? [True, True] Translation: X:14.43, Y:0.88, Z:-1.34 [[ 9.89885918e-01 -5.75791825e-02 1.29655336e-01 1.44304486e+01] [ 5.66207179e-02 9.98334393e-01 1.10695550e-02 8.75277521e-01] [-1.30076758e-01 -3.61641836e-03 9.91497332e-01 -1.34467027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters 0.029812776074676455 Centerline is valid? [True, True] Translation: X:14.49, Y:0.86, Z:-1.35 [[ 9.90685378e-01 -4.48381790e-02 1.28576903e-01 1.44919721e+01] [ 4.37907490e-02 9.98980570e-01 1.09632049e-02 8.64361437e-01] [-1.28937398e-01 -5.23060788e-03 9.91638940e-01 -1.35124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters 0.036372104855770575 Centerline is valid? [True, True] Translation: X:14.55, Y:0.86, Z:-1.36 [[ 9.91079374e-01 -3.01275240e-02 1.29822979e-01 1.45531085e+01] [ 2.89347237e-02 9.99520062e-01 1.10647345e-02 8.57665764e-01] [-1.30094025e-01 -7.20963813e-03 9.91475449e-01 -1.35833148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters 0.039656282117303016 Centerline is valid? [True, True] Translation: X:14.61, Y:0.86, Z:-1.36 [[ 9.91995675e-01 -1.86631150e-02 1.24885021e-01 1.46146246e+01] [ 1.74702900e-02 9.99790769e-01 1.06398513e-02 8.59372493e-01] [-1.25057464e-01 -8.37290895e-03 9.92114169e-01 -1.36218594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters 0.04033707101650374 Centerline is valid? [True, True] Translation: X:14.67, Y:0.87, Z:-1.37 [[ 9.91967489e-01 -1.52433760e-02 1.25571256e-01 1.46745559e+01] [ 1.40112405e-02 9.99844696e-01 1.06896569e-02 8.68422759e-01] [-1.25714700e-01 -8.84438309e-03 9.92027011e-01 -1.36886887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters 0.0403499019653162 Centerline is valid? [True, True] Translation: X:14.73, Y:0.88, Z:-1.38 [[ 9.91313276e-01 -1.31280169e-02 1.30864987e-01 1.47342886e+01] [ 1.17744325e-02 9.99868937e-01 1.11117964e-02 8.77157049e-01] [-1.30993712e-01 -9.47441029e-03 9.91337926e-01 -1.37740095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters 0.03911187672304117 Centerline is valid? [True, True] Translation: X:14.80, Y:0.88, Z:-1.38 [[ 9.91271139e-01 -2.01404607e-02 1.30291559e-01 1.47950775e+01] [ 1.88618299e-02 9.99761143e-01 1.10403346e-02 8.84491103e-01] [-1.30482795e-01 -8.48642780e-03 9.91414253e-01 -1.38270337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters 0.037650257828001944 Centerline is valid? [True, True] Translation: X:14.85, Y:0.90, Z:-1.39 [[ 9.90473935e-01 -2.61639711e-02 1.35191832e-01 1.48549656e+01] [ 2.48436017e-02 9.99625836e-01 1.14447856e-02 8.97673985e-01] [-1.35440689e-01 -7.97710981e-03 9.90753342e-01 -1.39436043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters 0.03689986189413978 Centerline is valid? [True, True] Translation: X:14.92, Y:0.90, Z:-1.40 [[ 9.91152075e-01 -2.60546893e-02 1.30148825e-01 1.49168950e+01] [ 2.48325331e-02 9.99631052e-01 1.10047846e-02 9.02187254e-01] [-1.30387534e-01 -7.67549007e-03 9.91433396e-01 -1.39862018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters 0.03655021909862319 Centerline is valid? [True, True] Translation: X:14.98, Y:0.91, Z:-1.41 [[ 9.90914170e-01 -2.58678890e-02 1.31984697e-01 1.49790061e+01] [ 2.46159838e-02 9.99635263e-01 1.11083092e-02 9.09401388e-01] [-1.32223906e-01 -7.75844784e-03 9.91189510e-01 -1.40729382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters 0.037599408720914704 Centerline is valid? [True, True] Translation: X:15.04, Y:0.91, Z:-1.41 [[ 9.90817464e-01 -2.35884037e-02 1.33132792e-01 1.50403218e+01] [ 2.23017215e-02 9.99689132e-01 1.11477844e-02 9.11371476e-01] [-1.33354364e-01 -8.07632900e-03 9.91035512e-01 -1.41405182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters 0.03791934826046378 Centerline is valid? [True, True] Translation: X:15.10, Y:0.92, Z:-1.42 [[ 9.91177140e-01 -2.14605611e-02 1.30794962e-01 1.51014848e+01] [ 2.02067759e-02 9.99736341e-01 1.09056835e-02 9.15875161e-01] [-1.30994519e-01 -8.16651968e-03 9.91349456e-01 -1.42026595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters 0.03923421681168653 Centerline is valid? [True, True] Translation: X:15.16, Y:0.92, Z:-1.43 [[ 9.91236450e-01 -1.74343425e-02 1.30944051e-01 1.51622275e+01] [ 1.61488193e-02 9.99810480e-01 1.08728882e-02 9.18907156e-01] [-1.31108796e-01 -8.66301124e-03 9.91330135e-01 -1.42702524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters 0.03893928636488577 Centerline is valid? [True, True] Translation: X:15.22, Y:0.92, Z:-1.44 [[ 9.91020340e-01 -1.73808766e-02 1.32576738e-01 1.52242941e+01] [ 1.60650042e-02 9.99810565e-01 1.09886405e-02 9.22653529e-01] [-1.32742616e-01 -8.76012036e-03 9.91111829e-01 -1.43628446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters 0.039729932363624286 Centerline is valid? [True, True] Translation: X:15.29, Y:0.93, Z:-1.44 [[ 9.91340065e-01 -1.44265586e-02 1.30524902e-01 1.52857488e+01] [ 1.31327373e-02 9.99855782e-01 1.07678261e-02 9.26761524e-01] [-1.30661421e-01 -8.96042818e-03 9.91386556e-01 -1.44245833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters 0.04254964254092492 Centerline is valid? [True, True] Translation: X:15.35, Y:0.94, Z:-1.45 [[ 9.91454743e-01 -6.95234930e-03 1.30265718e-01 1.53459152e+01] [ 5.60154478e-03 9.99926708e-01 1.07331509e-02 9.35142584e-01] [-1.30330792e-01 -9.91174412e-03 9.91421022e-01 -1.45004893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters 0.045731227468358795 Centerline is valid? [True, True] Translation: X:15.41, Y:0.94, Z:-1.46 [[ 9.91446035e-01 3.29834712e-03 1.30475592e-01 1.54061819e+01] [-4.74043735e-03 9.99931050e-01 1.07435275e-02 9.41025084e-01] [-1.30431160e-01 -1.12701392e-02 9.91393311e-01 -1.45729143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters 0.04902031181593532 Centerline is valid? [True, True] Translation: X:15.47, Y:0.95, Z:-1.46 [[ 9.91340690e-01 1.16443010e-02 1.30797733e-01 1.54663859e+01] [-1.31639434e-02 9.99855460e-01 1.07596264e-02 9.47180359e-01] [-1.30653539e-01 -1.23882694e-02 9.91350686e-01 -1.46454471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters 0.052189390897117924 Centerline is valid? [True, True] Translation: X:15.53, Y:0.96, Z:-1.47 [[ 9.91348026e-01 1.69102496e-02 1.30165798e-01 1.55267049e+01] [-1.84557196e-02 9.99772680e-01 1.06758889e-02 9.55473205e-01] [-1.29955677e-01 -1.29858249e-02 9.91434764e-01 -1.47137032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters 0.05344475637931422 Centerline is valid? [True, True] Translation: X:15.59, Y:0.97, Z:-1.48 [[ 9.91355979e-01 2.36192392e-02 1.29056016e-01 1.55868300e+01] [-2.51928997e-02 9.99626679e-01 1.05745563e-02 9.68649444e-01] [-1.28758073e-01 -1.37344448e-02 9.91580921e-01 -1.47647942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters 0.05771769871908828 Centerline is valid? [True, True] Translation: X:15.65, Y:0.98, Z:-1.49 [[ 9.90956526e-01 2.83704802e-02 1.31149832e-01 1.56464232e+01] [-3.00329096e-02 9.99491479e-01 1.07148790e-02 9.82990499e-01] [-1.30779154e-01 -1.45567903e-02 9.91304652e-01 -1.48575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters 0.053396130842394356 Centerline is valid? [True, True] Translation: X:15.71, Y:1.01, Z:-1.49 [[ 9.90967244e-01 2.95756171e-02 1.30802156e-01 1.57060575e+01] [-3.12383714e-02 9.99454924e-01 1.06780094e-02 1.00677246e+00] [-1.30415050e-01 -1.46676039e-02 9.91350985e-01 -1.49077527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters 0.05312353674125783 Centerline is valid? [True, True] Translation: X:15.77, Y:1.03, Z:-1.50 [[ 9.91017202e-01 2.80703049e-02 1.30755355e-01 1.57657000e+01] [-2.97172564e-02 9.99501488e-01 1.06611374e-02 1.02658077e+00] [-1.30390911e-01 -1.44510609e-02 9.91357341e-01 -1.49774321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters 0.049038164856425745 Centerline is valid? [True, True] Translation: X:15.82, Y:1.06, Z:-1.51 [[ 9.90925047e-01 1.04868245e-02 1.34005889e-01 1.58239816e+01] [-1.20574326e-02 9.99867740e-01 1.09142546e-02 1.06205618e+00] [-1.33873709e-01 -1.24309752e-02 9.90920431e-01 -1.50832170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters 0.043707104130260264 Centerline is valid? [True, True] Translation: X:15.88, Y:1.08, Z:-1.52 [[ 9.90584783e-01 -2.58493555e-03 1.36876240e-01 1.58839021e+01] [ 1.07077765e-03 9.99937434e-01 1.11347139e-02 1.07958612e+00] [-1.36896459e-01 -1.08833141e-02 9.90525574e-01 -1.51620872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters 0.03627987306776522 Centerline is valid? [True, True] Translation: X:15.94, Y:1.10, Z:-1.53 [[ 9.90520322e-01 -2.05868034e-02 1.35814854e-01 1.59429395e+01] [ 1.92651264e-02 9.99753470e-01 1.10387698e-02 1.09841415e+00] [-1.36008624e-01 -8.31763546e-03 9.90672737e-01 -1.52549643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters 0.031198557494216662 Centerline is valid? [True, True] Translation: X:16.00, Y:1.11, Z:-1.53 [[ 9.89716637e-01 -3.69376264e-02 1.38190413e-01 1.60032968e+01] [ 3.57292561e-02 9.99298570e-01 1.12155246e-02 1.11035058e+00] [-1.38507757e-01 -6.16275067e-03 9.90342174e-01 -1.53427989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters 0.027365207464795916 Centerline is valid? [True, True] Translation: X:16.06, Y:1.11, Z:-1.54 [[ 9.89165880e-01 -4.77936408e-02 1.38804285e-01 1.60638987e+01] [ 4.66838377e-02 9.98846452e-01 1.12420818e-02 1.11468855e+00] [-1.39181468e-01 -4.64036703e-03 9.90256020e-01 -1.53959608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters 0.02657362338285568 Centerline is valid? [True, True] Translation: X:16.13, Y:1.12, Z:-1.55 [[ 9.88977795e-01 -5.19639214e-02 1.38645851e-01 1.61250829e+01] [ 5.09003919e-02 9.98640842e-01 1.12079576e-02 1.11609995e+00] [-1.39039819e-01 -4.02729299e-03 9.90278602e-01 -1.54945192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters 0.026472030533185073 Centerline is valid? [True, True] Translation: X:16.19, Y:1.12, Z:-1.56 [[ 9.89111185e-01 -5.10900888e-02 1.38017633e-01 1.61871099e+01] [ 5.00359769e-02 9.98685748e-01 1.10985758e-02 1.11868308e+00] [-1.38403270e-01 -4.07187841e-03 9.90367586e-01 -1.55635404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters 0.027976976144621496 Centerline is valid? [True, True] Translation: X:16.25, Y:1.12, Z:-1.56 [[ 9.89887462e-01 -4.46595549e-02 1.34641508e-01 1.62493982e+01] [ 4.36050609e-02 9.98990770e-01 1.07721616e-02 1.11562477e+00] [-1.34986704e-01 -4.79217652e-03 9.90835821e-01 -1.56016730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters 0.031091182121871175 Centerline is valid? [True, True] Translation: X:16.31, Y:1.11, Z:-1.57 [[ 9.89823944e-01 -3.56815112e-02 1.37751189e-01 1.63102981e+01] [ 3.44930370e-02 9.99344335e-01 1.10059455e-02 1.11491982e+00] [-1.38053579e-01 -6.14249154e-03 9.90405714e-01 -1.56701747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters 0.034270601252340355 Centerline is valid? [True, True] Translation: X:16.37, Y:1.12, Z:-1.58 [[ 9.90329361e-01 -2.65314323e-02 1.36175770e-01 1.63707329e+01] [ 2.52858288e-02 9.99621175e-01 1.08689152e-02 1.11997762e+00] [-1.36412551e-01 -7.32048860e-03 9.90625069e-01 -1.57529233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters 0.035475230868394624 Centerline is valid? [True, True] Translation: X:16.43, Y:1.13, Z:-1.58 [[ 9.90583822e-01 -2.24712974e-02 1.35050854e-01 1.64317910e+01] [ 2.12130342e-02 9.99717194e-01 1.07489422e-02 1.12723393e+00] [-1.35254204e-01 -7.78288981e-03 9.90780363e-01 -1.58206928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters 0.03540846825817454 Centerline is valid? [True, True] Translation: X:16.49, Y:1.14, Z:-1.59 [[ 9.90668408e-01 -2.18336813e-02 1.34533996e-01 1.64934584e+01] [ 2.05818600e-02 9.99731032e-01 1.06888242e-02 1.13780482e+00] [-1.34731187e-01 -7.82012060e-03 9.90851327e-01 -1.59007566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters 0.03533557160274881 Centerline is valid? [True, True] Translation: X:16.55, Y:1.14, Z:-1.60 [[ 9.90583823e-01 -2.34892176e-02 1.34877525e-01 1.65542847e+01] [ 2.22542518e-02 9.99695544e-01 1.06568116e-02 1.14455283e+00] [-1.35086781e-01 -7.55486681e-03 9.90804968e-01 -1.59863402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters 0.03432134398641866 Centerline is valid? [True, True] Translation: X:16.62, Y:1.15, Z:-1.61 [[ 9.90367511e-01 -2.38078232e-02 1.36401540e-01 1.66156305e+01] [ 2.25551597e-02 9.99688103e-01 1.07220217e-02 1.15402566e+00] [-1.36614265e-01 -7.54218344e-03 9.90595608e-01 -1.60670607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters 0.033824627670606296 Centerline is valid? [True, True] Translation: X:16.68, Y:1.16, Z:-1.61 [[ 9.90635455e-01 -2.15999900e-02 1.34814077e-01 1.66773645e+01] [ 2.03642325e-02 9.99737081e-01 1.05388123e-02 1.15576649e+00] [-1.35006270e-01 -7.69473595e-03 9.90814866e-01 -1.60965353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters 0.03491421121714799 Centerline is valid? [True, True] Translation: X:16.74, Y:1.16, Z:-1.62 [[ 9.91104520e-01 -2.01482232e-02 1.31551811e-01 1.67396416e+01] [ 1.89662210e-02 9.99767767e-01 1.02319897e-02 1.15918841e+00] [-1.31727417e-01 -7.64593052e-03 9.91256489e-01 -1.61791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters 0.035306548533546485 Centerline is valid? [True, True] Translation: X:16.80, Y:1.16, Z:-1.63 [[ 9.91021110e-01 -1.97128436e-02 1.32244331e-01 1.68017052e+01] [ 1.85225468e-02 9.99776157e-01 1.02249836e-02 1.16238748e+00] [-1.32416293e-01 -7.68367277e-03 9.91164409e-01 -1.62540843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters 0.036004480161457936 Centerline is valid? [True, True] Translation: X:16.86, Y:1.17, Z:-1.63 [[ 9.90905568e-01 -1.69087106e-02 1.33492512e-01 1.68628657e+01] [ 1.56778635e-02 9.99824390e-01 1.02661860e-02 1.16802720e+00] [-1.33642657e-01 -8.07994352e-03 9.90996647e-01 -1.63162645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters 0.03718160234104458 Centerline is valid? [True, True] Translation: X:16.92, Y:1.17, Z:-1.64 [[ 9.90980293e-01 -1.46525409e-02 1.33204212e-01 1.69236897e+01] [ 1.34105311e-02 9.99857880e-01 1.02165419e-02 1.17329390e+00] [-1.33334980e-01 -8.33805243e-03 9.91035953e-01 -1.63927708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters 0.0343922486493233 Centerline is valid? [True, True] Translation: X:16.98, Y:1.18, Z:-1.65 [[ 9.91223038e-01 -2.00101606e-02 1.30677018e-01 1.69843904e+01] [ 1.88668822e-02 9.99772182e-01 9.98120111e-03 1.17816448e+00] [-1.30846973e-01 -7.42812857e-03 9.91374749e-01 -1.64624461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters 0.032920073434720885 Centerline is valid? [True, True] Translation: X:17.05, Y:1.18, Z:-1.65 [[ 9.91339192e-01 -2.36722307e-02 1.29175200e-01 1.70454672e+01] [ 2.25871666e-02 9.99696267e-01 9.85868171e-03 1.18311208e+00] [-1.29369342e-01 -6.85559581e-03 9.91572778e-01 -1.65226463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters 0.0313790045929707 Centerline is valid? [True, True] Translation: X:17.11, Y:1.19, Z:-1.66 [[ 9.91038809e-01 -2.82678433e-02 1.30548873e-01 1.71068325e+01] [ 2.72004709e-02 9.99580455e-01 9.95229858e-03 1.18667723e+00] [-1.30775432e-01 -6.31212331e-03 9.91391922e-01 -1.65954855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters 0.03164291467004672 Centerline is valid? [True, True] Translation: X:17.17, Y:1.18, Z:-1.67 [[ 9.90806814e-01 -2.71306808e-02 1.32535974e-01 1.71682724e+01] [ 2.60224354e-02 9.99610466e-01 1.00871191e-02 1.18396449e+00] [-1.32758017e-01 -6.54547753e-03 9.91126867e-01 -1.66643254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters 0.03207885283782346 Centerline is valid? [True, True] Translation: X:17.23, Y:1.18, Z:-1.67 [[ 9.91421902e-01 -2.39004310e-02 1.28496618e-01 1.72300305e+01] [ 2.28382977e-02 9.99691792e-01 9.73314431e-03 1.18474728e+00] [-1.28689641e-01 -6.71500843e-03 9.91662183e-01 -1.67325735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters 0.03301632743892661 Centerline is valid? [True, True] Translation: X:17.29, Y:1.19, Z:-1.68 [[ 9.91241390e-01 -2.17782826e-02 1.30254420e-01 1.72915665e+01] [ 2.06747391e-02 9.99738040e-01 9.81863422e-03 1.19059517e+00] [-1.30434132e-01 -7.03966047e-03 9.91431985e-01 -1.67887811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters 0.03364322223718398 Centerline is valid? [True, True] Translation: X:17.35, Y:1.20, Z:-1.69 [[ 9.90915909e-01 -1.98297420e-02 1.33012943e-01 1.73518104e+01] [ 1.86638597e-02 9.99775741e-01 1.00063906e-02 1.20045437e+00] [-1.33181538e-01 -7.43295672e-03 9.91063787e-01 -1.68811288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters 0.03449488420408123 Centerline is valid? [True, True] Translation: X:17.41, Y:1.21, Z:-1.70 [[ 9.90820159e-01 -1.77414392e-02 1.34017364e-01 1.74127697e+01] [ 1.65455274e-02 9.99812784e-01 1.00321007e-02 1.20972819e+00] [-1.34170258e-01 -7.72261962e-03 9.90928203e-01 -1.69523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters 0.03205163485227401 Centerline is valid? [True, True] Translation: X:17.47, Y:1.23, Z:-1.70 [[ 9.90629948e-01 -2.18051740e-02 1.34821517e-01 1.74729485e+01] [ 2.06384444e-02 9.99736535e-01 1.00456368e-02 1.22698443e+00] [-1.35005043e-01 -7.16900232e-03 9.90818976e-01 -1.70227704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters 0.02904574050784883 Centerline is valid? [True, True] Translation: X:17.53, Y:1.24, Z:-1.71 [[ 9.90632867e-01 -3.00833251e-02 1.33197285e-01 1.75331358e+01] [ 2.90215871e-02 9.99529700e-01 9.90589973e-03 1.23758760e+00] [-1.33432645e-01 -5.94751324e-03 9.91040038e-01 -1.70940760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters 0.027343174359096202 Centerline is valid? [True, True] Translation: X:17.59, Y:1.24, Z:-1.72 [[ 9.90313450e-01 -3.59849500e-02 1.34105755e-01 1.75940146e+01] [ 3.49674233e-02 9.99339061e-01 9.93586329e-03 1.24242512e+00] [-1.34374661e-01 -5.15028635e-03 9.90917214e-01 -1.71646538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters 0.026658597670940542 Centerline is valid? [True, True] Translation: X:17.66, Y:1.25, Z:-1.73 [[ 9.89502215e-01 -4.13742068e-02 1.38468559e-01 1.76556574e+01] [ 4.03430570e-02 9.99133349e-01 1.02464097e-02 1.24841594e+00] [-1.38772492e-01 -4.55260013e-03 9.90313824e-01 -1.72585986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters 0.026893813153303782 Centerline is valid? [True, True] Translation: X:17.72, Y:1.25, Z:-1.73 [[ 9.89625052e-01 -4.03406019e-02 1.37894500e-01 1.77180326e+01] [ 3.93133233e-02 9.99175214e-01 1.01663225e-02 1.25265367e+00] [-1.38190882e-01 -4.63975639e-03 9.90394746e-01 -1.73126609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters 0.027628808499217915 Centerline is valid? [True, True] Translation: X:17.78, Y:1.26, Z:-1.74 [[ 9.90035969e-01 -3.71878601e-02 1.35815475e-01 1.77785256e+01] [ 3.61706304e-02 9.99296087e-01 9.95069234e-03 1.26237849e+00] [-1.36089917e-01 -4.93901200e-03 9.90684178e-01 -1.74170743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters 0.027957191524614042 Centerline is valid? [True, True] Translation: X:17.84, Y:1.27, Z:-1.75 [[ 9.89879929e-01 -3.52135851e-02 1.37469010e-01 1.78404618e+01] [ 3.41602374e-02 9.99366190e-01 1.00148609e-02 1.26658515e+00] [-1.37734540e-01 -5.21753574e-03 9.90455438e-01 -1.74679188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters 0.028931491596279783 Centerline is valid? [True, True] Translation: X:17.90, Y:1.27, Z:-1.76 [[ 9.89370119e-01 -3.31455820e-02 1.41591445e-01 1.79015512e+01] [ 3.20138759e-02 9.99434723e-01 1.02638494e-02 1.27244950e+00] [-1.41851608e-01 -5.62185496e-03 9.89871970e-01 -1.75517555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters 0.02863982740180149 Centerline is valid? [True, True] Translation: X:17.96, Y:1.27, Z:-1.76 [[ 9.89734491e-01 -3.35774865e-02 1.38917927e-01 1.79633478e+01] [ 3.24959547e-02 9.99421369e-01 1.00468705e-02 1.27302365e+00] [-1.39174893e-01 -5.42946356e-03 9.90252932e-01 -1.76167173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters 0.027767549410461466 Centerline is valid? [True, True] Translation: X:18.03, Y:1.27, Z:-1.77 [[ 9.89831457e-01 -3.55948617e-02 1.37719618e-01 1.80251203e+01] [ 3.45591986e-02 9.99353571e-01 9.90469055e-03 1.27465514e+00] [-1.37983148e-01 -5.04449465e-03 9.90421730e-01 -1.76897398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters 0.027465252385611403 Centerline is valid? [True, True] Translation: X:18.09, Y:1.28, Z:-1.78 [[ 9.89844156e-01 -3.61291382e-02 1.37489028e-01 1.80864793e+01] [ 3.51098354e-02 9.99335090e-01 9.83242300e-03 1.27515947e+00] [-1.37752847e-01 -4.90534931e-03 9.90454487e-01 -1.77535780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters 0.02831137763672534 Centerline is valid? [True, True] Translation: X:18.15, Y:1.28, Z:-1.78 [[ 9.89727858e-01 -3.43212410e-02 1.38783356e-01 1.81471606e+01] [ 3.32727577e-02 9.99397586e-01 9.86854853e-03 1.28042769e+00] [-1.39038452e-01 -5.14947242e-03 9.90273594e-01 -1.78476983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters 0.02947904975711718 Centerline is valid? [True, True] Translation: X:18.21, Y:1.28, Z:-1.79 [[ 9.89857923e-01 -2.83720185e-02 1.39198855e-01 1.82077571e+01] [ 2.72660531e-02 9.99579719e-01 9.84617055e-03 1.28478817e+00] [-1.39419708e-01 -5.95090655e-03 9.90215498e-01 -1.79153447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters 0.031160229636829028 Centerline is valid? [True, True] Translation: X:18.27, Y:1.29, Z:-1.80 [[ 9.90146380e-01 -2.38852771e-02 1.37984204e-01 1.82691013e+01] [ 2.27610274e-02 9.99693681e-01 9.72003872e-03 1.29070179e+00] [-1.38174103e-01 -6.48359890e-03 9.90386733e-01 -1.79914439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters 0.03206471290214769 Centerline is valid? [True, True] Translation: X:18.33, Y:1.30, Z:-1.81 [[ 9.89780800e-01 -2.24512325e-02 1.40818717e-01 1.83303452e+01] [ 2.12678507e-02 9.99724766e-01 9.90310789e-03 1.30047192e+00] [-1.41002295e-01 -6.80699461e-03 9.89985867e-01 -1.80503661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters 0.03080518347202331 Centerline is valid? [True, True] Translation: X:18.39, Y:1.31, Z:-1.81 [[ 9.90051039e-01 -2.50578340e-02 1.38459542e-01 1.83909039e+01] [ 2.39416506e-02 9.99666091e-01 9.72132961e-03 1.31133650e+00] [-1.38656905e-01 -6.30966249e-03 9.90320378e-01 -1.81338151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters 0.027540399013955438 Centerline is valid? [True, True] Translation: X:18.45, Y:1.33, Z:-1.82 [[ 9.89606050e-01 -3.42977488e-02 1.39655040e-01 1.84509813e+01] [ 3.32557747e-02 9.99398938e-01 9.78853294e-03 1.32651695e+00] [-1.39906823e-01 -5.04245488e-03 9.90151834e-01 -1.82043734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters 0.02656339868343227 Centerline is valid? [True, True] Translation: X:18.51, Y:1.33, Z:-1.83 [[ 9.89195663e-01 -4.07013927e-02 1.40837979e-01 1.85112636e+01] [ 3.97078828e-02 9.99162697e-01 9.85847562e-03 1.33423854e+00] [-1.41121309e-01 -4.15958336e-03 9.89983573e-01 -1.82832528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters 0.02408428497481662 Centerline is valid? [True, True] Translation: X:18.57, Y:1.34, Z:-1.84 [[ 9.88915725e-01 -5.08344611e-02 1.39504645e-01 1.85717989e+01] [ 4.99614044e-02 9.98703504e-01 9.75548875e-03 1.34163586e+00] [-1.39819693e-01 -2.67750825e-03 9.90173361e-01 -1.83773772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters 0.023748422751464535 Centerline is valid? [True, True] Translation: X:18.63, Y:1.34, Z:-1.85 [[ 9.88849706e-01 -5.24877189e-02 1.39360319e-01 1.86336276e+01] [ 5.16361109e-02 9.98618643e-01 9.72200364e-03 1.34470705e+00] [-1.39678099e-01 -2.41757553e-03 9.90194013e-01 -1.84547649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters 0.02347300541586689 Centerline is valid? [True, True] Translation: X:18.70, Y:1.34, Z:-1.85 [[ 9.88820732e-01 -5.30989630e-02 1.39334346e-01 1.86958846e+01] [ 5.22622409e-02 9.98586675e-01 9.65971170e-03 1.34219365e+00] [-1.39650342e-01 -2.26979804e-03 9.90198278e-01 -1.85135636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters 0.023287394086375788 Centerline is valid? [True, True] Translation: X:18.76, Y:1.34, Z:-1.86 [[ 9.88676831e-01 -5.41296030e-02 1.39957530e-01 1.87588316e+01] [ 5.33043997e-02 9.98531770e-01 9.64080576e-03 1.34170152e+00] [-1.40273893e-01 -2.07128916e-03 9.90110572e-01 -1.85809499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters 0.02321127703300766 Centerline is valid? [True, True] Translation: X:18.82, Y:1.34, Z:-1.86 [[ 9.89059234e-01 -5.27929595e-02 1.37748812e-01 1.88213345e+01] [ 5.19901352e-02 9.98603149e-01 9.42216647e-03 1.33713896e+00] [-1.38053822e-01 -2.15750139e-03 9.90422378e-01 -1.86405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters 0.024015531083259413 Centerline is valid? [True, True] Translation: X:18.88, Y:1.33, Z:-1.87 [[ 9.89155149e-01 -4.80755370e-02 1.38783409e-01 1.88832993e+01] [ 4.72229289e-02 9.98839846e-01 9.43166630e-03 1.33203771e+00] [-1.39075831e-01 -2.77562225e-03 9.90277844e-01 -1.87075304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters 0.026088782706256315 Centerline is valid? [True, True] Translation: X:18.94, Y:1.33, Z:-1.88 [[ 9.89372934e-01 -3.97923809e-02 1.39849078e-01 1.89448563e+01] [ 3.88515298e-02 9.99200286e-01 9.45237845e-03 1.32819010e+00] [-1.40113371e-01 -3.91857679e-03 9.90127713e-01 -1.87937843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters 0.028256775384276633 Centerline is valid? [True, True] Translation: X:19.01, Y:1.32, Z:-1.89 [[ 9.90038037e-01 -3.10139987e-02 1.37341970e-01 1.90063494e+01] [ 3.00253564e-02 9.99506199e-01 9.26475011e-03 1.32129883e+00] [-1.37561487e-01 -5.04871342e-03 9.90480362e-01 -1.88594618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters 0.031142818396399735 Centerline is valid? [True, True] Translation: X:19.07, Y:1.32, Z:-1.89 [[ 9.90696449e-01 -2.03644860e-02 1.34557920e-01 1.90673379e+01] [ 1.93244816e-02 9.99772479e-01 9.03073812e-03 1.32438387e+00] [-1.34711211e-01 -6.34645814e-03 9.90864578e-01 -1.89229784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters 0.03374501940217527 Centerline is valid? [True, True] Translation: X:19.13, Y:1.33, Z:-1.90 [[ 9.90929906e-01 -1.11600326e-02 1.33915555e-01 1.91279128e+01] [ 1.00513783e-02 9.99909412e-01 8.95198667e-03 1.33018211e+00] [-1.34003329e-01 -7.52475539e-03 9.90952313e-01 -1.89820453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters 0.03685097744972947 Centerline is valid? [True, True] Translation: X:19.19, Y:1.34, Z:-1.90 [[ 9.90777546e-01 -4.90825751e-03 1.35409615e-01 1.91884891e+01] [ 3.71828409e-03 9.99952230e-01 9.03946634e-03 1.33573844e+00] [-1.35447515e-01 -8.45260886e-03 9.90748467e-01 -1.90470023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters 0.03775373067732871 Centerline is valid? [True, True] Translation: X:19.25, Y:1.35, Z:-1.91 [[ 9.90695780e-01 -7.77157456e-04 1.36092861e-01 1.92486744e+01] [-4.58165844e-04 9.99958984e-01 9.04550424e-03 1.34666367e+00] [-1.36094308e-01 -9.02369599e-03 9.90654790e-01 -1.90970406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters 0.038287632793553544 Centerline is valid? [True, True] Translation: X:19.31, Y:1.36, Z:-1.92 [[ 9.90722394e-01 -1.36094102e-03 1.35894394e-01 1.93096036e+01] [ 1.40125397e-04 9.99959555e-01 8.99272276e-03 1.36288781e+00] [-1.35901136e-01 -8.89024956e-03 9.90682515e-01 -1.91922017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters 0.036744474931124024 Centerline is valid? [True, True] Translation: X:19.37, Y:1.38, Z:-1.93 [[ 9.90560308e-01 -4.54880541e-03 1.37002131e-01 1.93699969e+01] [ 3.34051061e-03 9.99953485e-01 9.04815564e-03 1.37689480e+00] [-1.37036917e-01 -8.50508677e-03 9.90529428e-01 -1.92643225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters 0.03368739792716844 Centerline is valid? [True, True] Translation: X:19.43, Y:1.39, Z:-1.93 [[ 9.90601564e-01 -1.12958137e-02 1.36311946e-01 1.94297599e+01] [ 1.01654399e-02 9.99907955e-01 8.98581053e-03 1.38782680e+00] [-1.36400901e-01 -7.51568707e-03 9.90625211e-01 -1.93470322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters 0.031182565552841244 Centerline is valid? [True, True] Translation: X:19.49, Y:1.40, Z:-1.94 [[ 9.90298146e-01 -2.07041651e-02 1.37407859e-01 1.94897617e+01] [ 1.96517162e-02 9.99766273e-01 9.01162323e-03 1.39574407e+00] [-1.37562321e-01 -6.22389353e-03 9.90473559e-01 -1.94196800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters 0.029144545009822803 Centerline is valid? [True, True] Translation: X:19.55, Y:1.40, Z:-1.95 [[ 9.89862309e-01 -2.66603336e-02 1.39505683e-01 1.95502320e+01] [ 2.56397592e-02 9.99629754e-01 9.10809793e-03 1.40370855e+00] [-1.39696856e-01 -5.43887074e-03 9.90179381e-01 -1.94803898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters 0.02838715821676849 Centerline is valid? [True, True] Translation: X:19.61, Y:1.41, Z:-1.96 [[ 9.89712812e-01 -2.99148037e-02 1.39905873e-01 1.96117062e+01] [ 2.89230491e-02 9.99540062e-01 9.11707588e-03 1.40752335e+00] [-1.40114261e-01 -4.97678237e-03 9.90122834e-01 -1.95708495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters 0.027726342330268102 Centerline is valid? [True, True] Translation: X:19.67, Y:1.41, Z:-1.97 [[ 9.89874556e-01 -3.11457743e-02 1.38485757e-01 1.96729615e+01] [ 3.01940976e-02 9.99503822e-01 8.96808139e-03 1.41173287e+00] [-1.38696361e-01 -4.69582314e-03 9.90323820e-01 -1.96519439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters 0.028015926894560488 Centerline is valid? [True, True] Translation: X:19.73, Y:1.42, Z:-1.97 [[ 9.89656243e-01 -2.88428587e-02 1.40529748e-01 1.97349357e+01] [ 2.78468022e-02 9.99571239e-01 9.04954552e-03 1.41677295e+00] [-1.40730509e-01 -5.04263513e-03 9.90035098e-01 -1.97145073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters 0.028844970028023813 Centerline is valid? [True, True] Translation: X:19.80, Y:1.42, Z:-1.98 [[ 9.89663544e-01 -2.70242237e-02 1.40839486e-01 1.97967419e+01] [ 2.60089430e-02 9.99620791e-01 9.04485827e-03 1.42078263e+00] [-1.41030509e-01 -5.28828034e-03 9.89991126e-01 -1.97946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters 0.02714140725773918 Centerline is valid? [True, True] Translation: X:19.86, Y:1.43, Z:-1.99 [[ 9.89819675e-01 -3.20260907e-02 1.38677111e-01 1.98571829e+01] [ 3.10975782e-02 9.99477105e-01 8.85762370e-03 1.42725891e+00] [-1.38888273e-01 -4.45492791e-03 9.90298037e-01 -1.98745598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters 0.026006498791464702 Centerline is valid? [True, True] Translation: X:19.92, Y:1.43, Z:-1.99 [[ 9.89508047e-01 -3.57581374e-02 1.39982784e-01 1.99190043e+01] [ 3.48515374e-02 9.99352663e-01 8.92333398e-03 1.43035777e+00] [-1.40211250e-01 -3.95109556e-03 9.90113728e-01 -1.99498719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters 0.026046543062724394 Centerline is valid? [True, True] Translation: X:19.98, Y:1.43, Z:-2.00 [[ 9.89515587e-01 -3.71548954e-02 1.39565098e-01 1.99802904e+01] [ 3.62758429e-02 9.99302733e-01 8.83800175e-03 1.43302362e+00] [-1.39796159e-01 -3.68249892e-03 9.90173456e-01 -2.00199085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters 0.026121288947777627 Centerline is valid? [True, True] Translation: X:20.04, Y:1.44, Z:-2.01 [[ 9.89681139e-01 -3.58060070e-02 1.38741390e-01 2.00425388e+01] [ 3.49326204e-02 9.99351576e-01 8.72583141e-03 1.43586955e+00] [-1.38963864e-01 -3.78919047e-03 9.90290203e-01 -2.00828786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters 0.026376038939929267 Centerline is valid? [True, True] Translation: X:20.11, Y:1.44, Z:-2.02 [[ 9.89675018e-01 -3.49590850e-02 1.39000794e-01 2.01051983e+01] [ 3.40835129e-02 9.99381336e-01 8.67517248e-03 1.43525963e+00] [-1.39218075e-01 -3.84796613e-03 9.90254271e-01 -2.01680251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters 0.026739245742045604 Centerline is valid? [True, True] Translation: X:20.17, Y:1.44, Z:-2.02 [[ 9.89676438e-01 -3.34399198e-02 1.39363981e-01 2.01668685e+01] [ 3.25540420e-02 9.99432701e-01 8.63193623e-03 1.43530035e+00] [-1.39573571e-01 -4.00596301e-03 9.90203600e-01 -2.02339136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters 0.02715723756485472 Centerline is valid? [True, True] Translation: X:20.23, Y:1.44, Z:-2.03 [[ 9.89839132e-01 -3.19618218e-02 1.38553001e-01 2.02285348e+01] [ 3.10801711e-02 9.99480558e-01 8.52273026e-03 1.43696608e+00] [-1.38753432e-01 -4.12988096e-03 9.90318347e-01 -2.03305940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters 0.02772766253784136 Centerline is valid? [True, True] Translation: X:20.29, Y:1.44, Z:-2.04 [[ 9.89851968e-01 -2.92262867e-02 1.39064394e-01 2.02901175e+01] [ 2.83202531e-02 9.99562846e-01 8.48996707e-03 1.43814383e+00] [-1.39251731e-01 -4.46547180e-03 9.90246946e-01 -2.03726819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters 0.027416684945931278 Centerline is valid? [True, True] Translation: X:20.35, Y:1.44, Z:-2.04 [[ 9.89835047e-01 -2.93767580e-02 1.39153100e-01 2.03519477e+01] [ 2.84786473e-02 9.99558758e-01 8.44129591e-03 1.44347147e+00] [-1.39339678e-01 -4.39259848e-03 9.90234901e-01 -2.04388841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters 0.027494231173471616 Centerline is valid? [True, True] Translation: X:20.41, Y:1.45, Z:-2.05 [[ 9.89374787e-01 -3.23429683e-02 1.41744362e-01 2.04130847e+01] [ 3.14496120e-02 9.99468864e-01 8.53886933e-03 1.44599250e+00] [-1.41945248e-01 -3.99033684e-03 9.89866468e-01 -2.05223409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters 0.025789987187537947 Centerline is valid? [True, True] Translation: X:20.47, Y:1.45, Z:-2.06 [[ 9.89009586e-01 -3.92817294e-02 1.42537662e-01 2.04734559e+01] [ 3.84573944e-02 9.99223793e-01 8.53463482e-03 1.45242327e+00] [-1.42762279e-01 -2.95920856e-03 9.89752583e-01 -2.05906540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters 0.026119297590355254 Centerline is valid? [True, True] Translation: X:20.54, Y:1.45, Z:-2.07 [[ 9.88461821e-01 -4.24781631e-02 1.45392004e-01 2.05359733e+01] [ 4.16589586e-02 9.99094220e-01 8.67583654e-03 1.45435596e+00] [-1.45628844e-01 -2.51885372e-03 9.89336088e-01 -2.06706896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters 0.026319428387713836 Centerline is valid? [True, True] Translation: X:20.60, Y:1.46, Z:-2.08 [[ 9.88179709e-01 -4.34911860e-02 1.47001289e-01 2.05970168e+01] [ 4.26753333e-02 9.99051106e-01 8.70073294e-03 1.45523788e+00] [-1.47240206e-01 -2.32455872e-03 9.89098033e-01 -2.07584849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters 0.026506655825223872 Centerline is valid? [True, True] Translation: X:20.66, Y:1.45, Z:-2.08 [[ 9.88181394e-01 -4.25950300e-02 1.47252151e-01 2.06595591e+01] [ 4.17762208e-02 9.99089546e-01 8.65023051e-03 1.45224806e+00] [-1.47486541e-01 -2.39635848e-03 9.89061160e-01 -2.08197065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters 0.02739331398831092 Centerline is valid? [True, True] Translation: X:20.72, Y:1.45, Z:-2.09 [[ 9.88406156e-01 -3.82581406e-02 1.46933948e-01 2.07214606e+01] [ 3.74056141e-02 9.99263486e-01 8.56183107e-03 1.45069084e+00] [-1.47153289e-01 -2.96641198e-03 9.89109251e-01 -2.09078913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters 0.028347284417823873 Centerline is valid? [True, True] Translation: X:20.78, Y:1.44, Z:-2.10 [[ 9.88591339e-01 -3.49874377e-02 1.46502708e-01 2.07836842e+01] [ 3.41134369e-02 9.99382035e-01 8.47471350e-03 1.44229957e+00] [-1.46708683e-01 -3.38031748e-03 9.89173966e-01 -2.09570617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters 0.029370753193739413 Centerline is valid? [True, True] Translation: X:20.85, Y:1.44, Z:-2.10 [[ 9.88234184e-01 -3.24303770e-02 1.49470627e-01 2.08455812e+01] [ 3.14991972e-02 9.99466832e-01 8.59368018e-03 1.43571656e+00] [-1.49669631e-01 -3.78436377e-03 9.88728820e-01 -2.10439412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters 0.029661688733295537 Centerline is valid? [True, True] Translation: X:20.91, Y:1.43, Z:-2.11 [[ 9.88478017e-01 -3.14807294e-02 1.48054628e-01 2.09081106e+01] [ 3.05594331e-02 9.99496861e-01 8.49390775e-03 1.43038513e+00] [-1.48247531e-01 -3.87157557e-03 9.88942708e-01 -2.11213076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters 0.030645130795845604 Centerline is valid? [True, True] Translation: X:20.97, Y:1.42, Z:-2.12 [[ 9.88284677e-01 -2.85800269e-02 1.49921909e-01 2.09702770e+01] [ 2.76051828e-02 9.99582083e-01 8.57982441e-03 1.42450221e+00] [-1.50104466e-01 -4.34068729e-03 9.88660613e-01 -2.11901780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters 0.03170034070377789 Centerline is valid? [True, True] Translation: X:21.03, Y:1.42, Z:-2.13 [[ 9.88215788e-01 -2.60372087e-02 1.50836403e-01 2.10317665e+01] [ 2.50252490e-02 9.99649796e-01 8.60365379e-03 1.42115736e+00] [-1.51007595e-01 -4.72754795e-03 9.88521298e-01 -2.12722872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters 0.032404295249667446 Centerline is valid? [True, True] Translation: X:21.09, Y:1.42, Z:-2.13 [[ 9.88606821e-01 -2.23818888e-02 1.48847586e-01 2.10932091e+01] [ 2.13645870e-02 9.99736209e-01 8.43015527e-03 1.41854372e+00] [-1.48997004e-01 -5.15404181e-03 9.88824215e-01 -2.13448354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters 0.03364692102413271 Centerline is valid? [True, True] Translation: X:21.15, Y:1.42, Z:-2.14 [[ 9.88795442e-01 -1.80717279e-02 1.48178903e-01 2.11549923e+01] [ 1.70244173e-02 9.99820347e-01 8.33327154e-03 1.41607240e+00] [-1.48302879e-01 -5.71724143e-03 9.88925462e-01 -2.13948116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters 0.03558847995753597 Centerline is valid? [True, True] Translation: X:21.22, Y:1.42, Z:-2.15 [[ 9.88887012e-01 -9.94703220e-03 1.48335881e-01 2.12154393e+01] [ 8.81525755e-03 9.99926820e-01 8.28532223e-03 1.42090368e+00] [-1.48407441e-01 -6.88562854e-03 9.88902331e-01 -2.14694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters 0.03926361812115598 Centerline is valid? [True, True] Translation: X:21.28, Y:1.42, Z:-2.15 [[ 9.89202434e-01 -1.29348117e-03 1.46549896e-01 2.12758173e+01] [ 1.02320906e-04 9.99966903e-01 8.13526519e-03 1.42389323e+00] [-1.46555569e-01 -8.03242901e-03 9.89169826e-01 -2.15408232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters 0.04074184426960423 Centerline is valid? [True, True] Translation: X:21.34, Y:1.44, Z:-2.16 [[ 9.88780575e-01 2.34130860e-03 1.49356929e-01 2.13363414e+01] [-3.61360905e-03 9.99959458e-01 8.24771081e-03 1.44058661e+00] [-1.49331563e-01 -8.69489378e-03 9.88748948e-01 -2.16239138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters 0.04039838932706165 Centerline is valid? [True, True] Translation: X:21.40, Y:1.45, Z:-2.17 [[ 9.88821686e-01 2.71957953e-03 1.49078094e-01 2.13981190e+01] [-3.98753129e-03 9.99958371e-01 8.20704815e-03 1.45313043e+00] [-1.49049568e-01 -8.70976075e-03 9.88791366e-01 -2.16868629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters 0.04091588222784315 Centerline is valid? [True, True] Translation: X:21.46, Y:1.47, Z:-2.18 [[ 9.88705774e-01 2.00909852e-03 1.49856119e-01 2.14582603e+01] [-3.27267305e-03 9.99961140e-01 8.18578713e-03 1.46913641e+00] [-1.49833849e-01 -8.58376508e-03 9.88673928e-01 -2.17980745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters 0.03857119349490437 Centerline is valid? [True, True] Translation: X:21.52, Y:1.49, Z:-2.19 [[ 9.89364343e-01 -2.50483476e-03 1.45437005e-01 2.15183714e+01] [ 1.37168362e-03 9.99967924e-01 7.89111102e-03 1.48553153e+00] [-1.45452106e-01 -7.60769032e-03 9.89336044e-01 -2.18612511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters 0.03702110582280414 Centerline is valid? [True, True] Translation: X:21.58, Y:1.50, Z:-2.19 [[ 9.89776906e-01 -8.65658107e-03 1.42361297e-01 2.15786371e+01] [ 7.64035608e-03 9.99941293e-01 7.68344262e-03 1.49747185e+00] [-1.42419452e-01 -6.51720307e-03 9.89784939e-01 -2.19395798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters 0.03467963559991256 Centerline is valid? [True, True] Translation: X:21.64, Y:1.51, Z:-2.20 [[ 9.89578917e-01 -1.54695409e-02 1.43158167e-01 2.16392695e+01] [ 1.45146836e-02 9.99864916e-01 7.71193381e-03 1.50884324e+00] [-1.43258129e-01 -5.55367161e-03 9.89669776e-01 -2.20113429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters 0.033645454171505045 Centerline is valid? [True, True] Translation: X:21.70, Y:1.52, Z:-2.21 [[ 9.89938509e-01 -1.90055827e-02 1.40216036e-01 2.16994471e+01] [ 1.81268508e-02 9.99807252e-01 7.54158921e-03 1.51827900e+00] [-1.40332342e-01 -4.92403442e-03 9.90092212e-01 -2.20878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters 0.032225242565857945 Centerline is valid? [True, True] Translation: X:21.76, Y:1.53, Z:-2.22 [[ 9.90045382e-01 -2.40087503e-02 1.38685697e-01 2.17601407e+01] [ 2.32002539e-02 9.99703127e-01 7.44358332e-03 1.52862649e+00] [-1.38823236e-01 -4.15194192e-03 9.90308472e-01 -2.21552204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters 0.03157457813752586 Centerline is valid? [True, True] Translation: X:21.82, Y:1.53, Z:-2.22 [[ 9.89920250e-01 -2.77694248e-02 1.38876773e-01 2.18214059e+01] [ 2.69983228e-02 9.99607840e-01 7.43355616e-03 1.53451238e+00] [-1.39028736e-01 -3.60918783e-03 9.90281770e-01 -2.22448779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters 0.03148556690987822 Centerline is valid? [True, True] Translation: X:21.88, Y:1.54, Z:-2.23 [[ 9.90040315e-01 -2.82204793e-02 1.37926717e-01 2.18823568e+01] [ 2.74723115e-02 9.99595723e-01 7.32544406e-03 1.54111502e+00] [-1.38077684e-01 -3.46331921e-03 9.90415347e-01 -2.23090305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters 0.03198594241458233 Centerline is valid? [True, True] Translation: X:21.94, Y:1.54, Z:-2.24 [[ 9.89921689e-01 -2.79097118e-02 1.38838385e-01 2.19441613e+01] [ 2.71567907e-02 9.99604423e-01 7.31480135e-03 1.54286089e+00] [-1.38987618e-01 -3.47067553e-03 9.90288037e-01 -2.23880323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters 0.03205596570446744 Centerline is valid? [True, True] Translation: X:22.01, Y:1.55, Z:-2.25 [[ 9.89603216e-01 -2.82003322e-02 1.41032679e-01 2.20057013e+01] [ 2.74352294e-02 9.99596438e-01 7.36680593e-03 1.54556480e+00] [-1.41183509e-01 -3.42095094e-03 9.89977532e-01 -2.24592328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters 0.03197937258960984 Centerline is valid? [True, True] Translation: X:22.07, Y:1.55, Z:-2.25 [[ 9.89804914e-01 -2.80084990e-02 1.39648686e-01 2.20672509e+01] [ 2.72647208e-02 9.99602053e-01 7.23672029e-03 1.54660174e+00] [-1.39795803e-01 -3.35545887e-03 9.90174669e-01 -2.25295160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters 0.03253417064920033 Centerline is valid? [True, True] Translation: X:22.13, Y:1.55, Z:-2.26 [[ 9.89976005e-01 -2.61050654e-02 1.38802141e-01 2.21299827e+01] [ 2.53601482e-02 9.99652932e-01 7.13293710e-03 1.54666837e+00] [-1.38940173e-01 -3.54139370e-03 9.90294444e-01 -2.25871995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters 0.03388529137980751 Centerline is valid? [True, True] Translation: X:22.19, Y:1.55, Z:-2.27 [[ 9.90576902e-01 -2.01508967e-02 1.35467128e-01 2.21919761e+01] [ 1.93948619e-02 9.99788102e-01 6.89853415e-03 1.54561700e+00] [-1.35577434e-01 -4.20616235e-03 9.90757825e-01 -2.26691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters 0.035521573904546695 Centerline is valid? [True, True] Translation: X:22.25, Y:1.55, Z:-2.27 [[ 9.90618218e-01 -1.36424549e-02 1.35975844e-01 2.22531071e+01] [ 1.28265000e-02 9.99894101e-01 6.87508571e-03 1.54561195e+00] [-1.36055237e-01 -5.06649099e-03 9.90688298e-01 -2.27337700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters 0.0386954621092249 Centerline is valid? [True, True] Translation: X:22.31, Y:1.55, Z:-2.28 [[ 9.90759831e-01 -1.50121566e-03 1.35619705e-01 2.23140090e+01] [ 5.77932330e-04 9.99976392e-01 6.84699973e-03 1.54995521e+00] [-1.35626782e-01 -6.70535329e-03 9.90737308e-01 -2.27950526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters 0.043219831215383336 Centerline is valid? [True, True] Translation: X:22.37, Y:1.56, Z:-2.28 [[ 9.90657062e-01 1.24071990e-02 1.35811073e-01 2.23749153e+01] [-1.34615210e-02 9.99885943e-01 6.84750537e-03 1.55522132e+00] [-1.35710624e-01 -8.61175317e-03 9.90711090e-01 -2.28439594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters 0.04606054683041209 Centerline is valid? [True, True] Translation: X:22.44, Y:1.56, Z:-2.29 [[ 9.90756458e-01 1.93016914e-02 1.34272430e-01 2.24357152e+01] [-2.03930306e-02 9.99769206e-01 6.75708437e-03 1.56141700e+00] [-1.34111017e-01 -9.43284675e-03 9.90921418e-01 -2.29333354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters 0.047273548677641906 Centerline is valid? [True, True] Translation: X:22.50, Y:1.57, Z:-2.30 [[ 9.90719971e-01 2.35458310e-02 1.33863856e-01 2.24963987e+01] [-2.46671043e-02 9.99673110e-01 6.72368804e-03 1.57484005e+00] [-1.33661782e-01 -9.96332572e-03 9.90976922e-01 -2.30169048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters 0.045469185170916186 Centerline is valid? [True, True] Translation: X:22.56, Y:1.59, Z:-2.31 [[ 9.90378509e-01 2.06049947e-02 1.36842403e-01 2.25570729e+01] [-2.17478028e-02 9.99739944e-01 6.86132563e-03 1.59108727e+00] [-1.36665438e-01 -9.77133104e-03 9.90569068e-01 -2.30743441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters 0.04418756553217397 Centerline is valid? [True, True] Translation: X:22.62, Y:1.61, Z:-2.32 [[ 9.90674110e-01 1.55850371e-02 1.35358464e-01 2.26164422e+01] [-1.66542920e-02 9.99838384e-01 6.77059708e-03 1.60729310e+00] [-1.35231068e-01 -8.96175463e-03 9.90773559e-01 -2.31794406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters 0.0415900823661916 Centerline is valid? [True, True] Translation: X:22.68, Y:1.62, Z:-2.33 [[ 9.90207097e-01 5.48152693e-03 1.39498592e-01 2.26759786e+01] [-6.51172758e-03 9.99954787e-01 6.92967399e-03 1.62106109e+00] [-1.39454300e-01 -7.77018920e-03 9.90198022e-01 -2.32770823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters 0.03752504327053696 Centerline is valid? [True, True] Translation: X:22.74, Y:1.63, Z:-2.34 [[ 9.90214752e-01 -7.15740880e-03 1.39368273e-01 2.27361485e+01] [ 6.25954352e-03 9.99956743e-01 6.87966377e-03 1.63209975e+00] [-1.39411485e-01 -5.93996278e-03 9.90216721e-01 -2.33556662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters 0.03450886169291595 Centerline is valid? [True, True] Translation: X:22.80, Y:1.64, Z:-2.34 [[ 9.90033279e-01 -1.76829587e-02 1.39719074e-01 2.27966704e+01] [ 1.68897468e-02 9.99833818e-01 6.86097195e-03 1.63881292e+00] [-1.39817177e-01 -4.43277077e-03 9.90167414e-01 -2.34051664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters 0.034117942830587805 Centerline is valid? [True, True] Translation: X:22.86, Y:1.64, Z:-2.35 [[ 9.90069427e-01 -1.89907413e-02 1.39290635e-01 2.28579097e+01] [ 1.82179442e-02 9.99810772e-01 6.82112047e-03 1.64307983e+00] [-1.39393815e-01 -4.21579383e-03 9.90228050e-01 -2.34893596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters 0.03385141227236668 Centerline is valid? [True, True] Translation: X:22.92, Y:1.64, Z:-2.35 [[ 9.90165430e-01 -1.94554849e-02 1.38542074e-01 2.29199413e+01] [ 1.87038228e-02 9.99802448e-01 6.72548524e-03 1.63929244e+00] [-1.38645553e-01 -4.06807658e-03 9.90333712e-01 -2.35113705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters 0.03341974367332017 Centerline is valid? [True, True] Translation: X:22.98, Y:1.64, Z:-2.36 [[ 9.90232538e-01 -2.09823456e-02 1.37837808e-01 2.29819719e+01] [ 2.02602442e-02 9.99772692e-01 6.63985595e-03 1.63831007e+00] [-1.37945796e-01 -3.78237378e-03 9.90432558e-01 -2.36042722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters 0.032750517032459875 Centerline is valid? [True, True] Translation: X:23.04, Y:1.64, Z:-2.37 [[ 9.90354623e-01 -2.25068948e-02 1.36715621e-01 2.30434107e+01] [ 2.18147029e-02 9.99740513e-01 6.55932864e-03 1.63639748e+00] [-1.36827775e-01 -3.51365079e-03 9.90588620e-01 -2.36689826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters 0.03355548822062336 Centerline is valid? [True, True] Translation: X:23.11, Y:1.63, Z:-2.37 [[ 9.90571401e-01 -1.71058017e-02 1.35925317e-01 2.31050975e+01] [ 1.63782896e-02 9.99844941e-01 6.46887656e-03 1.63273735e+00] [-1.36014896e-01 -4.18165992e-03 9.90697967e-01 -2.37280832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters 0.035528449445846946 Centerline is valid? [True, True] Translation: X:23.17, Y:1.63, Z:-2.38 [[ 9.90637052e-01 -1.00933092e-02 1.36148285e-01 2.31663542e+01] [ 9.30121231e-03 9.99935922e-01 6.45279409e-03 1.63047162e+00] [-1.36204691e-01 -5.12603281e-03 9.90667455e-01 -2.38049084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters 0.0380913178743624 Centerline is valid? [True, True] Translation: X:23.23, Y:1.64, Z:-2.39 [[ 9.91541078e-01 1.09356210e-03 1.29788657e-01 2.32267898e+01] [-1.90628242e-03 9.99979346e-01 6.13780764e-03 1.63541876e+00] [-1.29779265e-01 -6.33330224e-03 9.91522683e-01 -2.38551855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters 0.039517658376511326 Centerline is valid? [True, True] Translation: X:23.29, Y:1.64, Z:-2.39 [[ 9.91210748e-01 5.32933286e-03 1.32184910e-01 2.32868610e+01] [-6.20431574e-03 9.99961480e-01 6.20840058e-03 1.64309769e+00] [-1.32146731e-01 -6.97395030e-03 9.91205632e-01 -2.39409095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters 0.0394578507484423 Centerline is valid? [True, True] Translation: X:23.35, Y:1.65, Z:-2.40 [[ 9.91088987e-01 5.59248315e-03 1.33083972e-01 2.33491430e+01] [-6.47560838e-03 9.99959788e-01 6.20394679e-03 1.65481453e+00] [-1.33043925e-01 -7.01046303e-03 9.91085348e-01 -2.39841486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters 0.038533732708338785 Centerline is valid? [True, True] Translation: X:23.41, Y:1.67, Z:-2.41 [[ 9.91262797e-01 6.75645083e-03 1.31728574e-01 2.34106855e+01] [-7.62453662e-03 9.99952408e-01 6.08668412e-03 1.66599068e+00] [-1.31681181e-01 -7.03787286e-03 9.91267136e-01 -2.40705960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters 0.03848776002899185 Centerline is valid? [True, True] Translation: X:23.47, Y:1.67, Z:-2.41 [[ 9.91109879e-01 5.38135594e-03 1.32937009e-01 2.34722549e+01] [-6.25008700e-03 9.99961750e-01 6.11848327e-03 1.67437924e+00] [-1.32898999e-01 -6.89495709e-03 9.91105603e-01 -2.41321735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters 0.03775316907390214 Centerline is valid? [True, True] Translation: X:23.53, Y:1.68, Z:-2.42 [[ 9.90959209e-01 -1.45046330e-04 1.34163429e-01 2.35330742e+01] [-6.82993283e-04 9.99981004e-01 6.12582775e-03 1.68321899e+00] [-1.34161769e-01 -6.16207814e-03 9.90940285e-01 -2.42091191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters 0.036422470304699105 Centerline is valid? [True, True] Translation: X:23.59, Y:1.69, Z:-2.43 [[ 9.90893638e-01 -3.67762648e-03 1.34596703e-01 2.35938553e+01] [ 2.87825307e-03 9.99977050e-01 6.13313257e-03 1.69179633e+00] [-1.34616169e-01 -5.68987868e-03 9.90881482e-01 -2.42943611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters 0.036112908094729466 Centerline is valid? [True, True] Translation: X:23.66, Y:1.70, Z:-2.44 [[ 9.90991314e-01 -2.79087926e-03 1.33897073e-01 2.36560001e+01] [ 1.99485059e-03 9.99979534e-01 6.07886730e-03 1.69689972e+00] [-1.33911298e-01 -5.75700004e-03 9.90976600e-01 -2.43531576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters 0.03720154464046515 Centerline is valid? [True, True] Translation: X:23.72, Y:1.70, Z:-2.44 [[ 9.91072588e-01 4.90634857e-04 1.33322480e-01 2.37177929e+01] [-1.30109599e-03 9.99981202e-01 5.99189973e-03 1.70128099e+00] [-1.33317034e-01 -6.11187292e-03 9.91054597e-01 -2.44153442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters 0.03751574130307696 Centerline is valid? [True, True] Translation: X:23.78, Y:1.71, Z:-2.45 [[ 9.90702222e-01 3.19744567e-03 1.36010601e-01 2.37789688e+01] [-4.05942034e-03 9.99973394e-01 6.06067577e-03 1.70523065e+00] [-1.35987603e-01 -6.55644915e-03 9.90688844e-01 -2.44735234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters 0.03709457141567091 Centerline is valid? [True, True] Translation: X:23.84, Y:1.71, Z:-2.46 [[ 9.90943017e-01 1.59276834e-03 1.34273605e-01 2.38407337e+01] [-2.41469281e-03 9.99979332e-01 5.95863618e-03 1.71213914e+00] [-1.34261339e-01 -6.22889842e-03 9.90926382e-01 -2.45547973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters 0.035864480406440157 Centerline is valid? [True, True] Translation: X:23.90, Y:1.71, Z:-2.46 [[ 9.90781793e-01 -1.46416808e-03 1.35459571e-01 2.39019512e+01] [ 6.59381515e-04 9.99981867e-01 5.98583269e-03 1.71492974e+00] [-1.35465879e-01 -5.84133451e-03 9.90764793e-01 -2.46268431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters 0.03561649667144275 Centerline is valid? [True, True] Translation: X:23.96, Y:1.72, Z:-2.47 [[ 9.90724794e-01 -4.75415442e-03 1.35800519e-01 2.39634442e+01] [ 3.98362473e-03 9.99974393e-01 5.94516790e-03 1.71934977e+00] [-1.35825306e-01 -5.34904694e-03 9.90718363e-01 -2.47088094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters 0.03505311546373414 Centerline is valid? [True, True] Translation: X:24.03, Y:1.72, Z:-2.48 [[ 9.90896522e-01 -5.41507244e-03 1.34516762e-01 2.40252605e+01] [ 4.67278347e-03 9.99972068e-01 5.83329756e-03 1.72469520e+00] [-1.34544592e-01 -5.15162657e-03 9.90894148e-01 -2.47777966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters 0.03489188652005602 Centerline is valid? [True, True] Translation: X:24.09, Y:1.73, Z:-2.48 [[ 9.91239716e-01 -4.62718787e-03 1.31993998e-01 2.40868685e+01] [ 3.91289209e-03 9.99976267e-01 5.67043976e-03 1.73234011e+00] [-1.32017103e-01 -5.10428683e-03 9.91234297e-01 -2.48459291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters 0.03467468164171027 Centerline is valid? [True, True] Translation: X:24.15, Y:1.73, Z:-2.49 [[ 9.91120081e-01 -7.03467932e-03 1.32783653e-01 2.41490223e+01] [ 6.33999145e-03 9.99963919e-01 5.65380337e-03 1.73498152e+00] [-1.32818634e-01 -4.76175083e-03 9.91128920e-01 -2.49183526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters 0.03313073119569907 Centerline is valid? [True, True] Translation: X:24.21, Y:1.74, Z:-2.50 [[ 9.90839604e-01 -1.44785654e-02 1.34265598e-01 2.42102375e+01] [ 1.38387974e-02 9.99888009e-01 5.69703200e-03 1.73650537e+00] [-1.34333046e-01 -3.78677053e-03 9.90929005e-01 -2.49921396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters 0.032100406267977596 Centerline is valid? [True, True] Translation: X:24.27, Y:1.74, Z:-2.51 [[ 9.90541795e-01 -1.95940154e-02 1.35805106e-01 2.42714892e+01] [ 1.89904901e-02 9.99803197e-01 5.73826039e-03 1.74093507e+00] [-1.35890815e-01 -3.10498122e-03 9.90718954e-01 -2.50689134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters 0.03188219042217151 Centerline is valid? [True, True] Translation: X:24.33, Y:1.74, Z:-2.51 [[ 9.90527234e-01 -1.94182144e-02 1.35936498e-01 2.43347613e+01] [ 1.88199945e-02 9.99806728e-01 5.68459794e-03 1.73886566e+00] [-1.36020610e-01 -3.07242494e-03 9.90701244e-01 -2.51213634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters 0.03184840012217155 Centerline is valid? [True, True] Translation: X:24.40, Y:1.74, Z:-2.52 [[ 9.90485018e-01 -1.86063152e-02 1.36357006e-01 2.43970085e+01] [ 1.80059358e-02 9.99822000e-01 5.63516033e-03 1.74050042e+00] [-1.36437584e-01 -3.12630638e-03 9.90643736e-01 -2.52044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters 0.030932093695667295 Centerline is valid? [True, True] Translation: X:24.46, Y:1.74, Z:-2.53 [[ 9.90382246e-01 -2.17426785e-02 1.36639168e-01 2.44580547e+01] [ 2.11785842e-02 9.99760132e-01 5.58089915e-03 1.74361577e+00] [-1.36727736e-01 -2.63339932e-03 9.90605164e-01 -2.52870532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters 0.030676444705559122 Centerline is valid? [True, True] Translation: X:24.52, Y:1.74, Z:-2.53 [[ 9.90407521e-01 -2.29752312e-02 1.36253741e-01 2.45203699e+01] [ 2.24339942e-02 9.99733161e-01 5.50666675e-03 1.74229133e+00] [-1.36343900e-01 -2.39712852e-03 9.90658667e-01 -2.53450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters 0.030524768793407316 Centerline is valid? [True, True] Translation: X:24.58, Y:1.74, Z:-2.54 [[ 9.90647333e-01 -2.15903865e-02 1.34728310e-01 2.45823923e+01] [ 2.10566342e-02 9.99763779e-01 5.38556332e-03 1.74144363e+00] [-1.34812761e-01 -2.49826919e-03 9.90867942e-01 -2.54349092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters 0.0305809579844977 Centerline is valid? [True, True] Translation: X:24.64, Y:1.74, Z:-2.55 [[ 9.90465435e-01 -2.03058034e-02 1.36256729e-01 2.46446865e+01] [ 1.97569741e-02 9.99790341e-01 5.37915613e-03 1.73599667e+00] [-1.36337390e-01 -2.63584755e-03 9.90658957e-01 -2.54890696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters 0.03048763051136945 Centerline is valid? [True, True] Translation: X:24.71, Y:1.73, Z:-2.56 [[ 9.90554431e-01 -2.05920459e-02 1.35565067e-01 2.47066125e+01] [ 2.00596258e-02 9.99784778e-01 5.29238682e-03 1.73425390e+00] [-1.35644871e-01 -2.52301270e-03 9.90754310e-01 -2.55667431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters 0.03010644374549722 Centerline is valid? [True, True] Translation: X:24.77, Y:1.73, Z:-2.56 [[ 9.90130419e-01 -2.36566312e-02 1.38138035e-01 2.47697112e+01] [ 2.31420725e-02 9.99717977e-01 5.33009984e-03 1.72596770e+00] [-1.38225170e-01 -2.08069355e-03 9.90398644e-01 -2.56387823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters 0.03023576826250462 Centerline is valid? [True, True] Translation: X:24.83, Y:1.72, Z:-2.57 [[ 9.90429882e-01 -2.26556164e-02 1.36144672e-01 2.48314287e+01] [ 2.21554890e-02 9.99741077e-01 5.18780474e-03 1.72265764e+00] [-1.36226954e-01 -2.12180505e-03 9.90675383e-01 -2.57138182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters 0.030437385296035246 Centerline is valid? [True, True] Translation: X:24.89, Y:1.72, Z:-2.58 [[ 9.90712517e-01 -1.74856175e-02 1.34844211e-01 2.48939361e+01] [ 1.69553060e-02 9.99843342e-01 5.08026514e-03 1.71530212e+00] [-1.34911918e-01 -2.74675741e-03 9.90853788e-01 -2.57728567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters 0.030742453717437376 Centerline is valid? [True, True] Translation: X:24.96, Y:1.71, Z:-2.58 [[ 9.90891918e-01 -1.52368493e-02 1.33794784e-01 2.49564017e+01] [ 1.47023689e-02 9.99879503e-01 4.98191893e-03 1.71148880e+00] [-1.33854571e-01 -2.96944293e-03 9.90996537e-01 -2.58254480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters 0.030096057112198038 Centerline is valid? [True, True] Translation: X:25.02, Y:1.71, Z:-2.59 [[ 9.91130680e-01 -1.73059405e-02 1.31759173e-01 2.50186733e+01] [ 1.68136921e-02 9.99846888e-01 4.84766764e-03 1.70648813e+00] [-1.31822893e-01 -2.58931395e-03 9.91269903e-01 -2.59150611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters 0.03001661878284407 Centerline is valid? [True, True] Translation: X:25.08, Y:1.70, Z:-2.60 [[ 9.90600996e-01 -1.96997500e-02 1.35357253e-01 2.50815016e+01] [ 1.92061744e-02 9.99803283e-01 4.95148421e-03 1.70471361e+00] [-1.35428169e-01 -2.30525020e-03 9.90784486e-01 -2.59916194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters 0.029925567028440205 Centerline is valid? [True, True] Translation: X:25.14, Y:1.70, Z:-2.60 [[ 9.90499252e-01 -1.98948974e-02 1.36071398e-01 2.51441168e+01] [ 1.94071988e-02 9.99799607e-01 4.90988354e-03 1.70060449e+00] [-1.36141812e-01 -2.22247131e-03 9.90686867e-01 -2.60481362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters 0.030044538499305707 Centerline is valid? [True, True] Translation: X:25.21, Y:1.70, Z:-2.61 [[ 9.90656942e-01 -1.71170445e-02 1.35299041e-01 2.52056668e+01] [ 1.66179671e-02 9.99850307e-01 4.81731255e-03 1.69588255e+00] [-1.35361246e-01 -2.52390912e-03 9.90793098e-01 -2.61400956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters 0.030561457110454097 Centerline is valid? [True, True] Translation: X:25.27, Y:1.69, Z:-2.62 [[ 9.90437687e-01 -1.51501862e-02 1.37126438e-01 2.52674579e+01] [ 1.46269706e-02 9.99881391e-01 4.82245683e-03 1.69035086e+00] [-1.37183235e-01 -2.77059861e-03 9.90541813e-01 -2.62305008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters 0.030781965495583877 Centerline is valid? [True, True] Translation: X:25.33, Y:1.69, Z:-2.63 [[ 9.90590004e-01 -1.33639626e-02 1.36208841e-01 2.53305506e+01] [ 1.28391399e-02 9.99906383e-01 4.73088149e-03 1.68808967e+00] [-1.36259312e-01 -2.93755956e-03 9.90668850e-01 -2.62816176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters 0.03178323935560998 Centerline is valid? [True, True] Translation: X:25.39, Y:1.69, Z:-2.64 [[ 9.90615216e-01 -9.72490945e-03 1.36333858e-01 2.53920070e+01] [ 9.17378852e-03 9.99947014e-01 4.67015084e-03 1.68697303e+00] [-1.36372051e-01 -3.37562451e-03 9.90651941e-01 -2.63932938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters 0.03212112207313556 Centerline is valid? [True, True] Translation: X:25.45, Y:1.68, Z:-2.64 [[ 9.90992821e-01 -6.59423327e-03 1.33752552e-01 2.54543816e+01] [ 6.04326448e-03 9.99971502e-01 4.52487539e-03 1.68284403e+00] [-1.33778578e-01 -3.67581698e-03 9.91004430e-01 -2.64454207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters 0.03262575485148909 Centerline is valid? [True, True] Translation: X:25.52, Y:1.68, Z:-2.65 [[ 9.90691681e-01 -4.44056157e-03 1.36052469e-01 2.55156489e+01] [ 3.85887106e-03 9.99982254e-01 4.53892029e-03 1.68279819e+00] [-1.36070210e-01 -3.97166163e-03 9.90691235e-01 -2.65187711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters 0.03303509832341849 Centerline is valid? [True, True] Translation: X:25.58, Y:1.68, Z:-2.66 [[ 9.91203690e-01 -2.48358103e-03 1.32321866e-01 2.55776284e+01] [ 1.92339215e-03 9.99988640e-01 4.36117957e-03 1.68090304e+00] [-1.32331195e-01 -4.06831044e-03 9.91197207e-01 -2.65704819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters 0.0333377125013951 Centerline is valid? [True, True] Translation: X:25.64, Y:1.68, Z:-2.67 [[ 9.91132720e-01 -4.87043730e-05 1.32875615e-01 2.56387575e+01] [-5.30684201e-04 9.99990506e-01 4.32496504e-03 1.67663660e+00] [-1.32874564e-01 -4.35712935e-03 9.91123285e-01 -2.66563212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters 0.03369993963429899 Centerline is valid? [True, True] Translation: X:25.70, Y:1.67, Z:-2.67 [[ 9.91232209e-01 1.38506595e-03 1.32124142e-01 2.57012598e+01] [-1.96366711e-03 9.99989045e-01 4.24902905e-03 1.67496118e+00] [-1.32116810e-01 -4.47122228e-03 9.91224070e-01 -2.67104745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters 0.03424380650348186 Centerline is valid? [True, True] Translation: X:25.76, Y:1.67, Z:-2.68 [[ 9.91468662e-01 4.21858800e-03 1.30276998e-01 2.57623811e+01] [-4.79789960e-03 9.99979948e-01 4.13322151e-03 1.67311470e+00] [-1.30256949e-01 -4.72301555e-03 9.91469021e-01 -2.67879509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters 0.036337418662080824 Centerline is valid? [True, True] Translation: X:25.82, Y:1.67, Z:-2.69 [[ 9.91391279e-01 1.19660738e-02 1.30384605e-01 2.58239474e+01] [-1.26094983e-02 9.99912049e-01 4.11034178e-03 1.66891193e+00] [-1.30323953e-01 -5.71904145e-03 9.91454971e-01 -2.68521951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters 0.039127706919529257 Centerline is valid? [True, True] Translation: X:25.89, Y:1.67, Z:-2.69 [[ 9.91365585e-01 2.03703277e-02 1.29535043e-01 2.58850395e+01] [-2.10752017e-02 9.99769597e-01 4.07299305e-03 1.66658812e+00] [-1.29422229e-01 -6.76780229e-03 9.91566480e-01 -2.68999131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters 0.039631347642710195 Centerline is valid? [True, True] Translation: X:25.95, Y:1.67, Z:-2.70 [[ 9.91161717e-01 2.12058301e-02 1.30953286e-01 2.59465287e+01] [-2.19311578e-02 9.99751080e-01 4.09896138e-03 1.66812685e+00] [-1.30833767e-01 -6.93469077e-03 9.91380066e-01 -2.69863365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters 0.03839307205725219 Centerline is valid? [True, True] Translation: X:26.01, Y:1.67, Z:-2.70 [[ 9.90884769e-01 1.90169506e-02 1.33363149e-01 2.60080463e+01] [-1.97426830e-02 9.99796600e-01 4.12138877e-03 1.67065417e+00] [-1.33257646e-01 -6.71676773e-03 9.91058669e-01 -2.70459047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters 0.03885003133682481 Centerline is valid? [True, True] Translation: X:26.07, Y:1.67, Z:-2.71 [[ 9.90936433e-01 1.93386520e-02 1.32932322e-01 2.60701933e+01] [-2.00554391e-02 9.99790646e-01 4.05516022e-03 1.67240933e+00] [-1.32826071e-01 -6.68442208e-03 9.91116821e-01 -2.71208915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters 0.03862956850143153 Centerline is valid? [True, True] Translation: X:26.13, Y:1.68, Z:-2.72 [[ 9.91036454e-01 1.95147907e-02 1.32158692e-01 2.61315141e+01] [-2.02169244e-02 9.99787723e-01 3.97295819e-03 1.67588764e+00] [-1.32053106e-01 -6.60918869e-03 9.91220609e-01 -2.72017608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters 0.040182205400271835 Centerline is valid? [True, True] Translation: X:26.19, Y:1.67, Z:-2.73 [[ 9.91169432e-01 2.08549565e-02 1.30951240e-01 2.61928071e+01] [-2.15490596e-02 9.99760242e-01 3.88551392e-03 1.67234127e+00] [-1.30838811e-01 -6.67307871e-03 9.91381196e-01 -2.72739105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters 0.03823369395930413 Centerline is valid? [True, True] Translation: X:26.25, Y:1.68, Z:-2.74 [[ 9.91035099e-01 2.02415568e-02 1.32059504e-01 2.62543567e+01] [-2.09357832e-02 9.99773331e-01 3.87043130e-03 1.67794770e+00] [-1.31951226e-01 -6.60050240e-03 9.91234234e-01 -2.73503098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters 0.0394896239451031 Centerline is valid? [True, True] Translation: X:26.32, Y:1.68, Z:-2.74 [[ 9.90992238e-01 2.30270496e-02 1.31924749e-01 2.63158817e+01] [-2.37413082e-02 9.99710747e-01 3.84357899e-03 1.67810507e+00] [-1.31798083e-01 -6.94102307e-03 9.91252282e-01 -2.74446895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters 0.041179202275723914 Centerline is valid? [True, True] Translation: X:26.38, Y:1.68, Z:-2.75 [[ 9.91170301e-01 2.66153335e-02 1.29896337e-01 2.63781413e+01] [-2.73321632e-02 9.99619416e-01 3.73855292e-03 1.67708446e+00] [-1.29747398e-01 -7.25589050e-03 9.91520532e-01 -2.75018167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters 0.04163391273714156 Centerline is valid? [True, True] Translation: X:26.44, Y:1.68, Z:-2.76 [[ 9.91239793e-01 2.91832998e-02 1.28809964e-01 2.64393437e+01] [-2.99077232e-02 9.99545842e-01 3.69287726e-03 1.68172070e+00] [-1.28643694e-01 -7.51293964e-03 9.91662420e-01 -2.75818368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters 0.04262876689233369 Centerline is valid? [True, True] Translation: X:26.50, Y:1.68, Z:-2.76 [[ 9.90762500e-01 3.21784723e-02 1.31735398e-01 2.64999993e+01] [-3.29602865e-02 9.99449597e-01 3.75794771e-03 1.68489595e+00] [-1.31541966e-01 -8.06527014e-03 9.91277793e-01 -2.76482146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters 0.04168773027517512 Centerline is valid? [True, True] Translation: X:26.56, Y:1.69, Z:-2.77 [[ 9.91227555e-01 2.99713295e-02 1.28723166e-01 2.65609738e+01] [-3.06938818e-02 9.99522230e-01 3.63268991e-03 1.69165582e+00] [-1.28552789e-01 -7.55183597e-03 9.91673913e-01 -2.77220738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters 0.041306970319928145 Centerline is valid? [True, True] Translation: X:26.62, Y:1.70, Z:-2.78 [[ 9.90832487e-01 2.91956317e-02 1.31903746e-01 2.66222765e+01] [-2.99457071e-02 9.99544656e-01 3.70604913e-03 1.70008926e+00] [-1.31735484e-01 -7.62202483e-03 9.91255601e-01 -2.77884831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters 0.042677917208002104 Centerline is valid? [True, True] Translation: X:26.68, Y:1.71, Z:-2.79 [[ 9.91325601e-01 3.40792344e-02 1.26933677e-01 2.66834559e+01] [-3.48074554e-02 9.99387828e-01 3.52270224e-03 1.71399240e+00] [-1.26735921e-01 -7.91038323e-03 9.91904951e-01 -2.78577821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters 0.04177502155659137 Centerline is valid? [True, True] Translation: X:26.74, Y:1.73, Z:-2.79 [[ 9.91203055e-01 3.40071193e-02 1.27906294e-01 2.67443229e+01] [-3.47440538e-02 9.99389994e-01 3.53413083e-03 1.72576403e+00] [-1.27708085e-01 -7.94702443e-03 9.91779960e-01 -2.79267490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters 0.04158980874311499 Centerline is valid? [True, True] Translation: X:26.81, Y:1.74, Z:-2.80 [[ 9.91299494e-01 3.00099395e-02 1.28158952e-01 2.68051006e+01] [-3.07108190e-02 9.99522198e-01 3.49580424e-03 1.74091651e+00] [-1.27992808e-01 -7.40125535e-03 9.91747479e-01 -2.80022108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters 0.038140496810642396 Centerline is valid? [True, True] Translation: X:26.87, Y:1.76, Z:-2.81 [[ 9.91340986e-01 1.97307450e-02 1.29821980e-01 2.68654100e+01] [-2.03606700e-02 9.99786480e-01 3.52663406e-03 1.75546368e+00] [-1.29724678e-01 -6.13935939e-03 9.91531047e-01 -2.80694518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters 0.03470204329003307 Centerline is valid? [True, True] Translation: X:26.93, Y:1.77, Z:-2.82 [[ 9.91198137e-01 8.42306723e-03 1.32118527e-01 2.69259410e+01] [-8.97076564e-03 9.99953457e-01 3.55083422e-03 1.77082205e+00] [-1.32082469e-01 -4.70478461e-03 9.91227565e-01 -2.81618269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters 0.033578338981104176 Centerline is valid? [True, True] Translation: X:26.99, Y:1.77, Z:-2.82 [[ 9.90737312e-01 3.23944917e-03 1.35753762e-01 2.69874348e+01] [-3.76653434e-03 9.99986333e-01 3.62598585e-03 1.77411083e+00] [-1.35740160e-01 -4.10372068e-03 9.90735973e-01 -2.82250147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters 0.03288389529622625 Centerline is valid? [True, True] Translation: X:27.05, Y:1.78, Z:-2.83 [[ 9.90916507e-01 -1.31903461e-03 1.34472062e-01 2.70487213e+01] [ 8.50405816e-04 9.99993364e-01 3.54233203e-03 1.77773507e+00] [-1.34475842e-01 -3.39579946e-03 9.90911054e-01 -2.83097948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters 0.03201377555931384 Centerline is valid? [True, True] Translation: X:27.11, Y:1.78, Z:-2.84 [[ 9.90881307e-01 -5.50094408e-03 1.34625317e-01 2.71108357e+01] [ 5.07146894e-03 9.99980899e-01 3.53288117e-03 1.77779856e+00] [-1.34642179e-01 -2.81791780e-03 9.90890278e-01 -2.83905605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters 0.032141158753840826 Centerline is valid? [True, True] Translation: X:27.17, Y:1.78, Z:-2.85 [[ 9.90652350e-01 -5.01866136e-03 1.36318504e-01 2.71726349e+01] [ 4.57732453e-03 9.99983220e-01 3.55080071e-03 1.77974111e+00] [-1.36334037e-01 -2.89363504e-03 9.90658699e-01 -2.84523228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters 0.03324778248346526 Centerline is valid? [True, True] Translation: X:27.23, Y:1.78, Z:-2.85 [[ 9.90581119e-01 1.44769292e-03 1.36919506e-01 2.72340695e+01] [-1.94652020e-03 9.99991948e-01 3.50939690e-03 1.77668338e+00] [-1.36913323e-01 -3.74285889e-03 9.90575960e-01 -2.85181131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters 0.03363776906615908 Centerline is valid? [True, True] Translation: X:27.30, Y:1.78, Z:-2.86 [[ 9.90451935e-01 2.86325588e-03 1.37828758e-01 2.72956307e+01] [-3.37479051e-03 9.99988258e-01 3.47783393e-03 1.77769084e+00] [-1.37817182e-01 -3.90977053e-03 9.90449967e-01 -2.85962205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters 0.034644722109983817 Centerline is valid? [True, True] Translation: X:27.36, Y:1.78, Z:-2.87 [[ 9.90240843e-01 6.70275285e-03 1.39205408e-01 2.73576962e+01] [-7.25520339e-03 9.99967689e-01 3.46152098e-03 1.77802273e+00] [-1.39177709e-01 -4.43770300e-03 9.90257478e-01 -2.86529339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters 0.03483960186594602 Centerline is valid? [True, True] Translation: X:27.42, Y:1.78, Z:-2.87 [[ 9.90648016e-01 9.18586323e-03 1.36132760e-01 2.74199769e+01] [-9.73405494e-03 9.99946972e-01 3.36176313e-03 1.77995047e+00] [-1.36094660e-01 -4.65544774e-03 9.90684900e-01 -2.87499597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters 0.034588516561191454 Centerline is valid? [True, True] Translation: X:27.48, Y:1.78, Z:-2.88 [[ 9.90579723e-01 1.06144984e-02 1.36525254e-01 2.74820178e+01] [-1.11707527e-02 9.99932131e-01 3.30886104e-03 1.78259893e+00] [-1.36480867e-01 -4.80278051e-03 9.90631065e-01 -2.88071327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters 0.03543849862562366 Centerline is valid? [True, True] Translation: X:27.54, Y:1.79, Z:-2.89 [[ 9.90242842e-01 1.28087823e-02 1.38762566e-01 2.75433753e+01] [-1.33970185e-02 9.99904791e-01 3.30592731e-03 1.78525869e+00] [-1.38707009e-01 -5.13267552e-03 9.90320161e-01 -2.88980221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters 0.03594190589467536 Centerline is valid? [True, True] Translation: X:27.60, Y:1.79, Z:-2.90 [[ 9.90487282e-01 1.59757291e-02 1.36673773e-01 2.76046621e+01] [-1.65685514e-02 9.99857608e-01 3.20094453e-03 1.79241164e+00] [-1.36603175e-01 -5.43498129e-03 9.90610940e-01 -2.89639205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters 0.03604034308484989 Centerline is valid? [True, True] Translation: X:27.67, Y:1.80, Z:-2.90 [[ 9.90251804e-01 1.71323536e-02 1.38231140e-01 2.76667261e+01] [-1.77422069e-02 9.99837535e-01 3.18077549e-03 1.79707370e+00] [-1.38154188e-01 -5.60229415e-03 9.90394888e-01 -2.90241789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters 0.03488048727666325 Centerline is valid? [True, True] Translation: X:27.73, Y:1.81, Z:-2.91 [[ 9.90194020e-01 1.43677336e-02 1.38958162e-01 2.77283852e+01] [-1.49491442e-02 9.99883321e-01 3.14120455e-03 1.81000645e+00] [-1.38896817e-01 -5.18770755e-03 9.90293271e-01 -2.90969077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters 0.033631474436663956 Centerline is valid? [True, True] Translation: X:27.79, Y:1.82, Z:-2.92 [[ 9.90351189e-01 9.88540117e-03 1.38227351e-01 2.77894863e+01] [-1.04105423e-02 9.99941076e-01 3.07662912e-03 1.82276455e+00] [-1.38188792e-01 -4.48596499e-03 9.90395746e-01 -2.91733504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters 0.033220130094691984 Centerline is valid? [True, True] Translation: X:27.85, Y:1.83, Z:-2.92 [[ 9.90466014e-01 8.43589973e-03 1.37498767e-01 2.78509461e+01] [-8.93884443e-03 9.99955424e-01 3.04073931e-03 1.82783080e+00] [-1.37466987e-01 -4.24082903e-03 9.90497270e-01 -2.92459360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters 0.03175376251660731 Centerline is valid? [True, True] Translation: X:27.91, Y:1.83, Z:-2.93 [[ 9.90339304e-01 1.68030906e-03 1.38655107e-01 2.79119733e+01] [-2.11886336e-03 9.99993209e-01 3.01536689e-03 1.83457630e+00] [-1.38649099e-01 -3.28002758e-03 9.90336139e-01 -2.93374348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters 0.03067233461041148 Centerline is valid? [True, True] Translation: X:27.97, Y:1.83, Z:-2.94 [[ 9.89902437e-01 -8.85786978e-03 1.41473331e-01 2.79736254e+01] [ 8.51184721e-03 9.99959120e-01 3.05081786e-03 1.83391952e+00] [-1.41494572e-01 -1.81581265e-03 9.89937366e-01 -2.94133985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters 0.029881228990069262 Centerline is valid? [True, True] Translation: X:28.04, Y:1.84, Z:-2.95 [[ 9.90023560e-01 -1.47366206e-02 1.40129165e-01 2.80350398e+01] [ 1.44642869e-02 9.99891000e-01 2.96176447e-03 1.83687525e+00] [-1.40157538e-01 -9.05348155e-04 9.90128802e-01 -2.95130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters 0.029420402766817552 Centerline is valid? [True, True] Translation: X:28.10, Y:1.83, Z:-2.96 [[ 9.90023351e-01 -1.89002803e-02 1.39630022e-01 2.80965233e+01] [ 1.86796369e-02 9.99821342e-01 2.89068835e-03 1.83266637e+00] [-1.39659711e-01 -2.53610859e-04 9.90199526e-01 -2.95687468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters 0.02952028326259415 Centerline is valid? [True, True] Translation: X:28.16, Y:1.83, Z:-2.96 [[ 9.89848984e-01 -1.99332211e-02 1.40718355e-01 2.81581934e+01] [ 1.97283971e-02 9.99801313e-01 2.85056490e-03 1.82533717e+00] [-1.40747217e-01 -4.54811757e-05 9.90045564e-01 -2.96312375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters 0.029272989920125166 Centerline is valid? [True, True] Translation: X:28.22, Y:1.82, Z:-2.97 [[ 9.90435094e-01 -1.53798252e-02 1.37119601e-01 2.82203640e+01] [ 1.51502471e-02 9.99881535e-01 2.71782316e-03 1.81819944e+00] [-1.37145156e-01 -6.14431609e-04 9.90550770e-01 -2.96847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters 0.03032293618387591 Centerline is valid? [True, True] Translation: X:28.28, Y:1.81, Z:-2.98 [[ 9.90421778e-01 -5.20471098e-03 1.37976859e-01 2.82820045e+01] [ 4.88255157e-03 9.99984507e-01 2.67323772e-03 1.81202425e+00] [-1.37988634e-01 -1.97395373e-03 9.90431845e-01 -2.97504745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters 0.03177845862507324 Centerline is valid? [True, True] Translation: X:28.34, Y:1.80, Z:-2.98 [[ 9.90946215e-01 5.46232595e-03 1.34148282e-01 2.83436170e+01] [-5.85614956e-03 9.99979623e-01 2.54132659e-03 1.80228652e+00] [-1.34131667e-01 -3.30391037e-03 9.90958011e-01 -2.98104880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters 0.033159757196668437 Centerline is valid? [True, True] Translation: X:28.40, Y:1.80, Z:-2.99 [[ 9.90702248e-01 1.15462008e-02 1.35557148e-01 2.84049489e+01] [-1.19979303e-02 9.99924857e-01 2.51586387e-03 1.79854798e+00] [-1.35517913e-01 -4.11887722e-03 9.90766335e-01 -2.99204824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters 0.033880895016813184 Centerline is valid? [True, True] Translation: X:28.47, Y:1.80, Z:-3.00 [[ 9.90395930e-01 1.48621922e-02 1.37459148e-01 2.84668002e+01] [-1.53563039e-02 9.99878872e-01 2.53478132e-03 1.79853678e+00] [-1.37404826e-01 -4.62130156e-03 9.90504194e-01 -2.99766963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters 0.035212740342801946 Centerline is valid? [True, True] Translation: X:28.53, Y:1.80, Z:-3.00 [[ 9.90843571e-01 2.01101679e-02 1.33508797e-01 2.85283468e+01] [-2.06205572e-02 9.99784393e-01 2.44114663e-03 1.79658164e+00] [-1.33430920e-01 -5.17182023e-03 9.91044622e-01 -3.00457926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters 0.0358828019202108 Centerline is valid? [True, True] Translation: X:28.59, Y:1.80, Z:-3.01 [[ 9.90673620e-01 2.28703504e-02 1.34323214e-01 2.85899194e+01] [-2.34048173e-02 9.99723186e-01 2.40104051e-03 1.79960774e+00] [-1.34231119e-01 -5.52245779e-03 9.90934664e-01 -3.01307741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters 0.03610327550898598 Centerline is valid? [True, True] Translation: X:28.65, Y:1.80, Z:-3.02 [[ 9.90478123e-01 2.35269176e-02 1.35645022e-01 2.86517180e+01] [-2.40706644e-02 9.99707451e-01 2.36965363e-03 1.80236168e+00] [-1.35549588e-01 -5.61215587e-03 9.90754668e-01 -3.02017348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters 0.03679701635888694 Centerline is valid? [True, True] Translation: X:28.71, Y:1.81, Z:-3.03 [[ 9.90170022e-01 2.52200794e-02 1.37576434e-01 2.87129950e+01] [-2.57880933e-02 9.99664675e-01 2.34759981e-03 1.80616041e+00] [-1.37471095e-01 -5.87235689e-03 9.90488371e-01 -3.02951274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters 0.037347304585906405 Centerline is valid? [True, True] Translation: X:28.77, Y:1.81, Z:-3.04 [[ 9.90356245e-01 2.84363710e-02 1.35594548e-01 2.87743584e+01] [-2.90105651e-02 9.99576550e-01 2.26015561e-03 1.80995510e+00] [-1.35472860e-01 -6.17203370e-03 9.90761833e-01 -3.03593170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters 0.03759370955260885 Centerline is valid? [True, True] Translation: X:28.84, Y:1.82, Z:-3.04 [[ 9.89975431e-01 2.95166471e-02 1.38121009e-01 2.88355267e+01] [-3.01153756e-02 9.99543905e-01 2.24656074e-03 1.81817134e+00] [-1.37991702e-01 -6.38360601e-03 9.90412813e-01 -3.04327701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters 0.037508856167094005 Centerline is valid? [True, True] Translation: X:28.90, Y:1.82, Z:-3.05 [[ 9.89746055e-01 2.90533553e-02 1.39852242e-01 2.88972829e+01] [-2.96547205e-02 9.99557742e-01 2.21760046e-03 1.82253682e+00] [-1.39725962e-01 -6.34214045e-03 9.90169901e-01 -3.05138613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters 0.03601367653483282 Centerline is valid? [True, True] Translation: X:28.96, Y:1.83, Z:-3.06 [[ 9.90395904e-01 2.37858059e-02 1.36199074e-01 2.89580875e+01] [-2.42994796e-02 9.99702497e-01 2.10996677e-03 1.83165853e+00] [-1.36108367e-01 -5.39926907e-03 9.90679242e-01 -3.06028928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters 0.03491350232463793 Centerline is valid? [True, True] Translation: X:29.02, Y:1.84, Z:-3.07 [[ 9.90431072e-01 1.86978988e-02 1.36735807e-01 2.90191326e+01] [-1.91659708e-02 9.99814095e-01 2.10735075e-03 1.83606266e+00] [-1.36670984e-01 -4.70786015e-03 9.90605309e-01 -3.06622333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters 0.03396378090400522 Centerline is valid? [True, True] Translation: X:29.08, Y:1.84, Z:-3.07 [[ 9.90387858e-01 1.60069470e-02 1.37388750e-01 2.90807832e+01] [-1.64513476e-02 9.99862463e-01 2.09965894e-03 1.83789515e+00] [-1.37336245e-01 -4.33970680e-03 9.90514979e-01 -3.07428935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters 0.033488541517517095 Centerline is valid? [True, True] Translation: X:29.14, Y:1.84, Z:-3.08 [[ 9.90617707e-01 1.57140901e-02 1.35755759e-01 2.91427990e+01] [-1.61376147e-02 9.99867740e-01 2.01976811e-03 1.83873769e+00] [-1.35706065e-01 -4.19159219e-03 9.90740276e-01 -3.07992464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters 0.03413017276611497 Centerline is valid? [True, True] Translation: X:29.21, Y:1.84, Z:-3.09 [[ 9.90675843e-01 1.60462843e-02 1.35291872e-01 2.92050706e+01] [-1.64621166e-02 9.99862578e-01 1.95534302e-03 1.83623129e+00] [-1.35241904e-01 -4.16430167e-03 9.90803858e-01 -3.08563093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters 0.03386606125455463 Centerline is valid? [True, True] Translation: X:29.27, Y:1.84, Z:-3.09 [[ 9.90416879e-01 1.69176727e-02 1.37070049e-01 2.92665103e+01] [-1.73439107e-02 9.99847748e-01 1.91584494e-03 1.84104948e+00] [-1.37016768e-01 -4.27481585e-03 9.90559504e-01 -3.09464482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters 0.035170244113071826 Centerline is valid? [True, True] Translation: X:29.33, Y:1.84, Z:-3.10 [[ 9.90260737e-01 2.10804857e-02 1.37620078e-01 2.93281429e+01] [-2.15431874e-02 9.99766163e-01 1.87339221e-03 1.83879939e+00] [-1.37548406e-01 -4.81992189e-03 9.90483319e-01 -3.10019298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters 0.03714270906817286 Centerline is valid? [True, True] Translation: X:29.39, Y:1.84, Z:-3.11 [[ 9.90278234e-01 2.99214403e-02 1.35844497e-01 2.93888176e+01] [-3.04519027e-02 9.99534561e-01 1.82813901e-03 1.84085984e+00] [-1.35726569e-01 -5.94708967e-03 9.90728485e-01 -3.10755147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters 0.03911519249615303 Centerline is valid? [True, True] Translation: X:29.45, Y:1.84, Z:-3.12 [[ 9.89916725e-01 3.63280088e-02 1.36912944e-01 2.94496980e+01] [-3.69210294e-02 9.99316577e-01 1.79357106e-03 1.84293289e+00] [-1.36754218e-01 -6.83045281e-03 9.90581460e-01 -3.11569492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters 0.039865090709340724 Centerline is valid? [True, True] Translation: X:29.51, Y:1.85, Z:-3.12 [[ 9.89647598e-01 3.98338736e-02 1.37879999e-01 2.95112334e+01] [-4.04632495e-02 9.99179471e-01 1.76362703e-03 1.85075884e+00] [-1.37696613e-01 -7.32444206e-03 9.90447371e-01 -3.12267036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters 0.03914544824068735 Centerline is valid? [True, True] Translation: X:29.57, Y:1.86, Z:-3.13 [[ 9.89677403e-01 3.75261863e-02 1.38312775e-01 2.95725796e+01] [-3.81342781e-02 9.99271095e-01 1.74821157e-03 1.85739638e+00] [-1.38146355e-01 -7.00462333e-03 9.90387056e-01 -3.12946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters 0.03825204562506768 Centerline is valid? [True, True] Translation: X:29.63, Y:1.87, Z:-3.14 [[ 9.89693792e-01 3.78881865e-02 1.38096642e-01 2.96348342e+01] [-3.84900763e-02 9.99257554e-01 1.68963605e-03 1.86732826e+00] [-1.37930096e-01 -6.98757262e-03 9.90417317e-01 -3.13634133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters 0.03929959214406091 Centerline is valid? [True, True] Translation: X:29.70, Y:1.88, Z:-3.14 [[ 9.89714398e-01 3.92545523e-02 1.37566316e-01 2.96965767e+01] [-3.98563686e-02 9.99204103e-01 1.62185142e-03 1.87507437e+00] [-1.37393162e-01 -7.08806348e-03 9.90491231e-01 -3.14470304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters 0.03968066629065799 Centerline is valid? [True, True] Translation: X:29.76, Y:1.88, Z:-3.15 [[ 9.89560618e-01 4.17504407e-02 1.37937250e-01 2.97576195e+01] [-4.23719339e-02 9.99100671e-01 1.57103165e-03 1.88374318e+00] [-1.37747608e-01 -7.39929909e-03 9.90439724e-01 -3.15131243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters 0.03917955123772093 Centerline is valid? [True, True] Translation: X:29.82, Y:1.89, Z:-3.16 [[ 9.89905355e-01 4.28078855e-02 1.35110594e-01 2.98189093e+01] [-4.34068828e-02 9.99056367e-01 1.48926291e-03 1.89294837e+00] [-1.34919347e-01 -7.33895905e-03 9.90829405e-01 -3.15707767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters 0.039888248760677716 Centerline is valid? [True, True] Translation: X:29.88, Y:1.90, Z:-3.17 [[ 9.89711472e-01 4.45614378e-02 1.35961321e-01 2.98801562e+01] [-4.51770553e-02 9.98977952e-01 1.44420472e-03 1.90406734e+00] [-1.35758006e-01 -7.57167810e-03 9.90713093e-01 -3.16573272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters 0.03852152740656015 Centerline is valid? [True, True] Translation: X:29.94, Y:1.93, Z:-3.17 [[ 9.89314168e-01 4.14186671e-02 1.39792600e-01 2.99420250e+01] [-4.20307199e-02 9.99115299e-01 1.42756322e-03 1.92612579e+00] [-1.39609798e-01 -7.28789213e-03 9.90179777e-01 -3.17067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters 0.03636146366330766 Centerline is valid? [True, True] Translation: X:30.00, Y:1.94, Z:-3.18 [[ 9.89650505e-01 3.42842567e-02 1.39342984e-01 3.00025261e+01] [-3.48146405e-02 9.99392848e-01 1.36989799e-03 1.93627895e+00] [-1.39211416e-01 -6.20689614e-03 9.90243231e-01 -3.17880034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters 0.03298091410940222 Centerline is valid? [True, True] Translation: X:30.06, Y:1.95, Z:-3.18 [[ 9.89763539e-01 1.94625920e-02 1.41383676e-01 3.00641221e+01] [-1.98530489e-02 9.99801995e-01 1.35153990e-03 1.95314509e+00] [-1.41329377e-01 -4.14460195e-03 9.89953953e-01 -3.18302130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters 0.0309774540931 Centerline is valid? [True, True] Translation: X:30.12, Y:1.96, Z:-3.19 [[ 9.89340946e-01 3.95580929e-03 1.45563885e-01 3.01249543e+01] [-4.20102524e-03 9.99990227e-01 1.37723485e-03 1.96373945e+00] [-1.45557014e-01 -1.97407239e-03 9.89347896e-01 -3.18994842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters 0.02992889350688923 Centerline is valid? [True, True] Translation: X:30.19, Y:1.97, Z:-3.20 [[ 9.89700799e-01 -8.48681813e-03 1.42899621e-01 3.01858521e+01] [ 8.38161285e-03 9.99963978e-01 1.33816649e-03 1.96675595e+00] [-1.42905831e-01 -1.26655146e-04 9.89736282e-01 -3.20146611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters 0.029792320935568058 Centerline is valid? [True, True] Translation: X:30.25, Y:1.97, Z:-3.20 [[ 9.89460010e-01 -1.76253601e-02 1.43729731e-01 3.02478135e+01] [ 1.76182879e-02 9.99843912e-01 1.32204869e-03 1.96641224e+00] [-1.43730598e-01 1.22415747e-03 9.89616096e-01 -3.20489618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters 0.029975484168443572 Centerline is valid? [True, True] Translation: X:30.31, Y:1.96, Z:-3.21 [[ 9.89286000e-01 -1.93688416e-02 1.44699889e-01 3.03088082e+01] [ 1.93897541e-02 9.99811200e-01 1.26587804e-03 1.96222737e+00] [-1.44697088e-01 1.55337985e-03 9.89474780e-01 -3.21453836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters 0.029898154151114315 Centerline is valid? [True, True] Translation: X:30.37, Y:1.96, Z:-3.22 [[ 9.89274925e-01 -1.40055055e-02 1.45392466e-01 3.03702292e+01] [ 1.39786800e-02 9.99901566e-01 1.20617817e-03 1.95610271e+00] [-1.45395048e-01 8.39152947e-04 9.89373325e-01 -3.22457020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters 0.030064208186611072 Centerline is valid? [True, True] Translation: X:30.43, Y:1.95, Z:-3.23 [[ 9.89387299e-01 -5.67788035e-03 1.45191373e-01 3.04322963e+01] [ 5.57155428e-03 9.99983830e-01 1.13893471e-03 1.95266771e+00] [-1.45195492e-01 -3.17905916e-04 9.89402935e-01 -3.22933669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters 0.03081247296934517 Centerline is valid? [True, True] Translation: X:30.49, Y:1.95, Z:-3.24 [[ 9.88770020e-01 -7.29499231e-04 1.49443353e-01 3.04935068e+01] [ 5.69339798e-04 9.99999217e-01 1.11448608e-03 1.95141085e+00] [-1.49444049e-01 -1.01688638e-03 9.88769661e-01 -3.23931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters 0.030855595078536555 Centerline is valid? [True, True] Translation: X:30.55, Y:1.95, Z:-3.25 [[ 9.88715984e-01 3.46838918e-03 1.49762054e-01 3.05548827e+01] [-3.67257606e-03 9.99992665e-01 1.08686354e-03 1.94757434e+00] [-1.49757186e-01 -1.62461189e-03 9.88721470e-01 -3.24524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters 0.030538347997782714 Centerline is valid? [True, True] Translation: X:30.62, Y:1.95, Z:-3.25 [[ 9.89023858e-01 4.38931043e-03 1.47690697e-01 3.06163673e+01] [-4.58848200e-03 9.99988965e-01 1.00789139e-03 1.94985980e+00] [-1.47684643e-01 -1.67450473e-03 9.89033084e-01 -3.25363665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters 0.030865099867894423 Centerline is valid? [True, True] Translation: X:30.68, Y:1.95, Z:-3.26 [[ 9.88820122e-01 5.74525634e-03 1.49002546e-01 3.06781123e+01] [-5.95345801e-03 9.99981826e-01 9.51306956e-04 1.94697685e+00] [-1.48994373e-01 -1.82775186e-03 9.88836355e-01 -3.25994529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters 0.030502876710855175 Centerline is valid? [True, True] Translation: X:30.74, Y:1.95, Z:-3.27 [[ 9.89012642e-01 6.49404537e-03 1.47688260e-01 3.07390900e+01] [-6.69722557e-03 9.99977187e-01 8.78495916e-04 1.94669463e+00] [-1.47679186e-01 -1.85794516e-03 9.89033572e-01 -3.26926828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters 0.03009429295034122 Centerline is valid? [True, True] Translation: X:30.80, Y:1.95, Z:-3.28 [[ 9.89355508e-01 7.04583030e-03 1.45347976e-01 3.08013167e+01] [-7.24057865e-03 9.99973458e-01 8.10902814e-04 1.94635355e+00] [-1.45338405e-01 -1.85467462e-03 9.89380265e-01 -3.27591115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters 0.029954945307964633 Centerline is valid? [True, True] Translation: X:30.86, Y:1.94, Z:-3.28 [[ 9.89236543e-01 7.31238570e-03 1.46142367e-01 3.08637410e+01] [-7.50721619e-03 9.99971515e-01 7.81670605e-04 1.94433890e+00] [-1.46132488e-01 -1.87037947e-03 9.89263260e-01 -3.28173022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters 0.029726229583996625 Centerline is valid? [True, True] Translation: X:30.93, Y:1.94, Z:-3.29 [[ 9.89307682e-01 2.05726062e-03 1.45828936e-01 3.09250878e+01] [-2.18403632e-03 9.99997363e-01 7.09246856e-04 1.93662195e+00] [-1.45827092e-01 -1.02015906e-03 9.89309567e-01 -3.29017439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters 0.029611151811524256 Centerline is valid? [True, True] Translation: X:30.99, Y:1.93, Z:-3.30 [[ 9.88934857e-01 1.78647864e-04 1.48350318e-01 3.09867926e+01] [-2.79002274e-04 9.99999746e-01 6.55659234e-04 1.93283747e+00] [-1.48350163e-01 -6.89794346e-04 9.88934656e-01 -3.29564238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters 0.02995226557157001 Centerline is valid? [True, True] Translation: X:31.05, Y:1.92, Z:-3.30 [[ 9.89409695e-01 7.07917226e-03 1.44977036e-01 3.10481664e+01] [-7.23946861e-03 9.99973628e-01 5.78125086e-04 1.92290124e+00] [-1.44969120e-01 -1.62155927e-03 9.89434851e-01 -3.30263104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters 0.030075721654375994 Centerline is valid? [True, True] Translation: X:31.11, Y:1.92, Z:-3.31 [[ 9.89572400e-01 1.07730391e-02 1.43632886e-01 3.11105944e+01] [-1.09597542e-02 9.99939811e-01 5.08794389e-04 1.91519915e+00] [-1.43618759e-01 -2.07767001e-03 9.89630909e-01 -3.31006238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters 0.030402556341467473 Centerline is valid? [True, True] Translation: X:31.17, Y:1.91, Z:-3.32 [[ 9.89865499e-01 1.41983887e-02 1.41296497e-01 3.11726481e+01] [-1.44040842e-02 9.99896162e-01 4.33072183e-04 1.91292032e+00] [-1.41275676e-01 -2.46392985e-03 9.89967228e-01 -3.31742566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters 0.031592480835931316 Centerline is valid? [True, True] Translation: X:31.23, Y:1.91, Z:-3.32 [[ 9.89433280e-01 2.01541927e-02 1.43581312e-01 3.12344475e+01] [-2.04212575e-02 9.99791390e-01 3.86425191e-04 1.91069882e+00] [-1.43543571e-01 -3.31445289e-03 9.89638448e-01 -3.32479843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters 0.033494998346674236 Centerline is valid? [True, True] Translation: X:31.30, Y:1.91, Z:-3.33 [[ 9.89159271e-01 3.05430825e-02 1.43635150e-01 3.12956312e+01] [-3.09155741e-02 9.99521934e-01 3.61651315e-04 1.91070420e+00] [-1.43555437e-01 -4.79829388e-03 9.89630645e-01 -3.33192459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters 0.03508238324813113 Centerline is valid? [True, True] Translation: X:31.36, Y:1.91, Z:-3.34 [[ 9.89018730e-01 3.83925319e-02 1.42716382e-01 3.13572225e+01] [-3.88348292e-02 9.99245594e-01 3.13944541e-04 1.90832031e+00] [-1.42596663e-01 -5.85286334e-03 9.89763576e-01 -3.33868355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters 0.03555900369104197 Centerline is valid? [True, True] Translation: X:31.42, Y:1.91, Z:-3.34 [[ 9.88662720e-01 3.80099775e-02 1.45262755e-01 3.14188198e+01] [-3.84606339e-02 9.99260073e-01 2.94238974e-04 1.91485946e+00] [-1.45144087e-01 -5.87780074e-03 9.89393069e-01 -3.34351113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters 0.035043972304097545 Centerline is valid? [True, True] Translation: X:31.48, Y:1.92, Z:-3.36 [[ 9.88977838e-01 3.45505509e-02 1.43976021e-01 3.14796604e+01] [-3.49495543e-02 9.99389048e-01 2.42349355e-04 1.91971789e+00] [-1.43879686e-01 -5.27157592e-03 9.89581147e-01 -3.35504034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters 0.033638332135534875 Centerline is valid? [True, True] Translation: X:31.54, Y:1.92, Z:-3.36 [[ 9.88918419e-01 2.81614116e-02 1.45764521e-01 3.15412089e+01] [-2.84996671e-02 9.99593775e-01 2.32388746e-04 1.92378918e+00] [-1.45698764e-01 -4.38405385e-03 9.89319286e-01 -3.36171890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters 0.03256395800343319 Centerline is valid? [True, True] Translation: X:31.60, Y:1.92, Z:-3.37 [[ 9.88805301e-01 1.94761144e-02 1.47934977e-01 3.16018921e+01] [-1.97247288e-02 9.99805426e-01 2.13550184e-04 1.92127219e+00] [-1.47902034e-01 -3.12913686e-03 9.88997066e-01 -3.36872288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters 0.0317841617088658 Centerline is valid? [True, True] Translation: X:31.66, Y:1.92, Z:-3.38 [[ 9.89125020e-01 1.41405682e-02 1.46395829e-01 3.16629394e+01] [-1.43180706e-02 9.99897479e-01 1.58770693e-04 1.92079452e+00] [-1.46378576e-01 -2.25314988e-03 9.89226079e-01 -3.37678446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters 0.031719776366580354 Centerline is valid? [True, True] Translation: X:31.73, Y:1.92, Z:-3.38 [[ 9.88949143e-01 1.23228888e-02 1.47742136e-01 3.17254045e+01] [-1.24746870e-02 9.99922183e-01 1.00858649e-04 1.91575080e+00] [-1.47729396e-01 -1.94278097e-03 9.89025910e-01 -3.38410847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters 0.031515180321713354 Centerline is valid? [True, True] Translation: X:31.79, Y:1.91, Z:-3.39 [[ 9.89235323e-01 1.25969326e-02 1.45790239e-01 3.17877676e+01] [-1.27387370e-02 9.99918858e-01 3.90845970e-05 1.91364361e+00] [-1.45777917e-01 -1.89584738e-03 9.89315523e-01 -3.38981739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters 0.031503140260780285 Centerline is valid? [True, True] Translation: X:31.85, Y:1.90, Z:-3.40 [[ 9.89605192e-01 1.29270608e-02 1.43228678e-01 3.18497947e+01] [-1.30629698e-02 9.99914676e-01 8.55224509e-06 1.90404493e+00] [-1.43216347e-01 -1.87945525e-03 9.89689621e-01 -3.39531158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters 0.032516763655944254 Centerline is valid? [True, True] Translation: X:31.91, Y:1.90, Z:-3.40 [[ 9.89434939e-01 2.15496855e-02 1.43367054e-01 3.19112316e+01] [-2.17669585e-02 9.99763070e-01 -5.29450144e-05 1.89586818e+00] [-1.43334227e-01 -3.06827907e-03 9.89669584e-01 -3.39999353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters 0.03401298425619508 Centerline is valid? [True, True] Translation: X:31.97, Y:1.89, Z:-3.41 [[ 9.89286375e-01 2.99087616e-02 1.42891339e-01 3.19723930e+01] [-3.02038663e-02 9.99543754e-01 -1.03871836e-04 1.88915555e+00] [-1.42829252e-01 -4.21311190e-03 9.89738377e-01 -3.40636365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters 0.03515748725240983 Centerline is valid? [True, True] Translation: X:32.03, Y:1.89, Z:-3.41 [[ 9.89382020e-01 3.85950379e-02 1.40120095e-01 3.20335904e+01] [-3.89607006e-02 9.99240735e-01 -1.33581000e-04 1.88572780e+00] [-1.40018863e-01 -5.32701444e-03 9.90134507e-01 -3.41417336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters 0.036301228846755865 Centerline is valid? [True, True] Translation: X:32.10, Y:1.88, Z:-3.42 [[ 9.88784669e-01 4.21060840e-02 1.43289764e-01 3.20951783e+01] [-4.25184567e-02 9.99095665e-01 -1.84296887e-04 1.88399712e+00] [-1.43167942e-01 -5.91022970e-03 9.89680761e-01 -3.42070101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters 0.03664558990824152 Centerline is valid? [True, True] Translation: X:32.16, Y:1.89, Z:-3.43 [[ 9.88803388e-01 4.42669209e-02 1.42507190e-01 3.21573675e+01] [-4.46936155e-02 9.99000720e-01 -2.06919228e-04 1.88596003e+00] [-1.42373945e-01 -6.16455910e-03 9.89793745e-01 -3.42544170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters 0.037573710481910376 Centerline is valid? [True, True] Translation: X:32.22, Y:1.88, Z:-3.44 [[ 9.89046655e-01 3.87656316e-02 1.42421698e-01 3.22180782e+01] [-3.91281105e-02 9.99234170e-01 -2.55697345e-04 1.88206010e+00] [-1.42322540e-01 -5.31979536e-03 9.89806039e-01 -3.43866685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters 0.0344571594912176 Centerline is valid? [True, True] Translation: X:32.28, Y:1.89, Z:-3.44 [[ 9.89293893e-01 3.43435703e-02 1.41838331e-01 3.22792878e+01] [-3.46560897e-02 9.99399262e-01 -2.67071244e-04 1.88539567e+00] [-1.41762296e-01 -4.65134998e-03 9.89889800e-01 -3.44185769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters 0.03373788919137961 Centerline is valid? [True, True] Translation: X:32.34, Y:1.88, Z:-3.45 [[ 9.89522876e-01 3.11619650e-02 1.40973083e-01 3.23413136e+01] [-3.14355465e-02 9.99505740e-01 -2.86370262e-04 1.88439010e+00] [-1.40912330e-01 -4.14819599e-03 9.90013388e-01 -3.44811187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters 0.033904512630447435 Centerline is valid? [True, True] Translation: X:32.40, Y:1.88, Z:-3.45 [[ 9.89580629e-01 3.30638243e-02 1.40131946e-01 3.24026740e+01] [-3.33448434e-02 9.99443847e-01 -3.42709987e-04 1.88206340e+00] [-1.40065343e-01 -4.33353864e-03 9.90132779e-01 -3.45499570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters 0.03410980226821382 Centerline is valid? [True, True] Translation: X:32.46, Y:1.88, Z:-3.46 [[ 9.89392347e-01 3.66921637e-02 1.40557705e-01 3.24645798e+01] [-3.70030300e-02 9.99315072e-01 -4.02094924e-04 1.88186864e+00] [-1.40476187e-01 -4.80323134e-03 9.90072406e-01 -3.46144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters 0.03421273192448259 Centerline is valid? [True, True] Translation: X:32.53, Y:1.88, Z:-3.47 [[ 9.89297139e-01 3.76537686e-02 1.40972922e-01 3.25268134e+01] [-3.79678731e-02 9.99278854e-01 -4.61837083e-04 1.88044382e+00] [-1.40888650e-01 -4.89554791e-03 9.90013344e-01 -3.46556639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters 0.034575416326832954 Centerline is valid? [True, True] Translation: X:32.59, Y:1.88, Z:-3.47 [[ 9.89322015e-01 3.88117529e-02 1.40483447e-01 3.25887448e+01] [-3.91267827e-02 9.99234119e-01 -5.19920573e-04 1.88218644e+00] [-1.40396032e-01 -4.98229643e-03 9.90082891e-01 -3.47464077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters 0.03399937555072882 Centerline is valid? [True, True] Translation: X:32.65, Y:1.88, Z:-3.48 [[ 9.89083795e-01 3.72484492e-02 1.42568580e-01 3.26515556e+01] [-3.75472088e-02 9.99294678e-01 -5.95091032e-04 1.87897471e+00] [-1.42490190e-01 -4.76445736e-03 9.89784747e-01 -3.48131334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters 0.03302743338480597 Centerline is valid? [True, True] Translation: X:32.71, Y:1.88, Z:-3.49 [[ 9.89356431e-01 3.57789636e-02 1.41045094e-01 3.27140302e+01] [-3.60482992e-02 9.99349840e-01 -6.45785664e-04 1.87850223e+00] [-1.40976497e-01 -4.44552353e-03 9.90002962e-01 -3.48619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters 0.03320490939456232 Centerline is valid? [True, True] Translation: X:32.78, Y:1.87, Z:-3.49 [[ 9.89379742e-01 3.69939807e-02 1.40567320e-01 3.27761589e+01] [-3.72695165e-02 9.99305024e-01 -6.72746356e-04 1.87471336e+00] [-1.40494516e-01 -4.57327442e-03 9.90070894e-01 -3.49363075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters 0.034521772083247755 Centerline is valid? [True, True] Translation: X:32.84, Y:1.87, Z:-3.50 [[ 9.89223176e-01 4.23172149e-02 1.40166906e-01 3.28371958e+01] [-4.26351526e-02 9.99090438e-01 -7.35150040e-04 1.86997739e+00] [-1.40070525e-01 -5.24880998e-03 9.90127617e-01 -3.50278037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters 0.036945782771744665 Centerline is valid? [True, True] Translation: X:32.90, Y:1.87, Z:-3.51 [[ 9.88475879e-01 5.03714003e-02 1.42752089e-01 3.28985535e+01] [-5.07768828e-02 9.98709699e-01 -8.03366027e-04 1.87113615e+00] [-1.42608363e-01 -6.45439816e-03 9.89758150e-01 -3.50764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters 0.038868910059186496 Centerline is valid? [True, True] Translation: X:32.96, Y:1.87, Z:-3.52 [[ 9.87818015e-01 5.80779153e-02 1.44369403e-01 3.29597712e+01] [-5.85668114e-02 9.98283117e-01 -8.64801586e-04 1.87414724e+00] [-1.44171763e-01 -7.60098900e-03 9.89523485e-01 -3.51618766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters 0.040996134756763856 Centerline is valid? [True, True] Translation: X:33.02, Y:1.88, Z:-3.52 [[ 9.87378368e-01 6.30262668e-02 1.45298480e-01 3.30211570e+01] [-6.35680729e-02 9.97977085e-01 -9.15563142e-04 1.88272472e+00] [-1.45062258e-01 -8.33233711e-03 9.89387444e-01 -3.52367193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters 0.04033324892457774 Centerline is valid? [True, True] Translation: X:33.08, Y:1.90, Z:-3.53 [[ 9.86686933e-01 6.17871233e-02 1.50436855e-01 3.30833822e+01] [-6.23496925e-02 9.98053885e-01 -9.78827011e-04 1.89614003e+00] [-1.50204567e-01 -8.41389583e-03 9.88619135e-01 -3.52971644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters 0.04012270603084838 Centerline is valid? [True, True] Translation: X:33.14, Y:1.90, Z:-3.54 [[ 9.87091765e-01 5.97611750e-02 1.48588189e-01 3.31439917e+01] [-6.02786453e-02 9.98181066e-01 -1.02241621e-03 1.90208863e+00] [-1.48379017e-01 -7.94747611e-03 9.88898632e-01 -3.53843753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters 0.038276085840256345 Centerline is valid? [True, True] Translation: X:33.20, Y:1.92, Z:-3.55 [[ 9.87154461e-01 5.44482212e-02 1.50204730e-01 3.32046134e+01] [-5.49086257e-02 9.98490796e-01 -1.08354026e-03 1.91883850e+00] [-1.50037038e-01 -7.17791373e-03 9.88654320e-01 -3.54898199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters 0.037663958700886346 Centerline is valid? [True, True] Translation: X:33.27, Y:1.93, Z:-3.56 [[ 9.87111095e-01 4.99689304e-02 1.52035499e-01 3.32662860e+01] [-5.03822102e-02 9.98729365e-01 -1.13525760e-03 1.92750796e+00] [-1.51899045e-01 -6.53925911e-03 9.88374382e-01 -3.55669603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters 0.036270796952215134 Centerline is valid? [True, True] Translation: X:33.33, Y:1.94, Z:-3.56 [[ 9.87550432e-01 4.55635253e-02 1.50559321e-01 3.33272510e+01] [-4.59143615e-02 9.98944721e-01 -1.14702653e-03 1.93546858e+00] [-1.50452701e-01 -5.78008853e-03 9.88600311e-01 -3.56414372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters 0.03539071461398026 Centerline is valid? [True, True] Translation: X:33.39, Y:1.94, Z:-3.57 [[ 9.87640244e-01 4.06577946e-02 1.51372695e-01 3.33886574e+01] [-4.09493620e-02 9.99160512e-01 -1.19192556e-03 1.94107851e+00] [-1.51294081e-01 -5.02142164e-03 9.88476042e-01 -3.57146226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters 0.03427001677306923 Centerline is valid? [True, True] Translation: X:33.45, Y:1.95, Z:-3.58 [[ 9.87312643e-01 3.20876258e-02 1.55512473e-01 3.34501047e+01] [-3.22857868e-02 9.99477894e-01 -1.25203569e-03 1.94503569e+00] [-1.55471454e-01 -3.78469189e-03 9.87833135e-01 -3.57864098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters 0.032884417231929114 Centerline is valid? [True, True] Translation: X:33.51, Y:1.95, Z:-3.58 [[ 9.88082367e-01 2.92265130e-02 1.51125933e-01 3.35110230e+01] [-2.93712781e-02 9.99567758e-01 -1.27468624e-03 1.94767138e+00] [-1.51097865e-01 -3.17926681e-03 9.88513696e-01 -3.58482651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters 0.03405929643597128 Centerline is valid? [True, True] Translation: X:33.57, Y:1.94, Z:-3.59 [[ 9.87167044e-01 2.86597848e-02 1.57098196e-01 3.35722407e+01] [-2.88022535e-02 9.99584190e-01 -1.37004956e-03 1.94193600e+00] [-1.57072138e-01 -3.17231430e-03 9.87582037e-01 -3.59245696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters 0.03371738048852586 Centerline is valid? [True, True] Translation: X:33.63, Y:1.94, Z:-3.60 [[ 9.87309642e-01 2.91357420e-02 1.56111430e-01 3.36334553e+01] [-2.92763979e-02 9.99570376e-01 -1.39870964e-03 1.93776397e+00] [-1.56085113e-01 -3.18942084e-03 9.87738460e-01 -3.59970858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters 0.034089137040573425 Centerline is valid? [True, True] Translation: X:33.70, Y:1.94, Z:-3.61 [[ 9.87235275e-01 2.91816168e-02 1.56572489e-01 3.36956178e+01] [-2.93127498e-02 9.99569205e-01 -1.47193734e-03 1.93620381e+00] [-1.56547992e-01 -3.13642172e-03 9.87665373e-01 -3.61008442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters 0.03407825882132216 Centerline is valid? [True, True] Translation: X:33.76, Y:1.94, Z:-3.62 [[ 9.87248911e-01 2.98991614e-02 1.56350974e-01 3.37584418e+01] [-3.00268333e-02 9.99547898e-01 -1.54578723e-03 1.93570518e+00] [-1.56326505e-01 -3.16864787e-03 9.87700351e-01 -3.61628335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters 0.034497490046267815 Centerline is valid? [True, True] Translation: X:33.82, Y:1.93, Z:-3.62 [[ 9.87515166e-01 3.37754689e-02 1.53860375e-01 3.38196875e+01] [-3.39346165e-02 9.99422786e-01 -1.59251422e-03 1.92986893e+00] [-1.53825353e-01 -3.64856088e-03 9.88091316e-01 -3.62267089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters 0.03516706956414776 Centerline is valid? [True, True] Translation: X:33.88, Y:1.92, Z:-3.63 [[ 9.87835802e-01 4.04706151e-02 1.50141791e-01 3.38808519e+01] [-4.06893434e-02 9.99170539e-01 -1.61617939e-03 1.92316492e+00] [-1.50082662e-01 -4.51265102e-03 9.88663153e-01 -3.63013369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters 0.03642984498022877 Centerline is valid? [True, True] Translation: X:33.94, Y:1.92, Z:-3.64 [[ 9.87394497e-01 4.50793432e-02 1.51723299e-01 3.39426617e+01] [-4.53487541e-02 9.98969793e-01 -1.68591026e-03 1.92137568e+00] [-1.51642993e-01 -5.21580408e-03 9.88421569e-01 -3.63611447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters 0.036270864789563345 Centerline is valid? [True, True] Translation: X:34.00, Y:1.92, Z:-3.64 [[ 9.87667913e-01 4.50881180e-02 1.49930504e-01 3.40046210e+01] [-4.53469519e-02 9.98969862e-01 -1.69372918e-03 1.91733730e+00] [-1.49852422e-01 -5.12604940e-03 9.88695087e-01 -3.64328575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters 0.03558977419111789 Centerline is valid? [True, True] Translation: X:34.07, Y:1.91, Z:-3.65 [[ 9.87902643e-01 4.13522521e-02 1.49460228e-01 3.40655936e+01] [-4.15579203e-02 9.99134567e-01 -1.74819162e-03 1.91364703e+00] [-1.49403172e-01 -4.48421314e-03 9.88766193e-01 -3.65136556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters 0.03489948448669095 Centerline is valid? [True, True] Translation: X:34.13, Y:1.91, Z:-3.66 [[ 9.88114526e-01 3.99086467e-02 1.48448587e-01 3.41269641e+01] [-4.00869345e-02 9.99194589e-01 -1.79201109e-03 1.90964990e+00] [-1.48400542e-01 -4.18013661e-03 9.88918503e-01 -3.65838511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters 0.034549722462650326 Centerline is valid? [True, True] Translation: X:34.19, Y:1.90, Z:-3.66 [[ 9.88692207e-01 4.23907781e-02 1.43842765e-01 3.41885614e+01] [-4.25755573e-02 9.99091638e-01 -1.79466898e-03 1.90036894e+00] [-1.43788182e-01 -4.34981067e-03 9.89598928e-01 -3.66399815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters 0.03456247071357272 Centerline is valid? [True, True] Translation: X:34.25, Y:1.90, Z:-3.67 [[ 9.88635951e-01 4.56226004e-02 1.43239428e-01 3.42500916e+01] [-4.58308691e-02 9.98947506e-01 -1.84682386e-03 1.89530778e+00] [-1.43172926e-01 -4.73895102e-03 9.89686342e-01 -3.67019960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters 0.03550778671002842 Centerline is valid? [True, True] Translation: X:34.31, Y:1.89, Z:-3.68 [[ 9.88379354e-01 4.77614326e-02 1.44309034e-01 3.43117371e+01] [-4.79866047e-02 9.98846130e-01 -1.92193642e-03 1.88850641e+00] [-1.44234314e-01 -5.02529826e-03 9.89530802e-01 -3.67817877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters 0.035146136220608165 Centerline is valid? [True, True] Translation: X:34.37, Y:1.88, Z:-3.69 [[ 9.88983292e-01 4.82219129e-02 1.39952472e-01 3.43729903e+01] [-4.84297932e-02 9.98824740e-01 -1.92196177e-03 1.88404430e+00] [-1.39880672e-01 -4.87708119e-03 9.90156357e-01 -3.68578919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters 0.03515005822723786 Centerline is valid? [True, True] Translation: X:34.43, Y:1.88, Z:-3.69 [[ 9.88676743e-01 4.94116402e-02 1.41692581e-01 3.44345670e+01] [-4.96284567e-02 9.98765736e-01 -2.00541393e-03 1.87858840e+00] [-1.41616786e-01 -5.04927801e-03 9.89908678e-01 -3.68990521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters 0.03688309707957712 Centerline is valid? [True, True] Translation: X:34.50, Y:1.87, Z:-3.70 [[ 9.88057946e-01 5.32401770e-02 1.44592459e-01 3.44955112e+01] [-5.34980972e-02 9.98565729e-01 -2.10658386e-03 1.87133758e+00] [-1.44497229e-01 -5.65399453e-03 9.89489051e-01 -3.69899217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters 0.0371658059198244 Centerline is valid? [True, True] Translation: X:34.56, Y:1.87, Z:-3.71 [[ 9.88411312e-01 5.68649295e-02 1.40746078e-01 3.45573545e+01] [-5.71380238e-02 9.98364073e-01 -2.10331714e-03 1.86803074e+00] [-1.40635433e-01 -5.96301031e-03 9.90043493e-01 -3.70720686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters 0.03751746909212989 Centerline is valid? [True, True] Translation: X:34.62, Y:1.87, Z:-3.71 [[ 9.88385332e-01 5.86712539e-02 1.40186019e-01 3.46186786e+01] [-5.89522147e-02 9.98258488e-01 -2.15123348e-03 1.86563276e+00] [-1.40068099e-01 -6.13802869e-03 9.90122847e-01 -3.71293652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters 0.03609266928894278 Centerline is valid? [True, True] Translation: X:34.68, Y:1.87, Z:-3.72 [[ 9.88527996e-01 5.44873724e-02 1.40867056e-01 3.46800685e+01] [-5.47220082e-02 9.98499182e-01 -2.21030900e-03 1.86826898e+00] [-1.40776075e-01 -5.52357589e-03 9.90026054e-01 -3.71954335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters 0.0348636219073705 Centerline is valid? [True, True] Translation: X:34.74, Y:1.87, Z:-3.72 [[ 9.88966940e-01 5.03076271e-02 1.39332462e-01 3.47412886e+01] [-5.04933860e-02 9.98721964e-01 -2.20366951e-03 1.86793257e+00] [-1.39265252e-01 -4.85601150e-03 9.90243207e-01 -3.72489915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters 0.034567880393368354 Centerline is valid? [True, True] Translation: X:34.80, Y:1.87, Z:-3.73 [[ 9.88704859e-01 4.87093913e-02 1.41739537e-01 3.48041906e+01] [-4.88784938e-02 9.98802106e-01 -2.29038651e-03 1.86957089e+00] [-1.41681311e-01 -4.66349880e-03 9.89901337e-01 -3.73238182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters 0.03412029045945256 Centerline is valid? [True, True] Translation: X:34.87, Y:1.87, Z:-3.74 [[ 9.89082025e-01 4.90240895e-02 1.38972610e-01 3.48664453e+01] [-4.91806839e-02 9.98787229e-01 -2.30911758e-03 1.86652737e+00] [-1.38917270e-01 -4.55086132e-03 9.90293533e-01 -3.73674747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters 0.034842095555758276 Centerline is valid? [True, True] Translation: X:34.93, Y:1.86, Z:-3.74 [[ 9.88747021e-01 5.21930783e-02 1.40197043e-01 3.49279259e+01] [-5.23765867e-02 9.98624561e-01 -2.38304491e-03 1.86269526e+00] [-1.40128589e-01 -4.98681405e-03 9.90120755e-01 -3.74424801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters 0.0358776333538349 Centerline is valid? [True, True] Translation: X:34.99, Y:1.87, Z:-3.75 [[ 9.88459928e-01 5.74882930e-02 1.40150158e-01 3.49893009e+01] [-5.77207723e-02 9.98329860e-01 -2.40890970e-03 1.86535915e+00] [-1.40054572e-01 -5.70846467e-03 9.90127330e-01 -3.75396973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters 0.03646329745546818 Centerline is valid? [True, True] Translation: X:35.05, Y:1.87, Z:-3.76 [[ 9.88541984e-01 6.21967753e-02 1.37536564e-01 3.50508545e+01] [-6.24635498e-02 9.98044409e-01 -2.37974806e-03 1.86970969e+00] [-1.37415611e-01 -6.23854115e-03 9.90493832e-01 -3.76128511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters 0.037764436550881325 Centerline is valid? [True, True] Translation: X:35.11, Y:1.87, Z:-3.77 [[ 9.88291806e-01 6.46327965e-02 1.38209649e-01 3.51128115e+01] [-6.49226056e-02 9.97887380e-01 -2.41497490e-03 1.87243462e+00] [-1.38073751e-01 -6.58623059e-03 9.90400051e-01 -3.76863647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters 0.037532645970375055 Centerline is valid? [True, True] Translation: X:35.18, Y:1.88, Z:-3.78 [[ 9.88142274e-01 6.50419957e-02 1.39084091e-01 3.51751844e+01] [-6.53313698e-02 9.97860520e-01 -2.48879177e-03 1.88204158e+00] [-1.38948400e-01 -6.62727384e-03 9.90277447e-01 -3.77718980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters 0.03603677822410719 Centerline is valid? [True, True] Translation: X:35.24, Y:1.89, Z:-3.78 [[ 9.88246567e-01 6.33361733e-02 1.39130339e-01 3.52371828e+01] [-6.36010819e-02 9.97972155e-01 -2.54571718e-03 1.89026848e+00] [-1.39009440e-01 -6.33304380e-03 9.90270805e-01 -3.78262558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters 0.035563362640072135 Centerline is valid? [True, True] Translation: X:35.30, Y:1.89, Z:-3.79 [[ 9.88529750e-01 6.03688278e-02 1.38436044e-01 3.52979879e+01] [-6.05986444e-02 9.98158936e-01 -2.55801957e-03 1.89235771e+00] [-1.38335599e-01 -5.86035817e-03 9.90368072e-01 -3.78835802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters 0.03469732340588342 Centerline is valid? [True, True] Translation: X:35.36, Y:1.90, Z:-3.80 [[ 9.88328415e-01 5.41052062e-02 1.42406360e-01 3.53582983e+01] [-5.42766448e-02 9.98522331e-01 -2.68321107e-03 1.90281856e+00] [-1.42341106e-01 -5.07744568e-03 9.89804642e-01 -3.79962194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters 0.03348243605268976 Centerline is valid? [True, True] Translation: X:35.42, Y:1.91, Z:-3.81 [[ 9.88683877e-01 4.73561163e-02 1.42343208e-01 3.54201786e+01] [-4.74516693e-02 9.98869818e-01 -2.72506796e-03 1.91219046e+00] [-1.42311383e-01 -4.06019207e-03 9.89813611e-01 -3.80588636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters 0.032798340876105656 Centerline is valid? [True, True] Translation: X:35.48, Y:1.92, Z:-3.81 [[ 9.88656155e-01 4.39539553e-02 1.43621224e-01 3.54818074e+01] [-4.40123366e-02 9.99027142e-01 -2.77206087e-03 1.91578560e+00] [-1.43603344e-01 -3.58049064e-03 9.89628849e-01 -3.81266274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters 0.03158457539945444 Centerline is valid? [True, True] Translation: X:35.54, Y:1.92, Z:-3.82 [[ 9.88795672e-01 3.65476403e-02 1.44732129e-01 3.55431576e+01] [-3.65191188e-02 9.99328877e-01 -2.85469237e-03 1.92083552e+00] [-1.44739328e-01 -2.46278236e-03 9.89466756e-01 -3.82068013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters 0.031035791641505397 Centerline is valid? [True, True] Translation: X:35.61, Y:1.92, Z:-3.83 [[ 9.88569128e-01 2.91573567e-02 1.47922036e-01 3.56054197e+01] [-2.90354515e-02 9.99573929e-01 -2.98388686e-03 1.92155598e+00] [-1.47946012e-01 -1.34520466e-03 9.88994524e-01 -3.82724621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters 0.030803293453077942 Centerline is valid? [True, True] Translation: X:35.67, Y:1.92, Z:-3.83 [[ 9.88632256e-01 2.69468449e-02 1.47919335e-01 3.56669986e+01] [-2.67897245e-02 9.99636423e-01 -3.05478548e-03 1.92056549e+00] [-1.47947871e-01 -9.42658755e-04 9.88994711e-01 -3.83294135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters 0.030627781881204484 Centerline is valid? [True, True] Translation: X:35.73, Y:1.92, Z:-3.84 [[ 9.88816741e-01 2.36527789e-02 1.47248083e-01 3.57288111e+01] [-2.34511319e-02 9.99720161e-01 -3.10556188e-03 1.91679017e+00] [-1.47280332e-01 -3.82302640e-04 9.89094716e-01 -3.84135383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters 0.030789864891582138 Centerline is valid? [True, True] Translation: X:35.79, Y:1.91, Z:-3.85 [[ 9.88546247e-01 2.30379425e-02 1.49149493e-01 3.57902383e+01] [-2.28140179e-02 9.99734566e-01 -3.21231889e-03 1.90781203e+00] [-1.49183908e-01 -2.27173410e-04 9.88809441e-01 -3.85005070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters 0.030776207158678324 Centerline is valid? [True, True] Translation: X:35.85, Y:1.90, Z:-3.86 [[ 9.88732118e-01 2.56036287e-02 1.47489838e-01 3.58523104e+01] [-2.54047118e-02 9.99672022e-01 -3.23260748e-03 1.90171540e+00] [-1.47524231e-01 -5.50753990e-04 9.89058288e-01 -3.85709840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters 0.03143813431153549 Centerline is valid? [True, True] Translation: X:35.91, Y:1.89, Z:-3.86 [[ 9.88695912e-01 3.61826740e-02 1.45503291e-01 3.59136847e+01] [-3.60983639e-02 9.99343052e-01 -3.22053886e-03 1.89159175e+00] [-1.45524231e-01 -2.06829715e-03 9.89352526e-01 -3.86300616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters 0.032006966574242283 Centerline is valid? [True, True] Translation: X:35.97, Y:1.89, Z:-3.87 [[ 9.88373986e-01 4.05275538e-02 1.46541396e-01 3.59748482e+01] [-4.04801653e-02 9.99174871e-01 -3.30671757e-03 1.88711415e+00] [-1.46554493e-01 -2.66374630e-03 9.89199012e-01 -3.86986835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters 0.032660079744000925 Centerline is valid? [True, True] Translation: X:36.04, Y:1.88, Z:-3.88 [[ 9.88360679e-01 4.54409498e-02 1.45183634e-01 3.60364795e+01] [-4.54385432e-02 9.98961571e-01 -3.33435103e-03 1.88137656e+00] [-1.45184388e-01 -3.30139140e-03 9.89399108e-01 -3.87898845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters 0.03274576896367043 Centerline is valid? [True, True] Translation: X:36.10, Y:1.88, Z:-3.89 [[ 9.88379830e-01 4.74567320e-02 1.44406271e-01 3.60990481e+01] [-4.74664997e-02 9.98867113e-01 -3.37961756e-03 1.87790042e+00] [-1.44403060e-01 -3.51411438e-03 9.89512712e-01 -3.88585415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters 0.032828601134186175 Centerline is valid? [True, True] Translation: X:36.16, Y:1.87, Z:-3.89 [[ 9.88399471e-01 4.88909789e-02 1.43792065e-01 3.61617031e+01] [-4.89056641e-02 9.98797497e-01 -3.43450672e-03 1.87390179e+00] [-1.43787071e-01 -3.63758181e-03 9.89601964e-01 -3.89421597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters 0.03315071064991381 Centerline is valid? [True, True] Translation: X:36.22, Y:1.87, Z:-3.90 [[ 9.87862340e-01 5.06219932e-02 1.46851660e-01 3.62230267e+01] [-5.06471220e-02 9.98710229e-01 -3.57039211e-03 1.87312812e+00] [-1.46842995e-01 -3.91055803e-03 9.89152082e-01 -3.90064961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters 0.03355568539109595 Centerline is valid? [True, True] Translation: X:36.28, Y:1.87, Z:-3.91 [[ 9.88387107e-01 5.49184191e-02 1.41685899e-01 3.62845108e+01] [-5.49805969e-02 9.98481363e-01 -3.47885566e-03 1.87115975e+00] [-1.41661783e-01 -4.35151924e-03 9.89905553e-01 -3.90784626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters 0.03473588930321769 Centerline is valid? [True, True] Translation: X:36.35, Y:1.87, Z:-3.91 [[ 9.87991011e-01 6.09667174e-02 1.41974719e-01 3.63460462e+01] [-6.10838852e-02 9.98126369e-01 -3.53695922e-03 1.87165589e+00] [-1.41924348e-01 -5.17788353e-03 9.89863965e-01 -3.91479678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters 0.035488426050062416 Centerline is valid? [True, True] Translation: X:36.41, Y:1.88, Z:-3.92 [[ 9.88023964e-01 6.48005983e-02 1.40034029e-01 3.64077756e+01] [-6.49494088e-02 9.97882378e-01 -3.51202381e-03 1.87994900e+00] [-1.39965071e-01 -5.62516369e-03 9.90140463e-01 -3.92015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters 0.03492098512786959 Centerline is valid? [True, True] Translation: X:36.47, Y:1.88, Z:-3.93 [[ 9.88319314e-01 6.38522158e-02 1.38375679e-01 3.64693740e+01] [-6.39803212e-02 9.97944929e-01 -3.52668777e-03 1.88335722e+00] [-1.38316493e-01 -5.36782673e-03 9.90373533e-01 -3.92822200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters 0.033686670028681386 Centerline is valid? [True, True] Translation: X:36.53, Y:1.89, Z:-3.94 [[ 9.88372305e-01 5.82450559e-02 1.40455332e-01 3.65301981e+01] [-5.83128551e-02 9.98291735e-01 -3.63636523e-03 1.88925593e+00] [-1.40427197e-01 -4.59626872e-03 9.90080338e-01 -3.93607499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters 0.03170657749559073 Centerline is valid? [True, True] Translation: X:36.59, Y:1.89, Z:-3.94 [[ 9.89345198e-01 5.07210069e-02 1.36467791e-01 3.65916634e+01] [-5.07077393e-02 9.98707134e-01 -3.57573808e-03 1.89324342e+00] [-1.36472721e-01 -3.38233385e-03 9.90638055e-01 -3.94026678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters 0.03132418588090631 Centerline is valid? [True, True] Translation: X:36.65, Y:1.90, Z:-3.95 [[ 9.89346969e-01 4.70078414e-02 1.37778217e-01 3.66533380e+01] [-4.69547699e-02 9.98890395e-01 -3.63716424e-03 1.89707251e+00] [-1.37796313e-01 -2.87092705e-03 9.90456427e-01 -3.95016303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters 0.030857684406647323 Centerline is valid? [True, True] Translation: X:36.71, Y:1.90, Z:-3.96 [[ 9.89249211e-01 4.43482240e-02 1.39352912e-01 3.67147363e+01] [-4.42591737e-02 9.99013084e-01 -3.73945039e-03 1.89986099e+00] [-1.39381220e-01 -2.46839640e-03 9.90235721e-01 -3.95690157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters 0.03041188360148413 Centerline is valid? [True, True] Translation: X:36.78, Y:1.90, Z:-3.96 [[ 9.89680829e-01 4.21872164e-02 1.36938292e-01 3.67761286e+01] [-4.20725981e-02 9.99107584e-01 -3.73251433e-03 1.90003663e+00] [-1.36973550e-01 -2.06735185e-03 9.90572548e-01 -3.96359254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters 0.030009844533901035 Centerline is valid? [True, True] Translation: X:36.84, Y:1.90, Z:-3.97 [[ 9.89594225e-01 4.12639079e-02 1.37842516e-01 3.68382106e+01] [-4.11303342e-02 9.99146493e-01 -3.81847121e-03 1.90145533e+00] [-1.37882431e-01 -1.89077168e-03 9.90446798e-01 -3.97069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters 0.030322168952637278 Centerline is valid? [True, True] Translation: X:36.90, Y:1.90, Z:-3.98 [[ 9.89035159e-01 4.35567903e-02 1.41110811e-01 3.69001134e+01] [-4.34301206e-02 9.99048545e-01 -3.97865909e-03 1.89809163e+00] [-1.41149848e-01 -2.19342582e-03 9.89985813e-01 -3.97735752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters 0.030695578760165754 Centerline is valid? [True, True] Translation: X:36.96, Y:1.90, Z:-3.99 [[ 9.89000676e-01 4.78807582e-02 1.39946759e-01 3.69612572e+01] [-4.77907075e-02 9.98849338e-01 -4.00596369e-03 1.89923836e+00] [-1.39977536e-01 -2.72625383e-03 9.90150926e-01 -3.98667440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters 0.030682826498606264 Centerline is valid? [True, True] Translation: X:37.02, Y:1.90, Z:-3.99 [[ 9.88872274e-01 5.07766570e-02 1.39833315e-01 3.70225794e+01] [-5.07070436e-02 9.98705306e-01 -4.06288928e-03 1.89568508e+00] [-1.39858573e-01 -3.07285541e-03 9.90166722e-01 -3.99240206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters 0.03089426344386128 Centerline is valid? [True, True] Translation: X:37.08, Y:1.90, Z:-4.00 [[ 9.88533431e-01 5.09594528e-02 1.42143556e-01 3.70838559e+01] [-5.08807774e-02 9.98695943e-01 -4.19047691e-03 1.89769691e+00] [-1.42171737e-01 -3.08994812e-03 9.89837183e-01 -3.99866311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters 0.030723047540385805 Centerline is valid? [True, True] Translation: X:37.15, Y:1.90, Z:-4.01 [[ 9.88334236e-01 5.08041223e-02 1.43577087e-01 3.71451110e+01] [-5.07138225e-02 9.98704008e-01 -4.29089079e-03 1.89909710e+00] [-1.43609007e-01 -3.04050863e-03 9.89629834e-01 -4.00698438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters 0.029970327278088998 Centerline is valid? [True, True] Translation: X:37.21, Y:1.90, Z:-4.01 [[ 9.88916363e-01 4.94040395e-02 1.40013102e-01 3.72074568e+01] [-4.92967328e-02 9.98775191e-01 -4.23662677e-03 1.89746162e+00] [-1.40050920e-01 -2.71251897e-03 9.90140587e-01 -4.01368437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters 0.0298624038517092 Centerline is valid? [True, True] Translation: X:37.27, Y:1.90, Z:-4.02 [[ 9.89059172e-01 4.57365092e-02 1.40250224e-01 3.72687157e+01] [-4.55875726e-02 9.98951194e-01 -4.27616920e-03 1.89686780e+00] [-1.40298706e-01 -2.16428290e-03 9.90106857e-01 -4.02231955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters 0.029588429165061783 Centerline is valid? [True, True] Translation: X:37.33, Y:1.90, Z:-4.03 [[ 9.89044842e-01 4.63205614e-02 1.40159575e-01 3.73313053e+01] [-4.61687131e-02 9.98924244e-01 -4.33651579e-03 1.89674845e+00] [-1.40209667e-01 -2.18197860e-03 9.90119431e-01 -4.02865484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters 0.029713157991773032 Centerline is valid? [True, True] Translation: X:37.39, Y:1.90, Z:-4.04 [[ 9.89037225e-01 4.79733668e-02 1.39656446e-01 3.73936906e+01] [-4.78292391e-02 9.98845880e-01 -4.39007148e-03 1.89666980e+00] [-1.39705873e-01 -2.33771746e-03 9.90190287e-01 -4.03645914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters 0.02967620492633854 Centerline is valid? [True, True] Translation: X:37.46, Y:1.89, Z:-4.05 [[ 9.89093886e-01 4.90893214e-02 1.38865125e-01 3.74557363e+01] [-4.89480229e-02 9.98791483e-01 -4.43456148e-03 1.89383670e+00] [-1.38914994e-01 -2.41097569e-03 9.90301374e-01 -4.04527589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters 0.0296187993223073 Centerline is valid? [True, True] Translation: X:37.52, Y:1.89, Z:-4.05 [[ 9.88937656e-01 4.93882847e-02 1.39868185e-01 3.75173644e+01] [-4.92382519e-02 9.98776766e-01 -4.53505432e-03 1.89251501e+00] [-1.39921072e-01 -2.40197892e-03 9.90159747e-01 -4.05218465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters 0.02929541956781355 Centerline is valid? [True, True] Translation: X:37.58, Y:1.89, Z:-4.06 [[ 9.89111305e-01 4.88783768e-02 1.38815455e-01 3.75790207e+01] [-4.87171990e-02 9.98802200e-01 -4.56071686e-03 1.89374348e+00] [-1.38872103e-01 -2.25164356e-03 9.90307765e-01 -4.05957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters 0.029319261996231204 Centerline is valid? [True, True] Translation: X:37.64, Y:1.89, Z:-4.06 [[ 9.89034442e-01 5.08089274e-02 1.38669840e-01 3.76415079e+01] [-5.06583623e-02 9.98705367e-01 -4.61732271e-03 1.89047836e+00] [-1.38724915e-01 -2.45809581e-03 9.90327903e-01 -4.06394561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters 0.029834234300161105 Centerline is valid? [True, True] Translation: X:37.70, Y:1.89, Z:-4.07 [[ 9.88878801e-01 5.18535899e-02 1.39391257e-01 3.77028944e+01] [-5.17021808e-02 9.98651443e-01 -4.70956243e-03 1.88612471e+00] [-1.39447487e-01 -2.54964550e-03 9.90226185e-01 -4.07381878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters 0.029530504139975208 Centerline is valid? [True, True] Translation: X:37.76, Y:1.88, Z:-4.08 [[ 9.89126906e-01 5.15457443e-02 1.37735256e-01 3.77647933e+01] [-5.13866350e-02 9.98667712e-01 -4.71315314e-03 1.88395004e+00] [-1.37794696e-01 -2.41584471e-03 9.90457867e-01 -4.08017421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters 0.029838635026306227 Centerline is valid? [True, True] Translation: X:37.83, Y:1.88, Z:-4.09 [[ 9.88995943e-01 5.43755440e-02 1.37587520e-01 3.78268147e+01] [-5.42358037e-02 9.98516776e-01 -4.76716932e-03 1.88216352e+00] [-1.37642664e-01 -2.74745860e-03 9.90478141e-01 -4.08626632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters 0.030472469839149082 Centerline is valid? [True, True] Translation: X:37.89, Y:1.88, Z:-4.10 [[ 9.88717760e-01 5.92727238e-02 1.37564292e-01 3.78878152e+01] [-5.91720516e-02 9.98236139e-01 -4.82477370e-03 1.88388770e+00] [-1.37607625e-01 -3.36962192e-03 9.90481089e-01 -4.09521422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters 0.030848323423796387 Centerline is valid? [True, True] Translation: X:37.95, Y:1.88, Z:-4.10 [[ 9.88769294e-01 6.15483378e-02 1.36187681e-01 3.79504089e+01] [-6.14634267e-02 9.98097638e-01 -4.83231340e-03 1.88361708e+00] [-1.36226024e-01 -3.59251843e-03 9.90671270e-01 -4.10187184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters 0.03154238252787559 Centerline is valid? [True, True] Translation: X:38.01, Y:1.89, Z:-4.11 [[ 9.88032758e-01 6.33613367e-02 1.40629336e-01 3.80116226e+01] [-6.32795326e-02 9.97983025e-01 -5.05788701e-03 1.89256927e+00] [-1.40666164e-01 -3.90160059e-03 9.90049397e-01 -4.11238392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters 0.03162201251335785 Centerline is valid? [True, True] Translation: X:38.07, Y:1.90, Z:-4.12 [[ 9.88300840e-01 6.51324444e-02 1.37910167e-01 3.80731705e+01] [-6.50632099e-02 9.97868544e-01 -5.01480393e-03 1.89611080e+00] [-1.37942844e-01 -4.01674322e-03 9.90432046e-01 -4.11814799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters 0.03191700278652766 Centerline is valid? [True, True] Translation: X:38.13, Y:1.90, Z:-4.13 [[ 9.87769398e-01 6.56450683e-02 1.41429634e-01 3.81343160e+01] [-6.55690029e-02 9.97834473e-01 -5.20299420e-03 1.90186443e+00] [-1.41464915e-01 -4.13404164e-03 9.89934638e-01 -4.12693444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters 0.03079242088102271 Centerline is valid? [True, True] Translation: X:38.20, Y:1.91, Z:-4.13 [[ 9.88420734e-01 5.94736897e-02 1.39597038e-01 3.81961389e+01] [-5.93316753e-02 9.98224872e-01 -5.18247553e-03 1.90922921e+00] [-1.39657456e-01 -3.16005986e-03 9.90194834e-01 -4.13367179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters 0.030002300525603345 Centerline is valid? [True, True] Translation: X:38.26, Y:1.92, Z:-4.14 [[ 9.88518260e-01 5.42054391e-02 1.41044034e-01 3.82581498e+01] [-5.40039958e-02 9.98526874e-01 -5.25829921e-03 1.91796843e+00] [-1.41121287e-01 -2.41901663e-03 9.89989359e-01 -4.14123399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters 0.029415063427230742 Centerline is valid? [True, True] Translation: X:38.32, Y:1.92, Z:-4.15 [[ 9.88637341e-01 4.53871534e-02 1.43304618e-01 3.83206525e+01] [-4.50790860e-02 9.98968840e-01 -5.39748309e-03 1.92094943e+00] [-1.43401825e-01 -1.12388788e-03 9.89663909e-01 -4.14741887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters 0.028952185327674705 Centerline is valid? [True, True] Translation: X:38.38, Y:1.92, Z:-4.15 [[ 9.89314442e-01 3.65142473e-02 1.41151144e-01 3.83823408e+01] [-3.61212741e-02 9.99333114e-01 -5.34603074e-03 1.91935061e+00] [-1.41252218e-01 1.90346265e-04 9.89973623e-01 -4.15493886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters 0.0287958288048675 Centerline is valid? [True, True] Translation: X:38.44, Y:1.92, Z:-4.16 [[ 9.89450784e-01 3.07965021e-02 1.41558192e-01 3.84442272e+01] [-3.03338621e-02 9.99525098e-01 -5.42542365e-03 1.92021391e+00] [-1.41658050e-01 1.07418299e-03 9.89915069e-01 -4.16028940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters 0.02884919948245103 Centerline is valid? [True, True] Translation: X:38.51, Y:1.91, Z:-4.17 [[ 9.89876899e-01 2.87723056e-02 1.38981576e-01 3.85056860e+01] [-2.82979146e-02 9.99585010e-01 -5.38858103e-03 1.91142638e+00] [-1.39078941e-01 1.40114313e-03 9.90280306e-01 -4.16921966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters 0.029164608054866707 Centerline is valid? [True, True] Translation: X:38.57, Y:1.90, Z:-4.18 [[ 9.89272260e-01 2.83277903e-02 1.43310611e-01 3.85672001e+01] [-2.78087759e-02 9.99597442e-01 -5.62370110e-03 1.90425909e+00] [-1.43412228e-01 1.57807882e-03 9.89661782e-01 -4.17607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters 0.028895691403164118 Centerline is valid? [True, True] Translation: X:38.63, Y:1.90, Z:-4.18 [[ 9.89747143e-01 3.16482941e-02 1.39280214e-01 3.86280245e+01] [-3.11821676e-02 9.99498430e-01 -5.52812879e-03 1.89563261e+00] [-1.39385311e-01 1.12839071e-03 9.90237579e-01 -4.18498446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters 0.029085339139374763 Centerline is valid? [True, True] Translation: X:38.69, Y:1.89, Z:-4.19 [[ 9.89100343e-01 3.75768514e-02 1.42367451e-01 3.86887328e+01] [-3.71412748e-02 9.99293673e-01 -5.71663125e-03 1.88664055e+00] [-1.42481706e-01 3.66613320e-04 9.89797368e-01 -4.19464422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters 0.029118379737243603 Centerline is valid? [True, True] Translation: X:38.75, Y:1.88, Z:-4.20 [[ 9.89264011e-01 4.10224352e-02 1.40263597e-01 3.87505266e+01] [-4.06251531e-02 9.99158224e-01 -5.69571564e-03 1.87883061e+00] [-1.40379179e-01 -6.36636057e-05 9.90097814e-01 -4.20124579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters 0.029155480783421617 Centerline is valid? [True, True] Translation: X:38.81, Y:1.87, Z:-4.21 [[ 9.89054929e-01 4.44495797e-02 1.40693220e-01 3.88127220e+01] [-4.40750299e-02 9.99011511e-01 -5.77864538e-03 1.87351953e+00] [-1.40811004e-01 -4.85660167e-04 9.90036376e-01 -4.20638508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters 0.029281462079658167 Centerline is valid? [True, True] Translation: X:38.87, Y:1.87, Z:-4.22 [[ 9.88815027e-01 4.68200680e-02 1.41607640e-01 3.88740222e+01] [-4.64545040e-02 9.98903053e-01 -5.88808101e-03 1.86811371e+00] [-1.41727984e-01 -7.56089684e-04 9.89905352e-01 -4.21785236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters 0.029613330186410425 Centerline is valid? [True, True] Translation: X:38.94, Y:1.86, Z:-4.22 [[ 9.88646970e-01 4.80989493e-02 1.42350480e-01 3.89353492e+01] [-4.77334871e-02 9.98842188e-01 -5.98306654e-03 1.86299578e+00] [-1.42473444e-01 -8.79744183e-04 9.89798234e-01 -4.22397507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters 0.029570858877700085 Centerline is valid? [True, True] Translation: X:39.00, Y:1.85, Z:-4.23 [[ 9.88633342e-01 5.03616496e-02 1.41660928e-01 3.89974624e+01] [-5.00135875e-02 9.98730402e-01 -6.01867026e-03 1.85466463e+00] [-1.41784185e-01 -1.13471310e-03 9.89896943e-01 -4.23056975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters 0.029887763626166783 Centerline is valid? [True, True] Translation: X:39.06, Y:1.85, Z:-4.24 [[ 9.88468651e-01 5.40619457e-02 1.41446213e-01 3.90593211e+01] [-5.37425828e-02 9.98536315e-01 -6.07975018e-03 1.85039812e+00] [-1.41567863e-01 -1.59204236e-03 9.89927273e-01 -4.23861210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters 0.0300366764614374 Centerline is valid? [True, True] Translation: X:39.12, Y:1.85, Z:-4.25 [[ 9.88590605e-01 5.71660898e-02 1.39358003e-01 3.91211257e+01] [-5.68782057e-02 9.98362788e-01 -6.05086844e-03 1.84925955e+00] [-1.39475749e-01 -1.94460146e-03 9.90223578e-01 -4.24587916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters 0.0300630371073842 Centerline is valid? [True, True] Translation: X:39.18, Y:1.85, Z:-4.25 [[ 9.88477733e-01 5.84698982e-02 1.39617486e-01 3.91838854e+01] [-5.81850188e-02 9.98287027e-01 -6.12491607e-03 1.84612651e+00] [-1.39736449e-01 -2.06930292e-03 9.90186570e-01 -4.25177644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters 0.02987571258993337 Centerline is valid? [True, True] Translation: X:39.25, Y:1.85, Z:-4.26 [[ 9.88467049e-01 5.82847554e-02 1.39770453e-01 3.92462931e+01] [-5.79874999e-02 9.98298046e-01 -6.20177149e-03 1.84859130e+00] [-1.39894039e-01 -1.97469237e-03 9.90164511e-01 -4.26161597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters 0.029385895293395074 Centerline is valid? [True, True] Translation: X:39.31, Y:1.85, Z:-4.27 [[ 9.88985613e-01 5.60989604e-02 1.36968481e-01 3.93080363e+01] [-5.57834874e-02 9.98423987e-01 -6.14361229e-03 1.84795756e+00] [-1.37097268e-01 -1.56463540e-03 9.90556354e-01 -4.26610586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters 0.0291859325641947 Centerline is valid? [True, True] Translation: X:39.37, Y:1.84, Z:-4.27 [[ 9.89096312e-01 5.34229859e-02 1.37238733e-01 3.93691742e+01] [-5.30722093e-02 9.98571328e-01 -6.21643372e-03 1.84446900e+00] [-1.37374764e-01 -1.13491108e-03 9.90518494e-01 -4.27355652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters 0.028881793130491232 Centerline is valid? [True, True] Translation: X:39.43, Y:1.84, Z:-4.28 [[ 9.89294894e-01 5.12336078e-02 1.36640878e-01 3.94309728e+01] [-5.08567475e-02 9.98686402e-01 -6.24986282e-03 1.84128012e+00] [-1.36781590e-01 -7.66153245e-04 9.90600934e-01 -4.28077002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters 0.029047299467026968 Centerline is valid? [True, True] Translation: X:39.49, Y:1.83, Z:-4.29 [[ 9.89213865e-01 5.22933429e-02 1.36825930e-01 3.94935878e+01] [-5.19168805e-02 9.98631405e-01 -6.32099807e-03 1.83493891e+00] [-1.36969216e-01 -8.50756502e-04 9.90574939e-01 -4.28671748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters 0.028913408577970773 Centerline is valid? [True, True] Translation: X:39.56, Y:1.83, Z:-4.29 [[ 9.89290080e-01 5.30862121e-02 1.35966876e-01 3.95553633e+01] [-5.27125159e-02 9.98589540e-01 -6.34983355e-03 1.82943254e+00] [-1.36112189e-01 -8.85328761e-04 9.90693034e-01 -4.29448302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters 0.02896459353902318 Centerline is valid? [True, True] Translation: X:39.62, Y:1.83, Z:-4.30 [[ 9.89438088e-01 5.42618032e-02 1.34416992e-01 3.96167302e+01] [-5.38993521e-02 9.98526267e-01 -6.33672799e-03 1.82616319e+00] [-1.34562739e-01 -9.75188744e-04 9.90904596e-01 -4.30034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters 0.029274654436977306 Centerline is valid? [True, True] Translation: X:39.68, Y:1.82, Z:-4.31 [[ 9.88831399e-01 5.73033369e-02 1.37581943e-01 3.96779526e+01] [-5.69442508e-02 9.98355888e-01 -6.54781128e-03 1.82267858e+00] [-1.37730955e-01 -1.35981930e-03 9.90468745e-01 -4.30621439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters 0.029551099873053235 Centerline is valid? [True, True] Translation: X:39.74, Y:1.82, Z:-4.31 [[ 9.88703901e-01 6.22583328e-02 1.36339633e-01 3.97393905e+01] [-6.19448413e-02 9.98058115e-01 -6.54489120e-03 1.82204739e+00] [-1.36482351e-01 -1.97457749e-03 9.90640535e-01 -4.31456526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters 0.029367216594915275 Centerline is valid? [True, True] Translation: X:39.80, Y:1.82, Z:-4.32 [[ 9.88814833e-01 6.52340328e-02 1.34125861e-01 3.98023149e+01] [-6.49498104e-02 9.97867374e-01 -6.49820328e-03 1.82016952e+00] [-1.34263725e-01 -2.28592947e-03 9.90942999e-01 -4.32037150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters 0.02965926195459448 Centerline is valid? [True, True] Translation: X:39.87, Y:1.82, Z:-4.33 [[ 9.88739624e-01 6.72118650e-02 1.33703109e-01 3.98654742e+01] [-6.69384079e-02 9.97735646e-01 -6.54448003e-03 1.82250913e+00] [-1.33840224e-01 -2.47908652e-03 9.90999823e-01 -4.32638317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters 0.029393575853913712 Centerline is valid? [True, True] Translation: X:39.93, Y:1.83, Z:-4.33 [[ 9.88719674e-01 6.87542460e-02 1.33064874e-01 3.99285579e+01] [-6.84884100e-02 9.97630217e-01 -6.57930948e-03 1.82533659e+00] [-1.33201895e-01 -2.60830896e-03 9.91085492e-01 -4.33352646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters 0.029768788154709888 Centerline is valid? [True, True] Translation: X:39.99, Y:1.83, Z:-4.34 [[ 9.88607059e-01 7.13213085e-02 1.32549436e-01 3.99908428e+01] [-7.10718333e-02 9.97449242e-01 -6.61842865e-03 1.83140588e+00] [-1.32683369e-01 -2.87750613e-03 9.91154299e-01 -4.33898298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters 0.029545507262359046 Centerline is valid? [True, True] Translation: X:40.05, Y:1.84, Z:-4.35 [[ 9.88425475e-01 6.98217536e-02 1.34684832e-01 4.00533732e+01] [-6.95420201e-02 9.97555941e-01 -6.78621985e-03 1.83784434e+00] [-1.34829480e-01 -2.65858272e-03 9.90865250e-01 -4.34620631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters 0.028605713248734364 Centerline is valid? [True, True] Translation: X:40.12, Y:1.85, Z:-4.35 [[ 9.88898766e-01 6.90309754e-02 1.31582507e-01 4.01153483e+01] [-6.87485832e-02 9.97611564e-01 -6.69321684e-03 1.84817143e+00] [-1.31730269e-01 -2.42719703e-03 9.91282626e-01 -4.35218549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters 0.02800903904423082 Centerline is valid? [True, True] Translation: X:40.18, Y:1.86, Z:-4.36 [[ 9.89174763e-01 6.58454783e-02 1.31139851e-01 4.01783022e+01] [-6.55301241e-02 9.97827940e-01 -6.72345582e-03 1.85613011e+00] [-1.31297717e-01 -1.94293788e-03 9.91341079e-01 -4.35692172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters 0.027597422023725494 Centerline is valid? [True, True] Translation: X:40.24, Y:1.86, Z:-4.37 [[ 9.89207917e-01 6.26821812e-02 1.32433533e-01 4.02396561e+01] [-6.23288346e-02 9.98032393e-01 -6.81602795e-03 1.86102438e+00] [-1.32600200e-01 -1.51195897e-03 9.91168452e-01 -4.36635776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters 0.027041708723666843 Centerline is valid? [True, True] Translation: X:40.30, Y:1.86, Z:-4.37 [[ 9.89429897e-01 5.90079082e-02 1.32463375e-01 4.03017806e+01] [-5.86136997e-02 9.98257054e-01 -6.87672152e-03 1.86339709e+00] [-1.32638279e-01 -9.60134591e-04 9.91164046e-01 -4.37115972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters 0.026990690606342897 Centerline is valid? [True, True] Translation: X:40.36, Y:1.86, Z:-4.38 [[ 9.89630124e-01 5.58031036e-02 1.32356456e-01 4.03633442e+01] [-5.53729905e-02 9.98441682e-01 -6.93101959e-03 1.86350504e+00] [-1.32536975e-01 -4.69827012e-04 9.91177950e-01 -4.38087545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters 0.026927966389314145 Centerline is valid? [True, True] Translation: X:40.42, Y:1.86, Z:-4.39 [[ 9.89202898e-01 5.66555723e-02 1.35158325e-01 4.04247874e+01] [-5.62063910e-02 9.98393640e-01 -7.14005748e-03 1.85728283e+00] [-1.35345736e-01 -5.33796122e-04 9.90798288e-01 -4.38876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters 0.026966894932514748 Centerline is valid? [True, True] Translation: X:40.49, Y:1.85, Z:-4.39 [[ 9.89387213e-01 5.92806363e-02 1.32660276e-01 4.04869679e+01] [-5.88642059e-02 9.98241018e-01 -7.06217515e-03 1.85270922e+00] [-1.32845579e-01 -8.21716007e-04 9.91136407e-01 -4.39480791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters 0.02753445116592342 Centerline is valid? [True, True] Translation: X:40.55, Y:1.85, Z:-4.40 [[ 9.89000932e-01 6.27200647e-02 1.33952790e-01 4.05487209e+01] [-6.23231196e-02 9.98030352e-01 -7.15852853e-03 1.84584548e+00] [-1.34137934e-01 -1.26856439e-03 9.90961859e-01 -4.40208831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters 0.02824642602463621 Centerline is valid? [True, True] Translation: X:40.61, Y:1.85, Z:-4.41 [[ 9.88452730e-01 7.18179360e-02 1.33429321e-01 4.06106297e+01] [-7.14984793e-02 9.97414791e-01 -7.19035795e-03 1.84549595e+00] [-1.33600775e-01 -2.43266459e-03 9.91032247e-01 -4.40883860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters 0.028721146251366986 Centerline is valid? [True, True] Translation: X:40.67, Y:1.84, Z:-4.42 [[ 9.88300175e-01 7.55957116e-02 1.32469064e-01 4.06719542e+01] [-7.53067609e-02 9.97134441e-01 -7.19717250e-03 1.84361224e+00] [-1.32633541e-01 -2.86284929e-03 9.91161010e-01 -4.41563515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters 0.029438108774483156 Centerline is valid? [True, True] Translation: X:40.73, Y:1.84, Z:-4.42 [[ 9.87872617e-01 7.89668922e-02 1.33685912e-01 4.07336289e+01] [-7.86953489e-02 9.96871820e-01 -7.32230728e-03 1.84072613e+00] [-1.33845938e-01 -3.28695264e-03 9.90996701e-01 -4.42203958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters 0.029053832513206403 Centerline is valid? [True, True] Translation: X:40.80, Y:1.85, Z:-4.43 [[ 9.87769502e-01 7.69778079e-02 1.35594351e-01 4.07958105e+01] [-7.66716407e-02 9.97028289e-01 -7.48662266e-03 1.84924704e+00] [-1.35767708e-01 -3.00118386e-03 9.90736152e-01 -4.43079248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters 0.028770345814111777 Centerline is valid? [True, True] Translation: X:40.86, Y:1.85, Z:-4.44 [[ 9.87973867e-01 7.40287922e-02 1.35747468e-01 4.08579687e+01] [-7.36866638e-02 9.97252861e-01 -7.55024424e-03 1.84842518e+00] [-1.35933486e-01 -2.54333405e-03 9.90714701e-01 -4.43916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters 0.02886080882335874 Centerline is valid? [True, True] Translation: X:40.92, Y:1.86, Z:-4.45 [[ 9.87829424e-01 7.26695176e-02 1.37521526e-01 4.09209345e+01] [-7.22997774e-02 9.97353312e-01 -7.68851652e-03 1.85581366e+00] [-1.37716270e-01 -2.34783290e-03 9.90468938e-01 -4.44776315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters 0.028772051465633008 Centerline is valid? [True, True] Translation: X:40.98, Y:1.85, Z:-4.45 [[ 9.88210326e-01 7.06770048e-02 1.35812788e-01 4.09827344e+01] [-7.02884220e-02 9.97497296e-01 -7.66037441e-03 1.85210231e+00] [-1.36014301e-01 -1.97600545e-03 9.90704903e-01 -4.45437060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters 0.028413773624804933 Centerline is valid? [True, True] Translation: X:41.04, Y:1.85, Z:-4.46 [[ 9.88382081e-01 6.76588089e-02 1.36099773e-01 4.10440912e+01] [-6.72317293e-02 9.97707386e-01 -7.73738876e-03 1.85085980e+00] [-1.36311251e-01 -1.50272669e-03 9.90664920e-01 -4.46153571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters 0.02834015785149061 Centerline is valid? [True, True] Translation: X:41.11, Y:1.85, Z:-4.47 [[ 9.88288664e-01 6.39227354e-02 1.38561901e-01 4.11068800e+01] [-6.34343519e-02 9.97954408e-01 -7.94247687e-03 1.85054088e+00] [-1.38786165e-01 -9.40124531e-04 9.90321926e-01 -4.46882076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters 0.028415321302250128 Centerline is valid? [True, True] Translation: X:41.17, Y:1.85, Z:-4.47 [[ 9.88409694e-01 6.79871180e-02 1.35735143e-01 4.11690464e+01] [-6.75472342e-02 9.97685202e-01 -7.84911268e-03 1.84698038e+00] [-1.35954582e-01 -1.41039443e-03 9.90714067e-01 -4.47421290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters 0.029045546963816782 Centerline is valid? [True, True] Translation: X:41.23, Y:1.84, Z:-4.48 [[ 9.88294906e-01 7.41637229e-02 1.33315117e-01 4.12304842e+01] [-7.37873320e-02 9.97243741e-01 -7.76854250e-03 1.84164009e+00] [-1.33523810e-01 -2.15935583e-03 9.91043253e-01 -4.48278691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters 0.02924794431421229 Centerline is valid? [True, True] Translation: X:41.29, Y:1.84, Z:-4.49 [[ 9.88065471e-01 7.59664047e-02 1.33998995e-01 4.12924246e+01] [-7.55944330e-02 9.97107598e-01 -7.86894222e-03 1.84215218e+00] [-1.34209191e-01 -2.35454792e-03 9.90950225e-01 -4.48909450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters 0.02905780332267975 Centerline is valid? [True, True] Translation: X:41.35, Y:1.85, Z:-4.50 [[ 9.88376258e-01 7.68088537e-02 1.31197454e-01 4.13541068e+01] [-7.64521422e-02 9.97043045e-01 -7.76121111e-03 1.84543631e+00] [-1.31405639e-01 -2.35932961e-03 9.91325876e-01 -4.49829118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters 0.028923692098146332 Centerline is valid? [True, True] Translation: X:41.42, Y:1.85, Z:-4.50 [[ 9.88251018e-01 7.56562448e-02 1.32800820e-01 4.14171445e+01] [-7.52721979e-02 9.97131594e-01 -7.91716324e-03 1.84917257e+00] [-1.33018876e-01 -2.17206497e-03 9.91111124e-01 -4.50309725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters 0.02869208129184591 Centerline is valid? [True, True] Translation: X:41.48, Y:1.85, Z:-4.51 [[ 9.88376549e-01 7.26213905e-02 1.33558719e-01 4.14792330e+01] [-7.21961158e-02 9.97358124e-01 -8.03081974e-03 1.85158886e+00] [-1.33789083e-01 -1.70494686e-03 9.91008362e-01 -4.51053353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters 0.028347152335768178 Centerline is valid? [True, True] Translation: X:41.54, Y:1.85, Z:-4.52 [[ 9.88775635e-01 6.83241357e-02 1.32870451e-01 4.15414641e+01] [-6.78565572e-02 9.97662616e-01 -8.04938589e-03 1.85322813e+00] [-1.33109849e-01 -1.05709472e-03 9.91100727e-01 -4.51687679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters 0.028261096245026252 Centerline is valid? [True, True] Translation: X:41.60, Y:1.85, Z:-4.52 [[ 9.88673177e-01 6.64015185e-02 1.34596387e-01 4.16043284e+01] [-6.58952340e-02 9.97792706e-01 -8.21790584e-03 1.85235305e+00] [-1.34844975e-01 -7.44437340e-04 9.90866428e-01 -4.52302450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters 0.027827997080919018 Centerline is valid? [True, True] Translation: X:41.67, Y:1.86, Z:-4.53 [[ 9.89085853e-01 6.33910422e-02 1.33006582e-01 4.16663314e+01] [-6.28603624e-02 9.97988731e-01 -8.18944901e-03 1.85675223e+00] [-1.33258207e-01 -2.60773746e-04 9.91081320e-01 -4.52727769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters 0.027772077512325726 Centerline is valid? [True, True] Translation: X:41.73, Y:1.86, Z:-4.54 [[ 9.89265844e-01 5.89526695e-02 1.33707412e-01 4.17289386e+01] [-5.83672487e-02 9.98260697e-01 -8.29727607e-03 1.85537492e+00] [-1.33964001e-01 4.04078020e-04 9.90986116e-01 -4.53756582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters 0.027583967552118952 Centerline is valid? [True, True] Translation: X:41.79, Y:1.85, Z:-4.54 [[ 9.89909064e-01 5.34973097e-02 1.31217690e-01 4.17912750e+01] [-5.28766343e-02 9.98567283e-01 -8.21233511e-03 1.85079934e+00] [-1.31469031e-01 1.19111513e-03 9.91319563e-01 -4.54191369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters 0.027561621593847226 Centerline is valid? [True, True] Translation: X:41.85, Y:1.85, Z:-4.55 [[ 9.89844749e-01 5.04720561e-02 1.32890721e-01 4.18530244e+01] [-4.97987026e-02 9.98724052e-01 -8.38788506e-03 1.85043513e+00] [-1.33144513e-01 1.68491850e-03 9.91095202e-01 -4.54910214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters 0.027581271689529105 Centerline is valid? [True, True] Translation: X:41.91, Y:1.84, Z:-4.56 [[ 9.89612259e-01 5.03903444e-02 1.34641709e-01 4.19143212e+01] [-4.96895328e-02 9.98728007e-01 -8.56255823e-03 1.84258366e+00] [-1.34901916e-01 1.78332900e-03 9.90857352e-01 -4.55732356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters 0.027363787385329533 Centerline is valid? [True, True] Translation: X:41.98, Y:1.84, Z:-4.56 [[ 9.89695972e-01 5.16095403e-02 1.33560246e-01 4.19754847e+01] [-5.09225842e-02 9.98665948e-01 -8.55654335e-03 1.83829148e+00] [-1.33823669e-01 1.66714361e-03 9.91003757e-01 -4.56421694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters 0.027208532587864365 Centerline is valid? [True, True] Translation: X:42.04, Y:1.83, Z:-4.57 [[ 9.89674820e-01 5.40761769e-02 1.32738531e-01 4.20366935e+01] [-5.34114631e-02 9.98535849e-01 -8.56587015e-03 1.82893365e+00] [-1.33007391e-01 1.38766685e-03 9.91114074e-01 -4.56981272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters 0.027098412223020188 Centerline is valid? [True, True] Translation: X:42.10, Y:1.82, Z:-4.58 [[ 9.89484232e-01 5.44168343e-02 1.34014043e-01 4.20983910e+01] [-5.37337438e-02 9.98517298e-01 -8.71146191e-03 1.82358003e+00] [-1.34289390e-01 1.41877797e-03 9.90941142e-01 -4.57834664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters 0.027053141432267468 Centerline is valid? [True, True] Translation: X:42.16, Y:1.82, Z:-4.58 [[ 9.89719280e-01 5.43532223e-02 1.32293140e-01 4.21600731e+01] [-5.36788507e-02 9.98520688e-01 -8.66124605e-03 1.81792455e+00] [-1.32568204e-01 1.47085848e-03 9.91172794e-01 -4.58470877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters 0.027265143377092703 Centerline is valid? [True, True] Translation: X:42.22, Y:1.81, Z:-4.59 [[ 9.89607693e-01 5.25367477e-02 1.33852550e-01 4.22213909e+01] [-5.18211302e-02 9.98617371e-01 -8.82702525e-03 1.80653536e+00] [-1.34131224e-01 1.79890168e-03 9.90961946e-01 -4.59321631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters 0.027441522047152684 Centerline is valid? [True, True] Translation: X:42.28, Y:1.80, Z:-4.60 [[ 9.89860593e-01 5.20856130e-02 1.32148008e-01 4.22830488e+01] [-5.13760187e-02 9.98640820e-01 -8.77593932e-03 1.79833452e+00] [-1.32425495e-01 1.89771797e-03 9.91191146e-01 -4.60023195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters 0.02737208460663647 Centerline is valid? [True, True] Translation: X:42.34, Y:1.79, Z:-4.61 [[ 9.89695305e-01 5.22806063e-02 1.33303941e-01 4.23444696e+01] [-5.15517309e-02 9.98630527e-01 -8.91574075e-03 1.78909318e+00] [-1.33587505e-01 1.95181790e-03 9.91035100e-01 -4.60781292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters 0.02724332695394822 Centerline is valid? [True, True] Translation: X:42.41, Y:1.78, Z:-4.62 [[ 9.89536756e-01 5.47173491e-02 1.33502884e-01 4.24052576e+01] [-5.39996996e-02 9.98500454e-01 -8.99314115e-03 1.77804340e+00] [-1.33794771e-01 1.68992810e-03 9.91007620e-01 -4.61543268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters 0.027378183422169633 Centerline is valid? [True, True] Translation: X:42.47, Y:1.77, Z:-4.62 [[ 9.89294011e-01 5.90669077e-02 1.33448343e-01 4.24657720e+01] [-5.83807909e-02 9.98253347e-01 -9.05197799e-03 1.76650801e+00] [-1.33749928e-01 1.16424779e-03 9.91014430e-01 -4.62457013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters 0.027246385425484444 Centerline is valid? [True, True] Translation: X:42.53, Y:1.76, Z:-4.63 [[ 9.88789726e-01 6.33012002e-02 1.35232529e-01 4.25278037e+01] [-6.26269232e-02 9.97994246e-01 -9.23871910e-03 1.75783423e+00] [-1.35546107e-01 6.65953347e-04 9.90770816e-01 -4.63106530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters 0.027585079925720304 Centerline is valid? [True, True] Translation: X:42.59, Y:1.75, Z:-4.64 [[ 9.88232095e-01 6.80702537e-02 1.36980901e-01 4.25891729e+01] [-6.74138602e-02 9.97680527e-01 -9.43070372e-03 1.74824506e+00] [-1.37305128e-01 8.53127900e-05 9.90528795e-01 -4.63803596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters 0.027873535752637325 Centerline is valid? [True, True] Translation: X:42.65, Y:1.74, Z:-4.65 [[ 9.87913806e-01 7.06489911e-02 1.37967506e-01 4.26512684e+01] [-6.99987552e-02 9.97501216e-01 -9.56542523e-03 1.73994756e+00] [-1.38298543e-01 -2.07738062e-04 9.90390564e-01 -4.64723266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters 0.02777744729270365 Centerline is valid? [True, True] Translation: X:42.71, Y:1.73, Z:-4.65 [[ 9.88086718e-01 7.29131152e-02 1.35529755e-01 4.27127714e+01] [-7.22974269e-02 9.97338197e-01 -9.46587325e-03 1.72934171e+00] [-1.35859188e-01 -4.45348949e-04 9.90728057e-01 -4.65301935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters 0.027987195785620214 Centerline is valid? [True, True] Translation: X:42.77, Y:1.72, Z:-4.66 [[ 9.87835354e-01 7.63562710e-02 1.35465989e-01 4.27748145e+01] [-7.57646683e-02 9.97080232e-01 -9.52497755e-03 1.72366252e+00] [-1.35797751e-01 -8.54426121e-04 9.90736211e-01 -4.66040543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters 0.02860417186866761 Centerline is valid? [True, True] Translation: X:42.84, Y:1.71, Z:-4.67 [[ 9.87475625e-01 7.91357777e-02 1.36489629e-01 4.28355983e+01] [-7.85518354e-02 9.96863154e-01 -9.66753475e-03 1.71238758e+00] [-1.36826530e-01 -1.17505595e-03 9.90594327e-01 -4.66884019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters 0.028637712020595122 Centerline is valid? [True, True] Translation: X:42.90, Y:1.70, Z:-4.68 [[ 9.87640834e-01 7.97834515e-02 1.34908055e-01 4.28964317e+01] [-7.92107170e-02 9.96811511e-01 -9.61635828e-03 1.70484003e+00] [-1.35245128e-01 -1.18865563e-03 9.90811457e-01 -4.67740267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters 0.02869683289675268 Centerline is valid? [True, True] Translation: X:42.96, Y:1.69, Z:-4.68 [[ 9.87455157e-01 8.22666973e-02 1.34775755e-01 4.29589574e+01] [-8.17096665e-02 9.96609274e-01 -9.66881572e-03 1.69468125e+00] [-1.35114189e-01 -1.46496005e-03 9.90828951e-01 -4.68212706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters 0.029284595522628565 Centerline is valid? [True, True] Translation: X:43.02, Y:1.69, Z:-4.69 [[ 9.86754389e-01 8.66404011e-02 1.37146700e-01 4.30199738e+01] [-8.60959461e-02 9.96237580e-01 -9.90815587e-03 1.68806659e+00] [-1.37489143e-01 -2.03085860e-03 9.90501192e-01 -4.68838595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters 0.02933969740618853 Centerline is valid? [True, True] Translation: X:43.08, Y:1.68, Z:-4.70 [[ 9.86989735e-01 8.89327305e-02 1.33948620e-01 4.30809069e+01] [-8.84269438e-02 9.96035118e-01 -9.73236579e-03 1.67932073e+00] [-1.34283056e-01 -2.23892198e-03 9.90940487e-01 -4.69615647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters 0.029669986025555074 Centerline is valid? [True, True] Translation: X:43.14, Y:1.67, Z:-4.70 [[ 9.86520971e-01 9.05349223e-02 1.36307749e-01 4.31421214e+01] [-9.00178236e-02 9.95890295e-01 -9.96553588e-03 1.67048769e+00] [-1.36649793e-01 -2.43891675e-03 9.90616417e-01 -4.70322640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters 0.02992034371030387 Centerline is valid? [True, True] Translation: X:43.20, Y:1.67, Z:-4.71 [[ 9.86470623e-01 9.39308979e-02 1.34360324e-01 4.32044000e+01] [-9.34516382e-02 9.95574764e-01 -9.88339147e-03 1.66765465e+00] [-1.34694104e-01 -2.80651708e-03 9.90883253e-01 -4.70971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters 0.030379329759782494 Centerline is valid? [True, True] Translation: X:43.27, Y:1.66, Z:-4.72 [[ 9.86283583e-01 9.72201298e-02 1.33390181e-01 4.32657532e+01] [-9.67688701e-02 9.95257867e-01 -9.87742187e-03 1.66266189e+00] [-1.33717911e-01 -3.16607807e-03 9.91014377e-01 -4.71638980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters 0.030692220155898103 Centerline is valid? [True, True] Translation: X:43.33, Y:1.66, Z:-4.72 [[ 9.86227335e-01 9.84168059e-02 1.32927710e-01 4.33276977e+01] [-9.79715259e-02 9.95139952e-01 -9.90236361e-03 1.65809776e+00] [-1.33256233e-01 -3.25714887e-03 9.91076267e-01 -4.72459027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters 0.029628922010629742 Centerline is valid? [True, True] Translation: X:43.39, Y:1.66, Z:-4.73 [[ 9.86680604e-01 9.20001567e-02 1.34154230e-01 4.33895335e+01] [-9.14786362e-02 9.95756227e-01 -1.00595630e-02 1.65724931e+00] [-1.34510391e-01 -2.34667029e-03 9.90909404e-01 -4.73297999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters 0.02897848748965666 Centerline is valid? [True, True] Translation: X:43.45, Y:1.66, Z:-4.74 [[ 9.87125571e-01 8.96835161e-02 1.32438564e-01 4.34510928e+01] [-8.91468595e-02 9.95968411e-01 -9.98806020e-03 1.65527368e+00] [-1.32800390e-01 -1.94701241e-03 9.91140891e-01 -4.73837781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters 0.028800681852770613 Centerline is valid? [True, True] Translation: X:43.51, Y:1.65, Z:-4.74 [[ 9.86952990e-01 8.96516420e-02 1.33739970e-01 4.35132312e+01] [-8.90958134e-02 9.95971370e-01 -1.01472230e-02 1.65003523e+00] [-1.34110896e-01 -1.90083929e-03 9.90964507e-01 -4.74477744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters 0.028608614255868567 Centerline is valid? [True, True] Translation: X:43.58, Y:1.65, Z:-4.75 [[ 9.87361652e-01 8.64845164e-02 1.32805857e-01 4.35752224e+01] [-8.58989772e-02 9.96252221e-01 -1.01428918e-02 1.64862405e+00] [-1.33185333e-01 -1.39318482e-03 9.91090171e-01 -4.75220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters 0.028359079967456916 Centerline is valid? [True, True] Translation: X:43.64, Y:1.64, Z:-4.76 [[ 9.87490989e-01 8.43995626e-02 1.33185064e-01 4.36376956e+01] [-8.37834749e-02 9.96431435e-01 -1.02335107e-02 1.64328443e+00] [-1.33573489e-01 -1.05320794e-03 9.91038351e-01 -4.76033879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters 0.02796081283948815 Centerline is valid? [True, True] Translation: X:43.70, Y:1.64, Z:-4.77 [[ 9.88078765e-01 7.90947607e-02 1.32077147e-01 4.36990655e+01] [-7.84328406e-02 9.96867066e-01 -1.02147705e-02 1.63710073e+00] [-1.32471293e-01 -2.66188016e-04 9.91186807e-01 -4.76709716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters 0.02781003138493497 Centerline is valid? [True, True] Translation: X:43.76, Y:1.63, Z:-4.78 [[ 9.88378805e-01 7.59563944e-02 1.31673700e-01 4.37608319e+01] [-7.52626635e-02 9.97111117e-01 -1.02445954e-02 1.62874663e+00] [-1.32071453e-01 2.15427584e-04 9.91240175e-01 -4.77607321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters 0.027952450882318534 Centerline is valid? [True, True] Translation: X:43.82, Y:1.62, Z:-4.78 [[ 9.87850948e-01 7.80363698e-02 1.34390583e-01 4.38220467e+01] [-7.73232248e-02 9.96950513e-01 -1.05258709e-02 1.61749810e+00] [-1.34802162e-01 6.47831487e-06 9.90872533e-01 -4.78205523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters 0.028104311379255367 Centerline is valid? [True, True] Translation: X:43.88, Y:1.61, Z:-4.79 [[ 9.87648002e-01 8.26380371e-02 1.33125429e-01 4.38826610e+01] [-8.19717600e-02 9.96579474e-01 -1.04873019e-02 1.60549575e+00] [-1.33536720e-01 -5.54762960e-04 9.91043711e-01 -4.78985657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters 0.02837161074677317 Centerline is valid? [True, True] Translation: X:43.94, Y:1.60, Z:-4.80 [[ 9.87343971e-01 8.53886853e-02 1.33643763e-01 4.39447429e+01] [-8.47337139e-02 9.96347340e-01 -1.05913499e-02 1.59664323e+00] [-1.34059989e-01 -8.66826889e-04 9.90972839e-01 -4.79784005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters 0.02826218045471372 Centerline is valid? [True, True] Translation: X:44.01, Y:1.59, Z:-4.80 [[ 9.87544746e-01 8.71910681e-02 1.30969813e-01 4.40057835e+01] [-8.65691639e-02 9.96191082e-01 -1.04454716e-02 1.58750959e+00] [-1.31381711e-01 -1.02257660e-03 9.91331327e-01 -4.80247721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters 0.028401694268098854 Centerline is valid? [True, True] Translation: X:44.07, Y:1.58, Z:-4.81 [[ 9.87091521e-01 8.87231879e-02 1.33336138e-01 4.40669401e+01] [-8.80842400e-02 9.96055613e-01 -1.06949471e-02 1.57835143e+00] [-1.33759099e-01 -1.18792076e-03 9.91013165e-01 -4.81106602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters 0.028936661015695805 Centerline is valid? [True, True] Translation: X:44.13, Y:1.57, Z:-4.82 [[ 9.86573225e-01 9.21739996e-02 1.34822939e-01 4.41280522e+01] [-9.15444322e-02 9.95741609e-01 -1.08750102e-02 1.56755882e+00] [-1.35251203e-01 -1.61329546e-03 9.90810027e-01 -4.81750636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters 0.02908955437970648 Centerline is valid? [True, True] Translation: X:44.19, Y:1.56, Z:-4.82 [[ 9.86349276e-01 9.64271087e-02 1.33480032e-01 4.41891258e+01] [-9.58407970e-02 9.95337802e-01 -1.08259316e-02 1.56170332e+00] [-1.33901635e-01 -2.11468290e-03 9.90992371e-01 -4.82451446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters 0.029344369368534854 Centerline is valid? [True, True] Translation: X:44.25, Y:1.55, Z:-4.83 [[ 9.86060355e-01 9.88053759e-02 1.33874841e-01 4.42495607e+01] [-9.82294067e-02 9.95103917e-01 -1.09168606e-02 1.55275036e+00] [-1.34298024e-01 -2.38576280e-03 9.90938116e-01 -4.83426893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters 0.029316356883098468 Centerline is valid? [True, True] Translation: X:44.31, Y:1.55, Z:-4.84 [[ 9.85844481e-01 9.74551052e-02 1.36430065e-01 4.43112129e+01] [-9.68356447e-02 9.95237526e-01 -1.11858922e-02 1.54846664e+00] [-1.36870442e-01 -2.18374313e-03 9.90586550e-01 -4.84267114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters 0.028854157515131006 Centerline is valid? [True, True] Translation: X:44.37, Y:1.54, Z:-4.85 [[ 9.86322915e-01 9.35925746e-02 1.35674382e-01 4.43724250e+01] [-9.29354293e-02 9.95609330e-01 -1.11833711e-02 1.53950291e+00] [-1.36125361e-01 -1.57854179e-03 9.90690362e-01 -4.84814163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters 0.028781269175269596 Centerline is valid? [True, True] Translation: X:44.43, Y:1.53, Z:-4.86 [[ 9.86268507e-01 9.26425173e-02 1.36717942e-01 4.44340309e+01] [-9.19575097e-02 9.95698455e-01 -1.13314721e-02 1.53007986e+00] [-1.37179620e-01 -1.39636748e-03 9.90545204e-01 -4.85743110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters 0.029366049413204802 Centerline is valid? [True, True] Translation: X:44.50, Y:1.52, Z:-4.86 [[ 9.86039751e-01 9.92187994e-02 1.33720748e-01 4.44959758e+01] [-9.86147307e-02 9.95063225e-01 -1.11496080e-02 1.51617938e+00] [-1.34166849e-01 -2.19287881e-03 9.90956330e-01 -4.86478171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters 0.030300921042940757 Centerline is valid? [True, True] Translation: X:44.56, Y:1.50, Z:-4.87 [[ 9.85309049e-01 1.04462735e-01 1.35105941e-01 4.45566171e+01] [-1.03885858e-01 9.94524662e-01 -1.13325113e-02 1.50443363e+00] [-1.35550015e-01 -2.86957060e-03 9.90766349e-01 -4.87125693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters 0.03138163766468372 Centerline is valid? [True, True] Translation: X:44.62, Y:1.49, Z:-4.88 [[ 9.84657114e-01 1.09808041e-01 1.35619177e-01 4.46171143e+01] [-1.09269100e-01 9.93946437e-01 -1.14343279e-02 1.49386884e+00] [-1.36053779e-01 -3.56009317e-03 9.90695056e-01 -4.88062813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters 0.03171356064191592 Centerline is valid? [True, True] Translation: X:44.68, Y:1.49, Z:-4.89 [[ 9.84501944e-01 1.10840961e-01 1.35905128e-01 4.46784551e+01] [-1.10301673e-01 9.93831441e-01 -1.15155391e-02 1.48706299e+00] [-1.36343182e-01 -3.65349232e-03 9.90654929e-01 -4.88905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters 0.031839103672705746 Centerline is valid? [True, True] Translation: X:44.74, Y:1.48, Z:-4.90 [[ 9.84472291e-01 1.13473127e-01 1.33933405e-01 4.47404887e+01] [-1.12965830e-01 9.93533406e-01 -1.14057646e-02 1.47947434e+00] [-1.34361559e-01 -3.90123899e-03 9.90924695e-01 -4.89526904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters 0.03226423406541128 Centerline is valid? [True, True] Translation: X:44.80, Y:1.47, Z:-4.90 [[ 9.84579680e-01 1.15771002e-01 1.31148499e-01 4.48026935e+01] [-1.15296571e-01 9.93267620e-01 -1.12309877e-02 1.47002868e+00] [-1.31565780e-01 -4.06316991e-03 9.91299115e-01 -4.90250798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters 0.03293666028484599 Centerline is valid? [True, True] Translation: X:44.86, Y:1.46, Z:-4.91 [[ 9.84147459e-01 1.17419849e-01 1.32914849e-01 4.48634390e+01] [-1.16939436e-01 9.93073131e-01 -1.14422774e-02 1.46148840e+00] [-1.33337716e-01 -4.28209921e-03 9.91061409e-01 -4.90925541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters 0.03220063883139731 Centerline is valid? [True, True] Translation: X:44.92, Y:1.45, Z:-4.92 [[ 9.84447347e-01 1.16300612e-01 1.31672279e-01 4.49245683e+01] [-1.15814787e-01 9.93205769e-01 -1.13682201e-02 1.45423306e+00] [-1.32099798e-01 -4.05818288e-03 9.91228114e-01 -4.91637396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters 0.03184810141362032 Centerline is valid? [True, True] Translation: X:44.99, Y:1.45, Z:-4.93 [[ 9.84632687e-01 1.14659180e-01 1.31726022e-01 4.49853285e+01] [-1.14150892e-01 9.93397683e-01 -1.14287528e-02 1.44723693e+00] [-1.32166736e-01 -3.78351933e-03 9.91220278e-01 -4.92591451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters 0.032055226874100916 Centerline is valid? [True, True] Translation: X:45.05, Y:1.44, Z:-4.93 [[ 9.84790890e-01 1.13662402e-01 1.31406851e-01 4.50469039e+01] [-1.13140875e-01 9.93512948e-01 -1.14527102e-02 1.43551906e+00] [-1.31856151e-01 -3.58896154e-03 9.91262364e-01 -4.93167580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters 0.032271371592904115 Centerline is valid? [True, True] Translation: X:45.11, Y:1.43, Z:-4.94 [[ 9.84185973e-01 1.16239420e-01 1.33665131e-01 4.51083153e+01] [-1.15719902e-01 9.93213262e-01 -1.16756637e-02 1.42957420e+00] [-1.34115153e-01 -3.97669138e-03 9.90957775e-01 -4.93875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters 0.03292954128474008 Centerline is valid? [True, True] Translation: X:45.17, Y:1.42, Z:-4.95 [[ 9.84065598e-01 1.20146138e-01 1.31071753e-01 4.51686983e+01] [-1.19673858e-01 9.92746616e-01 -1.15031997e-02 1.41751441e+00] [-1.31503104e-01 -4.36595931e-03 9.91306144e-01 -4.94547280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters 0.034087323005010786 Centerline is valid? [True, True] Translation: X:45.23, Y:1.41, Z:-4.95 [[ 9.83364458e-01 1.24311631e-01 1.32442291e-01 4.52302751e+01] [-1.23859967e-01 9.92231014e-01 -1.16757766e-02 1.41040841e+00] [-1.32864784e-01 -4.92275414e-03 9.91121948e-01 -4.95273882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters 0.035009308002788744 Centerline is valid? [True, True] Translation: X:45.29, Y:1.40, Z:-4.96 [[ 9.82948299e-01 1.28738350e-01 1.31297669e-01 4.52920235e+01] [-1.28327502e-01 9.91663752e-01 -1.16213405e-02 1.40397253e+00] [-1.31699251e-01 -5.42592503e-03 9.91274869e-01 -4.95803677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters 0.035696701874776054 Centerline is valid? [True, True] Translation: X:45.35, Y:1.40, Z:-4.97 [[ 9.82612236e-01 1.30289621e-01 1.32279283e-01 4.53528829e+01] [-1.29879830e-01 9.91460015e-01 -1.17587492e-02 1.39780716e+00] [-1.32681663e-01 -5.62612002e-03 9.91142736e-01 -4.96674764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters 0.03452530083916575 Centerline is valid? [True, True] Translation: X:45.41, Y:1.40, Z:-4.97 [[ 9.82952761e-01 1.26701434e-01 1.33231437e-01 4.54145327e+01] [-1.26245520e-01 9.91927664e-01 -1.18986594e-02 1.39519021e+00] [-1.33663525e-01 -5.12405186e-03 9.91013525e-01 -4.97443607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters 0.03460526076199387 Centerline is valid? [True, True] Translation: X:45.48, Y:1.39, Z:-4.98 [[ 9.82934950e-01 1.27260377e-01 1.32829516e-01 4.54769964e+01] [-1.26804846e-01 9.91856084e-01 -1.19180183e-02 1.39088680e+00] [-1.33264456e-01 -5.12878967e-03 9.91067243e-01 -4.98242391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters 0.03428651014168019 Centerline is valid? [True, True] Translation: X:45.54, Y:1.39, Z:-4.99 [[ 9.83152878e-01 1.30113597e-01 1.28377841e-01 4.55400771e+01] [-1.29704513e-01 9.91485096e-01 -1.15777530e-02 1.38856634e+00] [-1.28791139e-01 -5.26848420e-03 9.91657746e-01 -4.98627802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters 0.0350385511700191 Centerline is valid? [True, True] Translation: X:45.60, Y:1.39, Z:-5.00 [[ 9.82630267e-01 1.30644660e-01 1.31794274e-01 4.56010342e+01] [-1.30209930e-01 9.91414444e-01 -1.19488079e-02 1.38670615e+00] [-1.32223795e-01 -5.41966288e-03 9.91205072e-01 -4.99629157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters 0.033624124941002795 Centerline is valid? [True, True] Translation: X:45.66, Y:1.39, Z:-5.00 [[ 9.83130762e-01 1.27034404e-01 1.31590899e-01 4.56635832e+01] [-1.26562186e-01 9.91886326e-01 -1.19803869e-02 1.39265291e+00] [-1.32045135e-01 -4.87614499e-03 9.91231711e-01 -5.00091560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters 0.03306184612345622 Centerline is valid? [True, True] Translation: X:45.73, Y:1.39, Z:-5.01 [[ 9.83580608e-01 1.23659094e-01 1.31444345e-01 4.57250285e+01] [-1.23155191e-01 9.92315017e-01 -1.19877163e-02 1.39261783e+00] [-1.31916588e-01 -4.39716820e-03 9.91251067e-01 -5.00995276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters 0.031974826578139 Centerline is valid? [True, True] Translation: X:45.79, Y:1.39, Z:-5.02 [[ 9.83929551e-01 1.17414720e-01 1.34522947e-01 4.57876370e+01] [-1.16821666e-01 9.93076474e-01 -1.23213634e-02 1.39098955e+00] [-1.35038283e-01 -3.59184123e-03 9.90833871e-01 -5.01537453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters 0.031073114847186258 Centerline is valid? [True, True] Translation: X:45.85, Y:1.39, Z:-5.03 [[ 9.84585981e-01 1.13898297e-01 1.32731398e-01 4.58491836e+01] [-1.13285778e-01 9.93487757e-01 -1.21823038e-02 1.38824582e+00] [-1.33254563e-01 -3.04205419e-03 9.91077175e-01 -5.02510020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters 0.03153787683771425 Centerline is valid? [True, True] Translation: X:45.91, Y:1.38, Z:-5.03 [[ 9.84055884e-01 1.17043008e-01 1.33921438e-01 4.59100920e+01] [-1.16440642e-01 9.93120882e-01 -1.23487033e-02 1.38166074e+00] [-1.34445506e-01 -3.44208415e-03 9.90915010e-01 -5.03204031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters 0.0319925139142288 Centerline is valid? [True, True] Translation: X:45.97, Y:1.38, Z:-5.04 [[ 9.83653751e-01 1.19388983e-01 1.34801962e-01 4.59717577e+01] [-1.18793063e-01 9.92840540e-01 -1.24848300e-02 1.37709598e+00] [-1.35327404e-01 -3.73278817e-03 9.90793904e-01 -5.03963224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters 0.03155136682831579 Centerline is valid? [True, True] Translation: X:46.03, Y:1.37, Z:-5.05 [[ 9.83755251e-01 1.17740416e-01 1.35509412e-01 4.60332452e+01] [-1.17114676e-01 9.93038357e-01 -1.26085053e-02 1.37062743e+00] [-1.36050574e-01 -3.46645753e-03 9.90695829e-01 -5.04657005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters 0.030680605183595187 Centerline is valid? [True, True] Translation: X:46.09, Y:1.36, Z:-5.05 [[ 9.84434395e-01 1.12184488e-01 1.35290663e-01 4.60949252e+01] [-1.11501449e-01 9.93683884e-01 -1.26398736e-02 1.36302382e+00] [-1.35854149e-01 -2.64197857e-03 9.90725325e-01 -5.05355511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters 0.03051549133803957 Centerline is valid? [True, True] Translation: X:46.16, Y:1.36, Z:-5.06 [[ 9.84528696e-01 1.10552693e-01 1.35946126e-01 4.61564521e+01] [-1.09843778e-01 9.93867363e-01 -1.27282921e-02 1.35608318e+00] [-1.36519565e-01 -2.40146727e-03 9.90634464e-01 -5.06165421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters 0.0318426439250617 Centerline is valid? [True, True] Translation: X:46.22, Y:1.34, Z:-5.07 [[ 9.83666080e-01 1.18072362e-01 1.35867440e-01 4.62167941e+01] [-1.17427548e-01 9.92999227e-01 -1.27791338e-02 1.34163978e+00] [-1.36425125e-01 -3.38417993e-03 9.90644605e-01 -5.06886138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters 0.032653545010612385 Centerline is valid? [True, True] Translation: X:46.28, Y:1.33, Z:-5.08 [[ 9.83010360e-01 1.23175732e-01 1.36082225e-01 4.62770007e+01] [-1.22570135e-01 9.92376629e-01 -1.28525611e-02 1.32978065e+00] [-1.36627944e-01 -4.04541600e-03 9.90614173e-01 -5.07825818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters 0.03315887525629327 Centerline is valid? [True, True] Translation: X:46.34, Y:1.32, Z:-5.08 [[ 9.82721178e-01 1.25984927e-01 1.35598246e-01 4.63378301e+01] [-1.25402721e-01 9.92022552e-01 -1.28613719e-02 1.32032300e+00] [-1.36136857e-01 -4.36524651e-03 9.90680423e-01 -5.08375705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters 0.03368977320454595 Centerline is valid? [True, True] Translation: X:46.40, Y:1.31, Z:-5.09 [[ 9.82508719e-01 1.30917102e-01 1.32428580e-01 4.63991550e+01] [-1.30398943e-01 9.91381340e-01 -1.26156555e-02 1.31281908e+00] [-1.32938828e-01 -4.87355528e-03 9.91112262e-01 -5.09090827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters 0.03571291803292322 Centerline is valid? [True, True] Translation: X:46.46, Y:1.30, Z:-5.10 [[ 9.81288925e-01 1.36479134e-01 1.35814180e-01 4.64603488e+01] [-1.35979955e-01 9.90626425e-01 -1.29899041e-02 1.30428188e+00] [-1.36313966e-01 -5.72115695e-03 9.90649166e-01 -5.09861616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters 0.03691544721509702 Centerline is valid? [True, True] Translation: X:46.52, Y:1.30, Z:-5.10 [[ 9.80467027e-01 1.42176874e-01 1.35904916e-01 4.65219338e+01] [-1.41729108e-01 9.89819920e-01 -1.30148733e-02 1.29843023e+00] [-1.36371807e-01 -6.50102828e-03 9.90636395e-01 -5.10467429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters 0.037512193153671713 Centerline is valid? [True, True] Translation: X:46.58, Y:1.30, Z:-5.11 [[ 9.80198660e-01 1.44858799e-01 1.35005614e-01 4.65835217e+01] [-1.44439205e-01 9.89428928e-01 -1.29503603e-02 1.29631852e+00] [-1.35454434e-01 -6.80617764e-03 9.90760199e-01 -5.11173428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters 0.037868864065048954 Centerline is valid? [True, True] Translation: X:46.65, Y:1.30, Z:-5.12 [[ 9.80111639e-01 1.45850114e-01 1.34569387e-01 4.66465123e+01] [-1.45434847e-01 9.89282884e-01 -1.29645774e-02 1.29710184e+00] [-1.35018076e-01 -6.86434505e-03 9.90819358e-01 -5.11985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters 0.03784037543872256 Centerline is valid? [True, True] Translation: X:46.71, Y:1.29, Z:-5.13 [[ 9.80201941e-01 1.44687440e-01 1.35165454e-01 4.67082276e+01] [-1.44248993e-01 9.89454914e-01 -1.30843722e-02 1.29384352e+00] [-1.35633267e-01 -6.67215369e-03 9.90736645e-01 -5.12588943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters 0.036225525303765736 Centerline is valid? [True, True] Translation: X:46.77, Y:1.30, Z:-5.13 [[ 9.80570192e-01 1.41381603e-01 1.35990220e-01 4.67699542e+01] [-1.40898686e-01 9.89935765e-01 -1.32189967e-02 1.29638600e+00] [-1.36490506e-01 -6.19868917e-03 9.90621985e-01 -5.13233620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters 0.03486379302295859 Centerline is valid? [True, True] Translation: X:46.83, Y:1.30, Z:-5.14 [[ 9.81066654e-01 1.34634267e-01 1.39218659e-01 4.68303466e+01] [-1.34053428e-01 9.90880994e-01 -1.35842963e-02 1.29531199e+00] [-1.39778035e-01 -5.33563847e-03 9.90168487e-01 -5.14218463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters 0.03259492269028874 Centerline is valid? [True, True] Translation: X:46.89, Y:1.30, Z:-5.15 [[ 9.82380419e-01 1.25077886e-01 1.38867687e-01 4.68918457e+01] [-1.24397940e-01 9.92139203e-01 -1.35998061e-02 1.29770350e+00] [-1.39477111e-01 -3.91467094e-03 9.90217557e-01 -5.14926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters 0.030690083457125563 Centerline is valid? [True, True] Translation: X:46.95, Y:1.29, Z:-5.16 [[ 9.83735889e-01 1.15728588e-01 1.37370280e-01 4.69522694e+01] [-1.14965398e-01 9.93277706e-01 -1.35039288e-02 1.29233770e+00] [-1.38009627e-01 -2.50852948e-03 9.90427711e-01 -5.15617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters 0.029849350821606096 Centerline is valid? [True, True] Translation: X:47.01, Y:1.29, Z:-5.17 [[ 9.84633629e-01 1.09225256e-01 1.36258796e-01 4.70139732e+01] [-1.08405927e-01 9.94015836e-01 -1.34414288e-02 1.28704689e+00] [-1.36911545e-01 -1.53637833e-03 9.90582086e-01 -5.16527183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters 0.02958122466198643 Centerline is valid? [True, True] Translation: X:47.08, Y:1.28, Z:-5.17 [[ 9.84745567e-01 1.07218883e-01 1.37041161e-01 4.70762723e+01] [-1.06365265e-01 9.94234686e-01 -1.35580414e-02 1.27685945e+00] [-1.37704754e-01 -1.22519822e-03 9.90472564e-01 -5.17062996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters 0.02947513876184475 Centerline is valid? [True, True] Translation: X:47.14, Y:1.26, Z:-5.18 [[ 9.84567950e-01 1.08927028e-01 1.36970271e-01 4.71379362e+01] [-1.08081071e-01 9.94048772e-01 -1.36206159e-02 1.26499878e+00] [-1.37638783e-01 -1.39347177e-03 9.90481511e-01 -5.17934029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters 0.029628412794939097 Centerline is valid? [True, True] Translation: X:47.20, Y:1.25, Z:-5.19 [[ 9.84430422e-01 1.11751549e-01 1.35677318e-01 4.71996762e+01] [-1.10938860e-01 9.93734719e-01 -1.35601604e-02 1.25289678e+00] [-1.36342630e-01 -1.70285253e-03 9.90660279e-01 -5.18718984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters 0.03004129374196626 Centerline is valid? [True, True] Translation: X:47.26, Y:1.24, Z:-5.19 [[ 9.83933356e-01 1.16458061e-01 1.35324321e-01 4.72605458e+01] [-1.15684750e-01 9.93192989e-01 -1.35913931e-02 1.24333131e+00] [-1.35985994e-01 -2.28193509e-03 9.90708132e-01 -5.19300506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters 0.031446551044356674 Centerline is valid? [True, True] Translation: X:47.32, Y:1.23, Z:-5.20 [[ 9.82962935e-01 1.25106440e-01 1.34656031e-01 4.73206647e+01] [-1.24413939e-01 9.92137481e-01 -1.35790233e-02 1.23252230e+00] [-1.35296119e-01 -3.40541069e-03 9.90799356e-01 -5.20132992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters 0.03381117700642312 Centerline is valid? [True, True] Translation: X:47.38, Y:1.23, Z:-5.21 [[ 9.81777898e-01 1.36720789e-01 1.31983277e-01 4.73824787e+01] [-1.36156304e-01 9.90597613e-01 -1.33353085e-02 1.22682095e+00] [-1.32565533e-01 -4.87804398e-03 9.91162239e-01 -5.20666516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters 0.034217795277865413 Centerline is valid? [True, True] Translation: X:47.44, Y:1.23, Z:-5.21 [[ 9.81429680e-01 1.41177318e-01 1.29864343e-01 4.74441930e+01] [-1.40666939e-01 9.89969758e-01 -1.31411515e-02 1.22546899e+00] [-1.30417005e-01 -5.37050349e-03 9.91444685e-01 -5.21295594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters 0.03466125398011763 Centerline is valid? [True, True] Translation: X:47.51, Y:1.23, Z:-5.22 [[ 9.81029639e-01 1.42083765e-01 1.31882720e-01 4.75057042e+01] [-1.41558356e-01 9.89839224e-01 -1.33993356e-02 1.22598942e+00] [-1.32446517e-01 -5.52395557e-03 9.91174761e-01 -5.22173095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters 0.03364257114022566 Centerline is valid? [True, True] Translation: X:47.57, Y:1.23, Z:-5.23 [[ 9.81828068e-01 1.39388298e-01 1.28781007e-01 4.75673925e+01] [-1.38857970e-01 9.90225234e-01 -1.31320435e-02 1.22566926e+00] [-1.29352656e-01 -4.98886037e-03 9.91586104e-01 -5.22935657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters 0.03289541648037478 Centerline is valid? [True, True] Translation: X:47.63, Y:1.23, Z:-5.24 [[ 9.82427656e-01 1.37630292e-01 1.26070625e-01 4.76299763e+01] [-1.37105574e-01 9.90472806e-01 -1.28717877e-02 1.22847003e+00] [-1.26641073e-01 -4.63938511e-03 9.91937757e-01 -5.23637849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters 0.03297954518016879 Centerline is valid? [True, True] Translation: X:47.69, Y:1.22, Z:-5.24 [[ 9.82262048e-01 1.36554674e-01 1.28507161e-01 4.76919364e+01] [-1.35993171e-01 9.90622159e-01 -1.31755718e-02 1.22483472e+00] [-1.29101227e-01 -4.53423217e-03 9.91621054e-01 -5.24117619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters 0.03217552877459279 Centerline is valid? [True, True] Translation: X:47.75, Y:1.23, Z:-5.25 [[ 9.82547541e-01 1.32353102e-01 1.30701894e-01 4.77544030e+01] [-1.31727762e-01 9.91194582e-01 -1.34572591e-02 1.23005826e+00] [-1.31332120e-01 -3.99467118e-03 9.91330377e-01 -5.24913938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters 0.03040280375023625 Centerline is valid? [True, True] Translation: X:47.82, Y:1.24, Z:-5.26 [[ 9.83954719e-01 1.24441884e-01 1.27856674e-01 4.78167745e+01] [-1.23770663e-01 9.92222879e-01 -1.32128914e-02 1.23616220e+00] [-1.28506555e-01 -2.82401845e-03 9.91704639e-01 -5.25756985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters 0.028683868859273487 Centerline is valid? [True, True] Translation: X:47.88, Y:1.24, Z:-5.26 [[ 9.85415241e-01 1.12715073e-01 1.27483786e-01 4.78785243e+01] [-1.11947996e-01 9.93626533e-01 -1.31893299e-02 1.23681141e+00] [-1.28157909e-01 -1.27458771e-03 9.91752956e-01 -5.26173079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters 0.02842660492599212 Centerline is valid? [True, True] Translation: X:47.94, Y:1.24, Z:-5.27 [[ 9.86360442e-01 1.02028142e-01 1.29163993e-01 4.79410624e+01] [-1.01143407e-01 9.94781500e-01 -1.34081630e-02 1.23739593e+00] [-1.29857961e-01 1.61195260e-04 9.91532594e-01 -5.26845576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters 0.028366717657914396 Centerline is valid? [True, True] Translation: X:48.00, Y:1.23, Z:-5.28 [[ 9.86826184e-01 9.68105254e-02 1.29621774e-01 4.80016199e+01] [-9.58668794e-02 9.95302413e-01 -1.35147260e-02 1.23127112e+00] [-1.30321233e-01 9.10250488e-04 9.91471405e-01 -5.27805946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters 0.028445665365880165 Centerline is valid? [True, True] Translation: X:48.06, Y:1.22, Z:-5.29 [[ 9.86910772e-01 9.89125266e-02 1.27371268e-01 4.80625855e+01] [-9.80114406e-02 9.95095900e-01 -1.33381984e-02 1.22082411e+00] [-1.28065941e-01 6.79770196e-04 9.91765422e-01 -5.28539405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters 0.02858309441166709 Centerline is valid? [True, True] Translation: X:48.12, Y:1.21, Z:-5.29 [[ 9.86655097e-01 1.01568529e-01 1.27261756e-01 4.81239044e+01] [-1.00683077e-01 9.94828466e-01 -1.33880950e-02 1.21185750e+00] [-1.27963426e-01 3.96326973e-04 9.91778808e-01 -5.29313072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters 0.028686122393226644 Centerline is valid? [True, True] Translation: X:48.19, Y:1.20, Z:-5.30 [[ 9.86164027e-01 1.03068438e-01 1.29836088e-01 4.81853829e+01] [-1.02150531e-01 9.94674229e-01 -1.37276164e-02 1.20206635e+00] [-1.30559495e-01 2.74856068e-04 9.91440438e-01 -5.29854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters 0.028683281579466563 Centerline is valid? [True, True] Translation: X:48.25, Y:1.19, Z:-5.31 [[ 9.86197537e-01 1.05224689e-01 1.27836544e-01 4.82457771e+01] [-1.04345485e-01 9.94448472e-01 -1.35741403e-02 1.19005453e+00] [-1.28555191e-01 4.76175810e-05 9.91702355e-01 -5.30718701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters 0.028777179147783754 Centerline is valid? [True, True] Translation: X:48.31, Y:1.18, Z:-5.31 [[ 9.86085711e-01 1.08844951e-01 1.25649299e-01 4.83070805e+01] [-1.08017697e-01 9.94058674e-01 -1.33988813e-02 1.18080122e+00] [-1.26361176e-01 -3.59902510e-04 9.91984236e-01 -5.31388775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters 0.028918854762512276 Centerline is valid? [True, True] Translation: X:48.37, Y:1.17, Z:-5.32 [[ 9.85566813e-01 1.13459686e-01 1.25638199e-01 4.83693038e+01] [-1.12662487e-01 9.93542199e-01 -1.34559276e-02 1.17246806e+00] [-1.26353558e-01 -8.92996231e-04 9.91984869e-01 -5.32046059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters 0.029641488763880737 Centerline is valid? [True, True] Translation: X:48.43, Y:1.17, Z:-5.33 [[ 9.84469725e-01 1.19584643e-01 1.28525770e-01 4.84298773e+01] [-1.18793427e-01 9.92822637e-01 -1.38323121e-02 1.16502797e+00] [-1.29257426e-01 -1.65052423e-03 9.91609698e-01 -5.32802105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters 0.03036968339584497 Centerline is valid? [True, True] Translation: X:48.49, Y:1.16, Z:-5.33 [[ 9.83737450e-01 1.26475737e-01 1.27532414e-01 4.84915047e+01] [-1.25747467e-01 9.91966595e-01 -1.37785602e-02 1.15808615e+00] [-1.28250548e-01 -2.48239239e-03 9.91738693e-01 -5.33312917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters 0.03051936464019412 Centerline is valid? [True, True] Translation: X:48.55, Y:1.16, Z:-5.34 [[ 9.83522207e-01 1.30241934e-01 1.25383841e-01 4.85530169e+01] [-1.29561607e-01 9.91478094e-01 -1.36006887e-02 1.15590917e+00] [-1.26086711e-01 -2.86835248e-03 9.92015077e-01 -5.33992492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters 0.031147978744432054 Centerline is valid? [True, True] Translation: X:48.61, Y:1.15, Z:-5.35 [[ 9.83198225e-01 1.32916294e-01 1.25117984e-01 4.86146300e+01] [-1.32253471e-01 9.91122262e-01 -1.36264997e-02 1.14967386e+00] [-1.25818403e-01 -3.14973723e-03 9.92048289e-01 -5.34571558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters 0.03236116624071591 Centerline is valid? [True, True] Translation: X:48.68, Y:1.15, Z:-5.35 [[ 9.82503816e-01 1.40267811e-01 1.22520175e-01 4.86768268e+01] [-1.39682868e-01 9.90105703e-01 -1.33937852e-02 1.14870280e+00] [-1.23186641e-01 -3.95452432e-03 9.92375641e-01 -5.35294802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters 0.03380657424476028 Centerline is valid? [True, True] Translation: X:48.74, Y:1.15, Z:-5.36 [[ 9.80818003e-01 1.45453025e-01 1.29766952e-01 4.87383830e+01] [-1.44839119e-01 9.89353218e-01 -1.42070233e-02 1.14947774e+00] [-1.30451806e-01 -4.86082677e-03 9.91442736e-01 -5.36087758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters 0.03318046603247876 Centerline is valid? [True, True] Translation: X:48.80, Y:1.15, Z:-5.37 [[ 9.81390563e-01 1.45548494e-01 1.25252537e-01 4.88010063e+01] [-1.44971727e-01 9.89340157e-01 -1.37568916e-02 1.14805195e+00] [-1.25919660e-01 -4.65719302e-03 9.92029511e-01 -5.36652298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters 0.03287205153574766 Centerline is valid? [True, True] Translation: X:48.86, Y:1.15, Z:-5.37 [[ 9.81675654e-01 1.43982438e-01 1.24827751e-01 4.88628932e+01] [-1.43394226e-01 9.89570376e-01 -1.37319968e-02 1.14923139e+00] [-1.25503011e-01 -4.41921183e-03 9.92083396e-01 -5.37384968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters 0.03306646729828055 Centerline is valid? [True, True] Translation: X:48.92, Y:1.15, Z:-5.38 [[ 9.81451584e-01 1.45197055e-01 1.25182278e-01 4.89246700e+01] [-1.44608531e-01 9.89392367e-01 -1.38245299e-02 1.14748866e+00] [-1.25861672e-01 -4.53431866e-03 9.92037439e-01 -5.37835177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters 0.033810379115063634 Centerline is valid? [True, True] Translation: X:48.99, Y:1.15, Z:-5.39 [[ 9.80962483e-01 1.48354279e-01 1.25314062e-01 4.89865995e+01] [-1.47783328e-01 9.88922183e-01 -1.38925938e-02 1.14728033e+00] [-1.25986882e-01 -4.89121578e-03 9.92019849e-01 -5.38852015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters 0.03346800640234367 Centerline is valid? [True, True] Translation: X:49.05, Y:1.15, Z:-5.39 [[ 9.80843714e-01 1.48881516e-01 1.25618080e-01 4.90497385e+01] [-1.48305201e-01 9.88842816e-01 -1.39804192e-02 1.14689108e+00] [-1.26297962e-01 -4.91720828e-03 9.91980164e-01 -5.39491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters 0.033050018745173784 Centerline is valid? [True, True] Translation: X:49.11, Y:1.15, Z:-5.40 [[ 9.80998580e-01 1.47469483e-01 1.26073541e-01 4.91122550e+01] [-1.46869599e-01 9.89055477e-01 -1.40920301e-02 1.15056044e+00] [-1.26771870e-01 -4.69210881e-03 9.91920802e-01 -5.40171355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters 0.03310427245178349 Centerline is valid? [True, True] Translation: X:49.17, Y:1.15, Z:-5.41 [[ 9.80919186e-01 1.47960611e-01 1.26115855e-01 4.91744427e+01] [-1.47357380e-01 9.88982074e-01 -1.41513584e-02 1.14800723e+00] [-1.26820163e-01 -4.70276291e-03 9.91914578e-01 -5.40926210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters 0.03293522328208122 Centerline is valid? [True, True] Translation: X:49.24, Y:1.15, Z:-5.42 [[ 9.80635303e-01 1.46725091e-01 1.29715653e-01 4.92371572e+01] [-1.46067561e-01 9.89166568e-01 -1.46208150e-02 1.14969929e+00] [-1.30455627e-01 -4.60956160e-03 9.91443433e-01 -5.41721780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters 0.032183272660183955 Centerline is valid? [True, True] Translation: X:49.30, Y:1.15, Z:-5.42 [[ 9.81021257e-01 1.44977060e-01 1.28759257e-01 4.92985203e+01] [-1.44306132e-01 9.89425749e-01 -1.45748983e-02 1.14504214e+00] [-1.29510750e-01 -4.28246531e-03 9.91568770e-01 -5.42331834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters 0.031511949166913925 Centerline is valid? [True, True] Translation: X:49.36, Y:1.14, Z:-5.43 [[ 9.81456507e-01 1.41600419e-01 1.29199248e-01 4.93606117e+01] [-1.40888459e-01 9.89916625e-01 -1.46805363e-02 1.14389182e+00] [-1.29975254e-01 -3.79437514e-03 9.91509978e-01 -5.43035348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters 0.031355011512814494 Centerline is valid? [True, True] Translation: X:49.42, Y:1.14, Z:-5.44 [[ 9.81354078e-01 1.40967626e-01 1.30661020e-01 4.94223698e+01] [-1.40226078e-01 9.90007312e-01 -1.49053355e-02 1.13739330e+00] [-1.31456535e-01 -3.69467063e-03 9.91315050e-01 -5.43815228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters 0.03141160532759891 Centerline is valid? [True, True] Translation: X:49.48, Y:1.13, Z:-5.45 [[ 9.81436748e-01 1.40406862e-01 1.30643877e-01 4.94837034e+01] [-1.39652022e-01 9.90087510e-01 -1.49678220e-02 1.13069499e+00] [-1.31450456e-01 -3.55471107e-03 9.91316368e-01 -5.44504004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters 0.031287707476903986 Centerline is valid? [True, True] Translation: X:49.55, Y:1.13, Z:-5.45 [[ 9.81185179e-01 1.41029232e-01 1.31857496e-01 4.95458612e+01] [-1.40258060e-01 9.89998835e-01 -1.51651992e-02 1.12697824e+00] [-1.32677504e-01 -3.61420798e-03 9.91152671e-01 -5.45145194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters 0.03155447771909186 Centerline is valid? [True, True] Translation: X:49.61, Y:1.12, Z:-5.46 [[ 9.81165760e-01 1.41895637e-01 1.31070130e-01 4.96082206e+01] [-1.41133584e-01 9.89874893e-01 -1.51330296e-02 1.11786903e+00] [-1.31890342e-01 -3.65038676e-03 9.91257591e-01 -5.45751639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters 0.031025377502051636 Centerline is valid? [True, True] Translation: X:49.67, Y:1.11, Z:-5.47 [[ 9.81275514e-01 1.41317614e-01 1.30872830e-01 4.96701955e+01] [-1.40544788e-01 9.89958095e-01 -1.51701268e-02 1.11380227e+00] [-1.31702424e-01 -3.50742023e-03 9.91283093e-01 -5.46609132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters 0.03128094280834031 Centerline is valid? [True, True] Translation: X:49.73, Y:1.11, Z:-5.47 [[ 9.80959734e-01 1.41997656e-01 1.32494021e-01 4.97317633e+01] [-1.41208161e-01 9.89860383e-01 -1.53843480e-02 1.10942577e+00] [-1.33335124e-01 -3.61781122e-03 9.91064406e-01 -5.47040051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters 0.031440568419642 Centerline is valid? [True, True] Translation: X:49.79, Y:1.11, Z:-5.48 [[ 9.81008716e-01 1.45075794e-01 1.28743591e-01 4.97943981e+01] [-1.44349359e-01 9.89413002e-01 -1.50057769e-02 1.10572284e+00] [-1.29557558e-01 -3.86325692e-03 9.91564377e-01 -5.48012906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters 0.0315039366347812 Centerline is valid? [True, True] Translation: X:49.86, Y:1.11, Z:-5.49 [[ 9.80841760e-01 1.44541789e-01 1.30602884e-01 4.98576813e+01] [-1.43780610e-01 9.89491470e-01 -1.52894092e-02 1.10549491e+00] [-1.31440398e-01 -3.78167130e-03 9.91316862e-01 -5.48601774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters 0.030707947885483665 Centerline is valid? [True, True] Translation: X:49.92, Y:1.11, Z:-5.49 [[ 9.80995314e-01 1.42754720e-01 1.31412650e-01 4.99198028e+01] [-1.41959349e-01 9.89751912e-01 -1.54498180e-02 1.10741535e+00] [-1.32271456e-01 -3.49905510e-03 9.91207354e-01 -5.49211938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters 0.0302826158662716 Centerline is valid? [True, True] Translation: X:49.98, Y:1.11, Z:-5.50 [[ 9.81431640e-01 1.39317417e-01 1.31843062e-01 4.99815921e+01] [-1.38478173e-01 9.90243268e-01 -1.55584519e-02 1.10655978e+00] [-1.32724268e-01 -2.98782938e-03 9.91148496e-01 -5.50166032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters 0.02942593039007964 Centerline is valid? [True, True] Translation: X:50.04, Y:1.10, Z:-5.51 [[ 9.82461781e-01 1.34099889e-01 1.29561061e-01 5.00435965e+01] [-1.33236795e-01 9.90965411e-01 -1.53463781e-02 1.10285332e+00] [-1.30448478e-01 -2.18507048e-03 9.91452682e-01 -5.50541590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters 0.02884133043252585 Centerline is valid? [True, True] Translation: X:50.11, Y:1.10, Z:-5.51 [[ 9.83103121e-01 1.27846707e-01 1.31009439e-01 5.01052668e+01] [-1.26900937e-01 9.91793073e-01 -1.55772804e-02 1.09974441e+00] [-1.31925758e-01 -1.31114762e-03 9.91258733e-01 -5.51457157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters 0.028789924814414173 Centerline is valid? [True, True] Translation: X:50.17, Y:1.09, Z:-5.52 [[ 9.83293964e-01 1.26062936e-01 1.31305435e-01 5.01671206e+01] [-1.25088844e-01 9.92021729e-01 -1.56738855e-02 1.09339835e+00] [-1.32233741e-01 -1.01280817e-03 9.91218045e-01 -5.52323126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters 0.028786066301579916 Centerline is valid? [True, True] Translation: X:50.23, Y:1.08, Z:-5.53 [[ 9.83277285e-01 1.24019488e-01 1.33360216e-01 5.02285111e+01] [-1.22986237e-01 9.92279550e-01 -1.59899908e-02 1.08442067e+00] [-1.34313686e-01 -6.78876427e-04 9.90938632e-01 -5.52886532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters 0.02866766040145046 Centerline is valid? [True, True] Translation: X:50.29, Y:1.08, Z:-5.54 [[ 9.83875101e-01 1.20349622e-01 1.32309314e-01 5.02893467e+01] [-1.19291442e-01 9.92731563e-01 -1.59247149e-02 1.07721671e+00] [-1.33264165e-01 -1.15438410e-04 9.91080546e-01 -5.53717029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters 0.028611145104436797 Centerline is valid? [True, True] Translation: X:50.35, Y:1.07, Z:-5.55 [[ 9.83923451e-01 1.18889834e-01 1.33266088e-01 5.03507273e+01] [-1.17794280e-01 9.92907441e-01 -1.61034689e-02 1.06554891e+00] [-1.34235429e-01 1.46597864e-04 9.90949458e-01 -5.54550420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters 0.028921152586795427 Centerline is valid? [True, True] Translation: X:50.41, Y:1.06, Z:-5.55 [[ 9.83380866e-01 1.23431813e-01 1.33141505e-01 5.04130555e+01] [-1.22370036e-01 9.92352975e-01 -1.61600554e-02 1.05689007e+00] [-1.34118034e-01 -4.01041622e-04 9.90965283e-01 -5.55251093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters 0.029507059254021147 Centerline is valid? [True, True] Translation: X:50.47, Y:1.04, Z:-5.56 [[ 9.82524843e-01 1.28059809e-01 1.35076342e-01 5.04738134e+01] [-1.27000438e-01 9.91765967e-01 -1.64668015e-02 1.04486454e+00] [-1.36072855e-01 -9.75713104e-04 9.90698353e-01 -5.55925227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters 0.029428789001664894 Centerline is valid? [True, True] Translation: X:50.54, Y:1.03, Z:-5.57 [[ 9.82557145e-01 1.28637727e-01 1.34289958e-01 5.05351656e+01] [-1.27587388e-01 9.91691163e-01 -1.64345714e-02 1.03473315e+00] [-1.35288271e-01 -9.85799378e-04 9.90805789e-01 -5.56949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters 0.029530394226455155 Centerline is valid? [True, True] Translation: X:50.60, Y:1.03, Z:-5.57 [[ 9.82568165e-01 1.28046519e-01 1.34773476e-01 5.05978175e+01] [-1.26973297e-01 9.91767810e-01 -1.65648036e-02 1.02648581e+00] [-1.35785060e-01 -8.36583930e-04 9.90737966e-01 -5.57329573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters 0.02969872499280141 Centerline is valid? [True, True] Translation: X:50.66, Y:1.02, Z:-5.58 [[ 9.82192909e-01 1.31525000e-01 1.34157609e-01 5.06592232e+01] [-1.30484263e-01 9.91312078e-01 -1.65596501e-02 1.01623069e+00] [-1.35170066e-01 -1.24068575e-03 9.90821636e-01 -5.58113202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters 0.02989332345763768 Centerline is valid? [True, True] Translation: X:50.72, Y:1.00, Z:-5.59 [[ 9.81669734e-01 1.36817865e-01 1.32685365e-01 5.07197877e+01] [-1.35838856e-01 9.90594438e-01 -1.64458381e-02 1.00340421e+00] [-1.33687469e-01 -1.87944659e-03 9.91021760e-01 -5.58815619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters 0.030308639483972506 Centerline is valid? [True, True] Translation: X:50.78, Y:0.99, Z:-5.59 [[ 9.81099373e-01 1.41967472e-01 1.31488621e-01 5.07806073e+01] [-1.41044125e-01 9.89868172e-01 -1.63571546e-02 9.91913998e-01] [-1.32478585e-01 -2.49770337e-03 9.91182721e-01 -5.59405994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters 0.03088740376130117 Centerline is valid? [True, True] Translation: X:50.84, Y:0.98, Z:-5.60 [[ 9.80319527e-01 1.46261791e-01 1.32593789e-01 5.08408297e+01] [-1.45353812e-01 9.89241235e-01 -1.65544256e-02 9.79967128e-01] [-1.33588524e-01 -3.04438614e-03 9.91032208e-01 -5.60158312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters 0.03182409753527461 Centerline is valid? [True, True] Translation: X:50.90, Y:0.97, Z:-5.61 [[ 9.79587031e-01 1.53238240e-01 1.30104923e-01 5.09018773e+01] [-1.52418182e-01 9.88181713e-01 -1.62972469e-02 9.69453117e-01] [-1.31064667e-01 -3.86578411e-03 9.91366284e-01 -5.60874721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters 0.03364506882559629 Centerline is valid? [True, True] Translation: X:50.96, Y:0.96, Z:-5.61 [[ 9.77919370e-01 1.63209699e-01 1.30523179e-01 5.09632565e+01] [-1.62464911e-01 9.86577905e-01 -1.64070393e-02 9.63170265e-01] [-1.31449072e-01 -5.16067507e-03 9.91309492e-01 -5.61383690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters 0.03462830456724236 Centerline is valid? [True, True] Translation: X:51.03, Y:0.96, Z:-5.62 [[ 9.77274068e-01 1.67715864e-01 1.29640985e-01 5.10250529e+01] [-1.67014357e-01 9.85819010e-01 -1.63427231e-02 9.56406812e-01] [-1.30543481e-01 -5.68058629e-03 9.91426311e-01 -5.61843110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters 0.035091179973565485 Centerline is valid? [True, True] Translation: X:51.09, Y:0.95, Z:-5.63 [[ 9.77190920e-01 1.69955961e-01 1.27329795e-01 5.10860229e+01] [-1.69295600e-01 9.85434283e-01 -1.60709213e-02 9.49297519e-01] [-1.28206494e-01 -5.85201563e-03 9.91730230e-01 -5.62600928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters 0.034863246271226694 Centerline is valid? [True, True] Translation: X:51.15, Y:0.95, Z:-5.63 [[ 9.77043764e-01 1.70605431e-01 1.27590244e-01 5.11490319e+01] [-1.69940739e-01 9.85321794e-01 -1.61588346e-02 9.48607473e-01] [-1.28474233e-01 -5.89489182e-03 9.91695327e-01 -5.63188761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters 0.03591755841947514 Centerline is valid? [True, True] Translation: X:51.21, Y:0.95, Z:-5.64 [[ 9.76178894e-01 1.74980755e-01 1.28282901e-01 5.12104395e+01] [-1.74338373e-01 9.84550756e-01 -1.63076673e-02 9.46634498e-01] [-1.29154555e-01 -6.44543168e-03 9.91603528e-01 -5.63763362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters 0.035907321063175124 Centerline is valid? [True, True] Translation: X:51.27, Y:0.94, Z:-5.64 [[ 9.76349534e-01 1.75468758e-01 1.26302421e-01 5.12726489e+01] [-1.74843736e-01 9.84464465e-01 -1.61054401e-02 9.44787225e-01] [-1.27166247e-01 -6.35864834e-03 9.91861035e-01 -5.64469039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters 0.03525191401208023 Centerline is valid? [True, True] Translation: X:51.33, Y:0.94, Z:-5.65 [[ 9.76768853e-01 1.73440134e-01 1.25861541e-01 5.13343546e+01] [-1.72795969e-01 9.84826013e-01 -1.61021030e-02 9.40538891e-01] [-1.26744471e-01 -6.02033425e-03 9.91917131e-01 -5.65179383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters 0.034239318861936686 Centerline is valid? [True, True] Translation: X:51.39, Y:0.93, Z:-5.66 [[ 9.77467494e-01 1.68544563e-01 1.27082759e-01 5.13949196e+01] [-1.67839899e-01 9.85679319e-01 -1.63109801e-02 9.34951182e-01] [-1.28011975e-01 -5.38610467e-03 9.91757997e-01 -5.65843759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters 0.033362040715055025 Centerline is valid? [True, True] Translation: X:51.46, Y:0.93, Z:-5.66 [[ 9.78098989e-01 1.66548902e-01 1.24835218e-01 5.14571734e+01] [-1.65847919e-01 9.86020546e-01 -1.60608335e-02 9.29214013e-01] [-1.25765004e-01 -4.99457613e-03 9.92047488e-01 -5.66325107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters 0.033221111871452554 Centerline is valid? [True, True] Translation: X:51.52, Y:0.92, Z:-5.67 [[ 9.77646535e-01 1.67279805e-01 1.27376289e-01 5.15181825e+01] [-1.66551877e-01 9.85895953e-01 -1.64207734e-02 9.24516445e-01] [-1.28326632e-01 -5.16104781e-03 9.91718528e-01 -5.67210145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters 0.032824754618950354 Centerline is valid? [True, True] Translation: X:51.58, Y:0.92, Z:-5.68 [[ 9.77436844e-01 1.67471588e-01 1.28726392e-01 5.15801254e+01] [-1.66722444e-01 9.85863261e-01 -1.66510219e-02 9.18109803e-01] [-1.29695193e-01 -5.18625644e-03 9.91540347e-01 -5.67709427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters 0.03170056251328895 Centerline is valid? [True, True] Translation: X:51.64, Y:0.91, Z:-5.68 [[ 9.78152730e-01 1.62276460e-01 1.29936861e-01 5.16413737e+01] [-1.61460310e-01 9.86735136e-01 -1.68623542e-02 9.12954067e-01] [-1.30949629e-01 -4.48568799e-03 9.91378875e-01 -5.68480957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters 0.03047750219004968 Centerline is valid? [True, True] Translation: X:51.70, Y:0.91, Z:-5.69 [[ 9.78615197e-01 1.57008699e-01 1.32893056e-01 5.17026303e+01] [-1.56103993e-01 9.87589719e-01 -1.72652902e-02 9.08352340e-01] [-1.33954617e-01 -3.84906130e-03 9.90979992e-01 -5.69183997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters 0.030108933445046875 Centerline is valid? [True, True] Translation: X:51.76, Y:0.90, Z:-5.70 [[ 9.79284355e-01 1.55951098e-01 1.29156519e-01 5.17641075e+01] [-1.55080232e-01 9.87758422e-01 -1.68351172e-02 9.01287390e-01] [-1.30200895e-01 -3.54325616e-03 9.91481302e-01 -5.69942490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters 0.02987263921435432 Centerline is valid? [True, True] Translation: X:51.83, Y:0.90, Z:-5.71 [[ 9.79140838e-01 1.57061297e-01 1.28899063e-01 5.18264011e+01] [-1.56195831e-01 9.87582202e-01 -1.68598902e-02 8.97743859e-01] [-1.29946457e-01 -3.62528933e-03 9.91514385e-01 -5.70562188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters 0.029526021697799925 Centerline is valid? [True, True] Translation: X:51.89, Y:0.89, Z:-5.71 [[ 9.79160788e-01 1.56136908e-01 1.29866924e-01 5.18876455e+01] [-1.55241632e-01 9.87729348e-01 -1.70519803e-02 8.90563219e-01] [-1.30935816e-01 -3.46412279e-03 9.91384795e-01 -5.71395721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters 0.0284368753733215 Centerline is valid? [True, True] Translation: X:51.95, Y:0.89, Z:-5.72 [[ 9.79920861e-01 1.51263532e-01 1.29901695e-01 5.19493495e+01] [-1.50317474e-01 9.88489631e-01 -1.71145152e-02 8.86198235e-01] [-1.30995281e-01 -2.75562426e-03 9.91379162e-01 -5.72087718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters 0.0278116227774323 Centerline is valid? [True, True] Translation: X:52.01, Y:0.88, Z:-5.73 [[ 9.80550848e-01 1.48033052e-01 1.28865243e-01 5.20104922e+01] [-1.47066775e-01 9.88979860e-01 -1.70352809e-02 8.78765506e-01] [-1.29966914e-01 -2.24783655e-03 9.91515783e-01 -5.72787148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters 0.028098196022366222 Centerline is valid? [True, True] Translation: X:52.07, Y:0.87, Z:-5.73 [[ 9.79824500e-01 1.50455399e-01 1.31556532e-01 5.20709451e+01] [-1.49461884e-01 9.88613474e-01 -1.74511942e-02 8.67842150e-01] [-1.32684187e-01 -2.56357956e-03 9.91155051e-01 -5.73409075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters 0.028603855726484623 Centerline is valid? [True, True] Translation: X:52.13, Y:0.86, Z:-5.74 [[ 9.79326329e-01 1.55371310e-01 1.29536469e-01 5.21315385e+01] [-1.54443732e-01 9.87851200e-01 -1.72377794e-02 8.56790189e-01] [-1.30641013e-01 -3.12468459e-03 9.91424814e-01 -5.74192350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters 0.02855890739879164 Centerline is valid? [True, True] Translation: X:52.19, Y:0.85, Z:-5.75 [[ 9.79167263e-01 1.56165218e-01 1.29784035e-01 5.21927111e+01] [-1.55233186e-01 9.87725836e-01 -1.73300693e-02 8.45874131e-01] [-1.30897399e-01 -3.17775280e-03 9.91390828e-01 -5.74865207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters 0.028172233621145067 Centerline is valid? [True, True] Translation: X:52.25, Y:0.84, Z:-5.76 [[ 9.79499237e-01 1.52669368e-01 1.31427957e-01 5.22540440e+01] [-1.51673156e-01 9.88273693e-01 -1.76171004e-02 8.38288018e-01] [-1.32576384e-01 -2.67815667e-03 9.91169173e-01 -5.75611066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters 0.027727979432107655 Centerline is valid? [True, True] Translation: X:52.31, Y:0.83, Z:-5.76 [[ 9.80175416e-01 1.49678799e-01 1.29816835e-01 5.23146230e+01] [-1.48673113e-01 9.88732256e-01 -1.74594104e-02 8.28622971e-01] [-1.30967396e-01 -2.18698815e-03 9.91384264e-01 -5.76494313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters 0.027541287122620522 Centerline is valid? [True, True] Translation: X:52.38, Y:0.82, Z:-5.77 [[ 9.80272436e-01 1.50272176e-01 1.28390906e-01 5.23751427e+01] [-1.49286082e-01 9.88642253e-01 -1.73251461e-02 8.18148096e-01] [-1.29536162e-01 -2.18361219e-03 9.91572294e-01 -5.77089613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters 0.028025702896978973 Centerline is valid? [True, True] Translation: X:52.44, Y:0.81, Z:-5.78 [[ 9.79732832e-01 1.50725180e-01 1.31929900e-01 5.24358021e+01] [-1.49679670e-01 9.88573153e-01 -1.78638736e-02 8.09157592e-01] [-1.33114893e-01 -2.24540049e-03 9.91098070e-01 -5.77725017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters 0.02784787106285489 Centerline is valid? [True, True] Translation: X:52.50, Y:0.80, Z:-5.79 [[ 9.79987736e-01 1.50231275e-01 1.30593264e-01 5.24969730e+01] [-1.49195149e-01 9.88648650e-01 -1.77385169e-02 8.00632118e-01] [-1.31775734e-01 -2.10035245e-03 9.91277330e-01 -5.78600455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters 0.027902561244523755 Centerline is valid? [True, True] Translation: X:52.56, Y:0.79, Z:-5.79 [[ 9.80261887e-01 1.49345551e-01 1.29547438e-01 5.25586075e+01] [-1.48310629e-01 9.88783227e-01 -1.76546805e-02 7.92524065e-01] [-1.30730982e-01 -1.90705159e-03 9.91416045e-01 -5.79248094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters 0.027765747950444286 Centerline is valid? [True, True] Translation: X:52.62, Y:0.78, Z:-5.80 [[ 9.80148474e-01 1.48124576e-01 1.31788005e-01 5.26198052e+01] [-1.47034187e-01 9.88967226e-01 -1.80214932e-02 7.82650302e-01] [-1.33003443e-01 -1.71360305e-03 9.91114094e-01 -5.80021301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters 0.027560331898433214 Centerline is valid? [True, True] Translation: X:52.68, Y:0.77, Z:-5.81 [[ 9.80493979e-01 1.46687549e-01 1.30821709e-01 5.26808681e+01] [-1.45591511e-01 9.89181827e-01 -1.79561752e-02 7.74451077e-01] [-1.32040405e-01 -1.44060865e-03 9.91243288e-01 -5.80705787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters 0.027891498376353883 Centerline is valid? [True, True] Translation: X:52.74, Y:0.77, Z:-5.81 [[ 9.79785169e-01 1.50651806e-01 1.31624681e-01 5.27418067e+01] [-1.49569562e-01 9.88585012e-01 -1.81278943e-02 7.65276447e-01] [-1.32853187e-01 -1.92560400e-03 9.91133857e-01 -5.81485840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters 0.028517254808454826 Centerline is valid? [True, True] Translation: X:52.80, Y:0.76, Z:-5.82 [[ 9.79007693e-01 1.54693003e-01 1.32717791e-01 5.28030491e+01] [-1.53621231e-01 9.87959592e-01 -1.83401915e-02 7.57629425e-01] [-1.33956914e-01 -2.43308194e-03 9.90984170e-01 -5.82299259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters 0.02926408776093465 Centerline is valid? [True, True] Translation: X:52.86, Y:0.75, Z:-5.83 [[ 9.78149611e-01 1.58817535e-01 1.34165307e-01 5.28641748e+01] [-1.57752321e-01 9.87303486e-01 -1.86019373e-02 7.48116832e-01] [-1.35416189e-01 -2.96941093e-03 9.90784355e-01 -5.82983699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters 0.02895311997109077 Centerline is valid? [True, True] Translation: X:52.93, Y:0.74, Z:-5.84 [[ 9.78414782e-01 1.59851289e-01 1.30965951e-01 5.29261240e+01] [-1.58837915e-01 9.87136611e-01 -1.82161520e-02 7.43890805e-01] [-1.32193160e-01 -2.97940621e-03 9.91219497e-01 -5.83516808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters 0.029032769509172184 Centerline is valid? [True, True] Translation: X:52.99, Y:0.74, Z:-5.84 [[ 9.78257474e-01 1.60817680e-01 1.30957963e-01 5.29880824e+01] [-1.59805095e-01 9.86979417e-01 -1.82746544e-02 7.37901591e-01] [-1.32191701e-01 -3.05043238e-03 9.91219476e-01 -5.84124686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters 0.02902942684084983 Centerline is valid? [True, True] Translation: X:53.05, Y:0.74, Z:-5.85 [[ 9.77958810e-01 1.61823558e-01 1.31945827e-01 5.30503343e+01] [-1.60795746e-01 9.86814698e-01 -1.84791653e-02 7.37738197e-01] [-1.33196446e-01 -3.14446514e-03 9.91084668e-01 -5.85000623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters 0.029233285751250126 Centerline is valid? [True, True] Translation: X:53.11, Y:0.73, Z:-5.86 [[ 9.78083619e-01 1.62151789e-01 1.30610991e-01 5.31118878e+01] [-1.61139897e-01 9.86760962e-01 -1.83503856e-02 7.31363043e-01] [-1.31857375e-01 -3.09843014e-03 9.91263856e-01 -5.85558892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters 0.029110012290138598 Centerline is valid? [True, True] Translation: X:53.17, Y:0.73, Z:-5.86 [[ 9.78279900e-01 1.61743968e-01 1.29643071e-01 5.31730495e+01] [-1.60735772e-01 9.86828310e-01 -1.82728718e-02 7.25475970e-01] [-1.30890980e-01 -2.96229595e-03 9.91392342e-01 -5.86343293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters 0.028798565648628625 Centerline is valid? [True, True] Translation: X:53.23, Y:0.72, Z:-5.87 [[ 9.78398624e-01 1.60236379e-01 1.30615606e-01 5.32340855e+01] [-1.59191743e-01 9.87074915e-01 -1.84689052e-02 7.18341863e-01] [-1.31886779e-01 -2.72297458e-03 9.91261047e-01 -5.87018445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters 0.028456957382601705 Centerline is valid? [True, True] Translation: X:53.30, Y:0.71, Z:-5.88 [[ 9.78407503e-01 1.59996896e-01 1.30842470e-01 5.32961508e+01] [-1.58938473e-01 9.87113999e-01 -1.85611112e-02 7.10752314e-01] [-1.32126154e-01 -2.63557193e-03 9.91229405e-01 -5.87803056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters 0.028669791165233455 Centerline is valid? [True, True] Translation: X:53.36, Y:0.70, Z:-5.88 [[ 9.78065638e-01 1.60399158e-01 1.32889874e-01 5.33568198e+01] [-1.59301780e-01 9.87048634e-01 -1.89192197e-02 7.02362338e-01] [-1.34203395e-01 -2.66535475e-03 9.90950223e-01 -5.88457055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters 0.028672931004953973 Centerline is valid? [True, True] Translation: X:53.42, Y:0.69, Z:-5.89 [[ 9.78151111e-01 1.60209731e-01 1.32488662e-01 5.34183323e+01] [-1.59109694e-01 9.87079637e-01 -1.89181379e-02 6.93667530e-01] [-1.33807730e-01 -2.57543290e-03 9.91003965e-01 -5.89064659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters 0.028646776393922286 Centerline is valid? [True, True] Translation: X:53.48, Y:0.69, Z:-5.90 [[ 9.77911593e-01 1.61033408e-01 1.33255987e-01 5.34799360e+01] [-1.59919855e-01 9.86945417e-01 -1.90888519e-02 6.87258870e-01] [-1.34590329e-01 -2.64306863e-03 9.90897804e-01 -5.89861732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters 0.028831746378944024 Centerline is valid? [True, True] Translation: X:53.54, Y:0.68, Z:-5.91 [[ 9.77477765e-01 1.64218993e-01 1.32549392e-01 5.35413948e+01] [-1.63137912e-01 9.86419336e-01 -1.90503209e-02 6.84729635e-01] [-1.33877708e-01 -3.00256596e-03 9.90993312e-01 -5.90560545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters 0.02899885496190346 Centerline is valid? [True, True] Translation: X:53.60, Y:0.68, Z:-5.91 [[ 9.77251090e-01 1.65558850e-01 1.32554046e-01 5.36045487e+01] [-1.64482235e-01 9.86194947e-01 -1.91081154e-02 6.84247105e-01] [-1.33887648e-01 -3.12935911e-03 9.90991577e-01 -5.91250312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters 0.028361419541371138 Centerline is valid? [True, True] Translation: X:53.67, Y:0.69, Z:-5.92 [[ 9.78367371e-01 1.59404444e-01 1.31861708e-01 5.36672390e+01] [-1.58274371e-01 9.87210894e-01 -1.90754670e-02 6.85092538e-01] [-1.33216029e-01 -2.20751441e-03 9.91084566e-01 -5.92024554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters 0.02753554046945142 Centerline is valid? [True, True] Translation: X:53.73, Y:0.68, Z:-5.93 [[ 9.79643881e-01 1.49155334e-01 1.34352345e-01 5.37296224e+01] [-1.47877958e-01 9.88813477e-01 -1.94940264e-02 6.81605364e-01] [-1.35757048e-01 -7.70546839e-04 9.90741859e-01 -5.92748034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters 0.02755761234485209 Centerline is valid? [True, True] Translation: X:53.79, Y:0.67, Z:-5.93 [[ 9.80635425e-01 1.43728998e-01 1.33026834e-01 5.37914707e+01] [-1.42422517e-01 9.89617085e-01 -1.93352471e-02 6.73492349e-01] [-1.34424663e-01 1.48117814e-05 9.90923816e-01 -5.93353579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters 0.02762710080899037 Centerline is valid? [True, True] Translation: X:53.85, Y:0.66, Z:-5.94 [[ 9.80334133e-01 1.44457714e-01 1.34450572e-01 5.38525842e+01] [-1.43124369e-01 9.89510974e-01 -1.95818301e-02 6.64169242e-01] [-1.35869063e-01 -4.64168493e-05 9.90726802e-01 -5.94191883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters 0.028147063362118814 Centerline is valid? [True, True] Translation: X:53.91, Y:0.65, Z:-5.95 [[ 9.79977939e-01 1.42869136e-01 1.38678222e-01 5.39133684e+01] [-1.41424733e-01 9.89741557e-01 -2.02656443e-02 6.49627433e-01] [-1.40150934e-01 2.47353930e-04 9.90130120e-01 -5.94743478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters 0.027973793675418003 Centerline is valid? [True, True] Translation: X:53.97, Y:0.64, Z:-5.96 [[ 9.81011672e-01 1.37649307e-01 1.36633700e-01 5.39741784e+01] [-1.36188963e-01 9.90480487e-01 -2.00242693e-02 6.39663619e-01] [-1.38089340e-01 1.03604006e-03 9.90419235e-01 -5.95503192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters 0.027985641102085342 Centerline is valid? [True, True] Translation: X:54.04, Y:0.63, Z:-5.96 [[ 9.81667696e-01 1.36996653e-01 1.32515853e-01 5.40355228e+01] [-1.35613738e-01 9.90570876e-01 -1.94487549e-02 6.30578227e-01] [-1.33930759e-01 1.12124424e-03 9.90990058e-01 -5.96063846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters 0.02828938875925402 Centerline is valid? [True, True] Translation: X:54.10, Y:0.62, Z:-5.97 [[ 9.81293242e-01 1.36947767e-01 1.35310320e-01 5.40960370e+01] [-1.35495905e-01 9.90577520e-01 -1.99257787e-02 6.18697751e-01] [-1.36764152e-01 1.21903767e-03 9.90602887e-01 -5.96728564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters 0.028487665838792448 Centerline is valid? [True, True] Translation: X:54.16, Y:0.61, Z:-5.97 [[ 9.81524317e-01 1.35009258e-01 1.35582134e-01 5.41567130e+01] [-1.33524102e-01 9.90843113e-01 -2.00309612e-02 6.05642131e-01] [-1.37044989e-01 1.55739284e-03 9.90563600e-01 -5.97461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters 0.028648329246409834 Centerline is valid? [True, True] Translation: X:54.22, Y:0.60, Z:-5.98 [[ 9.81901477e-01 1.32689410e-01 1.35140705e-01 5.42175381e+01] [-1.31183025e-01 9.91155767e-01 -2.00314769e-02 5.95220971e-01] [-1.36603454e-01 1.94077027e-03 9.90623909e-01 -5.98329362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters 0.02910878008507459 Centerline is valid? [True, True] Translation: X:54.28, Y:0.58, Z:-5.99 [[ 9.81379578e-01 1.32332039e-01 1.39220531e-01 5.42775707e+01] [-1.30719498e-01 9.91203176e-01 -2.07045015e-02 5.80191284e-01] [-1.40735701e-01 2.12013701e-03 9.90044932e-01 -5.98890685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters 0.028902090460660862 Centerline is valid? [True, True] Translation: X:54.34, Y:0.57, Z:-6.00 [[ 9.81675925e-01 1.32437966e-01 1.37013005e-01 5.43374937e+01] [-1.30868434e-01 9.91188995e-01 -2.04408602e-02 5.67591144e-01] [-1.38512929e-01 2.13562301e-03 9.90358323e-01 -5.99686077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters 0.029295740054630492 Centerline is valid? [True, True] Translation: X:54.40, Y:0.55, Z:-6.00 [[ 9.81141142e-01 1.34008503e-01 1.39297455e-01 5.43977583e+01] [-1.32392095e-01 9.90978136e-01 -2.08486596e-02 5.52496804e-01] [-1.40834630e-01 2.01359569e-03 9.90031087e-01 -6.00485875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters 0.029577729462017754 Centerline is valid? [True, True] Translation: X:54.46, Y:0.54, Z:-6.01 [[ 9.80526732e-01 1.36838842e-01 1.40863263e-01 5.44586848e+01] [-1.35204712e-01 9.90591872e-01 -2.11525001e-02 5.36032714e-01] [-1.42432487e-01 1.69521486e-03 9.89803068e-01 -6.01172516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters 0.02945265460799477 Centerline is valid? [True, True] Translation: X:54.52, Y:0.52, Z:-6.02 [[ 9.80494500e-01 1.38896653e-01 1.39062054e-01 5.45181449e+01] [-1.37314518e-01 9.90305819e-01 -2.09549144e-02 5.19441695e-01] [-1.40624529e-01 1.45093937e-03 9.90061936e-01 -6.02101761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters 0.02994109655056076 Centerline is valid? [True, True] Translation: X:54.58, Y:0.51, Z:-6.03 [[ 9.79307293e-01 1.41583943e-01 1.44607102e-01 5.45782005e+01] [-1.39891176e-01 9.89925552e-01 -2.18600208e-02 5.05146957e-01] [-1.46245293e-01 1.17842026e-03 9.89247656e-01 -6.03123051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters 0.029906147474436075 Centerline is valid? [True, True] Translation: X:54.64, Y:0.49, Z:-6.04 [[ 9.78767085e-01 1.45248563e-01 1.44630037e-01 5.46383091e+01] [-1.43585320e-01 9.89394951e-01 -2.19291248e-02 4.89280205e-01] [-1.46281402e-01 6.96755460e-04 9.89242774e-01 -6.03829829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters 0.030088324003181496 Centerline is valid? [True, True] Translation: X:54.70, Y:0.48, Z:-6.04 [[ 9.78230786e-01 1.50486591e-01 1.42892673e-01 5.46991844e+01] [-1.48910071e-01 9.88612050e-01 -2.17256869e-02 4.75112429e-01] [-1.44534843e-01 -2.54223213e-05 9.89499711e-01 -6.04410237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters 0.030174934655791408 Centerline is valid? [True, True] Translation: X:54.76, Y:0.46, Z:-6.05 [[ 9.77442148e-01 1.58003727e-01 1.40148743e-01 5.47597993e+01] [-1.56558366e-01 9.87437932e-01 -2.13496602e-02 4.62862779e-01] [-1.41761511e-01 -1.07340049e-03 9.89900258e-01 -6.05241596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters 0.030973099293022378 Centerline is valid? [True, True] Translation: X:54.82, Y:0.45, Z:-6.06 [[ 9.75816388e-01 1.67485488e-01 1.40467035e-01 5.48204665e+01] [-1.66121756e-01 9.85871643e-01 -2.14631223e-02 4.52096387e-01] [-1.42077228e-01 -2.39056395e-03 9.89852689e-01 -6.06083027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters 0.031841520943090826 Centerline is valid? [True, True] Translation: X:54.88, Y:0.45, Z:-6.06 [[ 9.74569572e-01 1.75545744e-01 1.39276133e-01 5.48822761e+01] [-1.74277942e-01 9.84465154e-01 -2.13438437e-02 4.45370413e-01] [-1.40859321e-01 -3.47169727e-03 9.90023535e-01 -6.06475861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters 0.032562683611538426 Centerline is valid? [True, True] Translation: X:54.94, Y:0.44, Z:-6.07 [[ 9.73959803e-01 1.79710639e-01 1.38225861e-01 5.49440932e+01] [-1.78494998e-01 9.83711457e-01 -2.12439330e-02 4.42402919e-01] [-1.39792123e-01 -3.98188801e-03 9.90172867e-01 -6.07164428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters 0.03214540616912266 Centerline is valid? [True, True] Translation: X:55.01, Y:0.44, Z:-6.08 [[ 9.74330841e-01 1.76833327e-01 1.39317572e-01 5.50055416e+01] [-1.75560290e-01 9.84234459e-01 -2.14735916e-02 4.38272811e-01] [-1.40918402e-01 -3.53625079e-03 9.90014898e-01 -6.08051070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters 0.030365975767270688 Centerline is valid? [True, True] Translation: X:55.07, Y:0.44, Z:-6.09 [[ 9.76682056e-01 1.65951699e-01 1.36206442e-01 5.50674252e+01] [-1.64621587e-01 9.86132124e-01 -2.10515125e-02 4.39579170e-01] [-1.37811083e-01 -1.86188619e-03 9.90456783e-01 -6.08631869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters 0.029505745194129452 Centerline is valid? [True, True] Translation: X:55.13, Y:0.44, Z:-6.09 [[ 9.78247443e-01 1.57337939e-01 1.35191391e-01 5.51294263e+01] [-1.55938357e-01 9.87544645e-01 -2.09476377e-02 4.37579866e-01] [-1.36803393e-01 -5.89550464e-04 9.90598044e-01 -6.09221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters 0.029447092267691606 Centerline is valid? [True, True] Translation: X:55.19, Y:0.43, Z:-6.10 [[ 9.78885921e-01 1.53014201e-01 1.35532311e-01 5.51917879e+01] [-1.51557328e-01 9.88223987e-01 -2.10648622e-02 4.30166246e-01] [-1.37159504e-01 7.91821536e-05 9.90548971e-01 -6.09987124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters 0.02923893900755652 Centerline is valid? [True, True] Translation: X:55.25, Y:0.42, Z:-6.11 [[ 9.79059951e-01 1.51211697e-01 1.36296133e-01 5.52531622e+01] [-1.49710496e-01 9.88501318e-01 -2.12582009e-02 4.20524518e-01] [-1.37943395e-01 4.08091478e-04 9.90440030e-01 -6.10770603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters 0.029236280679974972 Centerline is valid? [True, True] Translation: X:55.32, Y:0.42, Z:-6.11 [[ 9.79589880e-01 1.48021172e-01 1.35990440e-01 5.53157746e+01] [-1.46485710e-01 9.88983755e-01 -2.12854345e-02 4.15107793e-01] [-1.37643031e-01 9.30340042e-04 9.90481464e-01 -6.11419044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters 0.02948333284085257 Centerline is valid? [True, True] Translation: X:55.38, Y:0.41, Z:-6.12 [[ 9.80082031e-01 1.44297942e-01 1.36445289e-01 5.53762721e+01] [-1.42706116e-01 9.89533103e-01 -2.14290296e-02 4.06051297e-01] [-1.38109295e-01 1.53062958e-03 9.90415812e-01 -6.12333329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters 0.02977111929015314 Centerline is valid? [True, True] Translation: X:55.44, Y:0.40, Z:-6.13 [[ 9.80442835e-01 1.40671204e-01 1.37635239e-01 5.54368167e+01] [-1.39006460e-01 9.90054086e-01 -2.16820380e-02 3.95152060e-01] [-1.39316369e-01 2.12581156e-03 9.90245641e-01 -6.13052150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters 0.029851179396834446 Centerline is valid? [True, True] Translation: X:55.50, Y:0.38, Z:-6.14 [[ 9.81255125e-01 1.37518102e-01 1.35007969e-01 5.54973654e+01] [-1.35878063e-01 9.90495873e-01 -2.13325696e-02 3.80694586e-01] [-1.36658450e-01 2.58807210e-03 9.90614844e-01 -6.13815453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters 0.030073368022854933 Centerline is valid? [True, True] Translation: X:55.56, Y:0.37, Z:-6.14 [[ 9.80892187e-01 1.37493449e-01 1.37644720e-01 5.55575305e+01] [-1.35777600e-01 9.90498948e-01 -2.18237913e-02 3.66238787e-01] [-1.39337579e-01 2.71771673e-03 9.90241210e-01 -6.14491989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters 0.03004525170387294 Centerline is valid? [True, True] Translation: X:55.62, Y:0.35, Z:-6.15 [[ 9.80782984e-01 1.39680756e-01 1.36213159e-01 5.56163174e+01] [-1.38012591e-01 9.90193568e-01 -2.16615295e-02 3.46252058e-01] [-1.37903093e-01 2.44612854e-03 9.90442706e-01 -6.15277636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters 0.030402413572675747 Centerline is valid? [True, True] Translation: X:55.68, Y:0.33, Z:-6.16 [[ 9.80798633e-01 1.40692718e-01 1.35054068e-01 5.56760818e+01] [-1.39053614e-01 9.90050526e-01 -2.15417771e-02 3.29221575e-01] [-1.36741122e-01 2.34838922e-03 9.90604033e-01 -6.16233375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters 0.030067330003454157 Centerline is valid? [True, True] Translation: X:55.74, Y:0.31, Z:-6.17 [[ 9.80066500e-01 1.44468262e-01 1.36376596e-01 5.57359717e+01] [-1.42823816e-01 9.89507598e-01 -2.18190339e-02 3.10626389e-01] [-1.38097836e-01 1.90627832e-03 9.90416758e-01 -6.16762786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters 0.030049525545099817 Centerline is valid? [True, True] Translation: X:55.80, Y:0.29, Z:-6.18 [[ 9.79228109e-01 1.50831839e-01 1.35506701e-01 5.57962007e+01] [-1.49261062e-01 9.88558867e-01 -2.17371091e-02 2.93844185e-01] [-1.37234999e-01 1.05971408e-03 9.90537951e-01 -6.17616408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters 0.029973827883603928 Centerline is valid? [True, True] Translation: X:55.86, Y:0.28, Z:-6.18 [[ 9.78911591e-01 1.54397563e-01 1.33766549e-01 5.58554720e+01] [-1.52896259e-01 9.88008631e-01 -2.14867250e-02 2.76542751e-01] [-1.35480003e-01 5.81199210e-04 9.90779910e-01 -6.18308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters 0.029773606685389208 Centerline is valid? [True, True] Translation: X:55.92, Y:0.26, Z:-6.19 [[ 9.78503457e-01 1.56327086e-01 1.34509582e-01 5.59171717e+01] [-1.54818158e-01 9.87705268e-01 -2.16711977e-02 2.63996401e-01] [-1.36243618e-01 3.80816219e-04 9.90675291e-01 -6.19057404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters 0.02998164070642616 Centerline is valid? [True, True] Translation: X:55.98, Y:0.25, Z:-6.20 [[ 9.78006915e-01 1.59218762e-01 1.34728838e-01 5.59776831e+01] [-1.57722123e-01 9.87243325e-01 -2.17795481e-02 2.48412210e-01] [-1.36477859e-01 5.08303414e-05 9.90643120e-01 -6.19826106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters 0.029875630553576754 Centerline is valid? [True, True] Translation: X:56.04, Y:0.23, Z:-6.21 [[ 9.77867204e-01 1.62241839e-01 1.32111001e-01 5.60381872e+01] [-1.60821246e-01 9.86750981e-01 -2.14249542e-02 2.33678691e-01] [-1.33836684e-01 -2.95495759e-04 9.91003358e-01 -6.20516821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters 0.030044610992500283 Centerline is valid? [True, True] Translation: X:56.10, Y:0.22, Z:-6.21 [[ 9.77300504e-01 1.64925288e-01 1.32978847e-01 5.60984306e+01] [-1.63502130e-01 9.86305877e-01 -2.16279999e-02 2.19418184e-01] [-1.34724822e-01 -6.05269479e-04 9.90882867e-01 -6.21097129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters 0.03008961650051639 Centerline is valid? [True, True] Translation: X:56.16, Y:0.21, Z:-6.22 [[ 9.77138187e-01 1.66756180e-01 1.31883811e-01 5.61593616e+01] [-1.65364641e-01 9.85997847e-01 -2.15123381e-02 2.09398705e-01] [-1.33624469e-01 -7.88392078e-04 9.91031725e-01 -6.22103921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters 0.02987238091475509 Centerline is valid? [True, True] Translation: X:56.22, Y:0.20, Z:-6.23 [[ 9.77059952e-01 1.67183360e-01 1.31922612e-01 5.62209559e+01] [-1.65785402e-01 9.85925515e-01 -2.15888937e-02 2.00313988e-01] [-1.33675172e-01 -7.77199733e-04 9.91024896e-01 -6.22597124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters 0.029944733988277166 Centerline is valid? [True, True] Translation: X:56.28, Y:0.19, Z:-6.23 [[ 9.77223184e-01 1.66029672e-01 1.32170333e-01 5.62829645e+01] [-1.64606463e-01 9.86120604e-01 -2.16994827e-02 1.91819928e-01] [-1.33938646e-01 -5.50853434e-04 9.90989473e-01 -6.23279522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters 0.029895930705574923 Centerline is valid? [True, True] Translation: X:56.34, Y:0.18, Z:-6.24 [[ 9.77567956e-01 1.64558213e-01 1.31459069e-01 5.63442222e+01] [-1.63127904e-01 9.86367333e-01 -2.16511078e-02 1.83439839e-01] [-1.33229799e-01 -2.79213127e-04 9.91085134e-01 -6.24137931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters 0.030213722839682277 Centerline is valid? [True, True] Translation: X:56.41, Y:0.17, Z:-6.25 [[ 9.77609324e-01 1.63762563e-01 1.32143229e-01 5.64062041e+01] [-1.62301458e-01 9.86499778e-01 -2.18271705e-02 1.74262206e-01] [-1.33933740e-01 -1.08593442e-04 9.90990283e-01 -6.24813425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters 0.029989754602733915 Centerline is valid? [True, True] Translation: X:56.47, Y:0.17, Z:-6.25 [[ 9.77893940e-01 1.63129416e-01 1.30813748e-01 5.64673827e+01] [-1.61682952e-01 9.86604678e-01 -2.16755947e-02 1.66055400e-01] [-1.32597383e-01 4.60797174e-05 9.91169981e-01 -6.25327516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters 0.030115509243490234 Centerline is valid? [True, True] Translation: X:56.53, Y:0.16, Z:-6.26 [[ 9.77452554e-01 1.63028922e-01 1.34194168e-01 5.65287778e+01] [-1.61496598e-01 9.86621282e-01 -2.23000888e-02 1.58396313e-01] [-1.36034382e-01 1.25377030e-04 9.90704109e-01 -6.26210337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters 0.02999985637276003 Centerline is valid? [True, True] Translation: X:56.59, Y:0.15, Z:-6.27 [[ 9.78057869e-01 1.63270714e-01 1.29404320e-01 5.65893252e+01] [-1.61840542e-01 9.86581295e-01 -2.15635567e-02 1.48373541e-01] [-1.31188579e-01 1.47541023e-04 9.91357420e-01 -6.26932014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters 0.02987123043295955 Centerline is valid? [True, True] Translation: X:56.65, Y:0.14, Z:-6.28 [[ 9.77556337e-01 1.65519153e-01 1.30334257e-01 5.66522492e+01] [-1.64079731e-01 9.86206571e-01 -2.17816585e-02 1.43995297e-01] [-1.32141782e-01 -9.24115374e-05 9.91230821e-01 -6.27648943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters 0.03008974199546154 Centerline is valid? [True, True] Translation: X:56.71, Y:0.14, Z:-6.28 [[ 9.76982560e-01 1.65687707e-01 1.34360196e-01 5.67136977e+01] [-1.64149071e-01 9.86178271e-01 -2.25277753e-02 1.36042514e-01] [-1.36235681e-01 -4.58577960e-05 9.90676454e-01 -6.28482679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters 0.02981020705517404 Centerline is valid? [True, True] Translation: X:56.78, Y:0.13, Z:-6.29 [[ 9.76921240e-01 1.66736667e-01 1.33505709e-01 5.67755786e+01] [-1.65218835e-01 9.86001454e-01 -2.24470315e-02 1.29614981e-01] [-1.35379566e-01 -1.28675776e-04 9.90793801e-01 -6.29145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters 0.0296422194266081 Centerline is valid? [True, True] Translation: X:56.84, Y:0.13, Z:-6.30 [[ 9.76718205e-01 1.66528618e-01 1.35239664e-01 5.68375858e+01] [-1.64960023e-01 9.86036621e-01 -2.28029143e-02 1.26636930e-01] [-1.37148599e-01 -3.71165633e-05 9.90550483e-01 -6.29842736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters 0.02942516912800931 Centerline is valid? [True, True] Translation: X:56.90, Y:0.12, Z:-6.31 [[ 9.77058242e-01 1.65779792e-01 1.33694626e-01 5.68990938e+01] [-1.64231590e-01 9.86162788e-01 -2.26039974e-02 1.21003285e-01] [-1.35591951e-01 1.28540871e-04 9.90764758e-01 -6.30504497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters 0.029406148292670978 Centerline is valid? [True, True] Translation: X:56.96, Y:0.11, Z:-6.31 [[ 9.77124141e-01 1.63149362e-01 1.36421037e-01 5.69600117e+01] [-1.61502486e-01 9.86601218e-01 -2.31297245e-02 1.14320384e-01] [-1.38366761e-01 5.68275577e-04 9.90380895e-01 -6.31316890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters 0.029492552113390618 Centerline is valid? [True, True] Translation: X:57.02, Y:0.11, Z:-6.32 [[ 9.78036828e-01 1.58423777e-01 1.35446928e-01 5.70215534e+01] [-1.56746384e-01 9.87370365e-01 -2.30289929e-02 1.06159701e-01] [-1.37384623e-01 1.29238704e-03 9.90516933e-01 -6.32240045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters 0.029278260847940833 Centerline is valid? [True, True] Translation: X:57.08, Y:0.10, Z:-6.33 [[ 9.78570342e-01 1.57156229e-01 1.33048886e-01 5.70826547e+01] [-1.55516934e-01 9.87572595e-01 -2.26903488e-02 9.62071905e-02] [-1.34961363e-01 1.51274749e-03 9.90849707e-01 -6.32668225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters 0.029364345052145427 Centerline is valid? [True, True] Translation: X:57.14, Y:0.08, Z:-6.33 [[ 9.78425957e-01 1.56638432e-01 1.34710984e-01 5.71417119e+01] [-1.54944062e-01 9.87654606e-01 -2.30372954e-02 7.91249963e-02] [-1.36656449e-01 1.66762077e-03 9.90617098e-01 -6.33410139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters 0.029227031520561712 Centerline is valid? [True, True] Translation: X:57.20, Y:0.07, Z:-6.34 [[ 9.78573981e-01 1.57183606e-01 1.32989766e-01 5.72018330e+01] [-1.55529521e-01 9.87568053e-01 -2.28014979e-02 6.71555430e-02] [-1.34920466e-01 1.62911793e-03 9.90855092e-01 -6.34128663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters 0.029361121292855084 Centerline is valid? [True, True] Translation: X:57.26, Y:0.05, Z:-6.35 [[ 9.78142354e-01 1.60814188e-01 1.31819319e-01 5.72617360e+01] [-1.59213693e-01 9.86983994e-01 -2.26626353e-02 5.18715854e-02] [-1.33748032e-01 1.17984286e-03 9.91014668e-01 -6.35003164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters 0.029342474398260782 Centerline is valid? [True, True] Translation: X:57.32, Y:0.04, Z:-6.36 [[ 9.77639050e-01 1.64182533e-01 1.31400090e-01 5.73227694e+01] [-1.62614871e-01 9.86429672e-01 -2.26474250e-02 3.87411798e-02] [-1.33335259e-01 7.73398408e-04 9.91070689e-01 -6.35600503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters 0.029281959088944487 Centerline is valid? [True, True] Translation: X:57.38, Y:0.02, Z:-6.36 [[ 9.77507840e-01 1.65352718e-01 1.30907990e-01 5.73835434e+01] [-1.63803415e-01 9.86234287e-01 -2.25914172e-02 2.20724607e-02] [-1.32841500e-01 6.40111647e-04 9.91137087e-01 -6.36423253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters 0.029284921013006626 Centerline is valid? [True, True] Translation: X:57.44, Y:0.01, Z:-6.37 [[ 9.77490862e-01 1.65847801e-01 1.30407524e-01 5.74445622e+01] [-1.64305349e-01 9.86151153e-01 -2.25755638e-02 1.05550632e-02] [-1.32345638e-01 6.40753602e-04 9.91203421e-01 -6.37237081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters 0.029075722837571063 Centerline is valid? [True, True] Translation: X:57.51, Y:-0.00, Z:-6.38 [[ 9.77232694e-01 1.67597571e-01 1.30105017e-01 5.75057108e+01] [-1.66068409e-01 9.85855380e-01 -2.25932001e-02 -3.08580810e-03] [-1.32051297e-01 4.72480618e-04 9.91242771e-01 -6.38054822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters 0.02909572670193294 Centerline is valid? [True, True] Translation: X:57.57, Y:-0.01, Z:-6.39 [[ 9.76625961e-01 1.71229656e-01 1.29931282e-01 5.75671054e+01] [-1.69727234e-01 9.85231142e-01 -2.26332430e-02 -1.49486912e-02] [-1.31887827e-01 5.13356324e-05 9.91264646e-01 -6.38745286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters 0.02893126468514148 Centerline is valid? [True, True] Translation: X:57.63, Y:-0.03, Z:-6.40 [[ 9.76174243e-01 1.74269250e-01 1.29282927e-01 5.76275883e+01] [-1.72799007e-01 9.84697997e-01 -2.25910796e-02 -2.83413100e-02] [-1.31241570e-01 -2.87131407e-04 9.91350376e-01 -6.39634734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters 0.02888057571922153 Centerline is valid? [True, True] Translation: X:57.69, Y:-0.04, Z:-6.40 [[ 9.75993725e-01 1.75572784e-01 1.28881524e-01 5.76894403e+01] [-1.74113863e-01 9.84466375e-01 -2.25902345e-02 -3.94528936e-02] [-1.30845757e-01 -3.92132988e-04 9.91402660e-01 -6.40422389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters 0.028950403583702326 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.05, Z:-6.41 [[ 9.76127876e-01 1.74273939e-01 1.29626249e-01 5.77509944e+01] [-1.72777342e-01 9.84697198e-01 -2.27907511e-02 -4.91737816e-02] [-1.31614438e-01 -1.49791230e-04 9.91300972e-01 -6.41091687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters 0.02897927458498002 Centerline is valid? [True, True] Translation: X:57.81, Y:-0.06, Z:-6.42 [[ 9.75793462e-01 1.75089923e-01 1.31036779e-01 5.78112170e+01] [-1.73558400e-01 9.84552427e-01 -2.31084492e-02 -6.07570805e-02] [-1.33058636e-01 -1.93460069e-04 9.91108149e-01 -6.41940317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters 0.028936085865961685 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.07, Z:-6.43 [[ 9.75613591e-01 1.75648564e-01 1.31627132e-01 5.78731009e+01] [-1.74099657e-01 9.84452913e-01 -2.32759687e-02 -7.05004673e-02] [-1.33669104e-01 -2.07887197e-04 9.91025997e-01 -6.42681507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters 0.028616350801349402 Centerline is valid? [True, True] Translation: X:57.93, Y:-0.08, Z:-6.43 [[ 9.76212330e-01 1.74091912e-01 1.29234257e-01 5.79334275e+01] [-1.72576492e-01 9.84729405e-01 -2.29205846e-02 -8.25400915e-02] [-1.31251062e-01 7.25624556e-05 9.91349158e-01 -6.43235134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters 0.028683586870593334 Centerline is valid? [True, True] Translation: X:58.00, Y:-0.09, Z:-6.44 [[ 9.75747587e-01 1.75809710e-01 1.30413156e-01 5.79954081e+01] [-1.74273273e-01 9.84424165e-01 -2.31924544e-02 -9.23207518e-02] [-1.32459321e-01 -9.75461945e-05 9.91188438e-01 -6.44127787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters 0.028782931955912663 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.10, Z:-6.45 [[ 9.75108411e-01 1.79475340e-01 1.30200573e-01 5.80565978e+01] [-1.77967130e-01 9.83762332e-01 -2.32244274e-02 -1.03991548e-01] [-1.32254631e-01 -5.25087724e-04 9.91215636e-01 -6.44948578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters 0.029007690010567678 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.11, Z:-6.45 [[ 9.74589447e-01 1.83127654e-01 1.28994850e-01 5.81189363e+01] [-1.81670103e-01 9.83088691e-01 -2.30781330e-02 -1.11833163e-01] [-1.31039623e-01 -9.42802831e-04 9.91376683e-01 -6.45459423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters 0.028944821878824894 Centerline is valid? [True, True] Translation: X:58.18, Y:-0.12, Z:-6.46 [[ 9.74487024e-01 1.82438923e-01 1.30732858e-01 5.81798128e+01] [-1.80926209e-01 9.83216869e-01 -2.34583943e-02 -1.20019874e-01] [-1.32818475e-01 -7.93099494e-04 9.91140063e-01 -6.46364557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters 0.028973106852350775 Centerline is valid? [True, True] Translation: X:58.24, Y:-0.13, Z:-6.47 [[ 9.74732797e-01 1.80944224e-01 1.30977717e-01 5.82422297e+01] [-1.79404003e-01 9.83493217e-01 -2.35647085e-02 -1.27006387e-01] [-1.33079594e-01 -5.28632494e-04 9.91105212e-01 -6.46993294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters 0.029096471621819105 Centerline is valid? [True, True] Translation: X:58.30, Y:-0.13, Z:-6.48 [[ 9.74751572e-01 1.79305490e-01 1.33074845e-01 5.83040108e+01] [-1.77690407e-01 9.83793415e-01 -2.40132292e-02 -1.33015209e-01] [-1.35223861e-01 -2.39190499e-04 9.90815043e-01 -6.47777526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters 0.02905065826830942 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.14, Z:-6.48 [[ 9.75040859e-01 1.77783157e-01 1.32998017e-01 5.83655050e+01] [-1.76147081e-01 9.84069686e-01 -2.40636251e-02 -1.44105912e-01] [-1.35157425e-01 3.58051197e-05 9.90824136e-01 -6.48380542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters 0.029099528540879455 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.15, Z:-6.49 [[ 9.75240123e-01 1.77460844e-01 1.31963450e-01 5.84268828e+01] [-1.75837885e-01 9.84127851e-01 -2.39460179e-02 -1.51327904e-01] [-1.34118387e-01 1.48943583e-04 9.90965305e-01 -6.49196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters 0.02891925450631901 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.16, Z:-6.50 [[ 9.75972341e-01 1.73498931e-01 1.31818474e-01 5.84887224e+01] [-1.71834950e-01 9.84833767e-01 -2.39833397e-02 -1.60758975e-01] [-1.33980368e-01 7.56055380e-04 9.90983698e-01 -6.49610223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters 0.029069283217816416 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.17, Z:-6.50 [[ 9.76156107e-01 1.72078847e-01 1.32318274e-01 5.85490924e+01] [-1.70379648e-01 9.85082647e-01 -2.41444577e-02 -1.71561759e-01] [-1.34499186e-01 1.02441900e-03 9.90913175e-01 -6.50263452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters 0.02900318157949568 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.18, Z:-6.51 [[ 9.76023647e-01 1.73248670e-01 1.31767746e-01 5.86098690e+01] [-1.71565646e-01 9.84877681e-01 -2.41077317e-02 -1.83513730e-01] [-1.33951745e-01 9.22897716e-04 9.90987426e-01 -6.51169183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters 0.029142649812961455 Centerline is valid? [True, True] Translation: X:58.67, Y:-0.20, Z:-6.52 [[ 9.74472191e-01 1.80484916e-01 1.33525819e-01 5.86713648e+01] [-1.78813941e-01 9.83577752e-01 -2.45026375e-02 -1.98820489e-01] [-1.35755381e-01 8.60857405e-07 9.90742387e-01 -6.51628685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters 0.02954221736443557 Centerline is valid? [True, True] Translation: X:58.73, Y:-0.21, Z:-6.53 [[ 9.73346799e-01 1.86320711e-01 1.33718365e-01 5.87337056e+01] [-1.84689620e-01 9.82488699e-01 -2.46109992e-02 -2.06309876e-01] [-1.35962321e-01 -7.41356660e-04 9.90713731e-01 -6.52516604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters 0.029751683107713502 Centerline is valid? [True, True] Translation: X:58.79, Y:-0.22, Z:-6.53 [[ 9.72686195e-01 1.89445145e-01 1.34134648e-01 5.87945049e+01] [-1.87823615e-01 9.81890677e-01 -2.47585905e-02 -2.16050454e-01] [-1.36395955e-01 -1.11131524e-03 9.90653778e-01 -6.53225034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters 0.029579718098261158 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.22, Z:-6.54 [[ 9.72699583e-01 1.89574807e-01 1.33854075e-01 5.88571024e+01] [-1.87952358e-01 9.81865705e-01 -2.47719111e-02 -2.19926893e-01] [-1.36122856e-01 -1.06256153e-03 9.90691394e-01 -6.53984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters 0.02947125195788299 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.22, Z:-6.55 [[ 9.73002849e-01 1.89649610e-01 1.31523691e-01 5.89185756e+01] [-1.88074760e-01 9.81851340e-01 -2.44096458e-02 -2.24369133e-01] [-1.33765992e-01 -9.85631716e-04 9.91012456e-01 -6.54874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters 0.029377164721293116 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.23, Z:-6.56 [[ 9.72987765e-01 1.89855520e-01 1.31338076e-01 5.89805924e+01] [-1.88278463e-01 9.81811580e-01 -2.44385111e-02 -2.30590514e-01] [-1.33589031e-01 -9.49758827e-04 9.91036361e-01 -6.55720152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters 0.029447653448086447 Centerline is valid? [True, True] Translation: X:59.04, Y:-0.24, Z:-6.56 [[ 9.73285835e-01 1.89477035e-01 1.29665477e-01 5.90415453e+01] [-1.87927561e-01 9.81884812e-01 -2.41960294e-02 -2.39093168e-01] [-1.31901154e-01 -8.18063993e-04 9.91262537e-01 -6.56418766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters 0.029646996023702684 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.25, Z:-6.57 [[ 9.73217085e-01 1.89128836e-01 1.30685842e-01 5.91033919e+01] [-1.87543103e-01 9.81952022e-01 -2.44501696e-02 -2.48741615e-01] [-1.32951459e-01 -7.13905688e-04 9.91122293e-01 -6.57136438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters 0.02969359101828802 Centerline is valid? [True, True] Translation: X:59.16, Y:-0.26, Z:-6.58 [[ 9.73768873e-01 1.85722331e-01 1.31458728e-01 5.91647891e+01] [-1.84077145e-01 9.82602251e-01 -2.46661920e-02 -2.59074014e-01] [-1.33752705e-01 -1.79377416e-04 9.91014723e-01 -6.57888602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters 0.02981110695896501 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.27, Z:-6.59 [[ 9.74014113e-01 1.84854246e-01 1.30864114e-01 5.92256816e+01] [-1.83206647e-01 9.82765947e-01 -2.46255338e-02 -2.71379627e-01] [-1.33160929e-01 1.04418978e-05 9.91094429e-01 -6.58662437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters 0.030059345741083127 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.28, Z:-6.59 [[ 9.73625488e-01 1.85387020e-01 1.32985193e-01 5.92857473e+01] [-1.83680349e-01 9.82665585e-01 -2.50973421e-02 -2.84835438e-01] [-1.35332694e-01 8.64532426e-06 9.90800213e-01 -6.59207715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters 0.030629859756341138 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.30, Z:-6.60 [[ 9.72239372e-01 1.88179801e-01 1.39064613e-01 5.93458325e+01] [-1.86331467e-01 9.82134539e-01 -2.63121832e-02 -2.97481838e-01] [-1.41531581e-01 -3.30372998e-04 9.89933686e-01 -6.60165243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters 0.030838953810620406 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.31, Z:-6.61 [[ 9.71677778e-01 1.91155776e-01 1.38930794e-01 5.94075002e+01] [-1.89332228e-01 9.81559463e-01 -2.63501185e-02 -3.07749878e-01] [-1.41405813e-01 -7.00252041e-04 9.89951466e-01 -6.61165151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters 0.030726679033761462 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.31, Z:-6.62 [[ 9.71241419e-01 1.93128374e-01 1.39253499e-01 5.94696001e+01] [-1.91305786e-01 9.81173070e-01 -2.64859171e-02 -3.14668057e-01] [-1.41746965e-01 -9.15780345e-04 9.89902500e-01 -6.61775964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters 0.030627481496416153 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.32, Z:-6.63 [[ 9.71680424e-01 1.92598976e-01 1.36904303e-01 5.95322492e+01] [-1.90823608e-01 9.81277256e-01 -2.61016703e-02 -3.17325009e-01] [-1.39368233e-01 -7.62090890e-04 9.90240332e-01 -6.62621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters 0.030480152097982525 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.32, Z:-6.63 [[ 9.72777180e-01 1.88822802e-01 1.34352175e-01 5.95937989e+01] [-1.87073470e-01 9.82011158e-01 -2.56437654e-02 -3.23696461e-01] [-1.36777463e-01 -1.88057788e-04 9.90601782e-01 -6.63264333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters 0.030369067027500106 Centerline is valid? [True, True] Translation: X:59.66, Y:-0.33, Z:-6.64 [[ 9.73024507e-01 1.88005075e-01 1.33706395e-01 5.96562820e+01] [-1.86256110e-01 9.82168057e-01 -2.55845645e-02 -3.30438732e-01] [-1.36132178e-01 -9.22470287e-06 9.90690683e-01 -6.63884767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters 0.03032527320351669 Centerline is valid? [True, True] Translation: X:59.72, Y:-0.34, Z:-6.64 [[ 9.72648508e-01 1.90529997e-01 1.32865342e-01 5.97180661e+01] [-1.88817459e-01 9.81681330e-01 -2.54898794e-02 -3.39645450e-01] [-1.35288012e-01 -2.94603026e-04 9.90806271e-01 -6.64429044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters 0.03099434276975413 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.35, Z:-6.65 [[ 9.70662014e-01 1.98933609e-01 1.35058041e-01 5.97790744e+01] [-1.97238937e-01 9.80011898e-01 -2.59515147e-02 -3.48553120e-01] [-1.37521115e-01 -1.44855485e-03 9.90497776e-01 -6.65140076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters 0.03109281314720803 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.36, Z:-6.66 [[ 9.69887590e-01 1.99750890e-01 1.39347207e-01 5.98402072e+01] [-1.97944991e-01 9.79845491e-01 -2.68438733e-02 -3.56488635e-01] [-1.41900820e-01 -1.54754207e-03 9.89879671e-01 -6.65732938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters 0.031246022175041622 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.36, Z:-6.67 [[ 9.70105965e-01 1.98848873e-01 1.39117011e-01 5.99021635e+01] [-1.97030483e-01 9.80029237e-01 -2.68641610e-02 -3.58612339e-01] [-1.41680646e-01 -1.34920903e-03 9.89911498e-01 -6.66557175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters 0.031032776931235295 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.36, Z:-6.67 [[ 9.70853075e-01 1.93919706e-01 1.40852599e-01 5.99655004e+01] [-1.91993879e-01 9.81017239e-01 -2.72676999e-02 -3.60920973e-01] [-1.43466572e-01 -5.69906622e-04 9.89654999e-01 -6.67192191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters 0.031002183017745356 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.37, Z:-6.68 [[ 9.72665256e-01 1.86948980e-01 1.37740255e-01 6.00271764e+01] [-1.85028006e-01 9.82369487e-01 -2.67362673e-02 -3.66295110e-01] [-1.40310142e-01 5.19633458e-04 9.90107466e-01 -6.67790667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters 0.031202171385775693 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.37, Z:-6.69 [[ 9.74583639e-01 1.77468360e-01 1.36717635e-01 6.00887148e+01] [-1.75473817e-01 9.84124602e-01 -2.66027748e-02 -3.71395190e-01] [-1.39268339e-01 1.93626377e-03 9.90252786e-01 -6.68514145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters 0.031405372468717684 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.38, Z:-6.69 [[ 9.75925111e-01 1.71119666e-01 1.35234013e-01 6.01493395e+01] [-1.69098718e-01 9.85246056e-01 -2.63786512e-02 -3.83160994e-01] [-1.37752684e-01 2.87568982e-03 9.90462482e-01 -6.68954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters 0.031523214698332754 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.39, Z:-6.70 [[ 9.76864537e-01 1.68137847e-01 1.32156503e-01 6.02107916e+01] [-1.66172485e-01 9.85758024e-01 -2.58422753e-02 -3.93136866e-01] [-1.34619398e-01 3.28362775e-03 9.90891939e-01 -6.69644257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters 0.03171677302227474 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.40, Z:-6.70 [[ 9.76744762e-01 1.67417330e-01 1.33944423e-01 6.02707537e+01] [-1.65381298e-01 9.85879897e-01 -2.62650993e-02 -4.04493253e-01] [-1.36450347e-01 3.50239555e-03 9.90640720e-01 -6.70476111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters 0.031748444362976455 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.42, Z:-6.71 [[ 9.76809798e-01 1.68526645e-01 1.32065847e-01 6.03306771e+01] [-1.66549629e-01 9.85691375e-01 -2.59563820e-02 -4.17718689e-01] [-1.34550508e-01 3.35893052e-03 9.90901044e-01 -6.71093508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters 0.031243214358208492 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.43, Z:-6.72 [[ 9.75954314e-01 1.72667882e-01 1.33037514e-01 6.03911064e+01] [-1.70690853e-01 9.84975910e-01 -2.62123822e-02 -4.28431749e-01] [-1.35564783e-01 2.87380078e-03 9.90764316e-01 -6.72001660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters 0.030468101553119516 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.44, Z:-6.73 [[ 9.75051244e-01 1.77108313e-01 1.33819716e-01 6.04516579e+01] [-1.75140352e-01 9.84188595e-01 -2.64323010e-02 -4.42801999e-01] [-1.36385219e-01 2.33561574e-03 9.90653126e-01 -6.72510024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters 0.029840533419532387 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.46, Z:-6.73 [[ 9.75003576e-01 1.80749089e-01 1.29219941e-01 6.05119524e+01] [-1.78938404e-01 9.83527550e-01 -2.55852499e-02 -4.55529382e-01] [-1.31715883e-01 1.82330019e-03 9.91285833e-01 -6.73124260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters 0.029481167487251672 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.47, Z:-6.74 [[ 9.73619087e-01 1.84227780e-01 1.34632828e-01 6.05726619e+01] [-1.82285010e-01 9.82882464e-01 -2.67251992e-02 -4.67733091e-01] [-1.37251770e-01 1.47861763e-03 9.90535090e-01 -6.73962331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters 0.02938027381941852 Centerline is valid? [True, True] Translation: X:60.63, Y:-0.48, Z:-6.75 [[ 9.73245314e-01 1.86279309e-01 1.34512372e-01 6.06336138e+01] [-1.84350374e-01 9.82496029e-01 -2.67673804e-02 -4.77205452e-01] [-1.37144081e-01 1.25382143e-03 9.90550316e-01 -6.74775844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters 0.029161696870170183 Centerline is valid? [True, True] Translation: X:60.69, Y:-0.49, Z:-6.76 [[ 9.73233517e-01 1.84334925e-01 1.37248522e-01 6.06938834e+01] [-1.82297405e-01 9.82862141e-01 -2.73800668e-02 -4.87991792e-01] [-1.39943479e-01 1.62714930e-03 9.90158157e-01 -6.75615399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters 0.029064987501256453 Centerline is valid? [True, True] Translation: X:60.76, Y:-0.50, Z:-6.76 [[ 9.73265847e-01 1.84645500e-01 1.36600259e-01 6.07556087e+01] [-1.82620787e-01 9.82803817e-01 -2.73185950e-02 -4.96914288e-01] [-1.39295512e-01 1.64220852e-03 9.90249496e-01 -6.76318965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters 0.029130544575484696 Centerline is valid? [True, True] Translation: X:60.82, Y:-0.51, Z:-6.77 [[ 9.73157823e-01 1.85120749e-01 1.36726589e-01 6.08168567e+01] [-1.83086201e-01 9.82714395e-01 -2.74200967e-02 -5.08103111e-01] [-1.39439216e-01 1.65132991e-03 9.90229255e-01 -6.77001279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters 0.029277746666429603 Centerline is valid? [True, True] Translation: X:60.88, Y:-0.52, Z:-6.78 [[ 9.73914411e-01 1.82213581e-01 1.35236577e-01 6.08780351e+01] [-1.80185036e-01 9.83256691e-01 -2.71961890e-02 -5.18876080e-01] [-1.37927784e-01 2.11915278e-03 9.90440021e-01 -6.77830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters 0.02949892600416289 Centerline is valid? [True, True] Translation: X:60.94, Y:-0.53, Z:-6.78 [[ 9.74610258e-01 1.78589403e-01 1.35058027e-01 6.09379117e+01] [-1.76521430e-01 9.83919981e-01 -2.72333758e-02 -5.34146670e-01] [-1.37749884e-01 2.70129141e-03 9.90463363e-01 -6.78334689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters 0.029843868582005426 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.55, Z:-6.79 [[ 9.74147406e-01 1.79168570e-01 1.37606156e-01 6.09972473e+01] [-1.77017546e-01 9.83814583e-01 -2.78146606e-02 -5.50232195e-01] [-1.40362455e-01 2.73687547e-03 9.90096405e-01 -6.79166293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters 0.029719921931126162 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.56, Z:-6.80 [[ 9.74038839e-01 1.80175163e-01 1.37059298e-01 6.10576193e+01] [-1.78041797e-01 9.83630978e-01 -2.77708017e-02 -5.64591959e-01] [-1.39819381e-01 2.64755571e-03 9.90173485e-01 -6.79895006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters 0.02999985053185643 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.58, Z:-6.81 [[ 9.73594125e-01 1.80463965e-01 1.39811433e-01 6.11172686e+01] [-1.78236667e-01 9.83577815e-01 -2.83966823e-02 -5.77634752e-01] [-1.42640001e-01 2.72731936e-03 9.89770878e-01 -6.80691090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters 0.030075698157891 Centerline is valid? [True, True] Translation: X:61.18, Y:-0.59, Z:-6.82 [[ 9.73881676e-01 1.79375185e-01 1.39208561e-01 6.11775443e+01] [-1.77146657e-01 9.83776348e-01 -2.83400706e-02 -5.94671407e-01] [-1.42033596e-01 2.93954413e-03 9.89857473e-01 -6.81758179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters 0.030117759029174806 Centerline is valid? [True, True] Translation: X:61.24, Y:-0.61, Z:-6.83 [[ 9.73990964e-01 1.80568595e-01 1.36881645e-01 6.12377426e+01] [-1.78415793e-01 9.83558434e-01 -2.79394203e-02 -6.09289558e-01] [-1.39676078e-01 2.79089572e-03 9.90193317e-01 -6.82550342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters 0.02997608783306014 Centerline is valid? [True, True] Translation: X:61.30, Y:-0.62, Z:-6.83 [[ 9.73606222e-01 1.83889890e-01 1.35186657e-01 6.12976951e+01] [-1.81813159e-01 9.82944041e-01 -2.76584171e-02 -6.24014362e-01] [-1.37967023e-01 2.34969371e-03 9.90434036e-01 -6.83106977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters 0.02987546819762388 Centerline is valid? [True, True] Translation: X:61.36, Y:-0.64, Z:-6.84 [[ 9.73228506e-01 1.86252367e-01 1.34671195e-01 6.13573769e+01] [-1.84204974e-01 9.82499753e-01 -2.76181818e-02 -6.38227825e-01] [-1.37458367e-01 2.07169790e-03 9.90505379e-01 -6.83977847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters 0.029824373659090103 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.65, Z:-6.85 [[ 9.73130040e-01 1.87584300e-01 1.33529233e-01 6.14169481e+01] [-1.85575252e-01 9.82246609e-01 -2.74485973e-02 -6.53825740e-01] [-1.36307562e-01 1.93133355e-03 9.90664685e-01 -6.84545397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters 0.030276388776741495 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.67, Z:-6.85 [[ 9.73156335e-01 1.86622459e-01 1.34680383e-01 6.14771138e+01] [-1.84560067e-01 9.82429354e-01 -2.77515026e-02 -6.68743734e-01] [-1.37493015e-01 2.14993000e-03 9.90500403e-01 -6.85268120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters 0.03042058031717122 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.69, Z:-6.86 [[ 9.72893174e-01 1.85923170e-01 1.37518893e-01 6.15364914e+01] [-1.83755849e-01 9.82561440e-01 -2.84042893e-02 -6.86188760e-01] [-1.40401777e-01 2.36443826e-03 9.90091789e-01 -6.86057790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters 0.03037782166893747 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.70, Z:-6.87 [[ 9.72872062e-01 1.86770824e-01 1.36515974e-01 6.15971443e+01] [-1.84634243e-01 9.82400841e-01 -2.82627523e-02 -6.98581344e-01] [-1.39392065e-01 2.29051849e-03 9.90234622e-01 -6.86640475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters 0.030286582425479096 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.71, Z:-6.88 [[ 9.72433071e-01 1.89880590e-01 1.35348748e-01 6.16568474e+01] [-1.87801515e-01 9.81805367e-01 -2.80858014e-02 -7.14052986e-01] [-1.38219075e-01 1.89286219e-03 9.90399871e-01 -6.87571026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters 0.03029900083563047 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.72, Z:-6.88 [[ 9.73193041e-01 1.88269759e-01 1.32097703e-01 6.17181805e+01] [-1.86266421e-01 9.82115038e-01 -2.74749422e-02 -7.23004009e-01] [-1.34907842e-01 2.13305617e-03 9.90855854e-01 -6.88208536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters 0.030514032440296494 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.74, Z:-6.89 [[ 9.73853756e-01 1.86134123e-01 1.30241891e-01 6.17791760e+01] [-1.84159453e-01 9.82521273e-01 -2.71522478e-02 -7.36768640e-01] [-1.33019388e-01 2.45704301e-03 9.91110390e-01 -6.88784673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters 0.030656052769000734 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.75, Z:-6.89 [[ 9.73472387e-01 1.86352577e-01 1.32756279e-01 6.18397291e+01] [-1.84292451e-01 9.82479631e-01 -2.77500932e-02 -7.47364020e-01] [-1.35601641e-01 2.54796947e-03 9.90760164e-01 -6.89493382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters 0.03037693390153374 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.76, Z:-6.90 [[ 9.72655234e-01 1.90197204e-01 1.33292230e-01 6.19006605e+01] [-1.88147249e-01 9.81743692e-01 -2.79273515e-02 -7.58065557e-01] [-1.36170510e-01 2.08511839e-03 9.90683221e-01 -6.90226225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters 0.030260469398526585 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.77, Z:-6.91 [[ 9.72444326e-01 1.91389891e-01 1.33123789e-01 6.19623181e+01] [-1.89347155e-01 9.81512091e-01 -2.79583801e-02 -7.69374932e-01] [-1.36013559e-01 1.98135741e-03 9.90704994e-01 -6.90924510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters 0.0305399276588533 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.78, Z:-6.92 [[ 9.72473718e-01 1.89686600e-01 1.35328717e-01 6.20230109e+01] [-1.87548500e-01 9.81841923e-01 -2.84955717e-02 -7.77278696e-01] [-1.38276636e-01 2.33049667e-03 9.90390903e-01 -6.91755158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters 0.030920972905933323 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.78, Z:-6.92 [[ 9.73241853e-01 1.84995283e-01 1.36297615e-01 6.20839903e+01] [-1.82771827e-01 9.82734582e-01 -2.87611093e-02 -7.84558163e-01] [-1.39265049e-01 3.08015119e-03 9.90250352e-01 -6.92445551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters 0.03111616154862077 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.80, Z:-6.93 [[ 9.73673295e-01 1.82272959e-01 1.36882732e-01 6.21444629e+01] [-1.79994609e-01 9.83241570e-01 -2.89474565e-02 -7.96222150e-01] [-1.39865131e-01 3.54721146e-03 9.90164210e-01 -6.93167207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters 0.03132348560212408 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.81, Z:-6.94 [[ 9.74449254e-01 1.78284959e-01 1.36613049e-01 6.22049671e+01] [-1.75967351e-01 9.83970033e-01 -2.89562638e-02 -8.07853760e-01] [-1.39585613e-01 4.17697327e-03 9.90201197e-01 -6.93819927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters 0.031639772602370234 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.82, Z:-6.95 [[ 9.74926244e-01 1.75441659e-01 1.36890626e-01 6.22646257e+01] [-1.73077294e-01 9.84478802e-01 -2.90815959e-02 -8.23262339e-01] [-1.39868043e-01 4.65975195e-03 9.90159188e-01 -6.94522942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters 0.03244221127397464 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.84, Z:-6.95 [[ 9.75697624e-01 1.70427429e-01 1.37726681e-01 6.23236144e+01] [-1.67974870e-01 9.85355005e-01 -2.93250268e-02 -8.40472963e-01] [-1.40707464e-01 5.47773765e-03 9.90036062e-01 -6.95212087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters 0.03253331182940098 Centerline is valid? [True, True] Translation: X:62.38, Y:-0.86, Z:-6.96 [[ 9.75910403e-01 1.70684441e-01 1.35888581e-01 6.23832919e+01] [-1.68291327e-01 9.85310800e-01 -2.89940933e-02 -8.56648785e-01] [-1.38841327e-01 5.42676762e-03 9.90299771e-01 -6.96042959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters 0.03202259959633804 Centerline is valid? [True, True] Translation: X:62.44, Y:-0.87, Z:-6.97 [[ 9.75231265e-01 1.74373773e-01 1.36080006e-01 6.24422397e+01] [-1.72000402e-01 9.84666976e-01 -2.90999828e-02 -8.73758378e-01] [-1.39067761e-01 4.97339731e-03 9.90270379e-01 -6.96939406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters 0.03190791858294104 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.89, Z:-6.97 [[ 9.74305193e-01 1.78649731e-01 1.37162910e-01 6.25018039e+01] [-1.76270917e-01 9.83902608e-01 -2.93976453e-02 -8.91948809e-01] [-1.40206826e-01 4.46444654e-03 9.90112173e-01 -6.97444717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters 0.03170204969430844 Centerline is valid? [True, True] Translation: X:62.56, Y:-0.91, Z:-6.98 [[ 9.74172841e-01 1.80206648e-01 1.36061901e-01 6.25619379e+01] [-1.77872053e-01 9.83619504e-01 -2.92267733e-02 -9.06000473e-01] [-1.39099998e-01 4.27031914e-03 9.90269133e-01 -6.98377267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters 0.03167784846561449 Centerline is valid? [True, True] Translation: X:62.62, Y:-0.92, Z:-6.99 [[ 9.74204258e-01 1.80593452e-01 1.35322094e-01 6.26220280e+01] [-1.78278746e-01 9.83548614e-01 -2.91343870e-02 -9.21906676e-01] [-1.38357337e-01 4.25779071e-03 9.90373222e-01 -6.99274754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters 0.031702592879073184 Centerline is valid? [True, True] Translation: X:62.68, Y:-0.94, Z:-7.00 [[ 9.74154939e-01 1.80736893e-01 1.35485535e-01 6.26828085e+01] [-1.78407398e-01 9.83522005e-01 -2.92449197e-02 -9.36545282e-01] [-1.38538641e-01 4.31746126e-03 9.90347618e-01 -6.99908294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters 0.03174168146574185 Centerline is valid? [True, True] Translation: X:62.74, Y:-0.95, Z:-7.01 [[ 9.73438386e-01 1.84712865e-01 1.35273303e-01 6.27417453e+01] [-1.82418660e-01 9.82785113e-01 -2.92720594e-02 -9.54338533e-01] [-1.38351514e-01 3.81817161e-03 9.90375828e-01 -7.00576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters 0.031428128363922454 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.97, Z:-7.01 [[ 9.72944736e-01 1.87896664e-01 1.34437285e-01 6.28014265e+01] [-1.85652071e-01 9.82182887e-01 -2.91562166e-02 -9.68780362e-01] [-1.37520357e-01 3.40882707e-03 9.90493075e-01 -7.01486835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters 0.03148821976125883 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.98, Z:-7.02 [[ 9.72101696e-01 1.91815229e-01 1.35000781e-01 6.28621214e+01] [-1.89581059e-01 9.81426698e-01 -2.93369928e-02 -9.82301527e-01] [-1.38120653e-01 2.92494937e-03 9.90411091e-01 -7.02172944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters 0.03142551691196205 Centerline is valid? [True, True] Translation: X:62.92, Y:-1.00, Z:-7.03 [[ 9.71495013e-01 1.93970723e-01 1.36282053e-01 6.29230372e+01] [-1.91710101e-01 9.81003666e-01 -2.96486760e-02 -9.97279692e-01] [-1.39444169e-01 2.67689474e-03 9.90226317e-01 -7.02967654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters 0.03141023961225453 Centerline is valid? [True, True] Translation: X:62.98, Y:-1.01, Z:-7.04 [[ 9.71820558e-01 1.93864690e-01 1.34094313e-01 6.29833531e+01] [-1.91665438e-01 9.81024508e-01 -2.92450785e-02 -1.00934662e+00] [-1.37219396e-01 2.71972315e-03 9.90536946e-01 -7.03722018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters 0.031203377876756325 Centerline is valid? [True, True] Translation: X:63.04, Y:-1.02, Z:-7.04 [[ 9.71614996e-01 1.96275421e-01 1.32061574e-01 6.30438777e+01] [-1.94156263e-01 9.80545856e-01 -2.88646689e-02 -1.02133721e+00] [-1.35157854e-01 2.40476336e-03 9.90821160e-01 -7.04267952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters 0.031050946531471557 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.03, Z:-7.05 [[ 9.71067293e-01 2.00187286e-01 1.30205081e-01 6.31045445e+01] [-1.98154973e-01 9.79755827e-01 -2.85153731e-02 -1.03487952e+00] [-1.33277602e-01 1.88956182e-03 9.91076945e-01 -7.04975923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters 0.030996549154120024 Centerline is valid? [True, True] Translation: X:63.17, Y:-1.05, Z:-7.06 [[ 9.70575442e-01 2.02969064e-01 1.29564154e-01 6.31654440e+01] [-2.00977707e-01 9.79183959e-01 -2.84031049e-02 -1.04565788e+00] [-1.32632093e-01 1.52784952e-03 9.91164161e-01 -7.05697725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters 0.031174473978780145 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.06, Z:-7.06 [[ 9.69644554e-01 2.05451506e-01 1.32586267e-01 6.32258156e+01] [-2.03379809e-01 9.78666458e-01 -2.91310230e-02 -1.05602918e+00] [-1.35742745e-01 1.28136813e-03 9.90743289e-01 -7.06384909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters 0.031022883639966456 Centerline is valid? [True, True] Translation: X:63.29, Y:-1.07, Z:-7.07 [[ 9.69744893e-01 2.07012189e-01 1.29386226e-01 6.32870090e+01] [-2.05046313e-01 9.78337756e-01 -2.84823595e-02 -1.06733303e+00] [-1.32479625e-01 1.09045412e-03 9.91185129e-01 -7.07073567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters 0.031155052615056366 Centerline is valid? [True, True] Translation: X:63.35, Y:-1.08, Z:-7.08 [[ 9.69188952e-01 2.08484197e-01 1.31175893e-01 6.33472077e+01] [-2.06471377e-01 9.78025283e-01 -2.89156712e-02 -1.08027239e+00] [-1.34321800e-01 9.40681887e-04 9.90937318e-01 -7.07944227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters 0.031654844129109926 Centerline is valid? [True, True] Translation: X:63.41, Y:-1.09, Z:-7.09 [[ 9.67649014e-01 2.13398591e-01 1.34597276e-01 6.34075798e+01] [-2.11316794e-01 9.76965164e-01 -2.97368709e-02 -1.08987950e+00] [-1.37842656e-01 3.32189022e-04 9.90454084e-01 -7.08876634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters 0.03130955792479727 Centerline is valid? [True, True] Translation: X:63.47, Y:-1.10, Z:-7.09 [[ 9.67386137e-01 2.16158185e-01 1.32059461e-01 6.34676512e+01] [-2.14171491e-01 9.76358356e-01 -2.92392434e-02 -1.10469807e+00] [-1.35257660e-01 2.26713937e-06 9.90810459e-01 -7.09456178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters 0.031164939114506473 Centerline is valid? [True, True] Translation: X:63.53, Y:-1.11, Z:-7.10 [[ 9.67427865e-01 2.17399995e-01 1.29694131e-01 6.35291965e+01] [-2.15487717e-01 9.76082593e-01 -2.87717656e-02 -1.11473834e+00] [-1.32847165e-01 -1.12884402e-04 9.91136528e-01 -7.10148161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters 0.030998455062927633 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.13, Z:-7.11 [[ 9.67518693e-01 2.16435310e-01 1.30626705e-01 6.35904399e+01] [-2.14482571e-01 9.76296960e-01 -2.90081486e-02 -1.12605186e+00] [-1.33808843e-01 4.87744529e-05 9.91007160e-01 -7.10659427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters 0.0310354792766275 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.14, Z:-7.11 [[ 9.67864286e-01 2.14792757e-01 1.30777658e-01 6.36521601e+01] [-2.12811251e-01 9.76659589e-01 -2.91104494e-02 -1.13822242e+00] [-1.33977968e-01 3.44007305e-04 9.90984251e-01 -7.11318153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters 0.030980409537314398 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.15, Z:-7.12 [[ 9.68215983e-01 2.13639762e-01 1.30060996e-01 6.37135095e+01] [-2.11659904e-01 9.76912342e-01 -2.90234460e-02 -1.14868738e+00] [-1.33258754e-01 5.72266420e-04 9.91081115e-01 -7.12101430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters 0.03089909766409164 Centerline is valid? [True, True] Translation: X:63.77, Y:-1.16, Z:-7.13 [[ 9.68684929e-01 2.12074521e-01 1.29127478e-01 6.37748966e+01] [-2.10099500e-01 9.77253124e-01 -2.88882626e-02 -1.15955078e+00] [-1.32316696e-01 8.54005958e-04 9.91207124e-01 -7.12838072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters 0.031243533596625846 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.18, Z:-7.13 [[ 9.68302358e-01 2.10409806e-01 1.34604075e-01 6.38345721e+01] [-2.08236311e-01 9.77612534e-01 -3.01889249e-02 -1.17506648e+00] [-1.37942676e-01 1.20255122e-03 9.90439484e-01 -7.13476903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters 0.031181638390582102 Centerline is valid? [True, True] Translation: X:63.89, Y:-1.19, Z:-7.14 [[ 9.69396665e-01 2.07291373e-01 1.31530957e-01 6.38946743e+01] [-2.05179314e-01 9.78277821e-01 -2.95626992e-02 -1.18851181e+00] [-1.34801910e-01 1.67055051e-03 9.90871159e-01 -7.14337739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters 0.0311501085120831 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.20, Z:-7.15 [[ 9.69344289e-01 2.06635137e-01 1.32941977e-01 6.39557370e+01] [-2.04462194e-01 9.78416330e-01 -2.99448904e-02 -1.20029414e+00] [-1.36260268e-01 1.84530027e-03 9.90671355e-01 -7.14954556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters 0.031168549332658068 Centerline is valid? [True, True] Translation: X:64.02, Y:-1.21, Z:-7.16 [[ 9.68981462e-01 2.06953418e-01 1.35074827e-01 6.40157826e+01] [-2.04703522e-01 9.78348960e-01 -3.04923107e-02 -1.21386183e+00] [-1.38460804e-01 1.89619113e-03 9.90366099e-01 -7.15665844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters 0.03104604087722096 Centerline is valid? [True, True] Translation: X:64.08, Y:-1.23, Z:-7.16 [[ 9.69516222e-01 2.05674804e-01 1.33177214e-01 6.40765364e+01] [-2.03466979e-01 9.78618111e-01 -3.01294128e-02 -1.22655156e+00] [-1.36526495e-01 2.11378899e-03 9.90634165e-01 -7.16425934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters 0.031570779558248475 Centerline is valid? [True, True] Translation: X:64.14, Y:-1.24, Z:-7.17 [[ 9.69712814e-01 2.01938447e-01 1.37396950e-01 6.41369617e+01] [-1.99539856e-01 9.79394218e-01 -3.11578346e-02 -1.24095591e+00] [-1.40857743e-01 2.79798385e-03 9.90025892e-01 -7.16924697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters 0.031526966701593 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.25, Z:-7.18 [[ 9.70130423e-01 1.99275976e-01 1.38333106e-01 6.41968162e+01] [-1.96810414e-01 9.79938002e-01 -3.14193123e-02 -1.25398138e+00] [-1.41818982e-01 3.25543477e-03 9.89887255e-01 -7.17731468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters 0.03179325761194219 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.27, Z:-7.18 [[ 9.70014375e-01 1.99530701e-01 1.38779000e-01 6.42578396e+01] [-1.97046720e-01 9.79886142e-01 -3.15553355e-02 -1.26917148e+00] [-1.42283877e-01 3.26318230e-03 9.89820514e-01 -7.18410008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters 0.03176123772532559 Centerline is valid? [True, True] Translation: X:64.32, Y:-1.29, Z:-7.19 [[ 9.69669226e-01 1.98973434e-01 1.41954799e-01 6.43175019e+01] [-1.96356084e-01 9.79998627e-01 -3.23570616e-02 -1.28595289e+00] [-1.45553704e-01 3.50195850e-03 9.89344154e-01 -7.19067768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters 0.03188577966656664 Centerline is valid? [True, True] Translation: X:64.38, Y:-1.30, Z:-7.20 [[ 9.70561791e-01 1.95679197e-01 1.40425999e-01 6.43767955e+01] [-1.93074213e-01 9.80659728e-01 -3.20756417e-02 -1.30456846e+00] [-1.43986658e-01 4.01875303e-03 9.89571469e-01 -7.19870178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters 0.03218823952497397 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.32, Z:-7.21 [[ 9.70685340e-01 1.94652459e-01 1.40997842e-01 6.44355219e+01] [-1.92005306e-01 9.80863041e-01 -3.22747260e-02 -1.32295683e+00] [-1.44581927e-01 4.25626959e-03 9.89483679e-01 -7.20606650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters 0.031829847949561445 Centerline is valid? [True, True] Translation: X:64.49, Y:-1.34, Z:-7.22 [[ 9.69888775e-01 1.98551313e-01 1.41043041e-01 6.44939453e+01] [-1.95933403e-01 9.80083342e-01 -3.23534285e-02 -1.34226223e+00] [-1.44657750e-01 3.74418417e-03 9.89474667e-01 -7.21514535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters 0.031725340842844806 Centerline is valid? [True, True] Translation: X:64.55, Y:-1.36, Z:-7.22 [[ 9.69023766e-01 2.03083366e-01 1.40535006e-01 6.45524750e+01] [-2.00521815e-01 9.79156467e-01 -3.23050201e-02 -1.36213533e+00] [-1.44166372e-01 3.12399762e-03 9.89548532e-01 -7.22234211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters 0.032149638720853205 Centerline is valid? [True, True] Translation: X:64.61, Y:-1.38, Z:-7.23 [[ 9.67564376e-01 2.08161713e-01 1.43135876e-01 6.46113737e+01] [-2.05548179e-01 9.78091266e-01 -3.29760608e-02 -1.38297325e+00] [-1.46864304e-01 2.48514293e-03 9.89153527e-01 -7.23119451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters 0.03186254482495689 Centerline is valid? [True, True] Translation: X:64.67, Y:-1.40, Z:-7.24 [[ 9.67112381e-01 2.12394842e-01 1.39935961e-01 6.46707402e+01] [-2.09930765e-01 9.77182132e-01 -3.23133718e-02 -1.39977320e+00] [-1.43606114e-01 1.87379867e-03 9.89633151e-01 -7.23886879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters 0.03184422317037572 Centerline is valid? [True, True] Translation: X:64.73, Y:-1.42, Z:-7.24 [[ 9.66329199e-01 2.14704795e-01 1.41808782e-01 6.47304558e+01] [-2.12188628e-01 9.76677649e-01 -3.28139563e-02 -1.41708002e+00] [-1.45546781e-01 1.61887326e-03 9.89350046e-01 -7.24467348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters 0.03222623959577967 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.43, Z:-7.25 [[ 9.65420281e-01 2.17875790e-01 1.43156633e-01 6.47908457e+01] [-2.15335373e-01 9.75975741e-01 -3.31968486e-02 -1.43228113e+00] [-1.46950190e-01 1.22222401e-03 9.89143138e-01 -7.25265072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters 0.03213071081166859 Centerline is valid? [True, True] Translation: X:64.85, Y:-1.45, Z:-7.26 [[ 9.64162626e-01 2.24665564e-01 1.41123405e-01 6.48506228e+01] [-2.22258434e-01 9.74435897e-01 -3.28004765e-02 -1.44604640e+00] [-1.44884849e-01 2.59126536e-04 9.89448490e-01 -7.26150980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters 0.03223228289636556 Centerline is valid? [True, True] Translation: X:64.91, Y:-1.46, Z:-7.27 [[ 9.63811745e-01 2.26450824e-01 1.40666076e-01 6.49115880e+01] [-2.24068080e-01 9.74022598e-01 -3.27639299e-02 -1.46042077e+00] [-1.44431356e-01 5.94829507e-05 9.89514820e-01 -7.26689126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters 0.032460242385685706 Centerline is valid? [True, True] Translation: X:64.97, Y:-1.47, Z:-7.27 [[ 9.63216171e-01 2.28620956e-01 1.41234084e-01 6.49729589e+01] [-2.26230600e-01 9.73515497e-01 -3.29741333e-02 -1.47243369e+00] [-1.45032147e-01 -1.90253038e-04 9.89426925e-01 -7.27264202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters 0.032767265460167984 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.48, Z:-7.28 [[ 9.62754411e-01 2.29839554e-01 1.42399875e-01 6.50341035e+01] [-2.27411368e-01 9.73228487e-01 -3.33223853e-02 -1.48019368e+00] [-1.46246417e-01 -3.02076967e-04 9.89248146e-01 -7.28287457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters 0.032789941645086675 Centerline is valid? [True, True] Translation: X:65.10, Y:-1.49, Z:-7.29 [[ 9.62308270e-01 2.32028714e-01 1.41864266e-01 6.50957551e+01] [-2.29632226e-01 9.72708774e-01 -3.32668362e-02 -1.48929050e+00] [-1.45711477e-01 -5.63655559e-04 9.89326967e-01 -7.28971570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters 0.03334924422056852 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.50, Z:-7.29 [[ 9.62098858e-01 2.32335167e-01 1.42780103e-01 6.51565317e+01] [-2.29899622e-01 9.72635635e-01 -3.35571870e-02 -1.50255325e+00] [-1.46669530e-01 -5.39760318e-04 9.89185401e-01 -7.29350831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters 0.03317027625584541 Centerline is valid? [True, True] Translation: X:65.22, Y:-1.51, Z:-7.30 [[ 9.61660295e-01 2.32818813e-01 1.44930598e-01 6.52173293e+01] [-2.30303948e-01 9.72519970e-01 -3.41320750e-02 -1.51182897e+00] [-1.48894490e-01 -5.54627578e-04 9.88852933e-01 -7.30176137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters 0.033603975828642794 Centerline is valid? [True, True] Translation: X:65.28, Y:-1.52, Z:-7.31 [[ 9.61111110e-01 2.33967049e-01 1.46713511e-01 6.52779662e+01] [-2.31392247e-01 9.72244294e-01 -3.46216844e-02 -1.52487208e+00] [-1.50741707e-01 -6.73083454e-04 9.88572954e-01 -7.30907402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters 0.033941454582265315 Centerline is valid? [True, True] Translation: X:65.34, Y:-1.54, Z:-7.32 [[ 9.60477403e-01 2.36448675e-01 1.46884930e-01 6.53400263e+01] [-2.33885716e-01 9.71643472e-01 -3.47337655e-02 -1.53621037e+00] [-1.50932536e-01 -9.93290003e-04 9.88543567e-01 -7.31591632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters 0.03401217486864439 Centerline is valid? [True, True] Translation: X:65.40, Y:-1.55, Z:-7.32 [[ 9.60020674e-01 2.38765769e-01 1.46120542e-01 6.54007445e+01] [-2.36244365e-01 9.71076354e-01 -3.46311245e-02 -1.54805919e+00] [-1.50162931e-01 -1.27355923e-03 9.88660443e-01 -7.32470530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters 0.03410519592095765 Centerline is valid? [True, True] Translation: X:65.46, Y:-1.56, Z:-7.33 [[ 9.59962152e-01 2.38279370e-01 1.47294294e-01 6.54611521e+01] [-2.35699589e-01 9.71195995e-01 -3.49863192e-02 -1.55858210e+00] [-1.51388147e-01 -1.13166231e-03 9.88473747e-01 -7.33223842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters 0.03430722599236487 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.57, Z:-7.34 [[ 9.60415286e-01 2.36655715e-01 1.46957647e-01 6.55230755e+01] [-2.34058380e-01 9.71593239e-01 -3.49750191e-02 -1.56681043e+00] [-1.51060095e-01 -8.06125891e-04 9.88524253e-01 -7.33783745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters 0.03404858057595969 Centerline is valid? [True, True] Translation: X:65.59, Y:-1.58, Z:-7.35 [[ 9.60667863e-01 2.35506992e-01 1.47152006e-01 6.55855734e+01] [-2.32878418e-01 9.71872495e-01 -3.50926619e-02 -1.57532257e+00] [-1.51277555e-01 -5.56133931e-04 9.88491169e-01 -7.34621041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters 0.03415706149902519 Centerline is valid? [True, True] Translation: X:65.65, Y:-1.58, Z:-7.35 [[ 9.60400076e-01 2.34954706e-01 1.49759741e-01 6.56460654e+01] [-2.32212733e-01 9.72006237e-01 -3.57927551e-02 -1.58496457e+00] [-1.53977078e-01 -4.00753931e-04 9.88074339e-01 -7.35442219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters 0.034015030688450916 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.60, Z:-7.36 [[ 9.60718404e-01 2.33320009e-01 1.50272824e-01 6.57073927e+01] [-2.30528148e-01 9.72400004e-01 -3.59861724e-02 -1.59620145e+00] [-1.54521588e-01 -6.95375926e-05 9.87989410e-01 -7.36074501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters 0.03358050938575851 Centerline is valid? [True, True] Translation: X:65.77, Y:-1.60, Z:-7.37 [[ 9.61798656e-01 2.30241202e-01 1.48095691e-01 6.57688531e+01] [-2.27481841e-01 9.73133466e-01 -3.55424912e-02 -1.60395796e+00] [-1.52300219e-01 4.95639713e-04 9.88334153e-01 -7.36828601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters 0.03391055192494959 Centerline is valid? [True, True] Translation: X:65.83, Y:-1.61, Z:-7.37 [[ 9.62269184e-01 2.27622804e-01 1.49083456e-01 6.58300241e+01] [-2.24783839e-01 9.73748881e-01 -3.58516605e-02 -1.61335023e+00] [-1.53330504e-01 9.87396412e-04 9.88174469e-01 -7.37282799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters 0.03393722977288599 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.63, Z:-7.38 [[ 9.63156615e-01 2.24506135e-01 1.48075420e-01 6.58916043e+01] [-2.21657668e-01 9.74471449e-01 -3.56829589e-02 -1.62603258e+00] [-1.52306312e-01 1.54622577e-03 9.88332129e-01 -7.37978645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters 0.03417675482101197 Centerline is valid? [True, True] Translation: X:65.95, Y:-1.63, Z:-7.39 [[ 9.63498721e-01 2.22558562e-01 1.48788109e-01 6.59532193e+01] [-2.19646934e-01 9.74917388e-01 -3.59348078e-02 -1.63379000e+00] [-1.53053713e-01 1.94228954e-03 9.88215962e-01 -7.38867515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters 0.03448675227606256 Centerline is valid? [True, True] Translation: X:66.02, Y:-1.64, Z:-7.39 [[ 9.63564786e-01 2.22586900e-01 1.48317145e-01 6.60151770e+01] [-2.19682698e-01 9.74910793e-01 -3.58950984e-02 -1.64499646e+00] [-1.52585764e-01 2.00454218e-03 9.88288200e-01 -7.39399616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters 0.03415301846242833 Centerline is valid? [True, True] Translation: X:66.08, Y:-1.66, Z:-7.40 [[ 9.63533813e-01 2.23009262e-01 1.47883266e-01 6.60757038e+01] [-2.20114547e-01 9.74814249e-01 -3.58715210e-02 -1.65818775e+00] [-1.52158396e-01 2.01216542e-03 9.88354073e-01 -7.40192820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters 0.03394561396665522 Centerline is valid? [True, True] Translation: X:66.14, Y:-1.67, Z:-7.41 [[ 9.64201758e-01 2.21713553e-01 1.45458140e-01 6.61363007e+01] [-2.18887156e-01 9.75109230e-01 -3.53610399e-02 -1.67097748e+00] [-1.49677596e-01 2.25625840e-03 9.88732283e-01 -7.41035788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters 0.03427101861890571 Centerline is valid? [True, True] Translation: X:66.20, Y:-1.68, Z:-7.42 [[ 9.63054935e-01 2.24412365e-01 1.48876735e-01 6.61957562e+01] [-2.21471326e-01 9.74492316e-01 -3.62653797e-02 -1.68493427e+00] [-1.53217634e-01 1.95362494e-03 9.88190538e-01 -7.41788913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters 0.03411125114917439 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.70, Z:-7.43 [[ 9.62178429e-01 2.27568674e-01 1.49750358e-01 6.62552518e+01] [-2.24619386e-01 9.73760829e-01 -3.65510535e-02 -1.70293018e+00] [-1.54138907e-01 1.53180189e-03 9.88048000e-01 -7.42628920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters 0.0344419718632107 Centerline is valid? [True, True] Translation: X:66.31, Y:-1.72, Z:-7.44 [[ 9.61177924e-01 2.28480355e-01 1.54705289e-01 6.63147866e+01] [-2.25329082e-01 9.73547340e-01 -3.78468142e-02 -1.71869522e+00] [-1.59260176e-01 1.51792150e-03 9.87235480e-01 -7.43604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters 0.03413404416100618 Centerline is valid? [True, True] Translation: X:66.37, Y:-1.73, Z:-7.44 [[ 9.60805821e-01 2.31726680e-01 1.52167407e-01 6.63749553e+01] [-2.28707428e-01 9.72780383e-01 -3.72993162e-02 -1.73217319e+00] [-1.56668715e-01 1.03558399e-03 9.87650668e-01 -7.44330074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters 0.033441955343704345 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.75, Z:-7.45 [[ 9.61096736e-01 2.33343211e-01 1.47797194e-01 6.64351130e+01] [-2.30506029e-01 9.72394105e-01 -3.62860144e-02 -1.74750103e+00] [-1.52184216e-01 8.06225674e-04 9.88351817e-01 -7.44907303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters 0.03320290114642985 Centerline is valid? [True, True] Translation: X:66.50, Y:-1.76, Z:-7.46 [[ 9.60917237e-01 2.33314231e-01 1.49005148e-01 6.64951410e+01] [-2.30424335e-01 9.72401019e-01 -3.66180718e-02 -1.76008231e+00] [-1.53436275e-01 8.52524338e-04 9.88158177e-01 -7.45685052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters 0.03269366012948207 Centerline is valid? [True, True] Translation: X:66.55, Y:-1.77, Z:-7.46 [[ 9.62276620e-01 2.32524357e-01 1.41266164e-01 6.65548876e+01] [-2.29911032e-01 9.72590073e-01 -3.47774013e-02 -1.77477118e+00] [-1.45480662e-01 9.86830584e-04 9.89360603e-01 -7.46367034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters 0.032289060436205635 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.79, Z:-7.47 [[ 9.62717160e-01 2.31486007e-01 1.39963920e-01 6.66156929e+01] [-2.28902942e-01 9.72837517e-01 -3.45051917e-02 -1.78752911e+00] [-1.44149621e-01 1.18058707e-03 9.89555199e-01 -7.47102134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters 0.03203907257999143 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.80, Z:-7.48 [[ 9.62451604e-01 2.32253153e-01 1.40518266e-01 6.66764116e+01] [-2.29647085e-01 9.72654703e-01 -3.47137502e-02 -1.80386097e+00] [-1.44738131e-01 1.14069437e-03 9.89469339e-01 -7.47843084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters 0.0320239742887661 Centerline is valid? [True, True] Translation: X:66.74, Y:-1.82, Z:-7.49 [[ 9.62332268e-01 2.34095987e-01 1.38259445e-01 6.67363694e+01] [-2.31581514e-01 9.72213051e-01 -3.42313712e-02 -1.81633509e+00] [-1.42431063e-01 9.23621587e-04 9.89804293e-01 -7.48610880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters 0.03174579678501349 Centerline is valid? [True, True] Translation: X:66.80, Y:-1.83, Z:-7.49 [[ 9.62310306e-01 2.35093237e-01 1.36711536e-01 6.67960131e+01] [-2.32635443e-01 9.71972466e-01 -3.39157121e-02 -1.83062633e+00] [-1.40853203e-01 8.33490595e-04 9.90030141e-01 -7.49263016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters 0.0314019993828004 Centerline is valid? [True, True] Translation: X:66.86, Y:-1.84, Z:-7.50 [[ 9.62095669e-01 2.38468247e-01 1.32305781e-01 6.68559166e+01] [-2.36190036e-01 9.71150216e-01 -3.28865427e-02 -1.84377643e+00] [-1.36331184e-01 3.90693197e-04 9.90663240e-01 -7.49962741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters 0.03146522971250909 Centerline is valid? [True, True] Translation: X:66.92, Y:-1.86, Z:-7.51 [[ 9.61971545e-01 2.38443951e-01 1.33248749e-01 6.69168700e+01] [-2.36123581e-01 9.71156151e-01 -3.31871296e-02 -1.85611982e+00] [-1.37318612e-01 4.61902575e-04 9.90526822e-01 -7.50677490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters 0.03138910071794179 Centerline is valid? [True, True] Translation: X:66.98, Y:-1.87, Z:-7.51 [[ 9.62574454e-01 2.37031586e-01 1.31401854e-01 6.69783027e+01] [-2.34753586e-01 9.71501680e-01 -3.27908551e-02 -1.86641582e+00] [-1.35429590e-01 7.16583095e-04 9.90786714e-01 -7.51315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters 0.03119351733747461 Centerline is valid? [True, True] Translation: X:67.04, Y:-1.88, Z:-7.52 [[ 9.63749041e-01 2.33989661e-01 1.28205399e-01 6.70392624e+01] [-2.31786584e-01 9.72238373e-01 -3.20550446e-02 -1.87688956e+00] [-1.32146757e-01 1.17672710e-03 9.91229464e-01 -7.52104262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters 0.03136666044014137 Centerline is valid? [True, True] Translation: X:67.10, Y:-1.89, Z:-7.53 [[ 9.64129256e-01 2.30117226e-01 1.32290740e-01 6.70993650e+01] [-2.27725917e-01 9.73161207e-01 -3.31386673e-02 -1.88919046e+00] [-1.36365994e-01 1.82392869e-03 9.90656847e-01 -7.52674700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters 0.031180311043781814 Centerline is valid? [True, True] Translation: X:67.16, Y:-1.90, Z:-7.53 [[ 9.64680938e-01 2.28250187e-01 1.31501102e-01 6.71602537e+01] [-2.25864799e-01 9.73600217e-01 -3.29804492e-02 -1.90226292e+00] [-1.35557295e-01 2.11414066e-03 9.90767253e-01 -7.53297631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters 0.03096971926652639 Centerline is valid? [True, True] Translation: X:67.22, Y:-1.92, Z:-7.54 [[ 9.65194678e-01 2.26299626e-01 1.31101916e-01 6.72196903e+01] [-2.23900867e-01 9.74054651e-01 -3.29535879e-02 -1.91865411e+00] [-1.35157816e-01 2.45279500e-03 9.90821048e-01 -7.54196535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters 0.030524433351021486 Centerline is valid? [True, True] Translation: X:67.28, Y:-1.93, Z:-7.55 [[ 9.64539165e-01 2.28270008e-01 1.32502838e-01 6.72804596e+01] [-2.25828516e-01 9.73595225e-01 -3.33739326e-02 -1.93391522e+00] [-1.36622398e-01 2.26754572e-03 9.90620603e-01 -7.54840165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters 0.030277700041346653 Centerline is valid? [True, True] Translation: X:67.34, Y:-1.95, Z:-7.56 [[ 9.63990653e-01 2.29988522e-01 1.33518918e-01 6.73408806e+01] [-2.27514916e-01 9.73191042e-01 -3.37069615e-02 -1.94979418e+00] [-1.37691629e-01 2.11565043e-03 9.90472887e-01 -7.55645279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters 0.030026889448519348 Centerline is valid? [True, True] Translation: X:67.40, Y:-1.96, Z:-7.56 [[ 9.63500742e-01 2.32091137e-01 1.33416730e-01 6.74012290e+01] [-2.29630888e-01 9.72692212e-01 -3.37567153e-02 -1.96354967e+00] [-1.37608048e-01 1.88801819e-03 9.90484962e-01 -7.56264552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters 0.02989731521869429 Centerline is valid? [True, True] Translation: X:67.46, Y:-1.98, Z:-7.57 [[ 9.63802936e-01 2.30285286e-01 1.34359917e-01 6.74617884e+01] [-2.27763039e-01 9.73120612e-01 -3.40627853e-02 -1.97628180e+00] [-1.38592563e-01 2.22758957e-03 9.90346979e-01 -7.57188872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters 0.02984100664778343 Centerline is valid? [True, True] Translation: X:67.52, Y:-1.99, Z:-7.58 [[ 9.63833209e-01 2.29285153e-01 1.35844997e-01 6.75222897e+01] [-2.26687022e-01 9.73356175e-01 -3.45072706e-02 -1.99076048e+00] [-1.40137571e-01 2.46495565e-03 9.90128974e-01 -7.57823990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters 0.029732376972952623 Centerline is valid? [True, True] Translation: X:67.58, Y:-2.00, Z:-7.58 [[ 9.64673096e-01 2.28199968e-01 1.31645709e-01 6.75825892e+01] [-2.25742020e-01 9.73610805e-01 -3.35043298e-02 -2.00471476e+00] [-1.35817372e-01 2.60275730e-03 9.90730472e-01 -7.58416064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters 0.029717365240233967 Centerline is valid? [True, True] Translation: X:67.64, Y:-2.02, Z:-7.59 [[ 9.64328661e-01 2.29788858e-01 1.31405152e-01 6.76422378e+01] [-2.27345658e-01 9.73237449e-01 -3.35084841e-02 -2.01989627e+00] [-1.35588292e-01 2.43880069e-03 9.90762266e-01 -7.59181485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters 0.0296107769296231 Centerline is valid? [True, True] Translation: X:67.70, Y:-2.03, Z:-7.60 [[ 9.63745206e-01 2.31452214e-01 1.32759373e-01 6.77036934e+01] [-2.28964303e-01 9.72843565e-01 -3.39226364e-02 -2.03304610e+00] [-1.37005571e-01 2.29562089e-03 9.90567617e-01 -7.59874548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters 0.029638668762126147 Centerline is valid? [True, True] Translation: X:67.76, Y:-2.05, Z:-7.60 [[ 9.63813108e-01 2.32555221e-01 1.30316392e-01 6.77639708e+01] [-2.30158696e-01 9.72580773e-01 -3.33708533e-02 -2.04777830e+00] [-1.34503783e-01 2.16981506e-03 9.90910704e-01 -7.60407546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters 0.029668770403610194 Centerline is valid? [True, True] Translation: X:67.83, Y:-2.06, Z:-7.61 [[ 9.63388623e-01 2.34094202e-01 1.30699144e-01 6.78253970e+01] [-2.31688430e-01 9.72211806e-01 -3.35361752e-02 -2.05910273e+00] [-1.34917875e-01 2.02689025e-03 9.90854711e-01 -7.61190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters 0.0298940036164204 Centerline is valid? [True, True] Translation: X:67.89, Y:-2.07, Z:-7.62 [[ 9.62981313e-01 2.34581051e-01 1.32810850e-01 6.78857273e+01] [-2.32090521e-01 9.72094369e-01 -3.41544685e-02 -2.07374306e+00] [-1.37116671e-01 2.06597544e-03 9.90552750e-01 -7.61840780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters 0.03027420550220887 Centerline is valid? [True, True] Translation: X:67.95, Y:-2.09, Z:-7.63 [[ 9.62338599e-01 2.34970873e-01 1.36722745e-01 6.79453663e+01] [-2.32324553e-01 9.72000057e-01 -3.52305480e-02 -2.08883096e+00] [-1.41172668e-01 2.13966580e-03 9.89982676e-01 -7.62848080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters 0.030559500737015684 Centerline is valid? [True, True] Translation: X:68.01, Y:-2.10, Z:-7.64 [[ 9.62431863e-01 2.34282590e-01 1.37246409e-01 6.80053213e+01] [-2.31599019e-01 9.72165778e-01 -3.54343796e-02 -2.10335486e+00] [-1.41727921e-01 2.31704223e-03 9.89902939e-01 -7.63684129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters 0.03118425776289774 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.12, Z:-7.64 [[ 9.61728069e-01 2.34395229e-01 1.41908411e-01 6.80641234e+01] [-2.31515773e-01 9.72138299e-01 -3.67093193e-02 -2.11967930e+00] [-1.46559091e-01 2.45034721e-03 9.89198882e-01 -7.64455304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters 0.031342172857864246 Centerline is valid? [True, True] Translation: X:68.12, Y:-2.14, Z:-7.65 [[ 9.62586869e-01 2.32264745e-01 1.39569365e-01 6.81238168e+01] [-2.29448331e-01 9.72648598e-01 -3.61686014e-02 -2.13504864e+00] [-1.44152638e-01 2.79146300e-03 9.89551527e-01 -7.65304624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters 0.03168574836713494 Centerline is valid? [True, True] Translation: X:68.18, Y:-2.15, Z:-7.66 [[ 9.62345155e-01 2.31499777e-01 1.42476860e-01 6.81828858e+01] [-2.28545023e-01 9.72830211e-01 -3.69939525e-02 -2.15316559e+00] [-1.47169886e-01 3.03857372e-03 9.89106562e-01 -7.66081623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters 0.03215007175562804 Centerline is valid? [True, True] Translation: X:68.24, Y:-2.17, Z:-7.67 [[ 9.62247890e-01 2.31683610e-01 1.42834530e-01 6.82420237e+01] [-2.28704961e-01 9.72786284e-01 -3.71602838e-02 -2.17315852e+00] [-1.47556900e-01 3.09043919e-03 9.89048740e-01 -7.67116130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters 0.03186795115747213 Centerline is valid? [True, True] Translation: X:68.30, Y:-2.19, Z:-7.68 [[ 9.61728356e-01 2.34561535e-01 1.41631406e-01 6.83009478e+01] [-2.31654076e-01 9.72097543e-01 -3.69155275e-02 -2.19466656e+00] [-1.46338505e-01 2.69321703e-03 9.89230908e-01 -7.67682087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters 0.03141609044865605 Centerline is valid? [True, True] Translation: X:68.36, Y:-2.21, Z:-7.68 [[ 9.60425492e-01 2.41830747e-01 1.38205513e-01 6.83593523e+01] [-2.39133153e-01 9.70317164e-01 -3.60546298e-02 -2.21359413e+00] [-1.42822300e-01 1.57826541e-03 9.89747089e-01 -7.68452033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters 0.03158260389326917 Centerline is valid? [True, True] Translation: X:68.42, Y:-2.23, Z:-7.69 [[ 9.58022477e-01 2.50936482e-01 1.38649972e-01 6.84184390e+01] [-2.48306510e-01 9.68003512e-01 -3.62364156e-02 -2.23125714e+00] [-1.43306699e-01 2.87609930e-04 9.89678285e-01 -7.69330743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters 0.031516920046279866 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.24, Z:-7.70 [[ 9.57433186e-01 2.53955644e-01 1.37215982e-01 6.84783273e+01] [-2.51401204e-01 9.67215861e-01 -3.59292783e-02 -2.24431123e+00] [-1.41841917e-01 -9.63796882e-05 9.89889318e-01 -7.70065619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters 0.03162574257938658 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.26, Z:-7.71 [[ 9.57514997e-01 2.52327545e-01 1.39627504e-01 6.85387760e+01] [-2.49654689e-01 9.67641857e-01 -3.66302186e-02 -2.25679510e+00] [-1.44352230e-01 2.15322700e-04 9.89526345e-01 -7.70718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters 0.031744645503174185 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.27, Z:-7.71 [[ 9.58063496e-01 2.51279138e-01 1.37742997e-01 6.86000618e+01] [-2.48657838e-01 9.67914566e-01 -3.62032231e-02 -2.26809789e+00] [-1.42420568e-01 4.34110597e-04 9.89806139e-01 -7.71280427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters 0.031661481260273856 Centerline is valid? [True, True] Translation: X:68.66, Y:-2.28, Z:-7.72 [[ 9.58585467e-01 2.50452381e-01 1.35600542e-01 6.86605935e+01] [-2.47894784e-01 9.68128726e-01 -3.57063953e-02 -2.27772987e+00] [-1.40221531e-01 6.12964604e-04 9.90119966e-01 -7.72284736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters 0.03168409061976139 Centerline is valid? [True, True] Translation: X:68.72, Y:-2.29, Z:-7.73 [[ 9.59056500e-01 2.48126409e-01 1.36542723e-01 6.87212640e+01] [-2.45499749e-01 9.68727119e-01 -3.60228010e-02 -2.28918017e+00] [-1.41210847e-01 1.02669715e-03 9.89979011e-01 -7.72924665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters 0.031966833863169654 Centerline is valid? [True, True] Translation: X:68.78, Y:-2.30, Z:-7.73 [[ 9.59752237e-01 2.46302359e-01 1.34947368e-01 6.87820873e+01] [-2.43709766e-01 9.69192107e-01 -3.56680478e-02 -2.30063617e+00] [-1.39575048e-01 1.34449723e-03 9.90210583e-01 -7.73457297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters 0.032114907227907524 Centerline is valid? [True, True] Translation: X:68.84, Y:-2.31, Z:-7.74 [[ 9.60739592e-01 2.43328895e-01 1.33305980e-01 6.88432525e+01] [-2.40761480e-01 9.69942130e-01 -3.53011940e-02 -2.31320397e+00] [-1.37888887e-01 1.82030963e-03 9.90446031e-01 -7.74166038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters 0.03249050577061575 Centerline is valid? [True, True] Translation: X:68.90, Y:-2.33, Z:-7.75 [[ 9.61060791e-01 2.40492776e-01 1.36107972e-01 6.89020112e+01] [-2.37776405e-01 9.70648082e-01 -3.61203844e-02 -2.33116172e+00] [-1.40799633e-01 2.35062098e-03 9.90035322e-01 -7.74866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters 0.03210783463010302 Centerline is valid? [True, True] Translation: X:68.96, Y:-2.35, Z:-7.75 [[ 9.61126099e-01 2.42097839e-01 1.32760157e-01 6.89617523e+01] [-2.39520349e-01 9.70249512e-01 -3.52971223e-02 -2.34675727e+00] [-1.37355834e-01 2.12622649e-03 9.90519487e-01 -7.75495385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters 0.03225531468570355 Centerline is valid? [True, True] Translation: X:69.02, Y:-2.37, Z:-7.76 [[ 9.59366659e-01 2.47825385e-01 1.34900675e-01 6.90215707e+01] [-2.45209975e-01 9.68803708e-01 -3.59366447e-02 -2.36724132e+00] [-1.39598287e-01 1.39742751e-03 9.90207234e-01 -7.76107501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters 0.0320106642812722 Centerline is valid? [True, True] Translation: X:69.08, Y:-2.38, Z:-7.77 [[ 9.58592877e-01 2.51162866e-01 1.34227089e-01 6.90813212e+01] [-2.48595468e-01 9.67944343e-01 -3.58335355e-02 -2.38115876e+00] [-1.38924405e-01 9.81525878e-04 9.90302502e-01 -7.76893385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters 0.0316021712892219 Centerline is valid? [True, True] Translation: X:69.14, Y:-2.40, Z:-7.78 [[ 9.57386966e-01 2.55858298e-01 1.33965403e-01 6.91409447e+01] [-2.53337176e-01 9.66714227e-01 -3.58312384e-02 -2.39654896e+00] [-1.38673981e-01 3.65943789e-04 9.90338020e-01 -7.77782438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters 0.03106920561032637 Centerline is valid? [True, True] Translation: X:69.20, Y:-2.41, Z:-7.78 [[ 9.57433591e-01 2.56805580e-01 1.31802174e-01 6.92021918e+01] [-2.54366456e-01 9.66463044e-01 -3.53113511e-02 -2.40843535e+00] [-1.36450082e-01 2.82221800e-04 9.90646908e-01 -7.78465670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters 0.030780107600360682 Centerline is valid? [True, True] Translation: X:69.26, Y:-2.42, Z:-7.79 [[ 9.56366382e-01 2.60116926e-01 1.33050849e-01 6.92621213e+01] [-2.57658644e-01 9.65577112e-01 -3.56772245e-02 -2.42216042e+00] [-1.37751104e-01 -1.61203228e-04 9.90466863e-01 -7.79247777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters 0.03022627194398282 Centerline is valid? [True, True] Translation: X:69.32, Y:-2.44, Z:-7.80 [[ 9.55056753e-01 2.64830949e-01 1.33158427e-01 6.93229840e+01] [-2.62404669e-01 9.64294544e-01 -3.57745921e-02 -2.43615943e+00] [-1.37878164e-01 -7.74627067e-04 9.90448894e-01 -7.79989968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters 0.03017296108573092 Centerline is valid? [True, True] Translation: X:69.38, Y:-2.45, Z:-7.81 [[ 9.54355715e-01 2.66887469e-01 1.34075534e-01 6.93828959e+01] [-2.64437193e-01 9.63727174e-01 -3.60957705e-02 -2.45320299e+00] [-1.38845744e-01 -1.00635301e-03 9.90313509e-01 -7.80518871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters 0.029922903174747238 Centerline is valid? [True, True] Translation: X:69.44, Y:-2.47, Z:-7.81 [[ 9.54224495e-01 2.67581398e-01 1.33625630e-01 6.94431862e+01] [-2.65144944e-01 9.63534700e-01 -3.60422033e-02 -2.46876967e+00] [-1.38397154e-01 -1.03780688e-03 9.90376267e-01 -7.81482363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters 0.02983195622136437 Centerline is valid? [True, True] Translation: X:69.50, Y:-2.49, Z:-7.82 [[ 9.55044252e-01 2.64755946e-01 1.33397022e-01 6.95021313e+01] [-2.62290156e-01 9.64315291e-01 -3.60540351e-02 -2.48729254e+00] [-1.38182308e-01 -5.55526651e-04 9.90406654e-01 -7.82230102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters 0.03000942924729911 Centerline is valid? [True, True] Translation: X:69.56, Y:-2.50, Z:-7.83 [[ 9.55437027e-01 2.63061254e-01 1.33936041e-01 6.95628045e+01] [-2.60549273e-01 9.64779102e-01 -3.62678891e-02 -2.50430075e+00] [-1.38759370e-01 -2.45253935e-04 9.90326096e-01 -7.82876213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters 0.029697437026438723 Centerline is valid? [True, True] Translation: X:69.62, Y:-2.52, Z:-7.83 [[ 9.56597162e-01 2.59836769e-01 1.31934540e-01 6.96210323e+01] [-2.57359037e-01 9.65652510e-01 -3.57988388e-02 -2.52417648e+00] [-1.36704774e-01 2.90521484e-04 9.90611791e-01 -7.83483176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters 0.029760855708241916 Centerline is valid? [True, True] Translation: X:69.68, Y:-2.55, Z:-7.84 [[ 9.57425353e-01 2.57755947e-01 1.29994479e-01 6.96791011e+01] [-2.55323133e-01 9.66209843e-01 -3.53360569e-02 -2.54593257e+00] [-1.34710024e-01 6.41039197e-04 9.90884856e-01 -7.84235182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters 0.029905424577475057 Centerline is valid? [True, True] Translation: X:69.74, Y:-2.57, Z:-7.85 [[ 9.56889072e-01 2.58589846e-01 1.32267134e-01 6.97373200e+01] [-2.56069381e-01 9.65987025e-01 -3.60213694e-02 -2.56925922e+00] [-1.37083095e-01 5.98891679e-04 9.90559370e-01 -7.84686664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters 0.0297046133680741 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.59, Z:-7.86 [[ 9.56417558e-01 2.60796242e-01 1.31342205e-01 6.97949567e+01] [-2.58322698e-01 9.65393806e-01 -3.58354883e-02 -2.58954831e+00] [-1.36142711e-01 3.45017556e-04 9.90689176e-01 -7.85619559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters 0.02996122244891388 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.61, Z:-7.86 [[ 9.55008706e-01 2.66375930e-01 1.30392618e-01 6.98525892e+01] [-2.63980994e-01 9.63869139e-01 -3.56415135e-02 -2.61391800e+00] [-1.35175462e-01 -3.83217340e-04 9.90821602e-01 -7.86275473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters 0.03011200204720263 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.64, Z:-7.87 [[ 9.53087372e-01 2.72923024e-01 1.30910215e-01 6.99106511e+01] [-2.70561341e-01 9.62035059e-01 -3.58483812e-02 -2.63584996e+00] [-1.35724065e-01 -1.25260403e-03 9.90745885e-01 -7.86704366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters 0.03031483682233111 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.65, Z:-7.88 [[ 9.51088164e-01 2.80417086e-01 1.29605408e-01 6.99697839e+01] [-2.78163015e-01 9.59875646e-01 -3.55539229e-02 -2.65387018e+00] [-1.34375003e-01 -2.23651585e-03 9.90928028e-01 -7.87666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters 0.031455785774664645 Centerline is valid? [True, True] Translation: X:70.03, Y:-2.68, Z:-7.89 [[ 9.49079735e-01 2.86059522e-01 1.31975779e-01 7.00276590e+01] [-2.83767104e-01 9.58207065e-01 -3.62691370e-02 -2.67500181e+00] [-1.36835256e-01 -3.02808169e-03 9.90589190e-01 -7.88503075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters 0.03212402895621359 Centerline is valid? [True, True] Translation: X:70.09, Y:-2.69, Z:-7.89 [[ 9.47812095e-01 2.89800822e-01 1.32919964e-01 7.00863908e+01] [-2.87503057e-01 9.57080459e-01 -3.65921636e-02 -2.69302136e+00] [-1.37819540e-01 -3.53240092e-03 9.90451057e-01 -7.89324744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters 0.03250583231449584 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.71, Z:-7.90 [[ 9.46869518e-01 2.93007718e-01 1.32606909e-01 7.01463232e+01] [-2.90743470e-01 9.56102000e-01 -3.65677464e-02 -2.70791610e+00] [-1.37500363e-01 -3.92970845e-03 9.90493921e-01 -7.89913438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters 0.033408687592565885 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.72, Z:-7.91 [[ 9.45926111e-01 2.95732536e-01 1.33289383e-01 7.02065429e+01] [-2.93463036e-01 9.55261156e-01 -3.68180554e-02 -2.72197376e+00] [-1.38214468e-01 -4.28834719e-03 9.90393039e-01 -7.90710886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters 0.03329160886884052 Centerline is valid? [True, True] Translation: X:70.27, Y:-2.74, Z:-7.92 [[ 9.45790193e-01 2.95563031e-01 1.34623200e-01 7.02675345e+01] [-2.93236898e-01 9.55313811e-01 -3.72511090e-02 -2.73558766e+00] [-1.39617452e-01 -4.24475587e-03 9.90196419e-01 -7.91532352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters 0.032319408896071204 Centerline is valid? [True, True] Translation: X:70.33, Y:-2.74, Z:-7.92 [[ 9.47936992e-01 2.89897218e-01 1.31814501e-01 7.03294637e+01] [-2.87604478e-01 9.57052172e-01 -3.65349687e-02 -2.74346217e+00] [-1.36744740e-01 -3.27759230e-03 9.90600895e-01 -7.92348074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters 0.03236547242970938 Centerline is valid? [True, True] Translation: X:70.39, Y:-2.76, Z:-7.93 [[ 9.47805781e-01 2.88601468e-01 1.35548495e-01 7.03897108e+01] [-2.86158773e-01 9.57444136e-01 -3.76016335e-02 -2.75537490e+00] [-1.40631998e-01 -3.14934530e-03 9.90056929e-01 -7.93114411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters 0.03184797860917849 Centerline is valid? [True, True] Translation: X:70.45, Y:-2.77, Z:-7.94 [[ 9.48796563e-01 2.85717689e-01 1.34723732e-01 7.04488735e+01] [-2.83266856e-01 9.58310187e-01 -3.74362576e-02 -2.77408847e+00] [-1.39803325e-01 -2.64337527e-03 9.90175764e-01 -7.93740298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters 0.03137045086800114 Centerline is valid? [True, True] Translation: X:70.51, Y:-2.79, Z:-7.94 [[ 9.49794980e-01 2.83113910e-01 1.33176610e-01 7.05093307e+01] [-2.80685100e-01 9.59083829e-01 -3.70686245e-02 -2.78736227e+00] [-1.38222177e-01 -2.17309676e-03 9.90398863e-01 -7.94472189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters 0.031206155684187945 Centerline is valid? [True, True] Translation: X:70.57, Y:-2.81, Z:-7.95 [[ 9.49826503e-01 2.83018438e-01 1.33154713e-01 7.05683672e+01] [-2.80580460e-01 9.59112178e-01 -3.71272874e-02 -2.80902851e+00] [-1.38218014e-01 -2.09612921e-03 9.90399610e-01 -7.95142243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters 0.03120026648693445 Centerline is valid? [True, True] Translation: X:70.63, Y:-2.83, Z:-7.96 [[ 9.49626999e-01 2.84579170e-01 1.31237411e-01 7.06271252e+01] [-2.82216374e-01 9.58649968e-01 -3.66627473e-02 -2.82729816e+00] [-1.36244194e-01 -2.22141142e-03 9.90672794e-01 -7.95708093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters 0.031888253163977275 Centerline is valid? [True, True] Translation: X:70.69, Y:-2.85, Z:-7.97 [[ 9.48018067e-01 2.89408149e-01 1.32305207e-01 7.06852019e+01] [-2.87044449e-01 9.57201465e-01 -3.70248506e-02 -2.84754890e+00] [-1.37358031e-01 -2.87724795e-03 9.90517285e-01 -7.96572374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters 0.03215026405220938 Centerline is valid? [True, True] Translation: X:70.74, Y:-2.87, Z:-7.97 [[ 9.47036873e-01 2.92718799e-01 1.32048722e-01 7.07438098e+01] [-2.90387483e-01 9.56192912e-01 -3.70165430e-02 -2.86585750e+00] [-1.37099490e-01 -3.28926499e-03 9.90551821e-01 -7.97395682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters 0.03244763931003435 Centerline is valid? [True, True] Translation: X:70.80, Y:-2.88, Z:-7.98 [[ 9.46711606e-01 2.93945314e-01 1.31655944e-01 7.08035586e+01] [-2.91630894e-01 9.55816210e-01 -3.69701805e-02 -2.88381580e+00] [-1.36706097e-01 -3.39484170e-03 9.90605834e-01 -7.98066419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters 0.033031295934447626 Centerline is valid? [True, True] Translation: X:70.86, Y:-2.90, Z:-7.99 [[ 9.45660505e-01 2.97109376e-01 1.32106880e-01 7.08638553e+01] [-2.94799897e-01 9.54835902e-01 -3.71674760e-02 -2.89794413e+00] [-1.37183197e-01 -3.79728057e-03 9.90538415e-01 -7.98630148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters 0.03358740185483882 Centerline is valid? [True, True] Translation: X:70.92, Y:-2.91, Z:-7.99 [[ 9.44629180e-01 3.00611829e-01 1.31560788e-01 7.09233718e+01] [-2.98346721e-01 9.53737202e-01 -3.70753806e-02 -2.91378510e+00] [-1.36619716e-01 -4.22824329e-03 9.90614544e-01 -7.99334019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters 0.034077340447035524 Centerline is valid? [True, True] Translation: X:70.98, Y:-2.93, Z:-8.00 [[ 9.43781821e-01 3.03650225e-01 1.30661454e-01 7.09825732e+01] [-3.01436767e-01 9.52772579e-01 -3.68820895e-02 -2.92974688e+00] [-1.35689905e-01 -4.57752050e-03 9.90740781e-01 -8.00098100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters 0.033566927616449596 Centerline is valid? [True, True] Translation: X:71.04, Y:-2.94, Z:-8.01 [[ 9.44216492e-01 3.02671056e-01 1.29790016e-01 7.10448220e+01] [-3.00470282e-01 9.53085141e-01 -3.66922763e-02 -2.93790849e+00] [-1.34806625e-01 -4.35259015e-03 9.90862366e-01 -8.00826530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters 0.03355325363738928 Centerline is valid? [True, True] Translation: X:71.10, Y:-2.96, Z:-8.02 [[ 9.44212755e-01 3.02295158e-01 1.30690130e-01 7.11048276e+01] [-3.00054056e-01 9.53204731e-01 -3.69906049e-02 -2.95594698e+00] [-1.35756531e-01 -4.28710281e-03 9.90732953e-01 -8.01593339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters 0.03321365659728039 Centerline is valid? [True, True] Translation: X:71.17, Y:-2.97, Z:-8.02 [[ 9.44525299e-01 3.00635209e-01 1.32251392e-01 7.11653830e+01] [-2.98313984e-01 9.53730694e-01 -3.75037428e-02 -2.96721601e+00] [-1.37407158e-01 -4.02920577e-03 9.90506456e-01 -8.02448010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters 0.03272482095475531 Centerline is valid? [True, True] Translation: X:71.23, Y:-2.98, Z:-8.03 [[ 9.45402573e-01 2.98711449e-01 1.30328221e-01 7.12254338e+01] [-2.96431877e-01 9.54336528e-01 -3.70126138e-02 -2.98367410e+00] [-1.35433073e-01 -3.64161881e-03 9.90779805e-01 -8.03119833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters 0.032147246398252546 Centerline is valid? [True, True] Translation: X:71.29, Y:-3.00, Z:-8.03 [[ 9.46678658e-01 2.95155039e-01 1.29162773e-01 7.12863907e+01] [-2.92879518e-01 9.55444416e-01 -3.67090648e-02 -2.99719654e+00] [-1.34242716e-01 -3.07744256e-03 9.90943703e-01 -8.03477321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters 0.031364990473913924 Centerline is valid? [True, True] Translation: X:71.35, Y:-3.01, Z:-8.04 [[ 9.48019359e-01 2.90344495e-01 1.30228147e-01 7.13460049e+01] [-2.87978180e-01 9.56919275e-01 -3.70684340e-02 -3.01446090e+00] [-1.35380439e-01 -2.36127165e-03 9.90790877e-01 -8.04303958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters 0.030965756208020445 Centerline is valid? [True, True] Translation: X:71.41, Y:-3.03, Z:-8.05 [[ 9.48932419e-01 2.87022462e-01 1.30940329e-01 7.14065436e+01] [-2.84595463e-01 9.57922016e-01 -3.72938871e-02 -3.02904734e+00] [-1.36134808e-01 -1.87564523e-03 9.90688546e-01 -8.05033300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters 0.030425975132399922 Centerline is valid? [True, True] Translation: X:71.47, Y:-3.05, Z:-8.06 [[ 9.49436203e-01 2.86345256e-01 1.28752830e-01 7.14652062e+01] [-2.83989017e-01 9.58124956e-01 -3.66988551e-02 -3.04992125e+00] [-1.33869843e-01 -1.72116812e-03 9.90997428e-01 -8.05614668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters 0.030051586157424193 Centerline is valid? [True, True] Translation: X:71.53, Y:-3.06, Z:-8.06 [[ 9.49506961e-01 2.85833157e-01 1.29367449e-01 7.15256020e+01] [-2.83440747e-01 9.58278073e-01 -3.69388454e-02 -3.06494576e+00] [-1.34528337e-01 -1.59431567e-03 9.90908464e-01 -8.06417961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters 0.030611864752514806 Centerline is valid? [True, True] Translation: X:71.59, Y:-3.08, Z:-8.07 [[ 9.48425538e-01 2.88515382e-01 1.31331158e-01 7.15863698e+01] [-2.86064973e-01 9.57473306e-01 -3.75725826e-02 -3.07743647e+00] [-1.36586346e-01 -1.93444730e-03 9.90626281e-01 -8.07044717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters 0.03108665804783164 Centerline is valid? [True, True] Translation: X:71.65, Y:-3.09, Z:-8.08 [[ 9.46885371e-01 2.94163036e-01 1.29908435e-01 7.16461337e+01] [-2.91809785e-01 9.55751562e-01 -3.72290273e-02 -3.09366927e+00] [-1.35111593e-01 -2.65693109e-03 9.90826826e-01 -8.07662289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters 0.03187931767849503 Centerline is valid? [True, True] Translation: X:71.71, Y:-3.11, Z:-8.08 [[ 9.45287343e-01 2.98847645e-01 1.30850768e-01 7.17061795e+01] [-2.96495771e-01 9.54295169e-01 -3.75631289e-02 -3.10729913e+00] [-1.36095908e-01 -3.28874882e-03 9.90690208e-01 -8.08394223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters 0.03294296320569658 Centerline is valid? [True, True] Translation: X:71.77, Y:-3.12, Z:-8.09 [[ 9.42879026e-01 3.05068032e-01 1.33838106e-01 7.17675436e+01] [-3.02660895e-01 9.52321187e-01 -3.84803688e-02 -3.11682065e+00] [-1.39195994e-01 -4.22522842e-03 9.90255837e-01 -8.08820966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters 0.03368725258454295 Centerline is valid? [True, True] Translation: X:71.83, Y:-3.13, Z:-8.10 [[ 9.42069070e-01 3.08367479e-01 1.31967292e-01 7.18277312e+01] [-3.06054590e-01 9.51256136e-01 -3.79782981e-02 -3.12967588e+00] [-1.37245968e-01 -4.61101557e-03 9.90526266e-01 -8.09707314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters 0.03310470877713132 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.14, Z:-8.11 [[ 9.42578527e-01 3.07532335e-01 1.30267353e-01 7.18891873e+01] [-3.05262505e-01 9.51527590e-01 -3.75506127e-02 -3.14010298e+00] [-1.35501008e-01 -4.37133727e-03 9.90767565e-01 -8.10554732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters 0.03263464358944039 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.15, Z:-8.11 [[ 9.43032784e-01 3.04858251e-01 1.33231434e-01 7.19506365e+01] [-3.02448092e-01 9.52389259e-01 -3.84688276e-02 -3.14926236e+00] [-1.38615726e-01 -4.01822738e-03 9.90338091e-01 -8.11055353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters 0.032451266999455136 Centerline is valid? [True, True] Translation: X:72.01, Y:-3.16, Z:-8.12 [[ 9.44088937e-01 3.01845985e-01 1.32608752e-01 7.20109278e+01] [-2.99420122e-01 9.53350283e-01 -3.83513913e-02 -3.16349601e+00] [-1.37998805e-01 -3.49860453e-03 9.90426216e-01 -8.11774255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters 0.03170953985164103 Centerline is valid? [True, True] Translation: X:72.07, Y:-3.17, Z:-8.13 [[ 9.45613587e-01 2.98076460e-01 1.30251171e-01 7.20730044e+01] [-2.95693142e-01 9.54537770e-01 -3.77254713e-02 -3.17209262e+00] [-1.35574737e-01 -2.84065957e-03 9.90763050e-01 -8.12692666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters 0.031738359717016544 Centerline is valid? [True, True] Translation: X:72.13, Y:-3.18, Z:-8.13 [[ 9.45740445e-01 2.96517318e-01 1.32862678e-01 7.21349123e+01] [-2.94017273e-01 9.55023828e-01 -3.85140380e-02 -3.18258816e+00] [-1.38307103e-01 -2.63963891e-03 9.90385873e-01 -8.13305888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters 0.03143633086393869 Centerline is valid? [True, True] Translation: X:72.19, Y:-3.20, Z:-8.14 [[ 9.46518611e-01 2.93321256e-01 1.34406698e-01 7.21947377e+01] [-2.90719979e-01 9.56011568e-01 -3.90355819e-02 -3.19789178e+00] [-1.39944324e-01 -2.12680774e-03 9.90157090e-01 -8.14193401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters 0.03144978356548047 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.21, Z:-8.15 [[ 9.46784998e-01 2.92972522e-01 1.33286415e-01 7.22554810e+01] [-2.90402104e-01 9.56118780e-01 -3.87749561e-02 -3.21078763e+00] [-1.38797641e-01 -1.99510868e-03 9.90318754e-01 -8.14882211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters 0.03126087547243986 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.22, Z:-8.16 [[ 9.47173341e-01 2.92978169e-01 1.30485454e-01 7.23158227e+01] [-2.90506494e-01 9.56117258e-01 -3.80232203e-02 -3.22407614e+00] [-1.35899368e-01 -1.89229106e-03 9.90720839e-01 -8.15507932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters 0.030693288497428948 Centerline is valid? [True, True] Translation: X:72.38, Y:-3.24, Z:-8.16 [[ 9.48043001e-01 2.92332113e-01 1.25524518e-01 7.23753844e+01] [-2.90031980e-01 9.56315398e-01 -3.66375646e-02 -3.24022350e+00] [-1.30751366e-01 -1.67213791e-03 9.91413780e-01 -8.16054784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters 0.030667771400485818 Centerline is valid? [True, True] Translation: X:72.44, Y:-3.26, Z:-8.17 [[ 9.49158037e-01 2.87742291e-01 1.27684745e-01 7.24367808e+01] [-2.85311730e-01 9.57707359e-01 -3.73340454e-02 -3.25511979e+00] [-1.33027203e-01 -9.94046124e-04 9.91111888e-01 -8.16557188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters 0.030772132884519642 Centerline is valid? [True, True] Translation: X:72.50, Y:-3.27, Z:-8.17 [[ 9.49803010e-01 2.86304836e-01 1.26110201e-01 7.24961415e+01] [-2.83912093e-01 9.58138315e-01 -3.69444541e-02 -3.27168325e+00] [-1.31408391e-01 -7.14257335e-04 9.91328061e-01 -8.17234433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters 0.030763921832138913 Centerline is valid? [True, True] Translation: X:72.56, Y:-3.29, Z:-8.18 [[ 9.49717266e-01 2.86183687e-01 1.27027604e-01 7.25552479e+01] [-2.83745991e-01 9.58174561e-01 -3.72790022e-02 -3.29112872e+00] [-1.32383261e-01 -6.39061239e-04 9.91198398e-01 -8.17946524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters 0.03046237566351869 Centerline is valid? [True, True] Translation: X:72.61, Y:-3.31, Z:-8.19 [[ 9.49608302e-01 2.85320688e-01 1.29754300e-01 7.26139027e+01] [-2.82758434e-01 9.58431999e-01 -3.81545784e-02 -3.31013810e+00] [-1.35246964e-01 -4.57218256e-04 9.90811814e-01 -8.18723079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters 0.03047896076215827 Centerline is valid? [True, True] Translation: X:72.67, Y:-3.33, Z:-8.19 [[ 9.50043579e-01 2.83652668e-01 1.30224277e-01 7.26737439e+01] [-2.81046772e-01 9.58927077e-01 -3.83610787e-02 -3.32797356e+00] [-1.35756808e-01 -1.54416167e-04 9.90742179e-01 -8.19479763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters 0.030943716992713692 Centerline is valid? [True, True] Translation: X:72.73, Y:-3.35, Z:-8.20 [[ 9.50117969e-01 2.81217239e-01 1.34880355e-01 7.27312914e+01] [-2.78385121e-01 9.59644094e-01 -3.98112586e-02 -3.34923691e+00] [-1.40632748e-01 2.76708284e-04 9.90061793e-01 -8.20157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters 0.030628677464220856 Centerline is valid? [True, True] Translation: X:72.79, Y:-3.37, Z:-8.21 [[ 9.50715709e-01 2.79402764e-01 1.34438596e-01 7.27906685e+01] [-2.76561799e-01 9.60173800e-01 -3.97472661e-02 -3.36797254e+00] [-1.40189913e-01 6.07770495e-04 9.90124446e-01 -8.21001753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters 0.030743112963065658 Centerline is valid? [True, True] Translation: X:72.85, Y:-3.39, Z:-8.22 [[ 9.50519563e-01 2.80512056e-01 1.33512346e-01 7.28490295e+01] [-2.77710467e-01 9.59850364e-01 -3.95496528e-02 -3.38811539e+00] [-1.39246028e-01 5.14942695e-04 9.90257683e-01 -8.21841973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters 0.030644033132028778 Centerline is valid? [True, True] Translation: X:72.91, Y:-3.41, Z:-8.22 [[ 9.49704820e-01 2.81924269e-01 1.36306501e-01 7.29081686e+01] [-2.79007849e-01 9.59436585e-01 -4.04482441e-02 -3.40647908e+00] [-1.42180785e-01 3.83308829e-04 9.89840632e-01 -8.22472122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters 0.03037214449203352 Centerline is valid? [True, True] Translation: X:72.97, Y:-3.43, Z:-8.23 [[ 9.49974528e-01 2.82588333e-01 1.33012140e-01 7.29655448e+01] [-2.79808985e-01 9.59241220e-01 -3.95375072e-02 -3.42805992e+00] [-1.38763566e-01 3.41632725e-04 9.90325480e-01 -8.23336893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters 0.03048294651819054 Centerline is valid? [True, True] Translation: X:73.02, Y:-3.45, Z:-8.24 [[ 9.49333046e-01 2.84480400e-01 1.33557740e-01 7.30242339e+01] [-2.81686785e-01 9.58681847e-01 -3.97702266e-02 -3.44920925e+00] [-1.39353231e-01 1.33740013e-04 9.90242727e-01 -8.24145869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters 0.03033530696615489 Centerline is valid? [True, True] Translation: X:73.08, Y:-3.47, Z:-8.25 [[ 9.48587148e-01 2.88236018e-01 1.30776222e-01 7.30831106e+01] [-2.85584389e-01 9.57559335e-01 -3.90086875e-02 -3.47027869e+00] [-1.36469701e-01 -3.44507897e-04 9.90644185e-01 -8.24616490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters 0.03033260862351512 Centerline is valid? [True, True] Translation: X:73.14, Y:-3.49, Z:-8.25 [[ 9.47007406e-01 2.94048907e-01 1.29275724e-01 7.31426900e+01] [-2.91507614e-01 9.55789697e-01 -3.85922935e-02 -3.48896337e+00] [-1.34908427e-01 -1.13767011e-03 9.90857418e-01 -8.25278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters 0.03076012835088171 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.51, Z:-8.26 [[ 9.45250435e-01 2.98273807e-01 1.32417338e-01 7.32016927e+01] [-2.95637492e-01 9.54478817e-01 -3.96063129e-02 -3.50710543e+00] [-1.38203070e-01 -1.70964531e-03 9.90402438e-01 -8.26059490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters 0.030834677250600528 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.52, Z:-8.27 [[ 9.44845866e-01 2.99418177e-01 1.32721680e-01 7.32625429e+01] [-2.96771280e-01 9.54120255e-01 -3.97661484e-02 -3.52197541e+00] [-1.38539151e-01 -1.81510213e-03 9.90355294e-01 -8.26720244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters 0.030807003291577068 Centerline is valid? [True, True] Translation: X:73.32, Y:-3.54, Z:-8.28 [[ 9.44930204e-01 3.00741351e-01 1.29079628e-01 7.33228986e+01] [-2.98241071e-01 9.53703877e-01 -3.87450458e-02 -3.53544843e+00] [-1.34755979e-01 -1.88548248e-03 9.90877021e-01 -8.27611624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters 0.030641156006232132 Centerline is valid? [True, True] Translation: X:73.38, Y:-3.55, Z:-8.28 [[ 9.44433046e-01 3.01688392e-01 1.30500331e-01 7.33828739e+01] [-2.99132557e-01 9.53404527e-01 -3.92367356e-02 -3.54948164e+00] [-1.36256874e-01 -1.98042800e-03 9.90671561e-01 -8.28397887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters 0.03078197730195083 Centerline is valid? [True, True] Translation: X:73.44, Y:-3.56, Z:-8.29 [[ 9.44998630e-01 2.99800177e-01 1.30757189e-01 7.34444619e+01] [-2.97207279e-01 9.54000595e-01 -3.93789074e-02 -3.55933496e+00] [-1.36548240e-01 -1.64897486e-03 9.90632050e-01 -8.28830607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters 0.03085271195255477 Centerline is valid? [True, True] Translation: X:73.51, Y:-3.57, Z:-8.30 [[ 9.44700899e-01 3.00623476e-01 1.31018079e-01 7.35063355e+01] [-2.98018848e-01 9.53741375e-01 -3.95241139e-02 -3.57110301e+00] [-1.36839240e-01 -1.70739113e-03 9.90591797e-01 -8.29713108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters 0.030814296947670256 Centerline is valid? [True, True] Translation: X:73.57, Y:-3.58, Z:-8.30 [[ 9.44224421e-01 3.02281896e-01 1.30636511e-01 7.35680379e+01] [-2.99697987e-01 9.53216743e-01 -3.94836421e-02 -3.58172677e+00] [-1.36460100e-01 -1.87008045e-03 9.90643803e-01 -8.30419649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters 0.03091251339691487 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.59, Z:-8.31 [[ 9.44190299e-01 3.02086612e-01 1.31333005e-01 7.36321597e+01] [-2.99462644e-01 9.53278822e-01 -3.97694903e-02 -3.58633106e+00] [-1.37210803e-01 -1.77936200e-03 9.90540271e-01 -8.31074511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters 0.030607854454249336 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.60, Z:-8.32 [[ 9.44967739e-01 2.99565352e-01 1.31516431e-01 7.36927014e+01] [-2.96899470e-01 9.54074836e-01 -3.98987693e-02 -3.59943479e+00] [-1.37428806e-01 -1.34410888e-03 9.90510735e-01 -8.31865143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters 0.030636120305567793 Centerline is valid? [True, True] Translation: X:73.75, Y:-3.61, Z:-8.33 [[ 9.45864561e-01 2.95469524e-01 1.34305592e-01 7.37544801e+01] [-2.92637957e-01 9.55351910e-01 -4.08136527e-02 -3.60774215e+00] [-1.40368295e-01 -6.98726379e-04 9.90099113e-01 -8.32931980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters 0.03071768763407022 Centerline is valid? [True, True] Translation: X:73.82, Y:-3.62, Z:-8.33 [[ 9.46993864e-01 2.91950624e-01 1.34042737e-01 7.38162616e+01] [-2.89085205e-01 9.56433386e-01 -4.08034663e-02 -3.62168795e+00] [-1.40115546e-01 -1.09139881e-04 9.90135153e-01 -8.33490889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters 0.03081657412692561 Centerline is valid? [True, True] Translation: X:73.88, Y:-3.64, Z:-8.34 [[ 9.47640874e-01 2.89693243e-01 1.34367401e-01 7.38767998e+01] [-2.86780022e-01 9.57119498e-01 -4.09815283e-02 -3.63770311e+00] [-1.40477731e-01 3.01885281e-04 9.90083792e-01 -8.34417546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters 0.030937267561791073 Centerline is valid? [True, True] Translation: X:73.94, Y:-3.65, Z:-8.35 [[ 9.47954438e-01 2.88320293e-01 1.35106592e-01 7.39363232e+01] [-2.85349698e-01 9.57533847e-01 -4.12853762e-02 -3.65316626e+00] [-1.41272546e-01 5.84030417e-04 9.89970569e-01 -8.35100842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters 0.030918129873677536 Centerline is valid? [True, True] Translation: X:74.00, Y:-3.67, Z:-8.36 [[ 9.49024958e-01 2.86326117e-01 1.31791438e-01 7.39958841e+01] [-2.83471796e-01 9.58131777e-01 -4.03390552e-02 -3.67018560e+00] [-1.37823690e-01 9.23614632e-04 9.90456348e-01 -8.35579740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters 0.03127316342519711 Centerline is valid? [True, True] Translation: X:74.05, Y:-3.69, Z:-8.36 [[ 9.49565624e-01 2.83618341e-01 1.33737665e-01 7.40549243e+01] [-2.80642019e-01 9.58936215e-01 -4.10047878e-02 -3.68893069e+00] [-1.39875600e-01 1.40432854e-03 9.90168089e-01 -8.36341775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters 0.031158229887979068 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.71, Z:-8.37 [[ 9.50960332e-01 2.79791874e-01 1.31874764e-01 7.41145715e+01] [-2.76852041e-01 9.60058582e-01 -4.05026785e-02 -3.70780061e+00] [-1.37939819e-01 2.00664317e-03 9.90438579e-01 -8.37130397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters 0.03147062484272376 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.73, Z:-8.38 [[ 9.50862013e-01 2.80016703e-01 1.32106311e-01 7.41735057e+01] [-2.77057782e-01 9.59992933e-01 -4.06516214e-02 -3.72760329e+00] [-1.38204257e-01 2.05300116e-03 9.90401620e-01 -8.37827008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters 0.031427943817580274 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.75, Z:-8.38 [[ 9.50549680e-01 2.81890061e-01 1.30358347e-01 7.42321004e+01] [-2.79016697e-01 9.59444971e-01 -4.01874532e-02 -3.74738279e+00] [-1.36400104e-01 1.82801551e-03 9.90652144e-01 -8.38360389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters 0.031386945405893485 Centerline is valid? [True, True] Translation: X:74.29, Y:-3.77, Z:-8.39 [[ 9.49725550e-01 2.85160245e-01 1.29247877e-01 7.42901898e+01] [-2.82357024e-01 9.58478819e-01 -3.99107146e-02 -3.76847134e+00] [-1.35262301e-01 1.41017952e-03 9.90808822e-01 -8.39191002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters 0.03143144216310453 Centerline is valid? [True, True] Translation: X:74.35, Y:-3.79, Z:-8.40 [[ 9.48835331e-01 2.86507027e-01 1.32760075e-01 7.43492989e+01] [-2.83551852e-01 9.58077231e-01 -4.10653900e-02 -3.78714633e+00] [-1.38959928e-01 1.31992788e-03 9.90297125e-01 -8.39799293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters 0.031539331614867494 Centerline is valid? [True, True] Translation: X:74.41, Y:-3.81, Z:-8.41 [[ 9.48759011e-01 2.86860106e-01 1.32542893e-01 7.44088100e+01] [-2.83908242e-01 9.57971555e-01 -4.10683605e-02 -3.80615454e+00] [-1.38753196e-01 1.33395731e-03 9.90326093e-01 -8.40539755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters 0.03126070006175653 Centerline is valid? [True, True] Translation: X:74.47, Y:-3.83, Z:-8.41 [[ 9.48478575e-01 2.88966834e-01 1.29948303e-01 7.44660865e+01] [-2.86139424e-01 9.57338503e-01 -4.03388334e-02 -3.83056395e+00] [-1.36061099e-01 1.07718667e-03 9.90699862e-01 -8.41288979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters 0.03131908257711806 Centerline is valid? [True, True] Translation: X:74.53, Y:-3.85, Z:-8.42 [[ 9.47703491e-01 2.91310739e-01 1.30369269e-01 7.45252382e+01] [-2.88477363e-01 9.56628139e-01 -4.05390435e-02 -3.85206743e+00] [-1.36524370e-01 8.10410039e-04 9.90636381e-01 -8.42009238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters 0.0313184225605018 Centerline is valid? [True, True] Translation: X:74.58, Y:-3.87, Z:-8.43 [[ 9.47279055e-01 2.92612073e-01 1.30539520e-01 7.45836469e+01] [-2.89772814e-01 9.56230980e-01 -4.06697622e-02 -3.87385799e+00] [-1.36726396e-01 6.98809883e-04 9.90608603e-01 -8.42611484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters 0.03132506410963701 Centerline is valid? [True, True] Translation: X:74.64, Y:-3.89, Z:-8.43 [[ 9.47102587e-01 2.93182652e-01 1.30539732e-01 7.46428447e+01] [-2.90338040e-01 9.56056198e-01 -4.07476180e-02 -3.89395470e+00] [-1.36749815e-01 6.91524409e-04 9.90605375e-01 -8.43388016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters 0.031382801102326344 Centerline is valid? [True, True] Translation: X:74.70, Y:-3.92, Z:-8.44 [[ 9.47404823e-01 2.92234313e-01 1.30473014e-01 7.47016613e+01] [-2.89372943e-01 9.56346324e-01 -4.08045273e-02 -3.91617320e+00] [-1.36701871e-01 9.03045927e-04 9.90611823e-01 -8.44025091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters 0.03117724343172407 Centerline is valid? [True, True] Translation: X:74.76, Y:-3.94, Z:-8.45 [[ 9.48646408e-01 2.89397447e-01 1.27746276e-01 7.47592866e+01] [-2.86619475e-01 9.57208066e-01 -4.00249252e-02 -3.93763607e+00] [-1.33862877e-01 1.35493097e-03 9.90998938e-01 -8.44674986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters 0.031333357159560433 Centerline is valid? [True, True] Translation: X:74.82, Y:-3.96, Z:-8.45 [[ 9.48703745e-01 2.88477220e-01 1.29391256e-01 7.48166656e+01] [-2.85609074e-01 9.57485472e-01 -4.06082228e-02 -3.96132773e+00] [-1.35604795e-01 1.56985621e-03 9.90761765e-01 -8.45345801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters 0.03124640912434705 Centerline is valid? [True, True] Translation: X:74.88, Y:-3.98, Z:-8.46 [[ 9.47615228e-01 2.91284485e-01 1.31067646e-01 7.48751132e+01] [-2.88358123e-01 9.56635658e-01 -4.12044961e-02 -3.98340664e+00] [-1.37386215e-01 1.25158753e-03 9.90516765e-01 -8.45966036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters 0.03096044431127298 Centerline is valid? [True, True] Translation: X:74.93, Y:-4.00, Z:-8.47 [[ 9.47005211e-01 2.94642419e-01 1.27933478e-01 7.49337286e+01] [-2.91875540e-01 9.55607230e-01 -4.02925724e-02 -4.00245344e+00] [-1.34126058e-01 8.16623113e-04 9.90963942e-01 -8.46638597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters 0.031007015681764404 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.03, Z:-8.47 [[ 9.45183458e-01 2.99605957e-01 1.29863393e-01 7.49921722e+01] [-2.96791494e-01 9.54063016e-01 -4.09703726e-02 -4.02542898e+00] [-1.36172828e-01 1.82168049e-04 9.90685080e-01 -8.47169352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters 0.03086096237190367 Centerline is valid? [True, True] Translation: X:75.05, Y:-4.04, Z:-8.48 [[ 9.44409146e-01 3.01751136e-01 1.30528223e-01 7.50513346e+01] [-2.98917145e-01 9.53386726e-01 -4.12588320e-02 -4.04387963e+00] [-1.36893775e-01 -5.19054901e-05 9.90585732e-01 -8.48005361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters 0.030825104113881757 Centerline is valid? [True, True] Translation: X:75.11, Y:-4.06, Z:-8.49 [[ 9.42780627e-01 3.06468313e-01 1.31308270e-01 7.51093467e+01] [-3.03634967e-01 9.51880627e-01 -4.15821902e-02 -4.06486996e+00] [-1.37733422e-01 -6.66898838e-04 9.90469111e-01 -8.48742481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters 0.0308078152240418 Centerline is valid? [True, True] Translation: X:75.17, Y:-4.08, Z:-8.49 [[ 9.41258502e-01 3.11624309e-01 1.30087365e-01 7.51695378e+01] [-3.08883226e-01 9.50204445e-01 -4.12633594e-02 -4.08360291e+00] [-1.36468259e-01 -1.34231727e-03 9.90643535e-01 -8.49217010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters 0.030781176348682753 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.10, Z:-8.50 [[ 9.40686113e-01 3.13980229e-01 1.28553694e-01 7.52292755e+01] [-3.11315454e-01 9.49428185e-01 -4.08510633e-02 -4.10267648e+00] [-1.34878927e-01 -1.59272362e-03 9.90860807e-01 -8.49829626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters 0.030806951802029466 Centerline is valid? [True, True] Translation: X:75.29, Y:-4.12, Z:-8.51 [[ 9.40602781e-01 3.13172506e-01 1.31108310e-01 7.52881870e+01] [-3.10382021e-01 9.49695174e-01 -4.17382048e-02 -4.12041973e+00] [-1.37584188e-01 -1.43459076e-03 9.90489037e-01 -8.50512331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters 0.030477191483455422 Centerline is valid? [True, True] Translation: X:75.35, Y:-4.14, Z:-8.51 [[ 9.40463343e-01 3.13658085e-01 1.30947720e-01 7.53479158e+01] [-3.10869730e-01 9.49534905e-01 -4.17549409e-02 -4.13645749e+00] [-1.37436206e-01 -1.43869112e-03 9.90509576e-01 -8.51450349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters 0.03068128222402722 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.15, Z:-8.52 [[ 9.40029301e-01 3.14646138e-01 1.31691770e-01 7.54068294e+01] [-3.11824891e-01 9.49207827e-01 -4.20682519e-02 -4.15417320e+00] [-1.38239472e-01 -1.51938228e-03 9.90397668e-01 -8.52280228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters 0.03043198164540531 Centerline is valid? [True, True] Translation: X:75.47, Y:-4.17, Z:-8.53 [[ 9.40751234e-01 3.13097814e-01 1.30218562e-01 7.54664489e+01] [-3.10315613e-01 9.49720110e-01 -4.16645251e-02 -4.17168430e+00] [-1.36716259e-01 -1.21289940e-03 9.90609506e-01 -8.52778683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters 0.030129569738051275 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.19, Z:-8.54 [[ 9.41918370e-01 3.09813030e-01 1.29636687e-01 7.55257173e+01] [-3.07015728e-01 9.50797265e-01 -4.15440010e-02 -4.18717412e+00] [-1.36129080e-01 -6.69444101e-04 9.90690883e-01 -8.53594672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters 0.02979363142350986 Centerline is valid? [True, True] Translation: X:75.58, Y:-4.21, Z:-8.54 [[ 9.43337224e-01 3.06503492e-01 1.27163244e-01 7.55849589e+01] [-3.03773796e-01 9.51869525e-01 -4.08152805e-02 -4.20536676e+00] [-1.33552843e-01 -1.26288074e-04 9.91041685e-01 -8.54224962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters 0.02973436101141038 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.23, Z:-8.55 [[ 9.44569089e-01 3.03113422e-01 1.26140751e-01 7.56443573e+01] [-3.00388713e-01 9.52954397e-01 -4.05529113e-02 -4.22722456e+00] [-1.32498515e-01 4.13768728e-04 9.91183117e-01 -8.54701042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters 0.029409203375333058 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.25, Z:-8.55 [[ 9.45246489e-01 3.01575814e-01 1.24744151e-01 7.57033482e+01] [-2.98888284e-01 9.53441948e-01 -4.01776786e-02 -4.24779206e+00] [-1.31052923e-01 6.93244396e-04 9.91375131e-01 -8.55196657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters 0.029486560147991708 Centerline is valid? [True, True] Translation: X:75.76, Y:-4.27, Z:-8.56 [[ 9.42684428e-01 3.09567444e-01 1.24555475e-01 7.57624081e+01] [-3.06947475e-01 9.50877426e-01 -4.01916474e-02 -4.26682595e+00] [-1.30879015e-01 -3.43948223e-04 9.91398288e-01 -8.56148391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters 0.029951159392537712 Centerline is valid? [True, True] Translation: X:75.82, Y:-4.29, Z:-8.57 [[ 9.39947725e-01 3.17666684e-01 1.24844514e-01 7.58207099e+01] [-3.15095412e-01 9.48201410e-01 -4.03604573e-02 -4.28681073e+00] [-1.31198917e-01 -1.40121352e-03 9.91355073e-01 -8.56744453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters 0.02992506530366212 Centerline is valid? [True, True] Translation: X:75.88, Y:-4.31, Z:-8.57 [[ 9.39503135e-01 3.19408153e-01 1.23742842e-01 7.58804419e+01] [-3.16888830e-01 9.47615942e-01 -4.00686451e-02 -4.30543305e+00] [-1.30058942e-01 -1.56810675e-03 9.91505024e-01 -8.57324840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters 0.030032381095241197 Centerline is valid? [True, True] Translation: X:75.94, Y:-4.32, Z:-8.58 [[ 9.40074595e-01 3.16952100e-01 1.25702515e-01 7.59411209e+01] [-3.14320229e-01 9.48440816e-01 -4.07775920e-02 -4.32138426e+00] [-1.32145940e-01 -1.17686516e-03 9.91229573e-01 -8.58227868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters 0.029609551247312526 Centerline is valid? [True, True] Translation: X:76.00, Y:-4.33, Z:-8.59 [[ 9.40522908e-01 3.15657711e-01 1.25606004e-01 7.60022001e+01] [-3.13008583e-01 9.48872677e-01 -4.08199806e-02 -4.33452906e+00] [-1.32069247e-01 -9.23630259e-04 9.91240062e-01 -8.58869513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters 0.02963880532122821 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.35, Z:-8.59 [[ 9.40909564e-01 3.14728238e-01 1.25041312e-01 7.60604660e+01] [-3.12085268e-01 9.49181551e-01 -4.07083362e-02 -4.35467060e+00] [-1.31498969e-01 -7.20688420e-04 9.91316045e-01 -8.59438517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters 0.029365560901627806 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.37, Z:-8.60 [[ 9.41308005e-01 3.14158349e-01 1.23465672e-01 7.61201413e+01] [-3.11568675e-01 9.49370425e-01 -4.02586244e-02 -4.37174789e+00] [-1.29862241e-01 -5.72270398e-04 9.91531881e-01 -8.60169768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters 0.029452652439925297 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.39, Z:-8.61 [[ 9.41093612e-01 3.13958702e-01 1.25589600e-01 7.61789082e+01] [-3.11268179e-01 9.49436513e-01 -4.10174103e-02 -4.39162352e+00] [-1.32117124e-01 -4.90823123e-04 9.91233991e-01 -8.60775632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters 0.029396097325798048 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.41, Z:-8.61 [[ 9.40932533e-01 3.14599268e-01 1.25192925e-01 7.62392148e+01] [-3.11922554e-01 9.49224439e-01 -4.09546694e-02 -4.41031924e+00] [-1.31720493e-01 -5.14916082e-04 9.91286763e-01 -8.61397782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters 0.029251096697006648 Centerline is valid? [True, True] Translation: X:76.30, Y:-4.43, Z:-8.62 [[ 9.41203088e-01 3.14812258e-01 1.22596858e-01 7.62983680e+01] [-3.12238485e-01 9.49153847e-01 -4.01759013e-02 -4.42858821e+00] [-1.29011146e-01 -4.65774920e-04 9.91643034e-01 -8.62117348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters 0.029503401336217556 Centerline is valid? [True, True] Translation: X:76.36, Y:-4.45, Z:-8.63 [[ 9.40716540e-01 3.15849088e-01 1.23659794e-01 7.63580656e+01] [-3.13230546e-01 9.48809281e-01 -4.05903186e-02 -4.44748316e+00] [-1.30149975e-01 -5.50040511e-04 9.91494166e-01 -8.62790342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters 0.029603370629798356 Centerline is valid? [True, True] Translation: X:76.42, Y:-4.46, Z:-8.64 [[ 9.41017838e-01 3.13890350e-01 1.26326075e-01 7.64180747e+01] [-3.11129492e-01 9.49459216e-01 -4.15407783e-02 -4.46395523e+00] [-1.32980706e-01 -2.13154225e-04 9.91118604e-01 -8.63501841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters 0.02945288158857121 Centerline is valid? [True, True] Translation: X:76.48, Y:-4.48, Z:-8.64 [[ 9.42346823e-01 3.10793315e-01 1.24056360e-01 7.64772670e+01] [-3.08096007e-01 9.50477478e-01 -4.08584666e-02 -4.48096387e+00] [-1.30611315e-01 2.81576968e-04 9.91433611e-01 -8.64137013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters 0.02964915117397112 Centerline is valid? [True, True] Translation: X:76.54, Y:-4.50, Z:-8.65 [[ 9.42715026e-01 3.09746260e-01 1.23877493e-01 7.65369906e+01] [-3.07039091e-01 9.50819129e-01 -4.08654100e-02 -4.49854859e+00] [-1.30442998e-01 4.89203175e-04 9.91455690e-01 -8.64823338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters 0.029467786413665185 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.52, Z:-8.65 [[ 9.43527894e-01 3.08321600e-01 1.21214294e-01 7.65964911e+01] [-3.05709205e-01 9.51281895e-01 -4.00579334e-02 -4.51548967e+00] [-1.27659689e-01 7.39452172e-04 9.91817754e-01 -8.65446305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters 0.029440154809276683 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.54, Z:-8.66 [[ 9.43271807e-01 3.09079054e-01 1.21278343e-01 7.66558510e+01] [-3.06461778e-01 9.51036093e-01 -4.01438572e-02 -4.53528593e+00] [-1.27747707e-01 6.99392191e-04 9.91806450e-01 -8.66129731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters 0.029427529443733627 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.56, Z:-8.67 [[ 9.42766157e-01 3.10458841e-01 1.21685176e-01 7.67144421e+01] [-3.07825793e-01 9.50586643e-01 -4.03523897e-02 -4.55579633e+00] [-1.28200059e-01 5.85031640e-04 9.91748155e-01 -8.66852926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters 0.029230740578102224 Centerline is valid? [True, True] Translation: X:76.77, Y:-4.58, Z:-8.67 [[ 9.42308987e-01 3.11920865e-01 1.21487229e-01 7.67739679e+01] [-3.09299027e-01 9.50107976e-01 -4.03602022e-02 -4.57509911e+00] [-1.28015175e-01 4.55899465e-04 9.91772104e-01 -8.67385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters 0.029163843146751828 Centerline is valid? [True, True] Translation: X:76.83, Y:-4.60, Z:-8.68 [[ 9.41490057e-01 3.14436984e-01 1.21350133e-01 7.68328304e+01] [-3.11832430e-01 9.49278331e-01 -4.03879494e-02 -4.59520555e+00] [-1.27894517e-01 1.83945818e-04 9.91787759e-01 -8.68083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters 0.028879576117715196 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.61, Z:-8.69 [[ 9.40397705e-01 3.17520386e-01 1.21790646e-01 7.68931640e+01] [-3.14912900e-01 9.48251432e-01 -4.06089640e-02 -4.61273073e+00] [-1.28382328e-01 -1.64868966e-04 9.91724735e-01 -8.68701593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters 0.02893474145402008 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.63, Z:-8.69 [[ 9.39091675e-01 3.22151465e-01 1.19688178e-01 7.69533922e+01] [-3.19661906e-01 9.46687869e-01 -3.99792993e-02 -4.63111078e+00] [-1.26186736e-01 -7.15524018e-04 9.92006248e-01 -8.69255904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters 0.028889008119631788 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.65, Z:-8.70 [[ 9.37544675e-01 3.26399852e-01 1.20304274e-01 7.70140694e+01] [-3.23910072e-01 9.45230996e-01 -4.02570403e-02 -4.64524491e+00] [-1.26855220e-01 -1.22499218e-03 9.91920487e-01 -8.70025929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters 0.02892657055296459 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.66, Z:-8.71 [[ 9.37143471e-01 3.27318842e-01 1.20931763e-01 7.70747498e+01] [-3.24802283e-01 9.44913064e-01 -4.05312161e-02 -4.66092540e+00] [-1.27536633e-01 -1.29534804e-03 9.91833015e-01 -8.70645204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters 0.028942811856586988 Centerline is valid? [True, True] Translation: X:77.14, Y:-4.67, Z:-8.71 [[ 9.36322141e-01 3.29424138e-01 1.21575436e-01 7.71351356e+01] [-3.26889012e-01 9.44180819e-01 -4.08185512e-02 -4.67449821e+00] [-1.28235811e-01 -1.52236090e-03 9.91742537e-01 -8.71280624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters 0.02901205344589023 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.69, Z:-8.72 [[ 9.35537278e-01 3.31536820e-01 1.21874271e-01 7.71960995e+01] [-3.28998790e-01 9.43440646e-01 -4.09822258e-02 -4.68653184e+00] [-1.28568258e-01 -1.75608786e-03 9.91699107e-01 -8.71999180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters 0.028660443859168844 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.70, Z:-8.73 [[ 9.36303181e-01 3.28863238e-01 1.23228749e-01 7.72574816e+01] [-3.26236625e-01 9.44376603e-01 -4.15029629e-02 -4.70072360e+00] [-1.30023146e-01 -1.34237488e-03 9.91510050e-01 -8.72683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters 0.028356558688408886 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.72, Z:-8.73 [[ 9.37438312e-01 3.25676315e-01 1.23062375e-01 7.73166249e+01] [-3.23020030e-01 9.45480961e-01 -4.15188162e-02 -4.71890435e+00] [-1.29874827e-01 -8.30282976e-04 9.91530050e-01 -8.73411329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters 0.028134733893620225 Centerline is valid? [True, True] Translation: X:77.38, Y:-4.73, Z:-8.74 [[ 9.37096149e-01 3.26434305e-01 1.23658615e-01 7.73775698e+01] [-3.23749948e-01 9.45219486e-01 -4.17863010e-02 -4.73436570e+00] [-1.30525014e-01 -8.76688372e-04 9.91444629e-01 -8.74055199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters 0.028133196836751032 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.75, Z:-8.75 [[ 9.36022978e-01 3.30581754e-01 1.20733955e-01 7.74382089e+01] [-3.28048497e-01 9.43776391e-01 -4.08693891e-02 -4.75070800e+00] [-1.27456530e-01 -1.35190511e-03 9.91843236e-01 -8.74875257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters 0.028542593418862693 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.77, Z:-8.75 [[ 9.34482093e-01 3.35105189e-01 1.20198714e-01 7.74972419e+01] [-3.32622557e-01 9.42178822e-01 -4.07590785e-02 -4.76835351e+00] [-1.26907261e-01 -1.89217453e-03 9.91912782e-01 -8.75428542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters 0.028603901026638196 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.78, Z:-8.76 [[ 9.34597242e-01 3.33569411e-01 1.23529117e-01 7.75579415e+01] [-3.30924600e-01 9.42724067e-01 -4.19552365e-02 -4.78400165e+00] [-1.30448855e-01 -1.66757530e-03 9.91453638e-01 -8.76245723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters 0.02816790871050045 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.80, Z:-8.77 [[ 9.35739990e-01 3.30257509e-01 1.23776606e-01 7.76178952e+01] [-3.27563571e-01 9.43890185e-01 -4.21120592e-02 -4.80028706e+00] [-1.30739347e-01 -1.13876922e-03 9.91416122e-01 -8.76908314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters 0.028138728269706693 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.82, Z:-8.77 [[ 9.35253207e-01 3.31458124e-01 1.24245529e-01 7.76786829e+01] [-3.28745454e-01 9.43469105e-01 -4.23376231e-02 -4.81652069e+00] [-1.31254967e-01 -1.24875492e-03 9.91347857e-01 -8.77441305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters 0.0283260794846167 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.83, Z:-8.78 [[ 9.34957743e-01 3.31924560e-01 1.25220223e-01 7.77389442e+01] [-3.29163083e-01 9.43305102e-01 -4.27451567e-02 -4.83350868e+00] [-1.32309043e-01 -1.25295953e-03 9.91207722e-01 -8.78201639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters 0.028356924678521335 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.85, Z:-8.79 [[ 9.34906528e-01 3.31529135e-01 1.26642080e-01 7.77989415e+01] [-3.28690389e-01 9.43444295e-01 -4.33069397e-02 -4.85198131e+00] [-1.33837260e-01 -1.13809379e-03 9.91002670e-01 -8.78981052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters 0.028469568728798453 Centerline is valid? [True, True] Translation: X:77.86, Y:-4.87, Z:-8.80 [[ 9.35262124e-01 3.29394110e-01 1.29554157e-01 7.78588139e+01] [-3.26391579e-01 9.44192202e-01 -4.43804255e-02 -4.86684484e+00] [-1.36942675e-01 -7.78054728e-04 9.90578668e-01 -8.79804083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters 0.02839090694143408 Centerline is valid? [True, True] Translation: X:77.92, Y:-4.88, Z:-8.81 [[ 9.35827463e-01 3.27119938e-01 1.31223112e-01 7.79176131e+01] [-3.24007147e-01 9.44982750e-01 -4.50218863e-02 -4.88464906e+00] [-1.38731134e-01 -3.84508575e-04 9.90330008e-01 -8.80572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters 0.028594022993599203 Centerline is valid? [True, True] Translation: X:77.98, Y:-4.90, Z:-8.81 [[ 9.36943442e-01 3.24191937e-01 1.30524228e-01 7.79770113e+01] [-3.21075504e-01 9.45991319e-01 -4.48435515e-02 -4.90289461e+00] [-1.38012704e-01 1.07739332e-04 9.90430453e-01 -8.81425746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters 0.028397228812916547 Centerline is valid? [True, True] Translation: X:78.04, Y:-4.92, Z:-8.82 [[ 9.37841902e-01 3.21706048e-01 1.30222065e-01 7.80361296e+01] [-3.18575477e-01 9.46839460e-01 -4.47738995e-02 -4.92355999e+00] [-1.37703424e-01 5.05282547e-04 9.90473378e-01 -8.82007433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters 0.028714227638892836 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.94, Z:-8.83 [[ 9.37679631e-01 3.21474806e-01 1.31950210e-01 7.80943381e+01] [-3.18246665e-01 9.46917927e-01 -4.54477585e-02 -4.94423305e+00] [-1.39556329e-01 6.22722986e-04 9.90213938e-01 -8.82841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters 0.028693998329468815 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.97, Z:-8.83 [[ 9.38071031e-01 3.20560224e-01 1.31392097e-01 7.81535188e+01] [-3.17340494e-01 9.47227778e-01 -4.53271115e-02 -4.96506993e+00] [-1.38988313e-01 8.24017353e-04 9.90293679e-01 -8.83488857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters 0.028654429833540117 Centerline is valid? [True, True] Translation: X:78.21, Y:-4.99, Z:-8.84 [[ 9.37916122e-01 3.21338681e-01 1.30594028e-01 7.82117331e+01] [-3.18154907e-01 9.46964016e-01 -4.51288001e-02 -4.98509145e+00] [-1.38169474e-01 7.77898445e-04 9.90408295e-01 -8.84206848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters 0.028665772895742722 Centerline is valid? [True, True] Translation: X:78.27, Y:-5.00, Z:-8.85 [[ 9.36986772e-01 3.24322105e-01 1.29888267e-01 7.82699531e+01] [-3.21191828e-01 9.45946621e-01 -4.49532973e-02 -5.00492226e+00] [-1.37446715e-01 4.01594970e-04 9.90509081e-01 -8.84954152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters 0.028642337341781433 Centerline is valid? [True, True] Translation: X:78.33, Y:-5.03, Z:-8.86 [[ 9.36590308e-01 3.26041298e-01 1.28435462e-01 7.83279510e+01] [-3.22987793e-01 9.45355503e-01 -4.45180686e-02 -5.02604204e+00] [-1.35931900e-01 2.12104976e-04 9.90718161e-01 -8.85699535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters 0.028952797064198035 Centerline is valid? [True, True] Translation: X:78.38, Y:-5.05, Z:-8.87 [[ 9.36290056e-01 3.26405855e-01 1.29692521e-01 7.83846880e+01] [-3.23285896e-01 9.45229690e-01 -4.50229114e-02 -5.04888335e+00] [-1.37284963e-01 2.26741352e-04 9.90531568e-01 -8.86521217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters 0.028839889000367085 Centerline is valid? [True, True] Translation: X:78.44, Y:-5.07, Z:-8.87 [[ 9.35800868e-01 3.28029883e-01 1.29124482e-01 7.84444531e+01] [-3.24943516e-01 9.44667345e-01 -4.48922949e-02 -5.06868873e+00] [-1.36705696e-01 5.20852428e-05 9.90611705e-01 -8.87203604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters 0.029083092646002257 Centerline is valid? [True, True] Translation: X:78.50, Y:-5.09, Z:-8.88 [[ 9.34903429e-01 3.30489066e-01 1.29354378e-01 7.85040192e+01] [-3.27404018e-01 9.43809792e-01 -4.50520327e-02 -5.08766391e+00] [-1.36975133e-01 -2.31843186e-04 9.90574459e-01 -8.87872182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters 0.028932585524582718 Centerline is valid? [True, True] Translation: X:78.56, Y:-5.11, Z:-8.88 [[ 9.36288270e-01 3.27529107e-01 1.26842260e-01 7.85626195e+01] [-3.24526024e-01 9.44841051e-01 -4.42520957e-02 -5.10722680e+00] [-1.34339624e-01 2.69103694e-04 9.90935312e-01 -8.88497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters 0.029002984073479565 Centerline is valid? [True, True] Translation: X:78.62, Y:-5.13, Z:-8.89 [[ 9.37372442e-01 3.23906086e-01 1.28131778e-01 7.86217395e+01] [-3.20798141e-01 9.46088845e-01 -4.47710779e-02 -5.12549815e+00] [-1.35725671e-01 8.62738386e-04 9.90746082e-01 -8.89107066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters 0.029622439954698477 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.14, Z:-8.90 [[ 9.38149599e-01 3.20717520e-01 1.30443865e-01 7.86802699e+01] [-3.17455389e-01 9.47173833e-01 -4.56487277e-02 -5.14321698e+00] [-1.38193362e-01 1.41522763e-03 9.90404257e-01 -8.89921621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters 0.029504045017624592 Centerline is valid? [True, True] Translation: X:78.74, Y:-5.17, Z:-8.91 [[ 9.38690346e-01 3.19967457e-01 1.28379365e-01 7.87378231e+01] [-3.16793555e-01 9.47427258e-01 -4.49826039e-02 -5.16663845e+00] [-1.36023080e-01 1.55498038e-03 9.90704448e-01 -8.90807279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters 0.029251146262539305 Centerline is valid? [True, True] Translation: X:78.79, Y:-5.19, Z:-8.91 [[ 9.38996783e-01 3.19751536e-01 1.26664900e-01 7.87948767e+01] [-3.16657123e-01 9.47500099e-01 -4.44052898e-02 -5.19295192e+00] [-1.34213665e-01 1.58708135e-03 9.90951146e-01 -8.91251161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters 0.02942898442931036 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.22, Z:-8.92 [[ 9.39081170e-01 3.19364977e-01 1.27014048e-01 7.88528449e+01] [-3.16245563e-01 9.47630307e-01 -4.45594612e-02 -5.21712949e+00] [-1.34593092e-01 1.67732188e-03 9.90899534e-01 -8.91919380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters 0.02918298468771795 Centerline is valid? [True, True] Translation: X:78.91, Y:-5.24, Z:-8.93 [[ 9.38896029e-01 3.20302956e-01 1.26016916e-01 7.89092626e+01] [-3.17230978e-01 9.47313809e-01 -4.42837938e-02 -5.24273845e+00] [-1.33561795e-01 1.60140859e-03 9.91039193e-01 -8.92811340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters 0.029064990287972443 Centerline is valid? [True, True] Translation: X:78.97, Y:-5.27, Z:-8.93 [[ 9.38368163e-01 3.22393333e-01 1.24610314e-01 7.89656337e+01] [-3.19399636e-01 9.46604836e-01 -4.38538178e-02 -5.26851865e+00] [-1.32094904e-01 1.35053746e-03 9.91236154e-01 -8.93157474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters 0.029126731240460165 Centerline is valid? [True, True] Translation: X:79.02, Y:-5.29, Z:-8.94 [[ 9.37766843e-01 3.23810329e-01 1.25460029e-01 7.90237031e+01] [-3.20778965e-01 9.46121225e-01 -4.42208411e-02 -5.29050019e+00] [-1.33019561e-01 1.22390050e-03 9.91112657e-01 -8.93974949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters 0.029113976013341987 Centerline is valid? [True, True] Translation: X:79.08, Y:-5.31, Z:-8.95 [[ 9.36531441e-01 3.26965616e-01 1.26500380e-01 7.90823829e+01] [-3.23901640e-01 9.45035847e-01 -4.46651501e-02 -5.31222371e+00] [-1.34151362e-01 8.56636687e-04 9.90960483e-01 -8.94593459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters 0.028823269036736994 Centerline is valid? [True, True] Translation: X:79.14, Y:-5.33, Z:-8.95 [[ 9.35908064e-01 3.29697151e-01 1.23999536e-01 7.91408258e+01] [-3.26767798e-01 9.44086602e-01 -4.38553706e-02 -5.33277206e+00] [-1.31525291e-01 5.25539565e-04 9.91312676e-01 -8.95227795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters 0.028889890238122252 Centerline is valid? [True, True] Translation: X:79.20, Y:-5.36, Z:-8.96 [[ 9.34869918e-01 3.32221085e-01 1.25089513e-01 7.91985286e+01] [-3.29252999e-01 9.43201513e-01 -4.43099158e-02 -5.35542827e+00] [-1.32705306e-01 2.37910213e-04 9.91155510e-01 -8.96136471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters 0.029147032167355594 Centerline is valid? [True, True] Translation: X:79.26, Y:-5.38, Z:-8.97 [[ 9.33486584e-01 3.35408139e-01 1.26902235e-01 7.92564130e+01] [-3.32371710e-01 9.42072906e-01 -4.50298501e-02 -5.37563224e+00] [-1.34654535e-01 -1.43951738e-04 9.90892595e-01 -8.96872143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters 0.02914527462520428 Centerline is valid? [True, True] Translation: X:79.32, Y:-5.39, Z:-8.98 [[ 9.31524738e-01 3.41410433e-01 1.25301950e-01 7.93164724e+01] [-3.38495247e-01 9.39913850e-01 -4.45300216e-02 -5.39255141e+00] [-1.32976052e-01 -9.33297637e-04 9.91118812e-01 -8.97629601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters 0.029292731084325542 Centerline is valid? [True, True] Translation: X:79.37, Y:-5.41, Z:-8.98 [[ 9.31124189e-01 3.43060812e-01 1.23761962e-01 7.93749068e+01] [-3.40221885e-01 9.39312569e-01 -4.40563977e-02 -5.41239729e+00] [-1.31365190e-01 -1.08455045e-03 9.91333451e-01 -8.98498679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters 0.029198037228105475 Centerline is valid? [True, True] Translation: X:79.43, Y:-5.43, Z:-8.99 [[ 9.31687905e-01 3.40925998e-01 1.25407782e-01 7.94348059e+01] [-3.37982240e-01 9.40089853e-01 -4.47109942e-02 -5.43032946e+00] [-1.33137724e-01 -7.28910498e-04 9.91097278e-01 -8.99059436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters 0.02933047502236363 Centerline is valid? [True, True] Translation: X:79.49, Y:-5.45, Z:-9.00 [[ 9.31961692e-01 3.39729893e-01 1.26613605e-01 7.94949198e+01] [-3.36707416e-01 9.40522919e-01 -4.52189753e-02 -5.44695172e+00] [-1.34445235e-01 -4.89387151e-04 9.90920905e-01 -8.99856548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters 0.02925998724252479 Centerline is valid? [True, True] Translation: X:79.55, Y:-5.47, Z:-9.01 [[ 9.31582922e-01 3.40529546e-01 1.27251275e-01 7.95546497e+01] [-3.37473165e-01 9.40233664e-01 -4.55249309e-02 -5.46588821e+00] [-1.35148517e-01 -5.33642366e-04 9.90825208e-01 -9.00705372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters 0.029214980948496474 Centerline is valid? [True, True] Translation: X:79.61, Y:-5.49, Z:-9.01 [[ 9.32596760e-01 3.38772885e-01 1.24483794e-01 7.96127597e+01] [-3.35823144e-01 9.40868158e-01 -4.46085739e-02 -5.48749996e+00] [-1.32235013e-01 -2.02727545e-04 9.91218372e-01 -9.01283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters 0.029264679719520494 Centerline is valid? [True, True] Translation: X:79.67, Y:-5.51, Z:-9.02 [[ 9.33843806e-01 3.35597004e-01 1.23735187e-01 7.96720635e+01] [-3.32645991e-01 9.42005602e-01 -4.44082234e-02 -5.50732462e+00] [-1.31462506e-01 3.10330334e-04 9.91321095e-01 -9.01950864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters 0.02912664322770788 Centerline is valid? [True, True] Translation: X:79.73, Y:-5.53, Z:-9.03 [[ 9.33985531e-01 3.34519732e-01 1.25569010e-01 7.97298129e+01] [-3.31460110e-01 9.42388590e-01 -4.51435557e-02 -5.52817843e+00] [-1.33436212e-01 5.42309953e-04 9.91057255e-01 -9.02723895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters 0.029393950471014643 Centerline is valid? [True, True] Translation: X:79.79, Y:-5.55, Z:-9.03 [[ 9.34300811e-01 3.32975646e-01 1.27315408e-01 7.97873187e+01] [-3.29806116e-01 9.42935053e-01 -4.58411609e-02 -5.54963229e+00] [-1.35314151e-01 8.40033604e-04 9.90802389e-01 -9.03364214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters 0.029204756782009504 Centerline is valid? [True, True] Translation: X:79.85, Y:-5.57, Z:-9.04 [[ 9.34597005e-01 3.32767290e-01 1.25675653e-01 7.98454637e+01] [-3.29668424e-01 9.43008526e-01 -4.53172150e-02 -5.57012098e+00] [-1.33593299e-01 9.22038887e-04 9.91035812e-01 -9.03981311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters 0.029196436015386455 Centerline is valid? [True, True] Translation: X:79.90, Y:-5.59, Z:-9.05 [[ 9.34462196e-01 3.33670306e-01 1.24276030e-01 7.99038148e+01] [-3.30639558e-01 9.42689456e-01 -4.48784183e-02 -5.59016475e+00] [-1.32128298e-01 8.46613817e-04 9.91232261e-01 -9.04655203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters 0.029171678825604657 Centerline is valid? [True, True] Translation: X:79.96, Y:-5.61, Z:-9.05 [[ 9.34774530e-01 3.32481239e-01 1.25111166e-01 7.99629026e+01] [-3.29389733e-01 9.43109244e-01 -4.52477319e-02 -5.60702041e+00] [-1.33037519e-01 1.08609383e-03 9.91110407e-01 -9.05361457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters 0.02895250687884242 Centerline is valid? [True, True] Translation: X:80.02, Y:-5.63, Z:-9.06 [[ 9.35028842e-01 3.32284955e-01 1.23724586e-01 8.00216592e+01] [-3.29251464e-01 9.43178325e-01 -4.48120514e-02 -5.62690540e+00] [-1.31584718e-01 1.16405950e-03 9.91304245e-01 -9.06031233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters 0.029184266471687266 Centerline is valid? [True, True] Translation: X:80.08, Y:-5.65, Z:-9.07 [[ 9.35179253e-01 3.31804715e-01 1.23876532e-01 8.00809956e+01] [-3.28750582e-01 9.43347204e-01 -4.49344721e-02 -5.64615262e+00] [-1.31768050e-01 1.29730406e-03 9.91279727e-01 -9.06802021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters 0.029163019909383695 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.67, Z:-9.08 [[ 9.34620452e-01 3.33039420e-01 1.24777222e-01 8.01405421e+01] [-3.29941110e-01 9.42912134e-01 -4.53384086e-02 -5.66623332e+00] [-1.32753434e-01 1.20506899e-03 9.91148361e-01 -9.07681171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters 0.029027076638343675 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.68, Z:-9.08 [[ 9.34350182e-01 3.33855236e-01 1.24621097e-01 8.02010014e+01] [-3.30761800e-01 9.42623645e-01 -4.53574195e-02 -5.68305599e+00] [-1.32613605e-01 1.15981472e-03 9.91167134e-01 -9.08361400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters 0.02914504532526771 Centerline is valid? [True, True] Translation: X:80.26, Y:-5.70, Z:-9.09 [[ 9.33233528e-01 3.35701413e-01 1.27983374e-01 8.02602759e+01] [-3.32444527e-01 9.41967923e-01 -4.66590668e-02 -5.69919067e+00] [-1.36219748e-01 9.96433310e-04 9.90678145e-01 -9.09102259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters 0.029191593490527808 Centerline is valid? [True, True] Translation: X:80.32, Y:-5.71, Z:-9.10 [[ 9.33525937e-01 3.36137578e-01 1.24662964e-01 8.03203849e+01] [-3.33043923e-01 9.41812399e-01 -4.55098916e-02 -5.71458830e+00] [-1.32706710e-01 9.66421716e-04 9.91154880e-01 -9.09924343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters 0.029434693319981012 Centerline is valid? [True, True] Translation: X:80.38, Y:-5.73, Z:-9.10 [[ 9.34268629e-01 3.32677515e-01 1.28326922e-01 8.03799926e+01] [-3.29356226e-01 9.43039347e-01 -4.69176476e-02 -5.73186600e+00] [-1.36625784e-01 1.56841553e-03 9.90621489e-01 -9.10415473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters 0.029651808258330952 Centerline is valid? [True, True] Translation: X:80.44, Y:-5.75, Z:-9.11 [[ 9.35058821e-01 3.30007332e-01 1.29461045e-01 8.04393681e+01] [-3.26591662e-01 9.43976160e-01 -4.74014346e-02 -5.74832494e+00] [-1.37850961e-01 2.04223159e-03 9.90450878e-01 -9.11096839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters 0.029856538842003642 Centerline is valid? [True, True] Translation: X:80.50, Y:-5.77, Z:-9.12 [[ 9.36119326e-01 3.27313256e-01 1.28633741e-01 8.04968846e+01] [-3.23906703e-01 9.44912613e-01 -4.71656917e-02 -5.77035161e+00] [-1.36985600e-01 2.48738474e-03 9.90569916e-01 -9.11786568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters 0.029926059809667643 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.79, Z:-9.13 [[ 9.36550069e-01 3.25894228e-01 1.29100429e-01 8.05562900e+01] [-3.22440021e-01 9.45402181e-01 -4.74041003e-02 -5.78692717e+00] [-1.37500550e-01 2.76916829e-03 9.90497820e-01 -9.12513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters 0.029971618739082575 Centerline is valid? [True, True] Translation: X:80.61, Y:-5.81, Z:-9.13 [[ 9.37859941e-01 3.23685271e-01 1.25086273e-01 8.06130320e+01] [-3.20415513e-01 9.46159874e-01 -4.59933863e-02 -5.81205539e+00] [-1.33238994e-01 3.05577210e-03 9.91079226e-01 -9.13211323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters 0.03019820881594642 Centerline is valid? [True, True] Translation: X:80.67, Y:-5.84, Z:-9.14 [[ 9.37411056e-01 3.24083544e-01 1.27398465e-01 8.06703162e+01] [-3.20685615e-01 9.46023321e-01 -4.69106864e-02 -5.83587467e+00] [-1.35724901e-01 3.11974087e-03 9.90741651e-01 -9.13960075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters 0.030073805750894453 Centerline is valid? [True, True] Translation: X:80.73, Y:-5.86, Z:-9.15 [[ 9.37304548e-01 3.25163134e-01 1.25415792e-01 8.07274629e+01] [-3.21871713e-01 9.45653252e-01 -4.62442127e-02 -5.85872599e+00] [-1.33636765e-01 2.97711514e-03 9.91025909e-01 -9.14702278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters 0.029349682231145754 Centerline is valid? [True, True] Translation: X:80.78, Y:-5.89, Z:-9.15 [[ 9.35961883e-01 3.29673854e-01 1.23654772e-01 8.07835786e+01] [-3.26505942e-01 9.44091944e-01 -4.56538234e-02 -5.88596577e+00] [-1.31792346e-01 2.35622064e-03 9.91274546e-01 -9.15458711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters 0.02915611970324716 Centerline is valid? [True, True] Translation: X:80.84, Y:-5.92, Z:-9.16 [[ 9.33583671e-01 3.35978468e-01 1.24659530e-01 8.08386602e+01] [-3.32809095e-01 9.41868445e-01 -4.60645147e-02 -5.91539352e+00] [-1.32889563e-01 1.51725346e-03 9.91129690e-01 -9.16200578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters 0.029040856201591452 Centerline is valid? [True, True] Translation: X:80.89, Y:-5.94, Z:-9.17 [[ 9.31264471e-01 3.41655230e-01 1.26562980e-01 8.08944367e+01] [-3.38430484e-01 9.39825030e-01 -4.68371669e-02 -5.94444468e+00] [-1.34949219e-01 7.85019032e-04 9.90852205e-01 -9.16943834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters 0.029058012845811085 Centerline is valid? [True, True] Translation: X:80.95, Y:-5.97, Z:-9.18 [[ 9.29111683e-01 3.47159017e-01 1.27405244e-01 8.09514058e+01] [-3.43931518e-01 9.37806277e-01 -4.72281467e-02 -5.97204396e+00] [-1.35877115e-01 6.15437160e-05 9.90725697e-01 -9.17699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters 0.028995662643388757 Centerline is valid? [True, True] Translation: X:81.01, Y:-6.00, Z:-9.19 [[ 9.27245032e-01 3.52716716e-01 1.25728154e-01 8.10063602e+01] [-3.49614409e-01 9.35729913e-01 -4.66829222e-02 -5.99926362e+00] [-1.34113442e-01 -6.69866521e-04 9.90965759e-01 -9.18696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters 0.029024207594880554 Centerline is valid? [True, True] Translation: X:81.06, Y:-6.03, Z:-9.19 [[ 9.25893949e-01 3.57150398e-01 1.23142150e-01 8.10628504e+01] [-3.54205215e-01 9.34046090e-01 -4.57882843e-02 -6.02645096e+00] [-1.31373748e-01 -1.22249637e-03 9.91332156e-01 -9.19066547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters 0.029344998005575246 Centerline is valid? [True, True] Translation: X:81.12, Y:-6.05, Z:-9.20 [[ 9.24087703e-01 3.60821564e-01 1.25975064e-01 8.11203898e+01] [-3.57763327e-01 9.32633283e-01 -4.69101483e-02 -6.04974151e+00] [-1.34414730e-01 -1.72016678e-03 9.90923671e-01 -9.19814554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters 0.0298629728451177 Centerline is valid? [True, True] Translation: X:81.18, Y:-6.07, Z:-9.20 [[ 9.21918730e-01 3.66195164e-01 1.26360429e-01 8.11790000e+01] [-3.63159079e-01 9.30534853e-01 -4.71208129e-02 -6.07011059e+00] [-1.34838197e-01 -2.44737717e-03 9.90864608e-01 -9.20483489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters 0.02973191936915563 Centerline is valid? [True, True] Translation: X:81.24, Y:-6.09, Z:-9.21 [[ 9.21884478e-01 3.66711251e-01 1.25107423e-01 8.12375804e+01] [-3.63731287e-01 9.30331620e-01 -4.67186079e-02 -6.08990870e+00] [-1.33523631e-01 -2.43632462e-03 9.91042635e-01 -9.21269901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters 0.0295851628491655 Centerline is valid? [True, True] Translation: X:81.30, Y:-6.11, Z:-9.22 [[ 9.22628777e-01 3.64854218e-01 1.25050146e-01 8.12962834e+01] [-3.61851212e-01 9.31062279e-01 -4.67625093e-02 -6.10855314e+00] [-1.33490973e-01 -2.10511012e-03 9.91047793e-01 -9.21974825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters 0.029131777890936194 Centerline is valid? [True, True] Translation: X:81.36, Y:-6.13, Z:-9.23 [[ 9.25773776e-01 3.55755553e-01 1.27987901e-01 8.13556607e+01] [-3.52512865e-01 9.34578745e-01 -4.79296301e-02 -6.12662593e+00] [-1.36666004e-01 -7.45386820e-04 9.90616903e-01 -9.22738406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters 0.02898981241960773 Centerline is valid? [True, True] Translation: X:81.41, Y:-6.15, Z:-9.24 [[ 9.29077171e-01 3.47572677e-01 1.26526065e-01 8.14126046e+01] [-3.44319104e-01 9.37652903e-01 -4.74488025e-02 -6.14981541e+00] [-1.35129439e-01 5.18257816e-04 9.90827819e-01 -9.23720299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters 0.028863458621546264 Centerline is valid? [True, True] Translation: X:81.47, Y:-6.17, Z:-9.24 [[ 9.30031134e-01 3.45858629e-01 1.24192991e-01 8.14712710e+01] [-3.42700393e-01 9.38286280e-01 -4.66400885e-02 -6.17001105e+00] [-1.32659457e-01 8.15747629e-04 9.91161341e-01 -9.24392470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters 0.02889980864045631 Centerline is valid? [True, True] Translation: X:81.53, Y:-6.19, Z:-9.25 [[ 9.28450030e-01 3.49642346e-01 1.25422375e-01 8.15289212e+01] [-3.46445789e-01 9.36883189e-01 -4.71720713e-02 -6.19472587e+00] [-1.33999469e-01 3.44857202e-04 9.90981344e-01 -9.25032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters 0.029125014703880025 Centerline is valid? [True, True] Translation: X:81.59, Y:-6.22, Z:-9.26 [[ 9.26404064e-01 3.55274931e-01 1.24720622e-01 8.15857360e+01] [-3.52154408e-01 9.34761771e-01 -4.69862092e-02 -6.22027259e+00] [-1.33277091e-01 -3.92701477e-04 9.91078737e-01 -9.25778367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters 0.02907364193400945 Centerline is valid? [True, True] Translation: X:81.64, Y:-6.24, Z:-9.27 [[ 9.25372870e-01 3.57201646e-01 1.26854386e-01 8.16434823e+01] [-3.53980137e-01 9.34027096e-01 -4.78690568e-02 -6.24296213e+00] [-1.35584340e-01 -6.07206625e-04 9.90765622e-01 -9.26582211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters 0.029000597537135846 Centerline is valid? [True, True] Translation: X:81.70, Y:-6.26, Z:-9.27 [[ 9.25216449e-01 3.58012253e-01 1.25705005e-01 8.17020733e+01] [-3.54847395e-01 9.33716658e-01 -4.75029422e-02 -6.26218697e+00] [-1.34379493e-01 -6.55590149e-04 9.90929726e-01 -9.27093525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters 0.028965370199662065 Centerline is valid? [True, True] Translation: X:81.76, Y:-6.28, Z:-9.28 [[ 9.24905855e-01 3.59899653e-01 1.22561815e-01 8.17601002e+01] [-3.56899659e-01 9.32990635e-01 -4.63800403e-02 -6.28162902e+00] [-1.31041186e-01 -8.45099130e-04 9.91376565e-01 -9.27969931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters 0.029284735464651157 Centerline is valid? [True, True] Translation: X:81.82, Y:-6.30, Z:-9.28 [[ 9.23896701e-01 3.62027478e-01 1.23899114e-01 8.18182784e+01] [-3.58971356e-01 9.32166779e-01 -4.69538195e-02 -6.30178880e+00] [-1.32493211e-01 -1.09575397e-03 9.91183307e-01 -9.28475742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters 0.029238425618340107 Centerline is valid? [True, True] Translation: X:81.88, Y:-6.32, Z:-9.29 [[ 9.24001182e-01 3.62010325e-01 1.23167934e-01 8.18769399e+01] [-3.58981215e-01 9.32173523e-01 -4.67440841e-02 -6.32258946e+00] [-1.31735728e-01 -1.02338569e-03 9.91284344e-01 -9.29107516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters 0.029057751065665383 Centerline is valid? [True, True] Translation: X:81.93, Y:-6.34, Z:-9.30 [[ 9.25283647e-01 3.58840786e-01 1.22814751e-01 8.19348635e+01] [-3.55791430e-01 9.33398650e-01 -4.66842397e-02 -6.34423156e+00] [-1.31387332e-01 -5.00272396e-04 9.91330983e-01 -9.29963222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters 0.02887915448801162 Centerline is valid? [True, True] Translation: X:81.99, Y:-6.36, Z:-9.31 [[ 9.26847037e-01 3.54110890e-01 1.24739917e-01 8.19930192e+01] [-3.50912742e-01 9.35203411e-01 -4.74850201e-02 -6.36418340e+00] [-1.33472159e-01 2.38523852e-04 9.91052534e-01 -9.30724116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters 0.028918758504774295 Centerline is valid? [True, True] Translation: X:82.05, Y:-6.39, Z:-9.31 [[ 9.27554147e-01 3.52476020e-01 1.24112691e-01 8.20517125e+01] [-3.49286306e-01 9.35820692e-01 -4.73149923e-02 -6.38763874e+00] [-1.32824624e-01 5.36353982e-04 9.91139411e-01 -9.31308891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters 0.02888148416569128 Centerline is valid? [True, True] Translation: X:82.11, Y:-6.41, Z:-9.32 [[ 9.26442009e-01 3.55184128e-01 1.24697390e-01 8.21087459e+01] [-3.51978001e-01 9.34796334e-01 -4.76161872e-02 -6.41294515e+00] [-1.33479177e-01 2.22898271e-04 9.91051593e-01 -9.32158408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters 0.028716462023183103 Centerline is valid? [True, True] Translation: X:82.17, Y:-6.44, Z:-9.33 [[ 9.25469190e-01 3.58017257e-01 1.23816083e-01 8.21654220e+01] [-3.54871587e-01 9.33714962e-01 -4.73553164e-02 -6.43720572e+00] [-1.32562950e-01 -1.12923505e-04 9.91174582e-01 -9.32710870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters 0.028807013238559744 Centerline is valid? [True, True] Translation: X:82.22, Y:-6.46, Z:-9.33 [[ 9.23716055e-01 3.62254879e-01 1.24579506e-01 8.22218375e+01] [-3.59099212e-01 9.32078841e-01 -4.77157165e-02 -6.46307677e+00] [-1.33403173e-01 -6.60628971e-04 9.91061631e-01 -9.33299808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters 0.028859919827363908 Centerline is valid? [True, True] Translation: X:82.28, Y:-6.49, Z:-9.34 [[ 9.23053044e-01 3.64151719e-01 1.23962107e-01 8.22798171e+01] [-3.61035247e-01 9.31339238e-01 -4.75476007e-02 -6.48696016e+00] [-1.32765315e-01 -8.65732346e-04 9.91147124e-01 -9.34063831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters 0.028879598459202356 Centerline is valid? [True, True] Translation: X:82.34, Y:-6.51, Z:-9.35 [[ 9.23101689e-01 3.63459299e-01 1.25620896e-01 8.23373227e+01] [-3.60241573e-01 9.31609812e-01 -4.82614379e-02 -6.50944480e+00] [-1.34570728e-01 -7.03654429e-04 9.90903741e-01 -9.34782244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters 0.028759507880084446 Centerline is valid? [True, True] Translation: X:82.39, Y:-6.54, Z:-9.35 [[ 9.23739339e-01 3.61857994e-01 1.25556464e-01 8.23939935e+01] [-3.58619452e-01 9.32233140e-01 -4.83059052e-02 -6.53511663e+00] [-1.34527774e-01 -4.04925282e-04 9.90909741e-01 -9.35494581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters 0.028609241631798368 Centerline is valid? [True, True] Translation: X:82.45, Y:-6.56, Z:-9.36 [[ 9.23942066e-01 3.61217155e-01 1.25909595e-01 8.24520038e+01] [-3.57943734e-01 9.32481694e-01 -4.85198316e-02 -6.55934435e+00] [-1.34934588e-01 -2.39037257e-04 9.90854480e-01 -9.36347440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters 0.02886924563324746 Centerline is valid? [True, True] Translation: X:82.51, Y:-6.59, Z:-9.37 [[ 9.23465979e-01 3.62030918e-01 1.27059832e-01 8.25081940e+01] [-3.58694062e-01 9.32166043e-01 -4.90411915e-02 -6.58520882e+00] [-1.36195289e-01 -2.87735452e-04 9.90681967e-01 -9.37130312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters 0.028687910564313274 Centerline is valid? [True, True] Translation: X:82.56, Y:-6.61, Z:-9.38 [[ 9.22717851e-01 3.64638751e-01 1.25021394e-01 8.25642834e+01] [-3.61423305e-01 9.31148873e-01 -4.83215413e-02 -6.60979286e+00] [-1.34033437e-01 -5.98496874e-04 9.90976629e-01 -9.37954310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters 0.02867079757528744 Centerline is valid? [True, True] Translation: X:82.62, Y:-6.64, Z:-9.38 [[ 9.21779752e-01 3.67612596e-01 1.23219591e-01 8.26204475e+01] [-3.64507214e-01 9.29978532e-01 -4.76908984e-02 -6.63720367e+00] [-1.32123349e-01 -9.53925315e-04 9.91232824e-01 -9.38485787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters 0.029091341524960408 Centerline is valid? [True, True] Translation: X:82.68, Y:-6.66, Z:-9.39 [[ 9.20493261e-01 3.69914694e-01 1.25917734e-01 8.26789747e+01] [-3.66683143e-01 9.29064886e-01 -4.88048102e-02 -6.65752718e+00] [-1.35039362e-01 -1.24741155e-03 9.90839450e-01 -9.39030897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters 0.02896755038325449 Centerline is valid? [True, True] Translation: X:82.74, Y:-6.68, Z:-9.40 [[ 9.20944204e-01 3.69841612e-01 1.22796395e-01 8.27370200e+01] [-3.66759479e-01 9.29094115e-01 -4.76614054e-02 -6.67912157e+00] [-1.31716579e-01 -1.14324675e-03 9.91286758e-01 -9.39746508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters 0.029039380118730928 Centerline is valid? [True, True] Translation: X:82.80, Y:-6.70, Z:-9.40 [[ 9.22011849e-01 3.67574405e-01 1.21586213e-01 8.27958418e+01] [-3.64524557e-01 9.29993815e-01 -4.72583403e-02 -6.69948959e+00] [-1.30445383e-01 -7.48410862e-04 9.91455214e-01 -9.40407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters 0.029160128061481008 Centerline is valid? [True, True] Translation: X:82.86, Y:-6.72, Z:-9.41 [[ 9.22923442e-01 3.65203210e-01 1.21815167e-01 8.28559270e+01] [-3.62112102e-01 9.30927760e-01 -4.74165735e-02 -6.71801654e+00] [-1.30717806e-01 -3.48879097e-04 9.91419555e-01 -9.41056772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters 0.029307435876692194 Centerline is valid? [True, True] Translation: X:82.92, Y:-6.74, Z:-9.42 [[ 9.23152292e-01 3.64722545e-01 1.21520824e-01 8.29154277e+01] [-3.61632107e-01 9.31116224e-01 -4.73792968e-02 -6.73753163e+00] [-1.30430309e-01 -2.07525286e-04 9.91457458e-01 -9.41919659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters 0.02940001320240676 Centerline is valid? [True, True] Translation: X:82.97, Y:-6.76, Z:-9.43 [[ 9.23428107e-01 3.64269905e-01 1.20780659e-01 8.29749511e+01] [-3.61203214e-01 9.31293419e-01 -4.71678538e-02 -6.75757555e+00] [-1.29664063e-01 -7.02404063e-05 9.91557979e-01 -9.42535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters 0.02964996216632682 Centerline is valid? [True, True] Translation: X:83.03, Y:-6.78, Z:-9.43 [[ 9.23429159e-01 3.64581008e-01 1.19830202e-01 8.30344031e+01] [-3.61555433e-01 9.31171674e-01 -4.68719753e-02 -6.77667334e+00] [-1.28671122e-01 -4.23118584e-05 9.91687320e-01 -9.43183296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters 0.02951189372056897 Centerline is valid? [True, True] Translation: X:83.09, Y:-6.79, Z:-9.44 [[ 9.22588843e-01 3.66374604e-01 1.20828290e-01 8.30947542e+01] [-3.63303441e-01 9.30467409e-01 -4.73393073e-02 -6.79305604e+00] [-1.29770706e-01 -2.22616745e-04 9.91544005e-01 -9.44042545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters 0.029522660609871288 Centerline is valid? [True, True] Translation: X:83.15, Y:-6.81, Z:-9.45 [[ 9.21929274e-01 3.68271873e-01 1.20092634e-01 8.31529961e+01] [-3.65244329e-01 9.29718051e-01 -4.71266957e-02 -6.81483982e+00] [-1.29007726e-01 -4.15673140e-04 9.91643501e-01 -9.44681946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters 0.02982785763426004 Centerline is valid? [True, True] Translation: X:83.21, Y:-6.84, Z:-9.45 [[ 9.20468043e-01 3.71736983e-01 1.20624199e-01 8.32114522e+01] [-3.68702038e-01 9.28337719e-01 -4.74118823e-02 -6.83605037e+00] [-1.29604744e-01 -8.33265353e-04 9.91565387e-01 -9.45369633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters 0.029922766760300142 Centerline is valid? [True, True] Translation: X:83.27, Y:-6.86, Z:-9.46 [[ 9.19355295e-01 3.74625265e-01 1.20173843e-01 8.32701795e+01] [-3.71627777e-01 9.27175578e-01 -4.73100623e-02 -6.85702865e+00] [-1.29145797e-01 -1.16518182e-03 9.91624932e-01 -9.46108326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters 0.03014631804179111 Centerline is valid? [True, True] Translation: X:83.33, Y:-6.87, Z:-9.47 [[ 9.17473397e-01 3.78501836e-01 1.22388425e-01 8.33294711e+01] [-3.75416539e-01 9.25599032e-01 -4.82582063e-02 -6.87465714e+00] [-1.31548427e-01 -1.67101837e-03 9.91308337e-01 -9.46851240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters 0.030264895152139256 Centerline is valid? [True, True] Translation: X:83.39, Y:-6.89, Z:-9.47 [[ 9.16446602e-01 3.80623789e-01 1.23495578e-01 8.33881010e+01] [-3.77492386e-01 9.24727961e-01 -4.87616344e-02 -6.89349569e+00] [-1.32759652e-01 -1.93120612e-03 9.91146379e-01 -9.47416947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters 0.029901843619263378 Centerline is valid? [True, True] Translation: X:83.45, Y:-6.91, Z:-9.48 [[ 9.17782484e-01 3.77694748e-01 1.22564228e-01 8.34485984e+01] [-3.74576389e-01 9.25929052e-01 -4.84553385e-02 -6.90797724e+00] [-1.31787106e-01 -1.43820483e-03 9.91277000e-01 -9.48226101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters 0.029497405516106807 Centerline is valid? [True, True] Translation: X:83.51, Y:-6.92, Z:-9.49 [[ 9.19475472e-01 3.74146159e-01 1.20745638e-01 8.35096595e+01] [-3.71081074e-01 9.27369355e-01 -4.78007890e-02 -6.92216456e+00] [-1.29860286e-01 -8.54768047e-04 9.91531934e-01 -9.48813790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters 0.029540223707091834 Centerline is valid? [True, True] Translation: X:83.57, Y:-6.94, Z:-9.50 [[ 9.21616298e-01 3.68408396e-01 1.22060036e-01 8.35712680e+01] [-3.65216670e-01 9.29664054e-01 -4.83893607e-02 -6.93590219e+00] [-1.31301875e-01 1.80634327e-05 9.91342432e-01 -9.49615318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters 0.029635366434707 Centerline is valid? [True, True] Translation: X:83.63, Y:-6.96, Z:-9.50 [[ 9.24205992e-01 3.62329517e-01 1.20667337e-01 8.36302481e+01] [-3.59148866e-01 9.32049586e-01 -4.79130644e-02 -6.95548010e+00] [-1.29828259e-01 9.44004018e-04 9.91536047e-01 -9.50382758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters 0.03001646139609119 Centerline is valid? [True, True] Translation: X:83.69, Y:-6.97, Z:-9.51 [[ 9.27906489e-01 3.52976559e-01 1.19987905e-01 8.36891181e+01] [-3.49743917e-01 9.35629307e-01 -4.77178354e-02 -6.97411673e+00] [-1.29107478e-01 2.31264903e-03 9.91627909e-01 -9.51132681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters 0.030284271697251394 Centerline is valid? [True, True] Translation: X:83.75, Y:-7.00, Z:-9.52 [[ 9.28350951e-01 3.51407824e-01 1.21148886e-01 8.37469755e+01] [-3.48090042e-01 9.36218824e-01 -4.82455751e-02 -6.99633012e+00] [-1.30375741e-01 2.61810450e-03 9.91461200e-01 -9.51941203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters 0.03054842623697876 Centerline is valid? [True, True] Translation: X:83.81, Y:-7.02, Z:-9.53 [[ 9.28551393e-01 3.49961927e-01 1.23769788e-01 8.38053699e+01] [-3.46476490e-01 9.36759289e-01 -4.93566258e-02 -7.01731987e+00] [-1.33215439e-01 2.94684192e-03 9.91082723e-01 -9.52591950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters 0.030675592401515402 Centerline is valid? [True, True] Translation: X:83.86, Y:-7.04, Z:-9.53 [[ 9.28808168e-01 3.48588691e-01 1.25703268e-01 8.38612116e+01] [-3.44971148e-01 9.37270137e-01 -5.01955987e-02 -7.04346566e+00] [-1.35315538e-01 3.25808126e-03 9.90797199e-01 -9.53397312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters 0.030729301509224174 Centerline is valid? [True, True] Translation: X:83.92, Y:-7.07, Z:-9.54 [[ 9.29395221e-01 3.47424308e-01 1.24582796e-01 8.39190680e+01] [-3.43851877e-01 9.37701649e-01 -4.98147056e-02 -7.06763359e+00] [-1.34128333e-01 3.45952116e-03 9.90957932e-01 -9.54024200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters 0.03098705930353978 Centerline is valid? [True, True] Translation: X:83.97, Y:-7.10, Z:-9.55 [[ 9.30415831e-01 3.45252004e-01 1.22993638e-01 8.39735224e+01] [-3.41742173e-01 9.38502360e-01 -4.92504481e-02 -7.09634886e+00] [-1.32433635e-01 3.79128360e-03 9.91184624e-01 -9.54754676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters 0.03069926254604166 Centerline is valid? [True, True] Translation: X:84.03, Y:-7.13, Z:-9.55 [[ 9.29240414e-01 3.47002648e-01 1.26891351e-01 8.40283199e+01] [-3.43272956e-01 9.37856782e-01 -5.08756769e-02 -7.12613210e+00] [-1.36659909e-01 3.71736586e-03 9.90611049e-01 -9.55400725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters 0.029598103976311137 Centerline is valid? [True, True] Translation: X:84.08, Y:-7.15, Z:-9.56 [[ 9.26176426e-01 3.55050105e-01 1.27030117e-01 8.40827832e+01] [-3.51379180e-01 9.34843685e-01 -5.09897605e-02 -7.15480637e+00] [-1.36857222e-01 2.58977583e-03 9.90587398e-01 -9.56174564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters 0.029214394912718603 Centerline is valid? [True, True] Translation: X:84.14, Y:-7.19, Z:-9.57 [[ 9.22724230e-01 3.63634106e-01 1.27868031e-01 8.41364693e+01] [-3.59992654e-01 9.31540881e-01 -5.13505280e-02 -7.18638621e+00] [-1.37787101e-01 1.35082461e-03 9.90460948e-01 -9.56926096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters 0.02911549383093113 Centerline is valid? [True, True] Translation: X:84.19, Y:-7.22, Z:-9.58 [[ 9.20419663e-01 3.69819898e-01 1.26731557e-01 8.41913413e+01] [-3.66291849e-01 9.29103334e-01 -5.09634736e-02 -7.21590649e+00] [-1.36594019e-01 4.87046816e-04 9.90626992e-01 -9.57684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters 0.029214277847313005 Centerline is valid? [True, True] Translation: X:84.25, Y:-7.24, Z:-9.59 [[ 9.17689917e-01 3.76800491e-01 1.25962720e-01 8.42466626e+01] [-3.73370992e-01 9.26294315e-01 -5.07241964e-02 -7.24283204e+00] [-1.35791454e-01 -4.81742289e-04 9.90737326e-01 -9.58553202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters 0.029871453252156586 Centerline is valid? [True, True] Translation: X:84.30, Y:-7.27, Z:-9.59 [[ 9.14067243e-01 3.84558281e-01 1.28825474e-01 8.43022555e+01] [-3.81036551e-01 9.23099325e-01 -5.19498154e-02 -7.27009679e+00] [-1.38896439e-01 -1.60158968e-03 9.90305616e-01 -9.59249681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters 0.030229104199074347 Centerline is valid? [True, True] Translation: X:84.36, Y:-7.30, Z:-9.60 [[ 9.12031545e-01 3.89748866e-01 1.27649057e-01 8.43582686e+01] [-3.86332428e-01 9.20918295e-01 -5.15436680e-02 -7.29517953e+00] [-1.37643438e-01 -2.30551887e-03 9.90479161e-01 -9.59841602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters 0.030870470892639897 Centerline is valid? [True, True] Translation: X:84.42, Y:-7.32, Z:-9.61 [[ 9.09420130e-01 3.95342304e-01 1.29071643e-01 8.44164344e+01] [-3.91895614e-01 9.18528547e-01 -5.21836701e-02 -7.31559207e+00] [-1.39186401e-01 -3.12573089e-03 9.90261266e-01 -9.60607113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters 0.031164360392830968 Centerline is valid? [True, True] Translation: X:84.47, Y:-7.34, Z:-9.61 [[ 9.08367948e-01 3.98212563e-01 1.27649617e-01 8.44743986e+01] [-3.94860562e-01 9.17286629e-01 -5.16756822e-02 -7.33745005e+00] [-1.37669193e-01 -3.46326601e-03 9.90472210e-01 -9.61239553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters 0.03068225795947918 Centerline is valid? [True, True] Translation: X:84.54, Y:-7.35, Z:-9.62 [[ 9.08722271e-01 3.97806509e-01 1.26387561e-01 8.45356517e+01] [-3.94507727e-01 9.17463378e-01 -5.12308802e-02 -7.35147102e+00] [-1.36335937e-01 -3.30622777e-03 9.90657146e-01 -9.62009113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters 0.030456936962684807 Centerline is valid? [True, True] Translation: X:84.60, Y:-7.37, Z:-9.63 [[ 9.09058932e-01 3.96571527e-01 1.27839282e-01 8.45957500e+01] [-3.93174403e-01 9.17998614e-01 -5.18886641e-02 -7.36883237e+00] [-1.37933851e-01 -3.09327987e-03 9.90436613e-01 -9.62848049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters 0.029595705021270846 Centerline is valid? [True, True] Translation: X:84.66, Y:-7.38, Z:-9.64 [[ 9.10737769e-01 3.92893976e-01 1.27244017e-01 8.46575320e+01] [-3.89482387e-01 9.19580503e-01 -5.17220423e-02 -7.38154612e+00] [-1.37332396e-01 -2.45408603e-03 9.90521979e-01 -9.63548484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters 0.029171004973001017 Centerline is valid? [True, True] Translation: X:84.72, Y:-7.40, Z:-9.64 [[ 9.12073801e-01 3.89681527e-01 1.27552688e-01 8.47170072e+01] [-3.86212520e-01 9.20947693e-01 -5.19156668e-02 -7.39958828e+00] [-1.37699930e-01 -1.91152532e-03 9.90472148e-01 -9.64357091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters 0.028817251074093896 Centerline is valid? [True, True] Translation: X:84.78, Y:-7.42, Z:-9.65 [[ 9.14577096e-01 3.83090330e-01 1.29578293e-01 8.47765268e+01] [-3.79433727e-01 9.23710479e-01 -5.28109712e-02 -7.41710695e+00] [-1.39924200e-01 -8.66670001e-04 9.90161839e-01 -9.65098752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters 0.028455948531424295 Centerline is valid? [True, True] Translation: X:84.84, Y:-7.44, Z:-9.66 [[ 9.17171117e-01 3.76764271e-01 1.29791470e-01 8.48370675e+01] [-3.73022007e-01 9.26309158e-01 -5.29710002e-02 -7.43519029e+00] [-1.40184608e-01 1.68396750e-04 9.90125370e-01 -9.65717434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters 0.028311430041825517 Centerline is valid? [True, True] Translation: X:84.90, Y:-7.46, Z:-9.66 [[ 9.19486002e-01 3.71817575e-01 1.27660419e-01 8.48951782e+01] [-3.68139353e-01 9.28305299e-01 -5.21793927e-02 -7.45669414e+00] [-1.37909059e-01 9.81397162e-04 9.90444410e-01 -9.66430111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters 0.02874217472139408 Centerline is valid? [True, True] Translation: X:84.95, Y:-7.48, Z:-9.67 [[ 9.20863136e-01 3.67374195e-01 1.30565254e-01 8.49514749e+01] [-3.63470952e-01 9.30071571e-01 -5.34391274e-02 -7.48069113e+00] [-1.41067187e-01 1.75344528e-03 9.89998472e-01 -9.67114533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters 0.028483615043987658 Centerline is valid? [True, True] Translation: X:85.01, Y:-7.51, Z:-9.68 [[ 9.21047279e-01 3.68413123e-01 1.26268287e-01 8.50080153e+01] [-3.64764888e-01 9.29660805e-01 -5.17432623e-02 -7.50522536e+00] [-1.36449574e-01 1.59975365e-03 9.90645726e-01 -9.67921682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters 0.028215831205051223 Centerline is valid? [True, True] Translation: X:85.06, Y:-7.53, Z:-9.68 [[ 9.20283597e-01 3.70429317e-01 1.25937372e-01 8.50641081e+01] [-3.66809643e-01 9.28859660e-01 -5.16760915e-02 -7.53079065e+00] [-1.36120484e-01 1.36161686e-03 9.90691354e-01 -9.68490173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters 0.02820562853548702 Centerline is valid? [True, True] Translation: X:85.12, Y:-7.55, Z:-9.69 [[ 9.19292695e-01 3.72333968e-01 1.27547472e-01 8.51206625e+01] [-3.68629081e-01 9.28098093e-01 -5.24073417e-02 -7.55419906e+00] [-1.37889599e-01 1.15997910e-03 9.90446926e-01 -9.69463197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters 0.02793607613969656 Centerline is valid? [True, True] Translation: X:85.18, Y:-7.58, Z:-9.70 [[ 9.18123150e-01 3.75184070e-01 1.27619726e-01 8.51783473e+01] [-3.71492251e-01 9.26949984e-01 -5.25093752e-02 -7.57780413e+00] [-1.37997784e-01 8.00333881e-04 9.90432214e-01 -9.70192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters 0.027797591001931347 Centerline is valid? [True, True] Translation: X:85.24, Y:-7.60, Z:-9.71 [[ 9.17603106e-01 3.76795894e-01 1.26607240e-01 8.52356134e+01] [-3.73167204e-01 9.26296098e-01 -5.21706413e-02 -7.59997796e+00] [-1.36933476e-01 6.26272498e-04 9.90580048e-01 -9.70860942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters 0.027960439747418225 Centerline is valid? [True, True] Translation: X:85.29, Y:-7.62, Z:-9.72 [[ 9.17333732e-01 3.77072383e-01 1.27731132e-01 8.52924768e+01] [-3.73371373e-01 9.26183560e-01 -5.27051401e-02 -7.62310426e+00] [-1.38176127e-01 6.57054727e-04 9.90407455e-01 -9.71674829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters 0.027829643335982476 Centerline is valid? [True, True] Translation: X:85.35, Y:-7.64, Z:-9.72 [[ 9.18051828e-01 3.75163563e-01 1.28191816e-01 8.53504706e+01] [-3.71407111e-01 9.26958074e-01 -5.29668534e-02 -7.64486486e+00] [-1.38699672e-01 1.01496447e-03 9.90333969e-01 -9.72207652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters 0.02776434067821887 Centerline is valid? [True, True] Translation: X:85.41, Y:-7.67, Z:-9.73 [[ 9.17816995e-01 3.75232749e-01 1.29662435e-01 8.54071268e+01] [-3.71379626e-01 9.26929992e-01 -5.36466637e-02 -7.66868913e+00] [-1.40317985e-01 1.08383297e-03 9.90105898e-01 -9.72959969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters 0.027522763463356803 Centerline is valid? [True, True] Translation: X:85.47, Y:-7.69, Z:-9.74 [[ 9.17200768e-01 3.77273530e-01 1.28091508e-01 8.54657988e+01] [-3.73523648e-01 9.26101506e-01 -5.30668052e-02 -7.68845723e+00] [-1.38646439e-01 8.27707366e-04 9.90341598e-01 -9.73559279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters 0.027322185341246117 Centerline is valid? [True, True] Translation: X:85.52, Y:-7.71, Z:-9.74 [[ 9.17169582e-01 3.77716954e-01 1.27003389e-01 8.55232869e+01] [-3.74025364e-01 9.25920748e-01 -5.26858228e-02 -7.71006195e+00] [-1.37495401e-01 8.19345438e-04 9.90502066e-01 -9.74303815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters 0.027282486331241376 Centerline is valid? [True, True] Translation: X:85.58, Y:-7.73, Z:-9.75 [[ 9.17120031e-01 3.77722795e-01 1.27343387e-01 8.55811976e+01] [-3.74001248e-01 9.25918301e-01 -5.28995870e-02 -7.73369873e+00] [-1.37890953e-01 8.88685086e-04 9.90447018e-01 -9.75085866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters 0.027367098884060425 Centerline is valid? [True, True] Translation: X:85.64, Y:-7.76, Z:-9.76 [[ 9.17907182e-01 3.75836175e-01 1.27253976e-01 8.56393974e+01] [-3.72090600e-01 9.26685284e-01 -5.29430873e-02 -7.75586038e+00] [-1.37822315e-01 1.24683169e-03 9.90456185e-01 -9.75943069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters 0.027545934997351067 Centerline is valid? [True, True] Translation: X:85.70, Y:-7.78, Z:-9.77 [[ 9.18613926e-01 3.73862837e-01 1.27964969e-01 8.56974523e+01] [-3.70044863e-01 9.27482579e-01 -5.33185303e-02 -7.77741675e+00] [-1.38619096e-01 1.62636515e-03 9.90344436e-01 -9.76626886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters 0.027787041893474907 Centerline is valid? [True, True] Translation: X:85.75, Y:-7.80, Z:-9.77 [[ 9.18683068e-01 3.73464244e-01 1.28630782e-01 8.57537669e+01] [-3.69592376e-01 9.27642902e-01 -5.36667621e-02 -7.80185582e+00] [-1.39366049e-01 1.76178935e-03 9.90239365e-01 -9.77269345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters 0.02785935255911735 Centerline is valid? [True, True] Translation: X:85.81, Y:-7.83, Z:-9.78 [[ 9.18472181e-01 3.73077404e-01 1.31233014e-01 8.58107540e+01] [-3.69032023e-01 9.27798221e-01 -5.48254200e-02 -7.82546250e+00] [-1.42211882e-01 1.92643844e-03 9.89834365e-01 -9.77888611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters 0.027738211476449143 Centerline is valid? [True, True] Translation: X:85.87, Y:-7.85, Z:-9.79 [[ 9.18047529e-01 3.75010110e-01 1.28670712e-01 8.58660824e+01] [-3.71131130e-01 9.27019236e-01 -5.38239747e-02 -7.85266255e+00] [-1.39464760e-01 1.65926044e-03 9.90225645e-01 -9.78712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters 0.027585000988173066 Centerline is valid? [True, True] Translation: X:85.92, Y:-7.88, Z:-9.79 [[ 9.15252136e-01 3.80984932e-01 1.31011487e-01 8.59225440e+01] [-3.77012805e-01 9.24580871e-01 -5.48776677e-02 -7.88072996e+00] [-1.42038279e-01 8.33894283e-04 9.89860814e-01 -9.79287858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters 0.027474934033297232 Centerline is valid? [True, True] Translation: X:85.98, Y:-7.91, Z:-9.80 [[ 9.12955450e-01 3.86623636e-01 1.30516322e-01 8.59798450e+01] [-3.82728500e-01 9.22237585e-01 -5.47424119e-02 -7.90530850e+00] [-1.41531768e-01 2.50671888e-05 9.89933714e-01 -9.79929955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters 0.027818686332038125 Centerline is valid? [True, True] Translation: X:86.04, Y:-7.93, Z:-9.81 [[ 9.09754027e-01 3.94098408e-01 1.30514580e-01 8.60369879e+01] [-3.90274636e-01 9.19067586e-01 -5.47766447e-02 -7.92906858e+00] [-1.41539108e-01 -1.10325715e-03 9.89932050e-01 -9.80811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters 0.02768661110797082 Centerline is valid? [True, True] Translation: X:86.09, Y:-7.95, Z:-9.82 [[ 9.10236355e-01 3.93222814e-01 1.29790586e-01 8.60938927e+01] [-3.89422425e-01 9.19442776e-01 -5.45449890e-02 -7.95209468e+00] [-1.40783351e-01 -8.94532904e-04 9.90040023e-01 -9.81521262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters 0.027816624618337456 Centerline is valid? [True, True] Translation: X:86.15, Y:-7.97, Z:-9.83 [[ 9.12423464e-01 3.87763524e-01 1.30854394e-01 8.61519930e+01] [-3.83833662e-01 9.21758889e-01 -5.50660647e-02 -7.97326113e+00] [-1.41968812e-01 1.72484201e-05 9.89871131e-01 -9.82500000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters 0.027896871606979644 Centerline is valid? [True, True] Translation: X:86.21, Y:-7.99, Z:-9.83 [[ 9.14252495e-01 3.82551805e-01 1.33403494e-01 8.62108259e+01] [-3.78399505e-01 9.23933587e-01 -5.62186976e-02 -7.99203215e+00] [-1.44762533e-01 9.18268442e-04 9.89466000e-01 -9.83190237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters 0.027932251222013635 Centerline is valid? [True, True] Translation: X:86.27, Y:-8.02, Z:-9.84 [[ 9.16066661e-01 3.78475125e-01 1.32583757e-01 8.62675922e+01] [-3.74320438e-01 9.25610038e-01 -5.59487873e-02 -8.01984085e+00] [-1.43896080e-01 1.62400887e-03 9.89591472e-01 -9.83758972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters 0.028102354958710933 Centerline is valid? [True, True] Translation: X:86.32, Y:-8.05, Z:-9.85 [[ 9.17556362e-01 3.75799837e-01 1.29864562e-01 8.63228257e+01] [-3.71776857e-01 9.26698537e-01 -5.48797807e-02 -8.04786071e+00] [-1.40969113e-01 2.07465313e-03 9.90011821e-01 -9.84645706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters 0.028599262298428785 Centerline is valid? [True, True] Translation: X:86.38, Y:-8.08, Z:-9.85 [[ 9.18814804e-01 3.72670138e-01 1.29985865e-01 8.63765483e+01] [-3.68598348e-01 9.27960174e-01 -5.50015765e-02 -8.07855275e+00] [-1.41119151e-01 2.62368773e-03 9.89989142e-01 -9.85201883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters 0.0284262228436905 Centerline is valid? [True, True] Translation: X:86.43, Y:-8.10, Z:-9.86 [[ 9.19321594e-01 3.72010184e-01 1.28281836e-01 8.64329195e+01] [-3.68029468e-01 9.28224575e-01 -5.43456410e-02 -8.10296440e+00] [-1.39291485e-01 2.74962550e-03 9.90247606e-01 -9.85979966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters 0.028565031474845126 Centerline is valid? [True, True] Translation: X:86.49, Y:-8.13, Z:-9.87 [[ 9.18366208e-01 3.73658807e-01 1.30317319e-01 8.64864668e+01] [-3.69556331e-01 9.27562558e-01 -5.52794711e-02 -8.13354702e+00] [-1.41533127e-01 2.60720808e-03 9.89930087e-01 -9.86823494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters 0.02857767833796957 Centerline is valid? [True, True] Translation: X:86.54, Y:-8.16, Z:-9.88 [[ 9.17313890e-01 3.75533739e-01 1.32323985e-01 8.65405335e+01] [-3.71311997e-01 9.26805557e-01 -5.62037442e-02 -8.16376973e+00] [-1.43745007e-01 2.42299190e-03 9.89611794e-01 -9.87526624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters 0.028353074448555334 Centerline is valid? [True, True] Translation: X:86.60, Y:-8.19, Z:-9.88 [[ 9.16921717e-01 3.77378734e-01 1.29768470e-01 8.65952480e+01] [-3.73328938e-01 9.26056516e-01 -5.51800047e-02 -8.19413921e+00] [-1.40996698e-01 2.14941944e-03 9.90007733e-01 -9.88277788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters 0.02783407804947044 Centerline is valid? [True, True] Translation: X:86.65, Y:-8.22, Z:-9.89 [[ 9.15074779e-01 3.82392701e-01 1.28117016e-01 8.66511804e+01] [-3.78490012e-01 9.23998857e-01 -5.45107554e-02 -8.22039924e+00] [-1.39224492e-01 1.39040642e-03 9.90259869e-01 -9.88941336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters 0.02788728709858663 Centerline is valid? [True, True] Translation: X:86.71, Y:-8.25, Z:-9.90 [[ 9.12718641e-01 3.87590345e-01 1.29299679e-01 8.67067362e+01] [-3.83656080e-01 9.21831476e-01 -5.50884896e-02 -8.24957360e+00] [-1.40544281e-01 6.73683456e-04 9.90074165e-01 -9.89512913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters 0.02778664005071249 Centerline is valid? [True, True] Translation: X:86.76, Y:-8.28, Z:-9.90 [[ 9.12100096e-01 3.89079537e-01 1.29191827e-01 8.67643860e+01] [-3.85156058e-01 9.21204022e-01 -5.51176985e-02 -8.27506565e+00] [-1.40457199e-01 5.13843215e-04 9.90086618e-01 -9.90276243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters 0.02773693632120855 Centerline is valid? [True, True] Translation: X:86.82, Y:-8.30, Z:-9.91 [[ 9.12184160e-01 3.88940134e-01 1.29017945e-01 8.68218538e+01] [-3.85019480e-01 9.21262850e-01 -5.50886568e-02 -8.30079979e+00] [-1.40285629e-01 5.76578026e-04 9.90110908e-01 -9.90917839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters 0.027886486554106058 Centerline is valid? [True, True] Translation: X:86.88, Y:-8.32, Z:-9.92 [[ 9.12768328e-01 3.87060081e-01 1.30531506e-01 8.68786154e+01] [-3.83015517e-01 9.22054004e-01 -5.58169034e-02 -8.32376745e+00] [-1.41961592e-01 9.52309479e-04 9.89871709e-01 -9.91638585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters 0.02783284132411502 Centerline is valid? [True, True] Translation: X:86.94, Y:-8.35, Z:-9.92 [[ 9.13617399e-01 3.85375654e-01 1.29571808e-01 8.69361306e+01] [-3.81363752e-01 9.22758901e-01 -5.54770051e-02 -8.34816536e+00] [-1.40943026e-01 1.27076620e-03 9.90016893e-01 -9.92458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters 0.028001784877550905 Centerline is valid? [True, True] Translation: X:86.99, Y:-8.37, Z:-9.93 [[ 9.14810390e-01 3.82638399e-01 1.29266417e-01 8.69924829e+01] [-3.78606723e-01 9.23896500e-01 -5.54274913e-02 -8.37360027e+00] [-1.40637476e-01 1.76451050e-03 9.90059587e-01 -9.93045073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters 0.027984552685918464 Centerline is valid? [True, True] Translation: X:87.05, Y:-8.40, Z:-9.94 [[ 9.15495600e-01 3.81174127e-01 1.28740405e-01 8.70496797e+01] [-3.77150499e-01 9.24500990e-01 -5.52758523e-02 -8.39805685e+00] [-1.40090357e-01 2.05029149e-03 9.90136601e-01 -9.93829850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters 0.028228416034649085 Centerline is valid? [True, True] Translation: X:87.10, Y:-8.43, Z:-9.95 [[ 9.15673544e-01 3.81440551e-01 1.26669121e-01 8.71044268e+01] [-3.77537616e-01 9.24391099e-01 -5.44650747e-02 -8.42706986e+00] [-1.37866996e-01 2.04987024e-03 9.90448630e-01 -9.94588012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters 0.027926872134287004 Centerline is valid? [True, True] Translation: X:87.16, Y:-8.45, Z:-9.95 [[ 9.15531064e-01 3.82604856e-01 1.24162774e-01 8.71604080e+01] [-3.78857066e-01 9.23910123e-01 -5.34547264e-02 -8.45303824e+00] [-1.35167282e-01 1.89951843e-03 9.90820972e-01 -9.95048852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters 0.027536122563863032 Centerline is valid? [True, True] Translation: X:87.22, Y:-8.48, Z:-9.96 [[ 9.12563429e-01 3.88703421e-01 1.27034002e-01 8.72173519e+01] [-3.84827682e-01 9.21362286e-01 -5.47648976e-02 -8.47963904e+00] [-1.38331642e-01 1.09024226e-03 9.90385364e-01 -9.95737201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters 0.02763436716409478 Centerline is valid? [True, True] Translation: X:87.27, Y:-8.51, Z:-9.97 [[ 9.09392945e-01 3.95618757e-01 1.28414447e-01 8.72733330e+01] [-3.91714430e-01 9.18414822e-01 -5.54438493e-02 -8.50653416e+00] [-1.39872358e-01 1.18453625e-04 9.90169536e-01 -9.96647282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters 0.02744203727870703 Centerline is valid? [True, True] Translation: X:87.33, Y:-8.53, Z:-9.97 [[ 9.08843845e-01 3.98524740e-01 1.23210786e-01 8.73298985e+01] [-3.94948116e-01 9.17157550e-01 -5.32730165e-02 -8.53024146e+00] [-1.34234318e-01 -2.45014606e-04 9.90949589e-01 -9.97497020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters 0.027594551790861614 Centerline is valid? [True, True] Translation: X:87.39, Y:-8.55, Z:-9.98 [[ 9.08555913e-01 3.98430274e-01 1.25616363e-01 8.73868025e+01] [-3.94701099e-01 9.17198609e-01 -5.43852397e-02 -8.55379397e+00] [-1.36883879e-01 -1.68885372e-04 9.90587086e-01 -9.98145386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters 0.027421497757325893 Centerline is valid? [True, True] Translation: X:87.44, Y:-8.58, Z:-9.99 [[ 9.08363682e-01 3.98863223e-01 1.25632599e-01 8.74446504e+01] [-3.95127165e-01 9.17010415e-01 -5.44648658e-02 -8.57674537e+00] [-1.36930433e-01 -1.66946588e-04 9.90580652e-01 -9.98863647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters 0.027431500667940176 Centerline is valid? [True, True] Translation: X:87.50, Y:-8.60, Z:-10.00 [[ 9.07355304e-01 4.01212131e-01 1.25439941e-01 8.75022448e+01] [-3.97498768e-01 9.15985058e-01 -5.44619374e-02 -8.60058843e+00] [-1.36751902e-01 -4.45894327e-04 9.90605228e-01 -9.99675920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters 0.027786974621345783 Centerline is valid? [True, True] Translation: X:87.56, Y:-8.63, Z:-10.01 [[ 9.05938604e-01 4.03658993e-01 1.27807137e-01 8.75584396e+01] [-3.99816181e-01 9.14909202e-01 -5.55713437e-02 -8.62505716e+00] [-1.39363799e-01 -7.55135957e-04 9.90240961e-01 -1.00060827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters 0.027883653403782304 Centerline is valid? [True, True] Translation: X:87.62, Y:-8.65, Z:-10.01 [[ 9.04168944e-01 4.07933291e-01 1.26763363e-01 8.76161075e+01] [-4.04184926e-01 9.13010760e-01 -5.51896545e-02 -8.64922590e+00] [-1.38250012e-01 -1.33506888e-03 9.90396462e-01 -1.00104832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters 0.028104844067095354 Centerline is valid? [True, True] Translation: X:87.67, Y:-8.67, Z:-10.02 [[ 9.02945961e-01 4.10494667e-01 1.27211316e-01 8.76734761e+01] [-4.06733834e-01 9.11861487e-01 -5.54636592e-02 -8.67212023e+00] [-1.38766636e-01 -1.66045917e-03 9.90323717e-01 -1.00180308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters 0.027798164397965695 Centerline is valid? [True, True] Translation: X:87.73, Y:-8.70, Z:-10.02 [[ 9.04151585e-01 4.08461311e-01 1.25176952e-01 8.77297762e+01] [-4.04791555e-01 9.12774759e-01 -5.46446356e-02 -8.69739073e+00] [-1.36578582e-01 -1.26353920e-03 9.90628434e-01 -1.00247944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters 0.027869342508355932 Centerline is valid? [True, True] Translation: X:87.79, Y:-8.72, Z:-10.03 [[ 9.04323096e-01 4.07479636e-01 1.27122320e-01 8.77867751e+01] [-4.03674778e-01 9.13213670e-01 -5.55649768e-02 -8.71999300e+00] [-1.38731437e-01 -1.06738250e-03 9.90329465e-01 -1.00318412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters 0.028302194192977106 Centerline is valid? [True, True] Translation: X:87.85, Y:-8.74, Z:-10.04 [[ 9.03700896e-01 4.08858126e-01 1.27120901e-01 8.78450933e+01] [-4.05056664e-01 9.12597154e-01 -5.56375190e-02 -8.74200330e+00] [-1.38758024e-01 -1.21149221e-03 9.90325574e-01 -1.00395069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters 0.02821384532811737 Centerline is valid? [True, True] Translation: X:87.90, Y:-8.77, Z:-10.05 [[ 9.03674687e-01 4.08804772e-01 1.27478303e-01 8.79023987e+01] [-4.04969744e-01 9.12621158e-01 -5.58760062e-02 -8.76714016e+00] [-1.39181774e-01 -1.13112306e-03 9.90266204e-01 -1.00467551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters 0.028233349850579906 Centerline is valid? [True, True] Translation: X:87.96, Y:-8.79, Z:-10.05 [[ 9.04537529e-01 4.07146948e-01 1.26661841e-01 8.79601319e+01] [-4.03333984e-01 9.13362319e-01 -5.55965002e-02 -8.78909690e+00] [-1.38324098e-01 -7.97904104e-04 9.90386696e-01 -1.00548618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters 0.027831946262370365 Centerline is valid? [True, True] Translation: X:88.02, Y:-8.81, Z:-10.06 [[ 9.05566319e-01 4.05317324e-01 1.25169917e-01 8.80174789e+01] [-4.01567159e-01 9.14175949e-01 -5.50104632e-02 -8.81303467e+00] [-1.36724021e-01 -4.48505324e-04 9.90609076e-01 -1.00608787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters 0.02789043288929756 Centerline is valid? [True, True] Translation: X:88.08, Y:-8.84, Z:-10.07 [[ 9.05468715e-01 4.05307253e-01 1.25906463e-01 8.80751092e+01] [-4.01502439e-01 9.14180444e-01 -5.54067422e-02 -8.83734826e+00] [-1.37557981e-01 -3.82680253e-04 9.90493642e-01 -1.00676287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters 0.028149915988085646 Centerline is valid? [True, True] Translation: X:88.13, Y:-8.86, Z:-10.08 [[ 9.04447052e-01 4.07475076e-01 1.26252102e-01 8.81318431e+01] [-4.03658801e-01 9.13216105e-01 -5.56409655e-02 -8.86475509e+00] [-1.37967759e-01 -6.38464764e-04 9.90436515e-01 -1.00752343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters 0.028487378768300896 Centerline is valid? [True, True] Translation: X:88.19, Y:-8.89, Z:-10.08 [[ 9.02236473e-01 4.11537160e-01 1.28866261e-01 8.81879850e+01] [-4.07589686e-01 9.11392180e-01 -5.68765555e-02 -8.88945068e+00] [-1.40854519e-01 -1.20845615e-03 9.90029567e-01 -1.00849878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters 0.02857814960845402 Centerline is valid? [True, True] Translation: X:88.24, Y:-8.91, Z:-10.09 [[ 9.01693003e-01 4.13402397e-01 1.26681434e-01 8.82446376e+01] [-4.09596841e-01 9.10547346e-01 -5.59817633e-02 -8.91313723e+00] [-1.38492439e-01 -1.40995101e-03 9.90362487e-01 -1.00918952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters 0.028516302020361504 Centerline is valid? [True, True] Translation: X:88.30, Y:-8.94, Z:-10.10 [[ 9.01605509e-01 4.13470332e-01 1.27081822e-01 8.83020246e+01] [-4.09631103e-01 9.10516578e-01 -5.62309575e-02 -8.93699427e+00] [-1.38959939e-01 -1.35852606e-03 9.90297072e-01 -1.01002445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters 0.02848667634863408 Centerline is valid? [True, True] Translation: X:88.36, Y:-8.96, Z:-10.11 [[ 9.02045897e-01 4.12215381e-01 1.28029994e-01 8.83604144e+01] [-4.08294223e-01 9.11085766e-01 -5.67323073e-02 -8.95978086e+00] [-1.40032235e-01 -1.09876198e-03 9.90146336e-01 -1.01069599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters 0.028196356817089045 Centerline is valid? [True, True] Translation: X:88.42, Y:-8.98, Z:-10.12 [[ 9.05463310e-01 4.04542181e-01 1.28381537e-01 8.84210758e+01] [-4.00510656e-01 9.14519325e-01 -5.69703270e-02 -8.97792869e+00] [-1.40454297e-01 1.66367061e-04 9.90087149e-01 -1.01154557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters 0.02812386584637793 Centerline is valid? [True, True] Translation: X:88.48, Y:-9.00, Z:-10.12 [[ 9.06823591e-01 4.01555543e-01 1.28156625e-01 8.84789386e+01] [-3.97496762e-01 9.15834401e-01 -5.69532721e-02 -9.00187812e+00] [-1.40240148e-01 7.04727185e-04 9.90117268e-01 -1.01198907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters 0.0283930857806156 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.02, Z:-10.13 [[ 9.08922045e-01 3.96484690e-01 1.29075971e-01 8.85363343e+01] [-3.92304412e-01 9.18039982e-01 -5.74442258e-02 -9.02419128e+00] [-1.41272659e-01 1.57525010e-03 9.89969472e-01 -1.01284388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters 0.028480192145707333 Centerline is valid? [True, True] Translation: X:88.59, Y:-9.05, Z:-10.13 [[ 9.09093095e-01 3.95790471e-01 1.29998648e-01 8.85924610e+01] [-3.91532327e-01 9.18339150e-01 -5.79279085e-02 -9.04895828e+00] [-1.42310162e-01 1.76318845e-03 9.89820544e-01 -1.01349356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters 0.02878723062294258 Centerline is valid? [True, True] Translation: X:88.65, Y:-9.08, Z:-10.14 [[ 9.10145415e-01 3.93721684e-01 1.28912990e-01 8.86484344e+01] [-3.89504138e-01 9.19227220e-01 -5.75138615e-02 -9.07567348e+00] [-1.41144784e-01 2.13383439e-03 9.89986665e-01 -1.01434981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters 0.028787825550891794 Centerline is valid? [True, True] Translation: X:88.70, Y:-9.10, Z:-10.15 [[ 9.10821527e-01 3.91852686e-01 1.29829192e-01 8.87029961e+01] [-3.87544004e-01 9.20024530e-01 -5.80043850e-02 -9.10437367e+00] [-1.42175216e-01 2.51711762e-03 9.89838306e-01 -1.01503531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters 0.02901844812441176 Centerline is valid? [True, True] Translation: X:88.76, Y:-9.13, Z:-10.16 [[ 9.12306213e-01 3.89138026e-01 1.27549874e-01 8.87585736e+01] [-3.84943547e-01 9.21174721e-01 -5.70578633e-02 -9.13222457e+00] [-1.39699104e-01 2.95474220e-03 9.90189593e-01 -1.01587672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters 0.029072497386299873 Centerline is valid? [True, True] Translation: X:88.81, Y:-9.16, Z:-10.17 [[ 9.12243940e-01 3.89329294e-01 1.27411516e-01 8.88145259e+01] [-3.85134358e-01 9.21093760e-01 -5.70772448e-02 -9.16010044e+00] [-1.39579796e-01 2.99781812e-03 9.90206288e-01 -1.01658722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters 0.02879287336700285 Centerline is valid? [True, True] Translation: X:88.87, Y:-9.19, Z:-10.17 [[ 9.10432431e-01 3.92567417e-01 1.30397899e-01 8.88686464e+01] [-3.88193580e-01 9.19719449e-01 -5.84968363e-02 -9.19004545e+00] [-1.42893436e-01 2.63778974e-03 9.89734564e-01 -1.01717850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters 0.0286045898367712 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.22, Z:-10.18 [[ 9.08630440e-01 3.97193860e-01 1.28948679e-01 8.89231729e+01] [-3.92953394e-01 9.17732650e-01 -5.79172971e-02 -9.21793688e+00] [-1.41344807e-01 1.95459819e-03 9.89958497e-01 -1.01805453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters 0.028187018528866067 Centerline is valid? [True, True] Translation: X:88.98, Y:-9.25, Z:-10.19 [[ 9.08546054e-01 3.98401189e-01 1.25779812e-01 8.89774834e+01] [-3.94369422e-01 9.17209518e-01 -5.65637689e-02 -9.24761424e+00] [-1.37901514e-01 1.78707720e-03 9.90444334e-01 -1.01868524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters 0.02835693393804487 Centerline is valid? [True, True] Translation: X:89.03, Y:-9.27, Z:-10.19 [[ 9.07772205e-01 3.99583370e-01 1.27603900e-01 8.90343441e+01] [-3.95434438e-01 9.16695284e-01 -5.74574789e-02 -9.27120891e+00] [-1.39932946e-01 1.69932585e-03 9.90159524e-01 -1.01946561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters 0.028400633401510472 Centerline is valid? [True, True] Translation: X:89.09, Y:-9.30, Z:-10.20 [[ 9.08095418e-01 3.99053213e-01 1.26961591e-01 8.90904157e+01] [-3.94930572e-01 9.16925922e-01 -5.72424478e-02 -9.29880805e+00] [-1.39257157e-01 1.84059062e-03 9.90254541e-01 -1.02023901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters 0.028455464500822602 Centerline is valid? [True, True] Translation: X:89.15, Y:-9.32, Z:-10.21 [[ 9.07961355e-01 3.98825459e-01 1.28625160e-01 8.91466888e+01] [-3.94579407e-01 9.17024723e-01 -5.80753659e-02 -9.32399716e+00] [-1.41114386e-01 1.97734861e-03 9.89991323e-01 -1.02099961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters 0.028972948860847537 Centerline is valid? [True, True] Translation: X:89.20, Y:-9.35, Z:-10.22 [[ 9.09506429e-01 3.95765687e-01 1.27151787e-01 8.92042174e+01] [-3.91576748e-01 9.18348143e-01 -5.74833779e-02 -9.34956650e+00] [-1.39519556e-01 2.49181838e-03 9.90216181e-01 -1.02164754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters 0.02921895602147673 Centerline is valid? [True, True] Translation: X:89.26, Y:-9.38, Z:-10.22 [[ 9.11208431e-01 3.91945280e-01 1.26799423e-01 8.92593902e+01] [-3.87731565e-01 9.19983163e-01 -5.74039493e-02 -9.37804282e+00] [-1.39152541e-01 3.14282382e-03 9.90265971e-01 -1.02235396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters 0.029569596966594957 Centerline is valid? [True, True] Translation: X:89.31, Y:-9.41, Z:-10.23 [[ 9.12327618e-01 3.88979820e-01 1.27878920e-01 8.93147497e+01] [-3.84654444e-01 9.21238871e-01 -5.79646516e-02 -9.40586890e+00] [-1.40354112e-01 3.69355751e-03 9.90094481e-01 -1.02288410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters 0.029587263812895406 Centerline is valid? [True, True] Translation: X:89.37, Y:-9.44, Z:-10.24 [[ 9.12885848e-01 3.88648218e-01 1.24867894e-01 8.93681622e+01] [-3.84512677e-01 9.21378716e-01 -5.66680099e-02 -9.43750766e+00] [-1.37074541e-01 3.71813608e-03 9.90553757e-01 -1.02372257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters 0.029215169801103304 Centerline is valid? [True, True] Translation: X:89.42, Y:-9.47, Z:-10.24 [[ 9.10935258e-01 3.92848593e-01 1.25964037e-01 8.94217383e+01] [-3.88669777e-01 9.19597669e-01 -5.72357558e-02 -9.46919776e+00] [-1.38321221e-01 3.17965379e-03 9.90382315e-01 -1.02438831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters 0.028745843606943253 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.50, Z:-10.25 [[ 9.08159950e-01 3.99886559e-01 1.23839596e-01 8.94742569e+01] [-3.95904053e-01 9.16562156e-01 -5.63364410e-02 -9.50367321e+00] [-1.36034873e-01 2.13390123e-03 9.90701751e-01 -1.02498572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters 0.02833654417638717 Centerline is valid? [True, True] Translation: X:89.53, Y:-9.53, Z:-10.26 [[ 9.05551338e-01 4.06275664e-01 1.22134597e-01 8.95293478e+01] [-4.02453323e-01 9.13749763e-01 -5.56119831e-02 -9.53234605e+00] [-1.34194255e-01 1.20603111e-03 9.90954311e-01 -1.02583025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters 0.028195647090357087 Centerline is valid? [True, True] Translation: X:89.58, Y:-9.56, Z:-10.26 [[ 9.02675940e-01 4.14045891e-01 1.17226907e-01 8.95832005e+01] [-4.10587797e-01 9.10256005e-01 -5.34009884e-02 -9.56470722e+00] [-1.28816956e-01 7.18496722e-05 9.91668385e-01 -1.02631472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters 0.02842884315148982 Centerline is valid? [True, True] Translation: X:89.64, Y:-9.59, Z:-10.27 [[ 9.01484040e-01 4.15783759e-01 1.20209783e-01 8.96396870e+01] [-4.12157832e-01 9.09463492e-01 -5.47912309e-02 -9.58862318e+00] [-1.32107713e-01 -1.51983321e-04 9.91235355e-01 -1.02700876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters 0.028196847120947745 Centerline is valid? [True, True] Translation: X:89.70, Y:-9.61, Z:-10.28 [[ 8.99822155e-01 4.19901632e-01 1.18333044e-01 8.96970849e+01] [-4.16415145e-01 9.07569365e-01 -5.40025389e-02 -9.61165921e+00] [-1.30071200e-01 -6.82990804e-04 9.91504421e-01 -1.02776192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters 0.02839448493194642 Centerline is valid? [True, True] Translation: X:89.75, Y:-9.63, Z:-10.29 [[ 8.98706858e-01 4.21903014e-01 1.19682205e-01 8.97545718e+01] [-4.18344729e-01 9.06640501e-01 -5.46871911e-02 -9.63491270e+00] [-1.31581425e-01 -9.20665903e-04 9.91304938e-01 -1.02852221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters 0.028358550586884603 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.66, Z:-10.29 [[ 8.97637737e-01 4.24262524e-01 1.19364164e-01 8.98131386e+01] [-4.20734880e-01 9.05538442e-01 -5.46103528e-02 -9.65679338e+00] [-1.31257965e-01 -1.20035375e-03 9.91347520e-01 -1.02917081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters 0.028444991716135095 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.68, Z:-10.30 [[ 8.97679305e-01 4.23831223e-01 1.20577614e-01 8.98717544e+01] [-4.20216805e-01 9.05740545e-01 -5.52440286e-02 -9.67984831e+00] [-1.32626178e-01 -1.07731834e-03 9.91165544e-01 -1.02999813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters 0.0285734288818365 Centerline is valid? [True, True] Translation: X:89.93, Y:-9.70, Z:-10.31 [[ 8.98020068e-01 4.22923989e-01 1.21223993e-01 8.99285103e+01] [-4.19251792e-01 9.06164737e-01 -5.56183775e-02 -9.70484840e+00] [-1.33371254e-01 -8.76957307e-04 9.91065759e-01 -1.03083042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters 0.028878129313043146 Centerline is valid? [True, True] Translation: X:89.99, Y:-9.73, Z:-10.31 [[ 8.97283690e-01 4.24308676e-01 1.21836479e-01 8.99881425e+01] [-4.20601162e-01 9.05517042e-01 -5.59781092e-02 -9.72570552e+00] [-1.34077005e-01 -1.01632014e-03 9.90970395e-01 -1.03144256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters 0.02911300608207453 Centerline is valid? [True, True] Translation: X:90.04, Y:-9.75, Z:-10.32 [[ 8.96472676e-01 4.25209701e-01 1.24633267e-01 9.00437743e+01] [-4.21326878e-01 9.05094188e-01 -5.73425961e-02 -9.75155162e+00] [-1.37187474e-01 -1.10527488e-03 9.90544484e-01 -1.03208612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters 0.0290821331309964 Centerline is valid? [True, True] Translation: X:90.10, Y:-9.77, Z:-10.33 [[ 8.96263028e-01 4.26285609e-01 1.22446578e-01 9.01024429e+01] [-4.22539706e-01 9.04587843e-01 -5.64006195e-02 -9.77147271e+00] [-1.34806458e-01 -1.18875109e-03 9.90871236e-01 -1.03275906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters 0.029114926942665154 Centerline is valid? [True, True] Translation: X:90.16, Y:-9.79, Z:-10.33 [[ 8.96074431e-01 4.27080662e-01 1.21048430e-01 9.01601974e+01] [-4.23418361e-01 9.04212691e-01 -5.58238409e-02 -9.79463239e+00] [-1.33294809e-01 -1.23181127e-03 9.91075666e-01 -1.03342330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters 0.02921273479758605 Centerline is valid? [True, True] Translation: X:90.22, Y:-9.82, Z:-10.34 [[ 8.96774985e-01 4.25192236e-01 1.22499748e-01 9.02191149e+01] [-4.21413963e-01 9.05102622e-01 -5.65642634e-02 -9.81673624e+00] [-1.34925529e-01 -8.97687824e-04 9.90855335e-01 -1.03428299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters 0.029141890945587157 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.84, Z:-10.35 [[ 8.97778595e-01 4.23409723e-01 1.21316941e-01 9.02752711e+01] [-4.19677878e-01 9.05938133e-01 -5.60943734e-02 -9.84103329e+00] [-1.33656546e-01 -5.53708732e-04 9.91027558e-01 -1.03507240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters 0.028965551363447826 Centerline is valid? [True, True] Translation: X:90.33, Y:-9.86, Z:-10.36 [[ 8.99594966e-01 4.19073654e-01 1.22907156e-01 9.03334135e+01] [-4.15192887e-01 9.07952228e-01 -5.69000789e-02 -9.86196852e+00] [-1.35439150e-01 1.56847822e-04 9.90785654e-01 -1.03580575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters 0.028910332031189527 Centerline is valid? [True, True] Translation: X:90.39, Y:-9.89, Z:-10.37 [[ 9.00348155e-01 4.17494433e-01 1.22766441e-01 9.03891459e+01] [-4.13598186e-01 9.08679364e-01 -5.69065368e-02 -9.89090330e+00] [-1.35313494e-01 4.59718226e-04 9.90802729e-01 -1.03663726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters 0.028769081247683386 Centerline is valid? [True, True] Translation: X:90.45, Y:-9.91, Z:-10.37 [[ 8.99433239e-01 4.19562297e-01 1.22422740e-01 9.04477561e+01] [-4.15696079e-01 9.07726517e-01 -5.68272798e-02 -9.91435257e+00] [-1.34968951e-01 2.21691463e-04 9.90849803e-01 -1.03733057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters 0.028744938017924784 Centerline is valid? [True, True] Translation: X:90.50, Y:-9.95, Z:-10.38 [[ 8.98439556e-01 4.21454477e-01 1.23217240e-01 9.05024127e+01] [-4.17544165e-01 9.06849560e-01 -5.72777962e-02 -9.94516916e+00] [-1.35879483e-01 1.19981546e-05 9.90725374e-01 -1.03782834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters 0.02904956331119652 Centerline is valid? [True, True] Translation: X:90.56, Y:-9.97, Z:-10.39 [[ 8.96853359e-01 4.23542862e-01 1.27536255e-01 9.05594338e+01] [-4.19361193e-01 9.05876033e-01 -5.93700499e-02 -9.96936122e+00] [-1.40677797e-01 -2.37527097e-04 9.90055403e-01 -1.03872141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters 0.028989069433679827 Centerline is valid? [True, True] Translation: X:90.62, Y:-10.00, Z:-10.39 [[ 8.95615589e-01 4.26246501e-01 1.27226715e-01 9.06164252e+01] [-4.22101700e-01 9.04606859e-01 -5.93008052e-02 -9.99535025e+00] [-1.40366920e-01 -5.91887259e-04 9.90099378e-01 -1.03941625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters 0.029044985129290237 Centerline is valid? [True, True] Translation: X:90.67, Y:-10.02, Z:-10.40 [[ 8.94712809e-01 4.27900361e-01 1.28024494e-01 9.06725477e+01] [-4.23708477e-01 9.03825574e-01 -5.97533135e-02 -1.00200209e+01] [-1.41280276e-01 -7.83008529e-04 9.89969328e-01 -1.04006009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters 0.029038933149735564 Centerline is valid? [True, True] Translation: X:90.73, Y:-10.04, Z:-10.41 [[ 8.94984051e-01 4.27424154e-01 1.27718995e-01 9.07305660e+01] [-4.23237573e-01 9.04050983e-01 -5.96806187e-02 -1.00443622e+01] [-1.40973421e-01 -6.42275852e-04 9.90013173e-01 -1.04082992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters 0.028819872761662802 Centerline is valid? [True, True] Translation: X:90.79, Y:-10.07, Z:-10.42 [[ 8.95466464e-01 4.26761341e-01 1.26548683e-01 9.07874511e+01] [-4.22633639e-01 9.04364167e-01 -5.92136883e-02 -1.00678750e+01] [-1.39716207e-01 -4.59858257e-04 9.90191481e-01 -1.04158566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters 0.028883314649707097 Centerline is valid? [True, True] Translation: X:90.85, Y:-10.09, Z:-10.42 [[ 8.96767628e-01 4.23112470e-01 1.29551763e-01 9.08450530e+01] [-4.18736658e-01 9.06077152e-01 -6.06943662e-02 -1.00912243e+01] [-1.43064436e-01 1.80670393e-04 9.89713360e-01 -1.04234625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters 0.028875943141942993 Centerline is valid? [True, True] Translation: X:90.90, Y:-10.12, Z:-10.43 [[ 8.98488465e-01 4.18952217e-01 1.31139311e-01 9.09021387e+01] [-4.14412655e-01 9.08007812e-01 -6.15139400e-02 -1.01154183e+01] [-1.44846920e-01 9.23775611e-04 9.89453645e-01 -1.04303956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters 0.028868137351510652 Centerline is valid? [True, True] Translation: X:90.96, Y:-10.14, Z:-10.44 [[ 8.98640090e-01 4.18368612e-01 1.31960953e-01 9.09580939e+01] [-4.13754219e-01 9.08276669e-01 -6.19753114e-02 -1.01399760e+01] [-1.45785580e-01 1.09409831e-03 9.89315606e-01 -1.04395824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters 0.028699616850093906 Centerline is valid? [True, True] Translation: X:91.01, Y:-10.16, Z:-10.45 [[ 8.98458393e-01 4.19098237e-01 1.30878510e-01 9.10145349e+01] [-4.14556423e-01 9.07940303e-01 -6.15416752e-02 -1.01642172e+01] [-1.44621882e-01 1.03610755e-03 9.89486452e-01 -1.04479369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters 0.02846990545622916 Centerline is valid? [True, True] Translation: X:91.07, Y:-10.19, Z:-10.46 [[ 8.98337958e-01 4.19788620e-01 1.29485242e-01 9.10696439e+01] [-4.15339993e-01 9.07621369e-01 -6.09601587e-02 -1.01912742e+01] [-1.43113953e-01 9.82425038e-04 9.89705730e-01 -1.04551213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters 0.028604883881199916 Centerline is valid? [True, True] Translation: X:91.13, Y:-10.22, Z:-10.46 [[ 8.97188586e-01 4.22007408e-01 1.30239735e-01 9.11258736e+01] [-4.17518466e-01 9.06592109e-01 -6.13928168e-02 -1.02177877e+01] [-1.43982540e-01 7.03440144e-04 9.89579978e-01 -1.04622709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters 0.028445874697441313 Centerline is valid? [True, True] Translation: X:91.18, Y:-10.24, Z:-10.47 [[ 8.95458291e-01 4.25750280e-01 1.29965950e-01 9.11828337e+01] [-4.21307258e-01 9.04840686e-01 -6.13475958e-02 -1.02427538e+01] [-1.43717236e-01 1.78615074e-04 9.89618777e-01 -1.04686722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters 0.028359409267264213 Centerline is valid? [True, True] Translation: X:91.24, Y:-10.26, Z:-10.48 [[ 8.93859059e-01 4.29415710e-01 1.28911331e-01 9.12407994e+01] [-4.25072015e-01 9.03106878e-01 -6.09241283e-02 -1.02638785e+01] [-1.42582487e-01 -3.39015091e-04 9.89782865e-01 -1.04750656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters 0.028232633221315678 Centerline is valid? [True, True] Translation: X:91.30, Y:-10.29, Z:-10.48 [[ 8.93708200e-01 4.30463982e-01 1.26437388e-01 9.12982910e+01] [-4.26286544e-01 9.02607653e-01 -5.98264861e-02 -1.02860708e+01] [-1.39876502e-01 -4.31135987e-04 9.90168864e-01 -1.04838544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters 0.02799160725272826 Centerline is valid? [True, True] Translation: X:91.36, Y:-10.30, Z:-10.49 [[ 8.94961789e-01 4.28087249e-01 1.25637188e-01 9.13585818e+01] [-4.23929411e-01 9.03737411e-01 -5.95193017e-02 -1.03044618e+01] [-1.39022481e-01 6.20166224e-06 9.90289225e-01 -1.04889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters 0.027822738199915816 Centerline is valid? [True, True] Translation: X:91.42, Y:-10.33, Z:-10.50 [[ 8.96544968e-01 4.24841276e-01 1.25367504e-01 9.14183124e+01] [-4.20659359e-01 9.05267672e-01 -5.94654996e-02 -1.03253718e+01] [-1.38754547e-01 5.76480565e-04 9.90326635e-01 -1.04969876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters 0.028111302349411418 Centerline is valid? [True, True] Translation: X:91.48, Y:-10.35, Z:-10.50 [[ 8.98185146e-01 4.21582521e-01 1.24625930e-01 9.14753140e+01] [-4.17407418e-01 9.06789312e-01 -5.91962028e-02 -1.03508811e+01] [-1.37965546e-01 1.14936223e-03 9.90436362e-01 -1.05042729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters 0.0282025822388615 Centerline is valid? [True, True] Translation: X:91.53, Y:-10.38, Z:-10.51 [[ 8.98412448e-01 4.21394176e-01 1.23620478e-01 9.15306826e+01] [-4.17273647e-01 9.06876732e-01 -5.87987847e-02 -1.03781463e+01] [-1.36886000e-01 1.24199242e-03 9.90586029e-01 -1.05118131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters 0.028195900070814437 Centerline is valid? [True, True] Translation: X:91.59, Y:-10.41, Z:-10.52 [[ 8.98342465e-01 4.21449236e-01 1.23940944e-01 9.15870265e+01] [-4.17297515e-01 9.06851057e-01 -5.90249374e-02 -1.04053294e+01] [-1.37271991e-01 1.30435970e-03 9.90532533e-01 -1.05194793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters 0.02806566527433674 Centerline is valid? [True, True] Translation: X:91.64, Y:-10.44, Z:-10.53 [[ 8.98788878e-01 4.21220496e-01 1.21457183e-01 9.16410373e+01] [-4.17222611e-01 9.06957220e-01 -5.79128173e-02 -1.04369382e+01] [-1.34550534e-01 1.37671318e-03 9.90905777e-01 -1.05258431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters 0.02816955428215644 Centerline is valid? [True, True] Translation: X:91.69, Y:-10.47, Z:-10.53 [[ 8.99193184e-01 4.20548271e-01 1.20792259e-01 9.16946936e+01] [-4.16583770e-01 9.07268926e-01 -5.76286213e-02 -1.04711190e+01] [-1.33826680e-01 1.49916885e-03 9.91003619e-01 -1.05322295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters 0.028284758738794477 Centerline is valid? [True, True] Translation: X:91.75, Y:-10.50, Z:-10.54 [[ 8.99753414e-01 4.19753461e-01 1.19376827e-01 9.17493919e+01] [-4.15864321e-01 9.07636625e-01 -5.70317748e-02 -1.05014586e+01] [-1.32290065e-01 1.66997090e-03 9.91209640e-01 -1.05396810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters 0.027924519362116602 Centerline is valid? [True, True] Translation: X:91.80, Y:-10.54, Z:-10.55 [[ 8.98265251e-01 4.23662835e-01 1.16744769e-01 9.17991567e+01] [-4.19967172e-01 9.05819247e-01 -5.58486061e-02 -1.05405700e+01] [-1.29410637e-01 1.13789189e-03 9.91590436e-01 -1.05454687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters 0.02789240552234227 Centerline is valid? [True, True] Translation: X:91.85, Y:-10.57, Z:-10.55 [[ 8.95572000e-01 4.29680712e-01 1.15435167e-01 9.18528087e+01] [-4.26108870e-01 9.02980830e-01 -5.52888104e-02 -1.05708396e+01] [-1.27992279e-01 3.27161812e-04 9.91775110e-01 -1.05528580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters 0.028200153863673562 Centerline is valid? [True, True] Translation: X:91.91, Y:-10.60, Z:-10.56 [[ 8.91001696e-01 4.38636445e-01 1.17106989e-01 9.19054025e+01] [-4.35027427e-01 8.98664146e-01 -5.61595077e-02 -1.06025135e+01] [-1.29873459e-01 -9.06535405e-04 9.91530162e-01 -1.05621215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters 0.028433058623763146 Centerline is valid? [True, True] Translation: X:91.96, Y:-10.63, Z:-10.57 [[ 8.89895615e-01 4.40834732e-01 1.17262672e-01 9.19610672e+01] [-4.37225946e-01 8.97587533e-01 -5.63035728e-02 -1.06314666e+01] [-1.30074083e-01 -1.16598008e-03 9.91503592e-01 -1.05679844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters 0.02832410113049632 Centerline is valid? [True, True] Translation: X:92.02, Y:-10.66, Z:-10.57 [[ 8.89115359e-01 4.42531409e-01 1.16789685e-01 9.20176944e+01] [-4.38956332e-01 8.96752005e-01 -5.61531802e-02 -1.06590791e+01] [-1.29580930e-01 -1.33891669e-03 9.91567945e-01 -1.05739789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters 0.028488310433958015 Centerline is valid? [True, True] Translation: X:92.08, Y:-10.68, Z:-10.58 [[ 8.88050445e-01 4.44514933e-01 1.17357925e-01 9.20750676e+01] [-4.40912005e-01 8.95770070e-01 -5.65029644e-02 -1.06823176e+01] [-1.30242128e-01 -1.56703527e-03 9.91480979e-01 -1.05812839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters 0.028797955738400945 Centerline is valid? [True, True] Translation: X:92.13, Y:-10.71, Z:-10.59 [[ 8.86992077e-01 4.46226372e-01 1.18857392e-01 9.21317473e+01] [-4.42536587e-01 8.94918352e-01 -5.72932249e-02 -1.07067057e+01] [-1.31933409e-01 -1.78010781e-03 9.91256983e-01 -1.05880888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters 0.028997027474565434 Centerline is valid? [True, True] Translation: X:92.19, Y:-10.73, Z:-10.60 [[ 8.86983414e-01 4.46446778e-01 1.18091903e-01 9.21898826e+01] [-4.42798242e-01 8.94808488e-01 -5.69867230e-02 -1.07309520e+01] [-1.31111176e-01 -1.74460883e-03 9.91366136e-01 -1.05953740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters 0.028950354325157086 Centerline is valid? [True, True] Translation: X:92.25, Y:-10.75, Z:-10.60 [[ 8.87492581e-01 4.45311966e-01 1.18550296e-01 9.22485233e+01] [-4.41619805e-01 8.95374142e-01 -5.72459031e-02 -1.07533343e+01] [-1.31639155e-01 -1.54884410e-03 9.91296491e-01 -1.06027595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters 0.02907727854745633 Centerline is valid? [True, True] Translation: X:92.31, Y:-10.77, Z:-10.61 [[ 8.87590517e-01 4.45138647e-01 1.18467967e-01 9.23088176e+01] [-4.41439934e-01 8.95460481e-01 -5.72827235e-02 -1.07719878e+01] [-1.31582137e-01 -1.45288943e-03 9.91304207e-01 -1.06101945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters 0.02888025017365052 Centerline is valid? [True, True] Translation: X:92.37, Y:-10.80, Z:-10.62 [[ 8.88761649e-01 4.43150464e-01 1.17134099e-01 9.23666390e+01] [-4.39507906e-01 8.96446599e-01 -5.67123874e-02 -1.07953293e+01] [-1.30136586e-01 -1.07756771e-03 9.91495491e-01 -1.06168215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters 0.02873576915395743 Centerline is valid? [True, True] Translation: X:92.43, Y:-10.82, Z:-10.62 [[ 8.91484025e-01 4.37417091e-01 1.17993735e-01 9.24258061e+01] [-4.33661230e-01 8.99258726e-01 -5.71986056e-02 -1.08168333e+01] [-1.31126544e-01 -1.77665335e-04 9.91365623e-01 -1.06228982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters 0.029073940107742703 Centerline is valid? [True, True] Translation: X:92.48, Y:-10.84, Z:-10.63 [[ 8.93516111e-01 4.32385319e-01 1.21127601e-01 9.24844507e+01] [-4.28369169e-01 9.01688701e-01 -5.87991663e-02 -1.08364308e+01] [-1.34643286e-01 6.50672504e-04 9.90893921e-01 -1.06306967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters 0.029257623945708786 Centerline is valid? [True, True] Translation: X:92.54, Y:-10.86, Z:-10.64 [[ 8.96372422e-01 4.26332229e-01 1.21479675e-01 9.25416549e+01] [-4.22227321e-01 9.04565182e-01 -5.90416811e-02 -1.08587717e+01] [-1.35057656e-01 1.63129711e-03 9.90836398e-01 -1.06388804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters 0.02940707193606626 Centerline is valid? [True, True] Translation: X:92.60, Y:-10.88, Z:-10.65 [[ 8.97322391e-01 4.24448599e-01 1.21061607e-01 9.25989797e+01] [-4.20345337e-01 9.05449885e-01 -5.89092863e-02 -1.08818198e+01] [-1.34619182e-01 1.97293980e-03 9.90895445e-01 -1.06475737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters 0.029316136404178093 Centerline is valid? [True, True] Translation: X:92.66, Y:-10.91, Z:-10.65 [[ 8.96404664e-01 4.26143762e-01 1.21902309e-01 9.26558860e+01] [-4.21988713e-01 9.04653672e-01 -5.93907390e-02 -1.09082894e+01] [-1.35588364e-01 1.79673691e-03 9.90763628e-01 -1.06546222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters 0.029447602338801032 Centerline is valid? [True, True] Translation: X:92.71, Y:-10.93, Z:-10.66 [[ 8.94926747e-01 4.29206267e-01 1.22016795e-01 9.27122134e+01] [-4.25060844e-01 9.03205404e-01 -5.95254283e-02 -1.09342349e+01] [-1.35754916e-01 1.40633603e-03 9.90741452e-01 -1.06602037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters 0.029393797786168296 Centerline is valid? [True, True] Translation: X:92.77, Y:-10.96, Z:-10.67 [[ 8.94594628e-01 4.30004823e-01 1.21640053e-01 9.27683287e+01] [-4.25882528e-01 9.02825585e-01 -5.94141030e-02 -1.09611657e+01] [-1.35368103e-01 1.34716414e-03 9.90794460e-01 -1.06666516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters 0.029266418394988322 Centerline is valid? [True, True] Translation: X:92.83, Y:-10.99, Z:-10.68 [[ 8.93801786e-01 4.32017912e-01 1.20328264e-01 9.28251000e+01] [-4.27992031e-01 9.01864352e-01 -5.88516119e-02 -1.09851604e+01] [-1.33944723e-01 1.10213747e-03 9.90988192e-01 -1.06757935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters 0.029268432971149238 Centerline is valid? [True, True] Translation: X:92.88, Y:-11.01, Z:-10.68 [[ 8.93650507e-01 4.32577977e-01 1.19436451e-01 9.28813881e+01] [-4.28607511e-01 9.01595886e-01 -5.84846994e-02 -1.10105499e+01] [-1.32982606e-01 1.07352139e-03 9.91117790e-01 -1.06806625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters 0.029382029987436723 Centerline is valid? [True, True] Translation: X:92.94, Y:-11.03, Z:-10.69 [[ 8.93995580e-01 4.31613330e-01 1.20340500e-01 9.29380235e+01] [-4.27563975e-01 9.02057796e-01 -5.89981385e-02 -1.10345593e+01] [-1.34018469e-01 1.29081258e-03 9.90977994e-01 -1.06889360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters 0.029551918744097058 Centerline is valid? [True, True] Translation: X:92.99, Y:-11.06, Z:-10.70 [[ 8.94695915e-01 4.30228868e-01 1.20093054e-01 9.29934009e+01] [-4.26174119e-01 9.02718498e-01 -5.89485703e-02 -1.10624499e+01] [-1.33771598e-01 1.56049338e-03 9.91010961e-01 -1.06972754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters 0.029642453550263913 Centerline is valid? [True, True] Translation: X:93.05, Y:-11.09, Z:-10.70 [[ 8.95440836e-01 4.28906000e-01 1.19270083e-01 9.30503374e+01] [-4.24884581e-01 9.03347296e-01 -5.86238498e-02 -1.10897873e+01] [-1.32886428e-01 1.81816982e-03 9.91129604e-01 -1.07034423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters 0.029714972947047558 Centerline is valid? [True, True] Translation: X:93.11, Y:-11.12, Z:-10.71 [[ 8.94558983e-01 4.30168629e-01 1.21322612e-01 9.31059580e+01] [-4.26007496e-01 9.02746891e-01 -5.97131895e-02 -1.11153074e+01] [-1.35210351e-01 1.73262821e-03 9.90815401e-01 -1.07124108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters 0.029594039984226283 Centerline is valid? [True, True] Translation: X:93.16, Y:-11.14, Z:-10.72 [[ 8.94459524e-01 4.30805752e-01 1.19785492e-01 9.31615979e+01] [-4.26746320e-01 9.02443122e-01 -5.90253267e-02 -1.11425334e+01] [-1.33528043e-01 1.67774788e-03 9.91043615e-01 -1.07180522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters 0.02981152866899363 Centerline is valid? [True, True] Translation: X:93.21, Y:-11.18, Z:-10.73 [[ 8.94785004e-01 4.29975420e-01 1.20336754e-01 9.32143008e+01] [-4.25861377e-01 9.02838649e-01 -5.93671778e-02 -1.11758507e+01] [-1.34171100e-01 1.87408457e-03 9.90956409e-01 -1.07257617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters 0.029833587526788947 Centerline is valid? [True, True] Translation: X:93.27, Y:-11.21, Z:-10.73 [[ 8.95024660e-01 4.29512436e-01 1.20207838e-01 9.32695994e+01] [-4.25393475e-01 9.03058715e-01 -5.93746511e-02 -1.12061103e+01] [-1.34056887e-01 2.00614687e-03 9.90971607e-01 -1.07321826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters 0.029544844965761447 Centerline is valid? [True, True] Translation: X:93.32, Y:-11.24, Z:-10.74 [[ 8.93829284e-01 4.32425974e-01 1.18646483e-01 9.33227352e+01] [-4.28429911e-01 9.01667996e-01 -5.86739835e-02 -1.12392871e+01] [-1.32351891e-01 1.61282241e-03 9.91201481e-01 -1.07383997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters 0.029450461496941395 Centerline is valid? [True, True] Translation: X:93.38, Y:-11.27, Z:-10.75 [[ 8.92437348e-01 4.35074369e-01 1.19439828e-01 9.33762023e+01] [-4.31043561e-01 9.00393641e-01 -5.90994038e-02 -1.12713818e+01] [-1.33255498e-01 1.25874628e-03 9.91080919e-01 -1.07467661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters 0.029434673860646195 Centerline is valid? [True, True] Translation: X:93.43, Y:-11.30, Z:-10.75 [[ 8.90200169e-01 4.39775428e-01 1.18916917e-01 9.34293076e+01] [-4.35810969e-01 8.98107556e-01 -5.89204372e-02 -1.13028132e+01] [-1.32711942e-01 6.25686493e-04 9.91154453e-01 -1.07530322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters 0.02963495205996724 Centerline is valid? [True, True] Translation: X:93.49, Y:-11.33, Z:-10.76 [[ 8.88257213e-01 4.43693571e-01 1.18891293e-01 9.34859279e+01] [-4.39755981e-01 8.96178556e-01 -5.89802814e-02 -1.13296302e+01] [-1.32716999e-01 1.06503355e-04 9.91153967e-01 -1.07605689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters 0.029741410682418815 Centerline is valid? [True, True] Translation: X:93.54, Y:-11.36, Z:-10.77 [[ 8.85560902e-01 4.48989906e-01 1.19121594e-01 9.35414171e+01] [-4.45073451e-01 8.93536619e-01 -5.91771440e-02 -1.13578267e+01] [-1.33009447e-01 -6.12893994e-04 9.91114580e-01 -1.07684207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters 0.029814522426273974 Centerline is valid? [True, True] Translation: X:93.60, Y:-11.38, Z:-10.77 [[ 8.83131590e-01 4.53692639e-01 1.19338109e-01 9.35978680e+01] [-4.49793728e-01 8.91157352e-01 -5.93647769e-02 -1.13823565e+01] [-1.33282395e-01 -1.25062302e-03 9.91077312e-01 -1.07745217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters 0.030259144590102604 Centerline is valid? [True, True] Translation: X:93.66, Y:-11.41, Z:-10.78 [[ 8.81406851e-01 4.56504402e-01 1.21349469e-01 9.36552748e+01] [-4.52488991e-01 8.89719643e-01 -6.04373156e-02 -1.14058115e+01] [-1.35556906e-01 -1.63943454e-03 9.90768206e-01 -1.07821203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters 0.030269401816406503 Centerline is valid? [True, True] Translation: X:93.71, Y:-11.43, Z:-10.79 [[ 8.81705819e-01 4.56010554e-01 1.21033977e-01 9.37123408e+01] [-4.52001873e-01 8.89973109e-01 -6.03504016e-02 -1.14296858e+01] [-1.35237405e-01 -1.49628396e-03 9.90812094e-01 -1.07912815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters 0.030118573658187483 Centerline is valid? [True, True] Translation: X:93.77, Y:-11.45, Z:-10.80 [[ 8.82575829e-01 4.54140049e-01 1.21723958e-01 9.37708716e+01] [-4.50057583e-01 8.90929566e-01 -6.07674362e-02 -1.14540305e+01] [-1.36044400e-01 -1.15092006e-03 9.90702073e-01 -1.07966795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters 0.03003216777006868 Centerline is valid? [True, True] Translation: X:93.83, Y:-11.47, Z:-10.80 [[ 8.82430014e-01 4.54798755e-01 1.20313603e-01 9.38293408e+01] [-4.50806302e-01 8.90593470e-01 -6.01410743e-02 -1.14747084e+01] [-1.34502595e-01 -1.16784167e-03 9.90912553e-01 -1.08039231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters 0.029927448562425088 Centerline is valid? [True, True] Translation: X:93.89, Y:-11.50, Z:-10.81 [[ 8.82660577e-01 4.54648276e-01 1.19185783e-01 9.38888908e+01] [-4.50720023e-01 8.90670419e-01 -5.96461685e-02 -1.14950108e+01] [-1.33273279e-01 -1.07209761e-03 9.91078747e-01 -1.08092428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters 0.02971893890054187 Centerline is valid? [True, True] Translation: X:93.95, Y:-11.52, Z:-10.82 [[ 8.84693392e-01 4.50456762e-01 1.20026281e-01 9.39483561e+01] [-4.46424362e-01 8.92798165e-01 -6.01392275e-02 -1.15165691e+01] [-1.34249365e-01 -3.77878693e-04 9.90947509e-01 -1.08152884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters 0.029891544457500918 Centerline is valid? [True, True] Translation: X:94.01, Y:-11.54, Z:-10.83 [[ 8.88198338e-01 4.43208748e-01 1.21118614e-01 9.40063202e+01] [-4.39023918e-01 8.96418076e-01 -6.07670324e-02 -1.15366356e+01] [-1.35505395e-01 7.99208692e-04 9.90776286e-01 -1.08259117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters 0.03029470845930294 Centerline is valid? [True, True] Translation: X:94.06, Y:-11.56, Z:-10.83 [[ 8.90088542e-01 4.38942499e-01 1.22767543e-01 9.40637550e+01] [-4.34592278e-01 8.98513847e-01 -6.16637478e-02 -1.15592160e+01] [-1.37375177e-01 1.53236937e-03 9.90517901e-01 -1.08337424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters 0.030170195953252526 Centerline is valid? [True, True] Translation: X:94.12, Y:-11.58, Z:-10.84 [[ 8.90707599e-01 4.38055698e-01 1.21437964e-01 9.41219297e+01] [-4.33781555e-01 8.98946194e-01 -6.10680162e-02 -1.15841085e+01] [-1.35917388e-01 1.71619715e-03 9.90718688e-01 -1.08393803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters 0.029838593261737392 Centerline is valid? [True, True] Translation: X:94.18, Y:-11.61, Z:-10.85 [[ 8.89764163e-01 4.40216974e-01 1.20535266e-01 9.41769285e+01] [-4.36015549e-01 8.97890263e-01 -6.06919807e-02 -1.16107687e+01] [-1.34945082e-01 1.44629927e-03 9.90852024e-01 -1.08481226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters 0.029723743733999275 Centerline is valid? [True, True] Translation: X:94.23, Y:-11.64, Z:-10.85 [[ 8.89024409e-01 4.41881544e-01 1.19901212e-01 9.42330356e+01] [-4.37730075e-01 8.97072538e-01 -6.04420656e-02 -1.16367664e+01] [-1.34268318e-01 1.25010518e-03 9.90944225e-01 -1.08533116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters 0.029705162054007625 Centerline is valid? [True, True] Translation: X:94.29, Y:-11.66, Z:-10.86 [[ 8.88361051e-01 4.43183003e-01 1.20014455e-01 9.42900998e+01] [-4.39025668e-01 8.96430461e-01 -6.05713651e-02 -1.16634805e+01] [-1.34428813e-01 1.11981501e-03 9.90922621e-01 -1.08602283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters 0.029822648900761466 Centerline is valid? [True, True] Translation: X:94.35, Y:-11.69, Z:-10.87 [[ 8.89196101e-01 4.42000466e-01 1.18177331e-01 9.43463609e+01] [-4.37949320e-01 8.97013807e-01 -5.97212084e-02 -1.16893998e+01] [-1.32403499e-01 1.34818394e-03 9.91194984e-01 -1.08678722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters 0.029855476984015923 Centerline is valid? [True, True] Translation: X:94.40, Y:-11.72, Z:-10.87 [[ 8.89897212e-01 4.40310502e-01 1.19204088e-01 9.44021221e+01] [-4.36163721e-01 8.97843999e-01 -6.03105404e-02 -1.17163478e+01] [-1.33582040e-01 1.67768303e-03 9.91036338e-01 -1.08726326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters 0.029911764863927708 Centerline is valid? [True, True] Translation: X:94.46, Y:-11.74, Z:-10.88 [[ 8.90765323e-01 4.38617947e-01 1.18959808e-01 9.44575026e+01] [-4.34463878e-01 8.98671428e-01 -6.02561477e-02 -1.17446831e+01] [-1.33335208e-01 1.99034754e-03 9.91068999e-01 -1.08798774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters 0.030281050359871983 Centerline is valid? [True, True] Translation: X:94.51, Y:-11.77, Z:-10.89 [[ 8.92804868e-01 4.34727145e-01 1.17948192e-01 9.45128653e+01] [-4.30600820e-01 9.00558431e-01 -5.98117500e-02 -1.17713454e+01] [-1.32221030e-01 2.61163331e-03 9.91216817e-01 -1.08879902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters 0.030452313946838887 Centerline is valid? [True, True] Translation: X:94.57, Y:-11.80, Z:-10.89 [[ 8.93817809e-01 4.32937802e-01 1.16852833e-01 9.45674611e+01] [-4.28864084e-01 9.01419099e-01 -5.93228893e-02 -1.18010773e+01] [-1.31016497e-01 2.90987151e-03 9.91375918e-01 -1.08947270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters 0.030426906763114103 Centerline is valid? [True, True] Translation: X:94.62, Y:-11.83, Z:-10.90 [[ 8.94545570e-01 4.31368773e-01 1.17086316e-01 9.46205058e+01] [-4.27256489e-01 9.02169995e-01 -5.95079287e-02 -1.18327990e+01] [-1.31301623e-01 3.20666561e-03 9.91337279e-01 -1.09024163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters 0.030205511033744307 Centerline is valid? [True, True] Translation: X:94.67, Y:-11.87, Z:-10.91 [[ 8.93852443e-01 4.32925539e-01 1.16633136e-01 9.46718499e+01] [-4.28849621e-01 9.01424605e-01 -5.93437877e-02 -1.18688264e+01] [-1.30827420e-01 3.02651331e-03 9.91400538e-01 -1.09086749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters 0.02998742340397466 Centerline is valid? [True, True] Translation: X:94.73, Y:-11.90, Z:-10.92 [[ 8.92575172e-01 4.34909085e-01 1.19011132e-01 9.47266820e+01] [-4.30672365e-01 9.00469834e-01 -6.06250063e-02 -1.18991532e+01] [-1.33532300e-01 2.85756980e-03 9.91040342e-01 -1.09152567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters 0.029614089927545127 Centerline is valid? [True, True] Translation: X:94.78, Y:-11.93, Z:-10.92 [[ 8.91233194e-01 4.37250267e-01 1.20480696e-01 9.47811395e+01] [-4.32918056e-01 8.99336080e-01 -6.14538229e-02 -1.19313981e+01] [-1.35223337e-01 2.61141814e-03 9.90811702e-01 -1.09211121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters 0.028798815158580272 Centerline is valid? [True, True] Translation: X:94.83, Y:-11.97, Z:-10.93 [[ 8.88246219e-01 4.43389764e-01 1.20100669e-01 9.48329017e+01] [-4.39130069e-01 8.96327216e-01 -6.13376236e-02 -1.19650193e+01] [-1.34845973e-01 1.74309731e-03 9.90865039e-01 -1.09292765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters 0.028211719051947987 Centerline is valid? [True, True] Translation: X:94.89, Y:-12.00, Z:-10.93 [[ 8.85321069e-01 4.49575430e-01 1.18695143e-01 9.48876022e+01] [-4.45462082e-01 8.93241967e-01 -6.06821331e-02 -1.19953159e+01] [-1.33304679e-01 8.48985236e-04 9.91074741e-01 -1.09348873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters 0.028289193702313243 Centerline is valid? [True, True] Translation: X:94.94, Y:-12.02, Z:-10.94 [[ 8.81100939e-01 4.57102214e-01 1.21320656e-01 9.49435010e+01] [-4.52870057e-01 8.89414131e-01 -6.20581578e-02 -1.20224230e+01] [-1.36271227e-01 -2.62991345e-04 9.90671532e-01 -1.09404397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters 0.028704771335623352 Centerline is valid? [True, True] Translation: X:95.00, Y:-12.05, Z:-10.95 [[ 8.77059678e-01 4.64150589e-01 1.23816606e-01 9.50005417e+01] [-4.59800658e-01 8.85755326e-01 -6.34102282e-02 -1.20465676e+01] [-1.39103113e-01 -1.31640246e-03 9.90277027e-01 -1.09487407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters 0.02832048713317724 Centerline is valid? [True, True] Translation: X:95.06, Y:-12.07, Z:-10.95 [[ 8.78099828e-01 4.62928540e-01 1.20987020e-01 9.50575224e+01] [-4.58754773e-01 8.86395002e-01 -6.20319187e-02 -1.20702275e+01] [-1.35958635e-01 -1.03315578e-03 9.90713976e-01 -1.09544113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters 0.028471929163520305 Centerline is valid? [True, True] Translation: X:95.12, Y:-12.09, Z:-10.96 [[ 8.79863735e-01 4.58979062e-01 1.23199140e-01 9.51160944e+01] [-4.54601581e-01 8.88447009e-01 -6.32401280e-02 -1.20900879e+01] [-1.38481802e-01 -3.63828363e-04 9.90364912e-01 -1.09627675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters 0.028307688657066312 Centerline is valid? [True, True] Translation: X:95.17, Y:-12.11, Z:-10.97 [[ 8.81206118e-01 4.55702382e-01 1.25742261e-01 9.51734532e+01] [-4.51097148e-01 8.90132175e-01 -6.46225549e-02 -1.21140011e+01] [-1.41375884e-01 2.23815574e-04 9.89955963e-01 -1.09699975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters 0.028674869520675828 Centerline is valid? [True, True] Translation: X:95.23, Y:-12.14, Z:-10.98 [[ 8.81666323e-01 4.54878095e-01 1.25500654e-01 9.52295305e+01] [-4.50271239e-01 8.90553613e-01 -6.45761036e-02 -1.21415565e+01] [-1.41139316e-01 4.25240947e-04 9.89989653e-01 -1.09756922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters 0.028535491770232995 Centerline is valid? [True, True] Translation: X:95.29, Y:-12.17, Z:-10.98 [[ 8.81438108e-01 4.55189655e-01 1.25973171e-01 9.52862271e+01] [-4.50538593e-01 8.90394391e-01 -6.49061261e-02 -1.21675204e+01] [-1.41710402e-01 4.54957617e-04 9.89908054e-01 -1.09839131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters 0.02865842339436629 Centerline is valid? [True, True] Translation: X:95.34, Y:-12.20, Z:-10.99 [[ 8.80805736e-01 4.55682841e-01 1.28586171e-01 9.53406077e+01] [-4.50828265e-01 8.90142087e-01 -6.63395885e-02 -1.21960159e+01] [-1.44689775e-01 4.62009657e-04 9.89476961e-01 -1.09921214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters 0.028584909286381435 Centerline is valid? [True, True] Translation: X:95.39, Y:-12.23, Z:-11.00 [[ 8.81711360e-01 4.54847058e-01 1.25296570e-01 9.53945349e+01] [-4.50220091e-01 8.90569330e-01 -6.47158279e-02 -1.22263319e+01] [-1.41021087e-01 6.49647414e-04 9.90006379e-01 -1.09988606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters 0.028737597043618383 Centerline is valid? [True, True] Translation: X:95.45, Y:-12.25, Z:-11.01 [[ 8.82303833e-01 4.53911581e-01 1.24515954e-01 9.54506444e+01] [-4.49322361e-01 8.91046313e-01 -6.43885337e-02 -1.22547737e+01] [-1.40176183e-01 8.62447689e-04 9.90126201e-01 -1.10064234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters 0.02875891425215857 Centerline is valid? [True, True] Translation: X:95.51, Y:-12.28, Z:-11.01 [[ 8.81786338e-01 4.54519881e-01 1.25954481e-01 9.55061500e+01] [-4.49817542e-01 8.90736186e-01 -6.52167522e-02 -1.22823105e+01] [-1.41834524e-01 8.50706019e-04 9.89890016e-01 -1.10137280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters 0.028636623318033242 Centerline is valid? [True, True] Translation: X:95.56, Y:-12.31, Z:-11.02 [[ 8.80252239e-01 4.57268886e-01 1.26732636e-01 9.55605991e+01] [-4.52525000e-01 8.89328362e-01 -6.56977112e-02 -1.23130813e+01] [-1.42748447e-01 4.80871235e-04 9.89758885e-01 -1.10222437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters 0.02875838230877967 Centerline is valid? [True, True] Translation: X:95.62, Y:-12.34, Z:-11.03 [[ 8.79588662e-01 4.58998201e-01 1.25077727e-01 9.56160148e+01] [-4.54383645e-01 8.88437154e-01 -6.49224613e-02 -1.23404851e+01] [-1.40922993e-01 2.71787432e-04 9.90020523e-01 -1.10304448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters 0.02892583286215843 Centerline is valid? [True, True] Translation: X:95.67, Y:-12.37, Z:-11.04 [[ 8.80278882e-01 4.57515388e-01 1.25653335e-01 9.56714521e+01] [-4.52832141e-01 8.89201515e-01 -6.52971554e-02 -1.23676863e+01] [-1.41605589e-01 5.79838148e-04 9.89922987e-01 -1.10373942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters 0.029118976015344036 Centerline is valid? [True, True] Translation: X:95.73, Y:-12.40, Z:-11.05 [[ 8.82510877e-01 4.53032803e-01 1.26237202e-01 9.57266530e+01] [-4.48248932e-01 8.91492786e-01 -6.56772918e-02 -1.23953597e+01] [-1.42293523e-01 1.37523330e-03 9.89823551e-01 -1.10460642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters 0.02941310671402055 Centerline is valid? [True, True] Translation: X:95.78, Y:-12.42, Z:-11.05 [[ 8.83038545e-01 4.51572405e-01 1.27770462e-01 9.57810635e+01] [-4.46644557e-01 8.92232858e-01 -6.65519822e-02 -1.24248287e+01] [-1.44054043e-01 1.69998401e-03 9.89568362e-01 -1.10534576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters 0.028923492231330287 Centerline is valid? [True, True] Translation: X:95.84, Y:-12.45, Z:-11.06 [[ 8.83720497e-01 4.51742434e-01 1.22339107e-01 9.58360048e+01] [-4.47218631e-01 8.92146854e-01 -6.37925213e-02 -1.24531459e+01] [-1.37962238e-01 1.66243070e-03 9.90436094e-01 -1.10589523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters 0.029022782934898583 Centerline is valid? [True, True] Translation: X:95.89, Y:-12.48, Z:-11.07 [[ 8.81899396e-01 4.54325461e-01 1.25864338e-01 9.58891222e+01] [-4.49551089e-01 8.90834730e-01 -6.57061847e-02 -1.24837688e+01] [-1.41976316e-01 1.36379425e-03 9.89869115e-01 -1.10669751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters 0.028992325912370727 Centerline is valid? [True, True] Translation: X:95.94, Y:-12.51, Z:-11.07 [[ 8.80143062e-01 4.58054511e-01 1.24636492e-01 9.59444936e+01] [-4.53400019e-01 8.88923726e-01 -6.51385606e-02 -1.25117036e+01] [-1.40629346e-01 8.21064458e-04 9.90061974e-01 -1.10722042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters 0.028692982186733187 Centerline is valid? [True, True] Translation: X:96.00, Y:-12.54, Z:-11.08 [[ 8.78155403e-01 4.62279664e-01 1.23047143e-01 9.60005889e+01] [-4.57774694e-01 8.86734159e-01 -6.43805949e-02 -1.25389257e+01] [-1.38871945e-01 2.08298833e-04 9.90310325e-01 -1.10769815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters 0.028965034306512122 Centerline is valid? [True, True] Translation: X:96.06, Y:-12.57, Z:-11.08 [[ 8.76833061e-01 4.64784392e-01 1.23041670e-01 9.60571761e+01] [-4.60293633e-01 8.85423884e-01 -6.44539866e-02 -1.25667435e+01] [-1.38901240e-01 -1.19910745e-04 9.90306231e-01 -1.10823368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters 0.028883908792938204 Centerline is valid? [True, True] Translation: X:96.11, Y:-12.60, Z:-11.09 [[ 8.74931397e-01 4.68213128e-01 1.23577982e-01 9.61124040e+01] [-4.63704697e-01 8.83615368e-01 -6.48215645e-02 -1.25960061e+01] [-1.39545711e-01 -5.89268557e-04 9.90215455e-01 -1.10910038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters 0.029092833684147303 Centerline is valid? [True, True] Translation: X:96.17, Y:-12.62, Z:-11.10 [[ 8.73496445e-01 4.70447140e-01 1.25233578e-01 9.61689134e+01] [-4.65826988e-01 8.82427737e-01 -6.57761882e-02 -1.26224202e+01] [-1.41453802e-01 -8.81913861e-04 9.89944465e-01 -1.10958675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters 0.02945372776927402 Centerline is valid? [True, True] Translation: X:96.22, Y:-12.65, Z:-11.10 [[ 8.71293327e-01 4.74341560e-01 1.25888935e-01 9.62240116e+01] [-4.69701998e-01 8.80339692e-01 -6.61971278e-02 -1.26506838e+01] [-1.42225075e-01 -1.45316851e-03 9.89833277e-01 -1.11022983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters 0.029457459160224284 Centerline is valid? [True, True] Translation: X:96.28, Y:-12.68, Z:-11.11 [[ 8.70712355e-01 4.75739721e-01 1.24626297e-01 9.62785105e+01] [-4.71196916e-01 8.79584654e-01 -6.56071884e-02 -1.26790061e+01] [-1.40831323e-01 -1.59853715e-03 9.90032314e-01 -1.11086040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters 0.029559254942580483 Centerline is valid? [True, True] Translation: X:96.33, Y:-12.70, Z:-11.12 [[ 8.68441662e-01 4.79914970e-01 1.24461645e-01 9.63345736e+01] [-4.75416239e-01 8.77312234e-01 -6.55945430e-02 -1.27049624e+01] [-1.40671527e-01 -2.20605321e-03 9.90053865e-01 -1.11164237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters 0.029997849773023742 Centerline is valid? [True, True] Translation: X:96.39, Y:-12.73, Z:-11.12 [[ 8.66071414e-01 4.84212988e-01 1.24330558e-01 9.63906738e+01] [-4.79757200e-01 8.74945568e-01 -6.55994095e-02 -1.27302308e+01] [-1.40546556e-01 -2.83470682e-03 9.90070013e-01 -1.11235906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters 0.030484961388169866 Centerline is valid? [True, True] Translation: X:96.45, Y:-12.75, Z:-11.13 [[ 8.63293525e-01 4.88414668e-01 1.27182553e-01 9.64478273e+01] [-4.83785631e-01 8.72604501e-01 -6.71777319e-02 -1.27541029e+01] [-1.43790658e-01 -3.53499082e-03 9.89601814e-01 -1.11313993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters 0.03012589511459676 Centerline is valid? [True, True] Translation: X:96.51, Y:-12.78, Z:-11.14 [[ 8.63517780e-01 4.88222543e-01 1.26395382e-01 9.65063021e+01] [-4.83640051e-01 8.72712440e-01 -6.68228831e-02 -1.27759195e+01] [-1.42931260e-01 -3.42712126e-03 9.89726684e-01 -1.11386283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters 0.029766701355033412 Centerline is valid? [True, True] Translation: X:96.56, Y:-12.80, Z:-11.15 [[ 8.64565156e-01 4.85844838e-01 1.28381793e-01 9.65640538e+01] [-4.81078965e-01 8.74039879e-01 -6.79508581e-02 -1.28003629e+01] [-1.45224380e-01 -3.01383575e-03 9.89394156e-01 -1.11454667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters 0.02905263223966407 Centerline is valid? [True, True] Translation: X:96.62, Y:-12.82, Z:-11.15 [[ 8.67165434e-01 4.81335540e-01 1.27828825e-01 9.66211790e+01] [-4.76549733e-01 8.76533727e-01 -6.77419880e-02 -1.28245883e+01] [-1.44652903e-01 -2.17328206e-03 9.89480073e-01 -1.11530463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters 0.02867035920892734 Centerline is valid? [True, True] Translation: X:96.68, Y:-12.85, Z:-11.16 [[ 8.69627986e-01 4.76981904e-01 1.27418323e-01 9.66764459e+01] [-4.72169247e-01 8.78912038e-01 -6.76005295e-02 -1.28524262e+01] [-1.44233727e-01 -1.37570111e-03 9.89542692e-01 -1.11614653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters 0.028555022134546502 Centerline is valid? [True, True] Translation: X:96.73, Y:-12.88, Z:-11.17 [[ 8.71016498e-01 4.74697906e-01 1.26460107e-01 9.67316886e+01] [-4.69922812e-01 8.80148310e-01 -6.71677267e-02 -1.28795986e+01] [-1.43188029e-01 -9.22291044e-04 9.89695073e-01 -1.11666700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters 0.028420148333325693 Centerline is valid? [True, True] Translation: X:96.79, Y:-12.91, Z:-11.17 [[ 8.70548866e-01 4.75165588e-01 1.27915345e-01 9.67862698e+01] [-4.70272921e-01 8.79895891e-01 -6.80191245e-02 -1.29087364e+01] [-1.44872533e-01 -9.41151067e-04 9.89449879e-01 -1.11741288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters 0.02814075716397289 Centerline is valid? [True, True] Translation: X:96.84, Y:-12.94, Z:-11.18 [[ 8.70587491e-01 4.75546555e-01 1.26225572e-01 9.68405993e+01] [-4.70775978e-01 8.79690071e-01 -6.71964072e-02 -1.29376405e+01] [-1.42994402e-01 -9.23615475e-04 9.89723066e-01 -1.11818811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters 0.028045274082381864 Centerline is valid? [True, True] Translation: X:96.89, Y:-12.97, Z:-11.19 [[ 8.72203933e-01 4.72251587e-01 1.27431310e-01 9.68948203e+01] [-4.67342708e-01 8.81463747e-01 -6.79150668e-02 -1.29660880e+01] [-1.44399078e-01 -3.18304998e-04 9.89519482e-01 -1.11894857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters 0.028129074450032102 Centerline is valid? [True, True] Translation: X:96.95, Y:-12.99, Z:-11.20 [[ 8.74553107e-01 4.68123839e-01 1.26558024e-01 9.69502112e+01] [-4.63228810e-01 8.83662769e-01 -6.75217030e-02 -1.29938089e+01] [-1.43443132e-01 4.25992597e-04 9.89658470e-01 -1.11951713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters 0.028062851394791363 Centerline is valid? [True, True] Translation: X:97.00, Y:-13.02, Z:-11.20 [[ 8.74521053e-01 4.67951028e-01 1.27415711e-01 9.70039235e+01] [-4.62975989e-01 8.83754241e-01 -6.80564169e-02 -1.30249096e+01] [-1.44451245e-01 5.26354452e-04 9.89511779e-01 -1.12026639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters 0.02795676712011282 Centerline is valid? [True, True] Translation: X:97.06, Y:-13.06, Z:-11.21 [[ 8.73728121e-01 4.69660148e-01 1.26564274e-01 9.70566499e+01] [-4.64758627e-01 8.82847240e-01 -6.76769461e-02 -1.30563341e+01] [-1.43522085e-01 3.09412618e-04 9.89647066e-01 -1.12112510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters 0.028394322635658293 Centerline is valid? [True, True] Translation: X:97.11, Y:-13.09, Z:-11.22 [[ 8.71562062e-01 4.73112657e-01 1.28623424e-01 9.71105699e+01] [-4.68075248e-01 8.81001916e-01 -6.88562691e-02 -1.30873099e+01] [-1.45894255e-01 -1.92929165e-04 9.89300171e-01 -1.12171117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters 0.02832183136446896 Centerline is valid? [True, True] Translation: X:97.16, Y:-13.12, Z:-11.23 [[ 8.71167752e-01 4.73583197e-01 1.29559652e-01 9.71627280e+01] [-4.68465400e-01 8.80749064e-01 -6.94352589e-02 -1.31194448e+01] [-1.46992914e-01 -2.04455706e-04 9.89137524e-01 -1.12254900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters 0.02839378327570541 Centerline is valid? [True, True] Translation: X:97.22, Y:-13.15, Z:-11.24 [[ 8.71704712e-01 4.72320335e-01 1.30554186e-01 9.72171560e+01] [-4.67097826e-01 8.81426965e-01 -7.00437440e-02 -1.31488264e+01] [-1.48157065e-01 7.58852373e-05 9.88963841e-01 -1.12350790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters 0.02830090809689807 Centerline is valid? [True, True] Translation: X:97.27, Y:-13.18, Z:-11.24 [[ 8.71440181e-01 4.72744039e-01 1.30786409e-01 9.72707133e+01] [-4.67495169e-01 8.81199788e-01 -7.02509794e-02 -1.31802862e+01] [-1.48459687e-01 7.75120500e-05 9.88918457e-01 -1.12436295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters 0.028332145474347443 Centerline is valid? [True, True] Translation: X:97.32, Y:-13.21, Z:-11.25 [[ 8.68985969e-01 4.77202512e-01 1.30924205e-01 9.73243129e+01] [-4.71979069e-01 8.78793149e-01 -7.04156238e-02 -1.32138569e+01] [-1.48657807e-01 -6.03295299e-04 9.88888514e-01 -1.12472368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters 0.028565095624762876 Centerline is valid? [True, True] Translation: X:97.38, Y:-13.24, Z:-11.26 [[ 8.65264978e-01 4.83585852e-01 1.32140992e-01 9.73773356e+01] [-4.78324422e-01 8.75295409e-01 -7.11596416e-02 -1.32443519e+01] [-1.50074200e-01 -1.63431801e-03 9.88673386e-01 -1.12563472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters 0.02884867570204555 Centerline is valid? [True, True] Translation: X:97.43, Y:-13.27, Z:-11.26 [[ 8.63553772e-01 4.86185561e-01 1.33785215e-01 9.74309773e+01] [-4.80810011e-01 8.73853214e-01 -7.21269286e-02 -1.32743831e+01] [-1.51975711e-01 -2.03978945e-03 9.88382124e-01 -1.12647594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters 0.02850468898270482 Centerline is valid? [True, True] Translation: X:97.49, Y:-13.30, Z:-11.27 [[ 8.64193444e-01 4.86922617e-01 1.26791386e-01 9.74854451e+01] [-4.82095586e-01 8.73442831e-01 -6.84212455e-02 -1.33039309e+01] [-1.44060879e-01 -1.99637584e-03 9.89566813e-01 -1.12702005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters 0.02814813203488781 Centerline is valid? [True, True] Translation: X:97.54, Y:-13.33, Z:-11.28 [[ 8.63995920e-01 4.88200456e-01 1.23172095e-01 9.75420915e+01] [-4.83653752e-01 8.72728973e-01 -6.65070561e-02 -1.33290297e+01] [-1.39964631e-01 -2.11082050e-03 9.90154254e-01 -1.12772743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters 0.028629652912131865 Centerline is valid? [True, True] Translation: X:97.60, Y:-13.36, Z:-11.28 [[ 8.61681444e-01 4.91289928e-01 1.27040528e-01 9.75978758e+01] [-4.86474029e-01 8.70992132e-01 -6.86711348e-02 -1.33561782e+01] [-1.44388737e-01 -2.62927512e-03 9.89517549e-01 -1.12846968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters 0.028265228783518077 Centerline is valid? [True, True] Translation: X:97.65, Y:-13.38, Z:-11.29 [[ 8.61482054e-01 4.92988694e-01 1.21699708e-01 9.76549681e+01] [-4.88580019e-01 8.70031402e-01 -6.58401468e-02 -1.33818955e+01] [-1.38341016e-01 -2.73994080e-03 9.90380864e-01 -1.12904152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters 0.028294742328445813 Centerline is valid? [True, True] Translation: X:97.71, Y:-13.41, Z:-11.30 [[ 8.61862349e-01 4.92247631e-01 1.22006400e-01 9.77108354e+01] [-4.87802522e-01 8.70451368e-01 -6.60538853e-02 -1.34110262e+01] [-1.38715506e-01 -2.58567293e-03 9.90328896e-01 -1.12961884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters 0.02816663666841373 Centerline is valid? [True, True] Translation: X:97.77, Y:-13.44, Z:-11.30 [[ 8.62133388e-01 4.91350164e-01 1.23697359e-01 9.77685665e+01] [-4.86758943e-01 8.70958815e-01 -6.70557588e-02 -1.34367275e+01] [-1.40683163e-01 -2.39978712e-03 9.90051761e-01 -1.13039022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters 0.0281446522251446 Centerline is valid? [True, True] Translation: X:97.82, Y:-13.46, Z:-11.31 [[ 8.62835173e-01 4.89560196e-01 1.25882000e-01 9.78245515e+01] [-4.84773163e-01 8.71967046e-01 -6.83260688e-02 -1.34623769e+01] [-1.43214679e-01 -2.07007979e-03 9.89689482e-01 -1.13113121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters 0.02765775742098032 Centerline is valid? [True, True] Translation: X:97.88, Y:-13.49, Z:-11.32 [[ 8.64841340e-01 4.87131637e-01 1.21458739e-01 9.78800408e+01] [-4.82642945e-01 8.73327189e-01 -6.59955149e-02 -1.34888671e+01] [-1.38221723e-01 -1.54555410e-03 9.90400104e-01 -1.13191948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters 0.02744347276202475 Centerline is valid? [True, True] Translation: X:97.94, Y:-13.52, Z:-11.33 [[ 8.68140009e-01 4.80953082e-01 1.22544107e-01 9.79353092e+01] [-4.76311924e-01 8.76746189e-01 -6.66563628e-02 -1.35171953e+01] [-1.39498662e-01 -5.02164233e-04 9.90222132e-01 -1.13252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters 0.02785701169284576 Centerline is valid? [True, True] Translation: X:97.99, Y:-13.55, Z:-11.33 [[ 8.69255731e-01 4.78548894e-01 1.24038018e-01 9.79907546e+01] [-4.73757915e-01 8.78060905e-01 -6.75461672e-02 -1.35452876e+01] [-1.41237078e-01 -4.90999978e-05 9.89975800e-01 -1.13329914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters 0.027727391539046974 Centerline is valid? [True, True] Translation: X:98.05, Y:-13.57, Z:-11.34 [[ 8.69450788e-01 4.78236431e-01 1.23875923e-01 9.80458181e+01] [-4.73443655e-01 8.78231126e-01 -6.75366167e-02 -1.35747834e+01] [-1.41090162e-01 7.14948832e-05 9.89996748e-01 -1.13420443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters 0.027909512692245085 Centerline is valid? [True, True] Translation: X:98.10, Y:-13.61, Z:-11.35 [[ 8.69437546e-01 4.78293776e-01 1.23747393e-01 9.81009921e+01] [-4.73499203e-01 8.78199889e-01 -6.75533875e-02 -1.36057656e+01] [-1.40985312e-01 1.39159275e-04 9.90011678e-01 -1.13472778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters 0.028069253674193453 Centerline is valid? [True, True] Translation: X:98.15, Y:-13.64, Z:-11.36 [[ 8.69734166e-01 4.77081848e-01 1.26314652e-01 9.81539290e+01] [-4.72059748e-01 8.78858768e-01 -6.90424596e-02 -1.36373964e+01] [-1.43951643e-01 4.20523361e-04 9.89584634e-01 -1.13557579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters 0.027721854127922586 Centerline is valid? [True, True] Translation: X:98.21, Y:-13.67, Z:-11.36 [[ 8.68670451e-01 4.78700791e-01 1.27503726e-01 9.82080345e+01] [-4.73588993e-01 8.77978076e-01 -6.97707861e-02 -1.36667925e+01] [-1.45344807e-01 2.23458810e-04 9.89381037e-01 -1.13631624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters 0.027804941831521608 Centerline is valid? [True, True] Translation: X:98.26, Y:-13.70, Z:-11.37 [[ 8.65807137e-01 4.83609872e-01 1.28450353e-01 9.82617817e+01] [-4.78463334e-01 8.75283501e-01 -7.03678247e-02 -1.36965705e+01] [-1.46461049e-01 -5.33819233e-04 9.89216294e-01 -1.13702262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters 0.027808008631806987 Centerline is valid? [True, True] Translation: X:98.32, Y:-13.73, Z:-11.38 [[ 8.63474557e-01 4.87758215e-01 1.28466388e-01 9.83167354e+01] [-4.82644290e-01 8.72977984e-01 -7.04551524e-02 -1.37251193e+01] [-1.46513408e-01 -1.16733713e-03 9.89207996e-01 -1.13775634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters 0.027635515862672898 Centerline is valid? [True, True] Translation: X:98.37, Y:-13.75, Z:-11.39 [[ 8.64541750e-01 4.86637727e-01 1.25504125e-01 9.83731151e+01] [-4.81736940e-01 8.73603410e-01 -6.88955935e-02 -1.37514150e+01] [-1.43168027e-01 -8.96856234e-04 9.89697990e-01 -1.13869180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters 0.027768966792985978 Centerline is valid? [True, True] Translation: X:98.43, Y:-13.78, Z:-11.39 [[ 8.66762057e-01 4.82074565e-01 1.27779695e-01 9.84298216e+01] [-4.76938224e-01 8.76130185e-01 -7.01842506e-02 -1.37766350e+01] [-1.45785690e-01 -1.09975328e-04 9.89316188e-01 -1.13945913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters 0.028053779156227625 Centerline is valid? [True, True] Translation: X:98.48, Y:-13.80, Z:-11.40 [[ 8.68805013e-01 4.78021841e-01 1.29123847e-01 9.84841483e+01] [-4.72719796e-01 8.78347710e-01 -7.10020711e-02 -1.38049041e+01] [-1.47356176e-01 6.47556509e-04 9.89083282e-01 -1.14016562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters 0.028065114116012382 Centerline is valid? [True, True] Translation: X:98.54, Y:-13.83, Z:-11.41 [[ 8.71460474e-01 4.73780293e-01 1.26841937e-01 9.85395550e+01] [-4.68609564e-01 8.80641958e-01 -6.98199053e-02 -1.38329668e+01] [-1.44781627e-01 1.40594301e-03 9.89462634e-01 -1.14100957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters 0.028030717663425735 Centerline is valid? [True, True] Translation: X:98.59, Y:-13.86, Z:-11.42 [[ 8.71622886e-01 4.73535575e-01 1.26639659e-01 9.85939789e+01] [-4.68367323e-01 8.80773391e-01 -6.97874323e-02 -1.38633994e+01] [-1.44587674e-01 1.51444495e-03 9.89490834e-01 -1.14182570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters 0.02810348862391198 Centerline is valid? [True, True] Translation: X:98.65, Y:-13.89, Z:-11.43 [[ 8.71986675e-01 4.73316024e-01 1.24944712e-01 9.86478892e+01] [-4.68271802e-01 8.80891237e-01 -6.89358232e-02 -1.38927225e+01] [-1.42691131e-01 1.60303399e-03 9.89765968e-01 -1.14266809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters 0.028177672768574295 Centerline is valid? [True, True] Translation: X:98.70, Y:-13.93, Z:-11.43 [[ 8.73434066e-01 4.70885073e-01 1.24016855e-01 9.87020212e+01] [-4.65880682e-01 8.82192176e-01 -6.84993068e-02 -1.39255080e+01] [-1.41662001e-01 2.05257082e-03 9.89912958e-01 -1.14324143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters 0.028673719435670774 Centerline is valid? [True, True] Translation: X:98.76, Y:-13.96, Z:-11.44 [[ 8.74668744e-01 4.68621982e-01 1.23887155e-01 9.87555611e+01] [-4.63593845e-01 8.83395291e-01 -6.85091721e-02 -1.39551191e+01] [-1.41546233e-01 2.48950917e-03 9.89928516e-01 -1.14403859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters 0.02907094710037044 Centerline is valid? [True, True] Translation: X:98.81, Y:-13.99, Z:-11.45 [[ 8.75680104e-01 4.66437907e-01 1.24980138e-01 9.88090816e+01] [-4.61287865e-01 8.84549087e-01 -6.91839462e-02 -1.39866931e+01] [-1.42821082e-01 2.93118404e-03 9.89744182e-01 -1.14462410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters 0.029317060679314277 Centerline is valid? [True, True] Translation: X:98.86, Y:-14.02, Z:-11.46 [[ 8.75970453e-01 4.65879972e-01 1.25026468e-01 9.88620958e+01] [-4.60709807e-01 8.84842534e-01 -6.92832170e-02 -1.40187779e+01] [-1.42906400e-01 3.08913100e-03 9.89731387e-01 -1.14552443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters 0.029681113758702284 Centerline is valid? [True, True] Translation: X:98.91, Y:-14.05, Z:-11.46 [[ 8.76896220e-01 4.63611481e-01 1.26954374e-01 9.89145498e+01] [-4.58245088e-01 8.86031363e-01 -7.04263009e-02 -1.40521066e+01] [-1.45135999e-01 3.58033886e-03 9.89405237e-01 -1.14615417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters 0.02990754909255694 Centerline is valid? [True, True] Translation: X:98.97, Y:-14.09, Z:-11.47 [[ 8.77406269e-01 4.63014567e-01 1.25601555e-01 9.89675027e+01] [-4.57746035e-01 8.86342932e-01 -6.97479299e-02 -1.40857672e+01] [-1.43620358e-01 3.70365724e-03 9.89625927e-01 -1.14680579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters 0.029892596724852595 Centerline is valid? [True, True] Translation: X:99.02, Y:-14.12, Z:-11.47 [[ 8.77923541e-01 4.62889299e-01 1.22408144e-01 9.90204393e+01] [-4.57875600e-01 8.86408416e-01 -6.80445134e-02 -1.41188123e+01] [-1.40000686e-01 3.69017778e-03 9.90144530e-01 -1.14743705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters 0.02977096516529648 Centerline is valid? [True, True] Translation: X:99.07, Y:-14.15, Z:-11.48 [[ 8.78067221e-01 4.62861729e-01 1.21478288e-01 9.90735427e+01] [-4.57919151e-01 8.86422783e-01 -6.75625713e-02 -1.41515950e+01] [-1.38953250e-01 3.69724488e-03 9.90292040e-01 -1.14815317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters 0.03003146285618597 Centerline is valid? [True, True] Translation: X:99.12, Y:-14.19, Z:-11.49 [[ 8.78393054e-01 4.62138731e-01 1.21874670e-01 9.91245783e+01] [-4.57145554e-01 8.86799086e-01 -6.78625381e-02 -1.41858262e+01] [-1.39440253e-01 3.89551855e-03 9.90222824e-01 -1.14902866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters 0.030744058403891585 Centerline is valid? [True, True] Translation: X:99.18, Y:-14.22, Z:-11.50 [[ 8.79509793e-01 4.59803912e-01 1.22649449e-01 9.91765966e+01] [-4.54713867e-01 8.88009779e-01 -6.83661602e-02 -1.42190790e+01] [-1.40348938e-01 4.35830222e-03 9.90092511e-01 -1.14962453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters 0.03088850963556679 Centerline is valid? [True, True] Translation: X:99.23, Y:-14.25, Z:-11.51 [[ 8.79501773e-01 4.59605886e-01 1.23446590e-01 9.92292633e+01] [-4.54436807e-01 8.88111662e-01 -6.88829783e-02 -1.42518782e+01] [-1.41293379e-01 4.48402709e-03 9.89957613e-01 -1.15050689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters 0.031006577179816298 Centerline is valid? [True, True] Translation: X:99.28, Y:-14.29, Z:-11.51 [[ 8.79241757e-01 4.60173490e-01 1.23183974e-01 9.92804300e+01] [-4.55021587e-01 8.87817867e-01 -6.88098151e-02 -1.42879056e+01] [-1.41029386e-01 4.44909525e-03 9.89995413e-01 -1.15117185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters 0.03098409395971314 Centerline is valid? [True, True] Translation: X:99.33, Y:-14.32, Z:-11.52 [[ 8.78678043e-01 4.61390672e-01 1.22652127e-01 9.93315753e+01] [-4.56283938e-01 8.87186624e-01 -6.85919967e-02 -1.43226840e+01] [-1.40463034e-01 4.30608571e-03 9.90076559e-01 -1.15190675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters 0.030563788340412405 Centerline is valid? [True, True] Translation: X:99.38, Y:-14.36, Z:-11.53 [[ 8.77452312e-01 4.63159462e-01 1.24742746e-01 9.93836374e+01] [-4.57883005e-01 8.86265198e-01 -6.98366166e-02 -1.43585289e+01] [-1.42900644e-01 4.16071728e-03 9.89728293e-01 -1.15250583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters 0.030445499004149067 Centerline is valid? [True, True] Translation: X:99.44, Y:-14.39, Z:-11.53 [[ 8.76069086e-01 4.65543077e-01 1.25589012e-01 9.94368639e+01] [-4.60206758e-01 8.85016753e-01 -7.03923764e-02 -1.43896704e+01] [-1.43919063e-01 3.87167292e-03 9.89581888e-01 -1.15318548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters 0.0297196478748918 Centerline is valid? [True, True] Translation: X:99.49, Y:-14.42, Z:-11.54 [[ 8.74121127e-01 4.69659944e-01 1.23821611e-01 9.94904352e+01] [-4.64504294e-01 8.82841558e-01 -6.94733354e-02 -1.44199219e+01] [-1.41943707e-01 3.21244015e-03 9.89869519e-01 -1.15397685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters 0.029077204217276994 Centerline is valid? [True, True] Translation: X:99.54, Y:-14.45, Z:-11.55 [[ 8.72854054e-01 4.72807027e-01 1.20744840e-01 9.95438528e+01] [-4.67926008e-01 8.81161880e-01 -6.78158675e-02 -1.44513160e+01] [-1.38459569e-01 2.69370392e-03 9.90364424e-01 -1.15474268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters 0.029285315474876995 Centerline is valid? [True, True] Translation: X:99.60, Y:-14.48, Z:-11.55 [[ 8.72630731e-01 4.72995763e-01 1.21616672e-01 9.96001546e+01] [-4.68035192e-01 8.81060415e-01 -6.83783886e-02 -1.44780253e+01] [-1.39494323e-01 2.74820107e-03 9.90219057e-01 -1.15538683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters 0.028948417467108765 Centerline is valid? [True, True] Translation: X:99.65, Y:-14.51, Z:-11.56 [[ 8.71159393e-01 4.75625256e-01 1.21909511e-01 9.96537763e+01] [-4.70655822e-01 8.79644737e-01 -6.86165759e-02 -1.45090865e+01] [-1.39872836e-01 2.39855344e-03 9.90166570e-01 -1.15620592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters 0.028664259246716083 Centerline is valid? [True, True] Translation: X:99.71, Y:-14.54, Z:-11.57 [[ 8.70089616e-01 4.77704424e-01 1.21418878e-01 9.97095469e+01] [-4.72784967e-01 8.78518062e-01 -6.84133659e-02 -1.45360665e+01] [-1.39350045e-01 2.12073920e-03 9.90240914e-01 -1.15668109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters 0.02872861400345901 Centerline is valid? [True, True] Translation: X:99.76, Y:-14.57, Z:-11.57 [[ 8.69450799e-01 4.78492146e-01 1.22884393e-01 9.97635903e+01] [-4.73449720e-01 8.78089355e-01 -6.93141178e-02 -1.45654866e+01] [-1.41069738e-01 2.08563372e-03 9.89997464e-01 -1.15742640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters 0.02879561201285035 Centerline is valid? [True, True] Translation: X:99.82, Y:-14.60, Z:-11.58 [[ 8.69642570e-01 4.78442196e-01 1.21716332e-01 9.98162896e+01] [-4.73484898e-01 8.78116446e-01 -6.87281430e-02 -1.45972113e+01] [-1.39763556e-01 2.13807393e-03 9.90182598e-01 -1.15796896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters 0.028626249637207748 Centerline is valid? [True, True] Translation: X:99.87, Y:-14.63, Z:-11.59 [[ 8.69712040e-01 4.78547180e-01 1.20803824e-01 9.98703970e+01] [-4.73655104e-01 8.78059160e-01 -6.82858231e-02 -1.46271301e+01] [-1.38750892e-01 2.16965485e-03 9.90324938e-01 -1.15879659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters 0.02889179918806784 Centerline is valid? [True, True] Translation: X:99.92, Y:-14.66, Z:-11.59 [[ 8.68399968e-01 4.79926945e-01 1.24706149e-01 9.99238404e+01] [-4.74714951e-01 8.77305986e-01 -7.05685590e-02 -1.46571885e+01] [-1.43273204e-01 2.08186087e-03 9.89680986e-01 -1.15948103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters 0.02878621886253761 Centerline is valid? [True, True] Translation: X:99.98, Y:-14.69, Z:-11.60 [[ 8.67211226e-01 4.82195712e-01 1.24225539e-01 9.99784095e+01] [-4.77036853e-01 8.76061747e-01 -7.03680065e-02 -1.46866037e+01] [-1.42760394e-01 1.76376499e-03 9.89755707e-01 -1.16020794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters 0.029015005533840028 Centerline is valid? [True, True] Translation: X:100.03, Y:-14.71, Z:-11.61 [[ 8.68326912e-01 4.80388610e-01 1.23430779e-01 1.00034636e+02] [-4.75266705e-01 8.77053195e-01 -6.99946586e-02 -1.47135218e+01] [-1.41879996e-01 2.11570590e-03 9.89881604e-01 -1.16092618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters 0.03001194787743496 Centerline is valid? [True, True] Translation: X:100.09, Y:-14.74, Z:-11.61 [[ 8.70375170e-01 4.76064338e-01 1.25737067e-01 1.00090287e+02] [-4.70690837e-01 8.79405505e-01 -7.13869250e-02 -1.47404972e+01] [-1.44558638e-01 2.95012155e-03 9.89491838e-01 -1.16144997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters 0.030520947829834912 Centerline is valid? [True, True] Translation: X:100.15, Y:-14.77, Z:-11.62 [[ 8.72696328e-01 4.71689947e-01 1.26133711e-01 1.00145498e+02] [-4.66227019e-01 8.81756518e-01 -7.16785183e-02 -1.47680241e+01] [-1.45029258e-01 3.74663586e-03 9.89420273e-01 -1.16233983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters 0.031031461444959843 Centerline is valid? [True, True] Translation: X:100.20, Y:-14.80, Z:-11.63 [[ 8.75024815e-01 4.67673121e-01 1.24953691e-01 1.00196830e+02] [-4.62260979e-01 8.83890358e-01 -7.10818073e-02 -1.48015313e+01] [-1.43688413e-01 4.43712975e-03 9.89613031e-01 -1.16330366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters 0.03166456696803808 Centerline is valid? [True, True] Translation: X:100.25, Y:-14.84, Z:-11.64 [[ 8.75256412e-01 4.66865880e-01 1.26342642e-01 1.00248305e+02] [-4.61312651e-01 8.84315705e-01 -7.19470027e-02 -1.48367030e+01] [-1.45316383e-01 4.68861622e-03 9.89374128e-01 -1.16386876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters 0.03134964409359182 Centerline is valid? [True, True] Translation: X:100.30, Y:-14.87, Z:-11.65 [[ 8.74103063e-01 4.69735732e-01 1.23661545e-01 1.00300175e+02] [-4.64435326e-01 8.82797168e-01 -7.04910520e-02 -1.48692068e+01] [-1.42280228e-01 4.18365446e-03 9.89817576e-01 -1.16460187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters 0.0306395801972259 Centerline is valid? [True, True] Translation: X:100.35, Y:-14.90, Z:-11.65 [[ 8.71267960e-01 4.75117578e-01 1.23107390e-01 1.00351991e+02] [-4.69908142e-01 8.79915932e-01 -7.02445097e-02 -1.49025620e+01] [-1.41698555e-01 3.35262568e-03 9.89904177e-01 -1.16532307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters 0.03079078961776333 Centerline is valid? [True, True] Translation: X:100.40, Y:-14.93, Z:-11.66 [[ 8.69524510e-01 4.77149503e-01 1.27496977e-01 1.00404557e+02] [-4.71570051e-01 8.78816313e-01 -7.28256463e-02 -1.49344293e+01] [-1.46795144e-01 3.19992840e-03 9.89161739e-01 -1.16615474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters 0.030854247971386774 Centerline is valid? [True, True] Translation: X:100.46, Y:-14.97, Z:-11.67 [[ 8.68997041e-01 4.77475812e-01 1.29849881e-01 1.00457110e+02] [-4.71678841e-01 8.78638791e-01 -7.42492233e-02 -1.49658603e+01] [-1.49543350e-01 3.27491416e-03 9.88749747e-01 -1.16705085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters 0.030385026248089912 Centerline is valid? [True, True] Translation: X:100.51, Y:-15.00, Z:-11.68 [[ 8.66058833e-01 4.83033083e-01 1.28922993e-01 1.00508767e+02] [-4.77368507e-01 8.75598900e-01 -7.37961689e-02 -1.50004184e+01] [-1.48530822e-01 2.36804719e-03 9.88904944e-01 -1.16762144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters 0.029880403520234675 Centerline is valid? [True, True] Translation: X:100.56, Y:-15.03, Z:-11.68 [[ 8.60645925e-01 4.92969511e-01 1.27552547e-01 1.00560748e+02] [-4.87521878e-01 8.70046289e-01 -7.30881208e-02 -1.50339195e+01] [-1.47006835e-01 7.18336045e-04 9.89135215e-01 -1.16826731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters 0.03001143025663523 Centerline is valid? [True, True] Translation: X:100.61, Y:-15.07, Z:-11.69 [[ 8.56893802e-01 4.99611621e-01 1.26969448e-01 1.00613648e+02] [-4.94274586e-01 8.66249448e-01 -7.28321850e-02 -1.50666705e+01] [-1.46375020e-01 -3.48323397e-04 9.89229110e-01 -1.16891168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters 0.0303004617334442 Centerline is valid? [True, True] Translation: X:100.67, Y:-15.10, Z:-11.70 [[ 8.54219089e-01 5.04002321e-01 1.27637801e-01 1.00666563e+02] [-4.98645271e-01 8.63701678e-01 -7.32960096e-02 -1.50974140e+01] [-1.47182342e-01 -1.03513530e-03 9.89108835e-01 -1.16971053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters 0.03073150433173294 Centerline is valid? [True, True] Translation: X:100.72, Y:-15.13, Z:-11.70 [[ 8.49750659e-01 5.10950821e-01 1.29819398e-01 1.00720730e+02] [-5.05476846e-01 8.59607108e-01 -7.46242430e-02 -1.51271979e+01] [-1.49722996e-01 -2.20870017e-03 9.88725516e-01 -1.17036832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters 0.031246169570932597 Centerline is valid? [True, True] Translation: X:100.77, Y:-15.16, Z:-11.71 [[ 8.46988074e-01 5.15880514e-01 1.28368600e-01 1.00774860e+02] [-5.10576503e-01 8.56655313e-01 -7.38465228e-02 -1.51575078e+01] [-1.48063625e-01 -2.99486649e-03 9.88973303e-01 -1.17092475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters 0.03151509432365342 Centerline is valid? [True, True] Translation: X:100.83, Y:-15.19, Z:-11.71 [[ 8.45257440e-01 5.18852299e-01 1.27797307e-01 1.00830220e+02] [-5.13617850e-01 8.54857012e-01 -7.35947961e-02 -1.51852818e+01] [-1.47433253e-01 -3.43242904e-03 9.89066052e-01 -1.17149285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters 0.031206470996527687 Centerline is valid? [True, True] Translation: X:100.89, Y:-15.21, Z:-11.72 [[ 8.45270416e-01 5.19066385e-01 1.26838526e-01 1.00885811e+02] [-5.13901742e-01 8.54727254e-01 -7.31185367e-02 -1.52118073e+01] [-1.46365720e-01 -3.37760355e-03 9.89224781e-01 -1.17234957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters 0.031084853116529206 Centerline is valid? [True, True] Translation: X:100.94, Y:-15.24, Z:-11.73 [[ 8.45707300e-01 5.18697440e-01 1.25427783e-01 1.00941173e+02] [-5.13634073e-01 8.54951810e-01 -7.23701706e-02 -1.52407321e+01] [-1.44772932e-01 -3.22000122e-03 9.89459666e-01 -1.17294298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters 0.031158833516681878 Centerline is valid? [True, True] Translation: X:101.00, Y:-15.27, Z:-11.74 [[ 8.45826096e-01 5.18238498e-01 1.26519069e-01 1.00998338e+02] [-5.13075082e-01 8.55230399e-01 -7.30405617e-02 -1.52669072e+01] [-1.46055385e-01 -3.13416879e-03 9.89271450e-01 -1.17373516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters 0.030829319156673824 Centerline is valid? [True, True] Translation: X:101.05, Y:-15.29, Z:-11.74 [[ 8.45380344e-01 5.18871866e-01 1.26901773e-01 1.01054787e+02] [-5.13671185e-01 8.54846118e-01 -7.33486733e-02 -1.52935429e+01] [-1.46540051e-01 -3.17825766e-03 9.89199632e-01 -1.17435428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters 0.030650150054377063 Centerline is valid? [True, True] Translation: X:101.11, Y:-15.32, Z:-11.75 [[ 8.44708186e-01 5.20269502e-01 1.25649216e-01 1.01110541e+02] [-5.15175111e-01 8.53995692e-01 -7.27046341e-02 -1.53197052e+01] [-1.45129893e-01 -3.31714891e-03 9.89407050e-01 -1.17501331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters 0.03127526284691934 Centerline is valid? [True, True] Translation: X:101.17, Y:-15.34, Z:-11.76 [[ 8.41800496e-01 5.25389263e-01 1.23846875e-01 1.01169243e+02] [-5.20484751e-01 8.50852240e-01 -7.17362447e-02 -1.53416203e+01] [-1.43064844e-01 -4.07280362e-03 9.89704937e-01 -1.17571701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters 0.031145835008816236 Centerline is valid? [True, True] Translation: X:101.23, Y:-15.36, Z:-11.76 [[ 8.41206584e-01 5.26011922e-01 1.25231548e-01 1.01228479e+02] [-5.20992306e-01 8.50467016e-01 -7.26145457e-02 -1.53627016e+01] [-1.44701418e-01 -4.16083897e-03 9.89466618e-01 -1.17634004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters 0.030383377412073757 Centerline is valid? [True, True] Translation: X:101.29, Y:-15.38, Z:-11.77 [[ 8.43801331e-01 5.21943568e-01 1.24796741e-01 1.01288238e+02] [-5.16903629e-01 8.52973302e-01 -7.24374559e-02 -1.53833918e+01] [-1.44256552e-01 -3.38506643e-03 9.89534531e-01 -1.17697595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters 0.029809998532853824 Centerline is valid? [True, True] Translation: X:101.35, Y:-15.41, Z:-11.78 [[ 8.47493008e-01 5.15610014e-01 1.26102794e-01 1.01346002e+02] [-5.10382099e-01 8.56820398e-01 -7.32729013e-02 -1.54068184e+01] [-1.45827688e-01 -2.26233699e-03 9.89307418e-01 -1.17770135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters 0.02961031526811289 Centerline is valid? [True, True] Translation: X:101.40, Y:-15.43, Z:-11.79 [[ 8.48275781e-01 5.14289424e-01 1.26232280e-01 1.01404529e+02] [-5.09024571e-01 8.57614430e-01 -7.34266668e-02 -1.54289870e+01] [-1.46021183e-01 -1.96926923e-03 9.89279503e-01 -1.17851924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters 0.030029287010264773 Centerline is valid? [True, True] Translation: X:101.46, Y:-15.45, Z:-11.79 [[ 8.45450460e-01 5.19307258e-01 1.24633432e-01 1.01461989e+02] [-5.14218298e-01 8.54583240e-01 -7.25742896e-02 -1.54528462e+01] [-1.44197997e-01 -2.73082469e-03 9.89545087e-01 -1.17936333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters 0.03012308838264431 Centerline is valid? [True, True] Translation: X:101.52, Y:-15.48, Z:-11.80 [[ 8.44564788e-01 5.20597742e-01 1.25252984e-01 1.01517055e+02] [-5.15460377e-01 8.53797161e-01 -7.30137520e-02 -1.54809978e+01] [-1.44951437e-01 -2.89810632e-03 9.89434526e-01 -1.18004782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters 0.029839277227050487 Centerline is valid? [True, True] Translation: X:101.58, Y:-15.50, Z:-11.81 [[ 8.47159460e-01 5.16214751e-01 1.25869693e-01 1.01575737e+02] [-5.10966539e-01 8.56456633e-01 -7.34522400e-02 -1.55029901e+01] [-1.45719063e-01 -2.08944125e-03 9.89323804e-01 -1.18087183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters 0.029191499540739147 Centerline is valid? [True, True] Translation: X:101.63, Y:-15.53, Z:-11.82 [[ 8.52044802e-01 5.07983954e-01 1.26380215e-01 1.01631983e+02] [-5.02592153e-01 8.61366309e-01 -7.38187696e-02 -1.55292123e+01] [-1.46358410e-01 -6.20805589e-04 9.89231434e-01 -1.18192993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters 0.02944916451277729 Centerline is valid? [True, True] Translation: X:101.69, Y:-15.55, Z:-11.83 [[ 8.55292643e-01 5.02070011e-01 1.28063263e-01 1.01690590e+02] [-4.96460489e-01 8.64826870e-01 -7.48429520e-02 -1.55522845e+01] [-1.48328952e-01 4.34276132e-04 9.88937983e-01 -1.18257529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters 0.029333769431974074 Centerline is valid? [True, True] Translation: X:101.75, Y:-15.58, Z:-11.83 [[ 8.54922657e-01 5.03116543e-01 1.26415959e-01 1.01745921e+02] [-4.97650995e-01 8.64218516e-01 -7.39583961e-02 -1.55807457e+01] [-1.46460705e-01 3.17680531e-04 9.89216438e-01 -1.18313046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters 0.02934693526049233 Centerline is valid? [True, True] Translation: X:101.80, Y:-15.61, Z:-11.84 [[ 8.52901798e-01 5.06267726e-01 1.27481421e-01 1.01802536e+02] [-5.00732239e-01 8.62376348e-01 -7.46609636e-02 -1.56068522e+01] [-1.47735399e-01 -1.55587399e-04 9.89026910e-01 -1.18397091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters 0.02925713401440639 Centerline is valid? [True, True] Translation: X:101.86, Y:-15.64, Z:-11.85 [[ 8.50633851e-01 5.10016530e-01 1.27691780e-01 1.01858961e+02] [-5.04492366e-01 8.60164285e-01 -7.48655877e-02 -1.56353141e+01] [-1.48018596e-01 -7.36324878e-04 9.88984304e-01 -1.18464885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters 0.028954177554190594 Centerline is valid? [True, True] Translation: X:101.92, Y:-15.66, Z:-11.85 [[ 8.49762028e-01 5.12523726e-01 1.23385277e-01 1.01915893e+02] [-5.07382042e-01 8.58672408e-01 -7.24234631e-02 -1.56602908e+01] [-1.43066276e-01 -1.06076519e-03 9.89712542e-01 -1.18517991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters 0.029115864259482954 Centerline is valid? [True, True] Translation: X:101.97, Y:-15.69, Z:-11.86 [[ 8.49794098e-01 5.12349320e-01 1.23887715e-01 1.01974043e+02] [-5.07152056e-01 8.58776595e-01 -7.27980215e-02 -1.56862907e+01] [-1.43689887e-01 -9.66580269e-04 9.89622293e-01 -1.18566031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters 0.029211649171734428 Centerline is valid? [True, True] Translation: X:102.03, Y:-15.71, Z:-11.86 [[ 8.51551721e-01 5.09711716e-01 1.22693248e-01 1.02031698e+02] [-5.04575090e-01 8.60345147e-01 -7.21817599e-02 -1.57111046e+01] [-1.42350429e-01 -4.41454942e-04 9.89816226e-01 -1.18626853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters 0.02937916759029192 Centerline is valid? [True, True] Translation: X:102.09, Y:-15.74, Z:-11.87 [[ 8.52286296e-01 5.08670767e-01 1.21910294e-01 1.02087718e+02] [-5.03578325e-01 8.60961097e-01 -7.17973490e-02 -1.57373331e+01] [-1.41481233e-01 -1.99484982e-04 9.89940918e-01 -1.18698575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters 0.029775951284016115 Centerline is valid? [True, True] Translation: X:102.14, Y:-15.77, Z:-11.88 [[ 8.52622891e-01 5.08123593e-01 1.21838499e-01 1.02143244e+02] [-5.03020440e-01 8.61284165e-01 -7.18333050e-02 -1.57659346e+01] [-1.41437766e-01 -4.05349513e-05 9.89947148e-01 -1.18762670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters 0.02989764133579401 Centerline is valid? [True, True] Translation: X:102.20, Y:-15.80, Z:-11.89 [[ 8.53273956e-01 5.06271665e-01 1.24950221e-01 1.02197208e+02] [-5.00870285e-01 8.62373978e-01 -7.37568941e-02 -1.57956487e+01] [-1.45094845e-01 3.50983869e-04 9.89417689e-01 -1.18859494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters 0.03006566062424544 Centerline is valid? [True, True] Translation: X:102.25, Y:-15.82, Z:-11.89 [[ 8.55078894e-01 5.03050218e-01 1.25620715e-01 1.02253702e+02] [-4.97544204e-01 8.64256637e-01 -7.42309290e-02 -1.58225149e+01] [-1.45910422e-01 9.71441945e-04 9.89297329e-01 -1.18922361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters 0.030573328324569764 Centerline is valid? [True, True] Translation: X:102.31, Y:-15.86, Z:-11.90 [[ 8.57784156e-01 4.98455319e-01 1.25493572e-01 1.02305505e+02] [-4.92900305e-01 8.66913483e-01 -7.42314094e-02 -1.58553566e+01] [-1.45793110e-01 1.81870699e-03 9.89313429e-01 -1.18998286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters 0.030675220537155167 Centerline is valid? [True, True] Translation: X:102.36, Y:-15.89, Z:-11.91 [[ 8.57788476e-01 4.97939675e-01 1.27495141e-01 1.02357805e+02] [-4.92188250e-01 8.67209358e-01 -7.54894415e-02 -1.58881240e+01] [-1.48154167e-01 2.00236281e-03 9.88962251e-01 -1.19063026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters 0.030864874661185693 Centerline is valid? [True, True] Translation: X:102.41, Y:-15.92, Z:-11.92 [[ 8.56780680e-01 4.99456275e-01 1.28336653e-01 1.02409906e+02] [-4.93632981e-01 8.66337179e-01 -7.60682069e-02 -1.59235790e+01] [-1.49175557e-01 1.82256566e-03 9.88809047e-01 -1.19150752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters 0.03142788879623887 Centerline is valid? [True, True] Translation: X:102.46, Y:-15.96, Z:-11.92 [[ 8.54474405e-01 5.02408109e-01 1.32134718e-01 1.02462923e+02] [-4.96253835e-01 8.64629433e-01 -7.84096608e-02 -1.59550867e+01] [-1.53641216e-01 1.42668767e-03 9.88125671e-01 -1.19218701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters 0.03075356197094304 Centerline is valid? [True, True] Translation: X:102.51, Y:-15.99, Z:-11.93 [[ 8.54451054e-01 5.03002668e-01 1.30006583e-01 1.02514460e+02] [-4.97041288e-01 8.64283780e-01 -7.72237424e-02 -1.59894436e+01] [-1.51206329e-01 1.36526867e-03 9.88501281e-01 -1.19289829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters 0.030775238659710887 Centerline is valid? [True, True] Translation: X:102.57, Y:-16.02, Z:-11.94 [[ 8.52653441e-01 5.05595402e-01 1.31739891e-01 1.02568259e+02] [-4.99491256e-01 8.62770139e-01 -7.83337233e-02 -1.60199406e+01] [-1.53266414e-01 9.88595302e-04 9.88184410e-01 -1.19356766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters 0.030581532501258276 Centerline is valid? [True, True] Translation: X:102.62, Y:-16.05, Z:-11.94 [[ 8.51477866e-01 5.08217430e-01 1.29230368e-01 1.02621027e+02] [-5.02364903e-01 8.61228614e-01 -7.69075965e-02 -1.60533045e+01] [-1.50382672e-01 5.64314882e-04 9.88627702e-01 -1.19415380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters 0.030224329136202238 Centerline is valid? [True, True] Translation: X:102.67, Y:-16.08, Z:-11.95 [[ 8.52234019e-01 5.07148198e-01 1.28444082e-01 1.02673905e+02] [-5.01348941e-01 8.61858510e-01 -7.64797209e-02 -1.60844307e+01] [-1.49487177e-01 7.83315534e-04 9.88763354e-01 -1.19495492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters 0.030664135756140937 Centerline is valid? [True, True] Translation: X:102.73, Y:-16.12, Z:-11.96 [[ 8.53611137e-01 5.04018006e-01 1.31582207e-01 1.02727739e+02] [-4.97882516e-01 8.63691970e-01 -7.84167147e-02 -1.61151992e+01] [-1.53169932e-01 1.42490063e-03 9.88198837e-01 -1.19570392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters 0.03054895098690146 Centerline is valid? [True, True] Translation: X:102.78, Y:-16.15, Z:-11.97 [[ 8.55010517e-01 5.02168192e-01 1.29553550e-01 1.02781337e+02] [-4.96194901e-01 8.64768182e-01 -7.72438473e-02 -1.61460132e+01] [-1.50823191e-01 1.76049074e-03 9.88559187e-01 -1.19660645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters 0.029934712536239604 Centerline is valid? [True, True] Translation: X:102.84, Y:-16.17, Z:-11.97 [[ 8.52999716e-01 5.06227245e-01 1.26986070e-01 1.02836374e+02] [-5.00524834e-01 8.62399452e-01 -7.57764842e-02 -1.61745189e+01] [-1.47872838e-01 1.07763810e-03 9.89005795e-01 -1.19721096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters 0.029818775482482456 Centerline is valid? [True, True] Translation: X:102.89, Y:-16.20, Z:-11.98 [[ 8.51135444e-01 5.09334592e-01 1.27069777e-01 1.02891869e+02] [-5.03653554e-01 8.60568386e-01 -7.58627033e-02 -1.62048266e+01] [-1.47991732e-01 5.70290721e-04 9.88988434e-01 -1.19769832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters 0.030373065933670437 Centerline is valid? [True, True] Translation: X:102.95, Y:-16.23, Z:-11.98 [[ 8.48814130e-01 5.12678012e-01 1.29134927e-01 1.02947504e+02] [-5.06834369e-01 8.58580952e-01 -7.71859501e-02 -1.62316017e+01] [-1.50444328e-01 6.65059960e-05 9.88618480e-01 -1.19841001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters 0.030454399119411682 Centerline is valid? [True, True] Translation: X:103.00, Y:-16.26, Z:-11.99 [[ 8.49520596e-01 5.11709167e-01 1.28329594e-01 1.03002330e+02] [-5.05915378e-01 8.59158678e-01 -7.67853921e-02 -1.62612384e+01] [-1.49547274e-01 3.06856800e-04 9.88754529e-01 -1.19912071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters 0.030247022929300885 Centerline is valid? [True, True] Translation: X:103.06, Y:-16.29, Z:-12.00 [[ 8.48760165e-01 5.13186054e-01 1.27460802e-01 1.03058850e+02] [-5.07475604e-01 8.58277380e-01 -7.63442868e-02 -1.62865036e+01] [-1.48575546e-01 1.14742052e-04 9.88901054e-01 -1.19976966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters 0.030711997398939192 Centerline is valid? [True, True] Translation: X:103.11, Y:-16.32, Z:-12.01 [[ 8.46070496e-01 5.16556542e-01 1.31658854e-01 1.03111535e+02] [-5.10490571e-01 8.56252974e-01 -7.89317537e-02 -1.63175728e+01] [-1.53505999e-01 -4.28775597e-04 9.88147623e-01 -1.20064663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters 0.03033788900872907 Centerline is valid? [True, True] Translation: X:103.17, Y:-16.35, Z:-12.02 [[ 8.47116077e-01 5.15364102e-01 1.29592418e-01 1.03166444e+02] [-5.09466854e-01 8.56971303e-01 -7.77413094e-02 -1.63450295e+01] [-1.51122063e-01 -1.67128278e-04 9.88515096e-01 -1.20156065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters 0.030291585226950715 Centerline is valid? [True, True] Translation: X:103.22, Y:-16.38, Z:-12.02 [[ 8.50070132e-01 5.10629379e-01 1.28989957e-01 1.03220892e+02] [-5.04721854e-01 8.59800615e-01 -7.74516169e-02 -1.63756025e+01] [-1.50454716e-01 7.35255857e-04 9.88616628e-01 -1.20216994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters 0.030568589519290857 Centerline is valid? [True, True] Translation: X:103.28, Y:-16.40, Z:-12.03 [[ 8.52854732e-01 5.06116262e-01 1.28394450e-01 1.03277616e+02] [-5.00204248e-01 8.62463828e-01 -7.71482658e-02 -1.64034602e+01] [-1.49781561e-01 1.57281434e-03 9.88717862e-01 -1.20275625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters 0.03141526195573267 Centerline is valid? [True, True] Translation: X:103.33, Y:-16.43, Z:-12.04 [[ 8.57817441e-01 4.97116455e-01 1.30477846e-01 1.03333659e+02] [-4.90894334e-01 8.67677686e-01 -7.84741175e-02 -1.64289437e+01] [-1.52223490e-01 3.26563151e-03 9.88340703e-01 -1.20353267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters 0.03239170975351541 Centerline is valid? [True, True] Translation: X:103.39, Y:-16.46, Z:-12.04 [[ 8.60510296e-01 4.92358574e-01 1.30786335e-01 1.03386854e+02] [-4.86049411e-01 8.70382645e-01 -7.86766890e-02 -1.64598117e+01] [-1.52571298e-01 4.13348013e-03 9.88283822e-01 -1.20447478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters 0.03311583390260691 Centerline is valid? [True, True] Translation: X:103.44, Y:-16.49, Z:-12.05 [[ 8.61548498e-01 4.90093475e-01 1.32448372e-01 1.03440705e+02] [-4.83591755e-01 8.71657674e-01 -7.96988887e-02 -1.64908917e+01] [-1.54509545e-01 4.61351730e-03 9.87980524e-01 -1.20483507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters 0.03262538617295748 Centerline is valid? [True, True] Translation: X:103.49, Y:-16.52, Z:-12.06 [[ 8.62544729e-01 4.89417440e-01 1.28402334e-01 1.03491682e+02] [-4.83299113e-01 8.72037489e-01 -7.72824985e-02 -1.65244863e+01] [-1.49795052e-01 4.60287757e-03 9.88706355e-01 -1.20551284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters 0.03246378343430532 Centerline is valid? [True, True] Translation: X:103.55, Y:-16.55, Z:-12.06 [[ 8.61876576e-01 4.90683604e-01 1.28056115e-01 1.03546299e+02] [-4.84608454e-01 8.71326747e-01 -7.70995844e-02 -1.65534576e+01] [-1.49410220e-01 4.39325011e-03 9.88765536e-01 -1.20632784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters 0.03281146691665282 Centerline is valid? [True, True] Translation: X:103.60, Y:-16.59, Z:-12.07 [[ 8.62052567e-01 4.89961355e-01 1.29627322e-01 1.03596962e+02] [-4.83715578e-01 8.71731796e-01 -7.81211559e-02 -1.65890018e+01] [-1.51276606e-01 4.64178802e-03 9.88480573e-01 -1.20714738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters 0.03380262720902812 Centerline is valid? [True, True] Translation: X:103.65, Y:-16.62, Z:-12.08 [[ 8.65536202e-01 4.84584917e-01 1.26588082e-01 1.03648292e+02] [-4.78562391e-01 8.74726854e-01 -7.63607855e-02 -1.66239387e+01] [-1.47733279e-01 5.51272923e-03 9.89011875e-01 -1.20763313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters 0.034577868376109676 Centerline is valid? [True, True] Translation: X:103.70, Y:-16.66, Z:-12.08 [[ 8.66525760e-01 4.82622095e-01 1.27314652e-01 1.03698841e+02] [-4.76497882e-01 8.75808518e-01 -7.68713728e-02 -1.66586865e+01] [-1.48603079e-01 5.94586286e-03 9.88879048e-01 -1.20842146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters 0.03511943133163991 Centerline is valid? [True, True] Translation: X:103.75, Y:-16.70, Z:-12.09 [[ 8.67004634e-01 4.81127213e-01 1.29690286e-01 1.03748999e+02] [-4.74745348e-01 8.76627633e-01 -7.83635607e-02 -1.66953542e+01] [-1.51392930e-01 6.37171019e-03 9.88453126e-01 -1.20921501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters 0.03521050109910054 Centerline is valid? [True, True] Translation: X:103.80, Y:-16.74, Z:-12.10 [[ 8.67634523e-01 4.79854231e-01 1.30193132e-01 1.03795609e+02] [-4.73402997e-01 8.77323025e-01 -7.87014037e-02 -1.67376517e+01] [-1.51986634e-01 6.65023618e-03 9.88360176e-01 -1.21000967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters 0.03488016369188184 Centerline is valid? [True, True] Translation: X:103.85, Y:-16.77, Z:-12.11 [[ 8.66796498e-01 4.81275049e-01 1.30530296e-01 1.03845882e+02] [-4.74794737e-01 8.76545658e-01 -7.89789053e-02 -1.67735794e+01] [-1.52426340e-01 6.48354120e-03 9.88293567e-01 -1.21068344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters 0.035208161478514216 Centerline is valid? [True, True] Translation: X:103.89, Y:-16.82, Z:-12.12 [[ 8.66713654e-01 4.80761946e-01 1.32948835e-01 1.03892895e+02] [-4.74021841e-01 8.76825148e-01 -8.05043700e-02 -1.68154632e+01] [-1.55276319e-01 6.75358535e-03 9.87847991e-01 -1.21155201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters 0.03466762269278918 Centerline is valid? [True, True] Translation: X:103.94, Y:-16.85, Z:-12.12 [[ 8.66894259e-01 4.80935108e-01 1.31132624e-01 1.03942004e+02] [-4.74375718e-01 8.76730902e-01 -7.94393093e-02 -1.68535469e+01] [-1.53173177e-01 6.65934847e-03 9.88176923e-01 -1.21243780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters 0.03440293117720619 Centerline is valid? [True, True] Translation: X:103.99, Y:-16.89, Z:-12.13 [[ 8.65962749e-01 4.82492456e-01 1.31565749e-01 1.03989411e+02] [-4.75895443e-01 8.75876211e-01 -7.97771306e-02 -1.68936746e+01] [-1.53727173e-01 6.47248293e-03 9.88092133e-01 -1.21320862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters 0.03418622692725237 Centerline is valid? [True, True] Translation: X:104.04, Y:-16.93, Z:-12.14 [[ 8.64432962e-01 4.84626735e-01 1.33763158e-01 1.04038817e+02] [-4.77818979e-01 8.74698611e-01 -8.11872060e-02 -1.69307677e+01] [-1.56347939e-01 6.26632135e-03 9.87682163e-01 -1.21378329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters 0.033494563831078024 Centerline is valid? [True, True] Translation: X:104.09, Y:-16.97, Z:-12.15 [[ 8.63911657e-01 4.86106427e-01 1.31746693e-01 1.04086542e+02] [-4.79511545e-01 8.73879304e-01 -8.00227523e-02 -1.69701529e+01] [-1.54030282e-01 5.95852829e-03 9.88048161e-01 -1.21464976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters 0.03277054509993491 Centerline is valid? [True, True] Translation: X:104.14, Y:-17.01, Z:-12.15 [[ 8.63045899e-01 4.88486954e-01 1.28577884e-01 1.04135079e+02] [-4.82231295e-01 8.72554417e-01 -7.81138080e-02 -1.70086158e+01] [-1.50348777e-01 5.41152212e-03 9.88618208e-01 -1.21548684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters 0.03213445767391486 Centerline is valid? [True, True] Translation: X:104.18, Y:-17.05, Z:-12.16 [[ 8.60581505e-01 4.92655735e-01 1.29189011e-01 1.04184049e+02] [-4.86381884e-01 8.70211420e-01 -7.85159116e-02 -1.70476194e+01] [-1.51103066e-01 4.73414702e-03 9.88506677e-01 -1.21620392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters 0.030835693713846358 Centerline is valid? [True, True] Translation: X:104.23, Y:-17.09, Z:-12.17 [[ 8.58306061e-01 4.97844595e-01 1.24344141e-01 1.04233301e+02] [-4.92078795e-01 8.67258207e-01 -7.56416711e-02 -1.70851144e+01] [-1.45496274e-01 3.73658954e-03 9.89351743e-01 -1.21672623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters 0.030410170184770064 Centerline is valid? [True, True] Translation: X:104.28, Y:-17.12, Z:-12.17 [[ 8.54637545e-01 5.03877933e-01 1.25306406e-01 1.04281740e+02] [-4.98075598e-01 8.63770347e-01 -7.62986617e-02 -1.71245566e+01] [-1.46681170e-01 2.79563762e-03 9.89179872e-01 -1.21749146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters 0.030094480648594976 Centerline is valid? [True, True] Translation: X:104.33, Y:-17.16, Z:-12.18 [[ 8.51380507e-01 5.09615692e-01 1.24270185e-01 1.04334646e+02] [-5.03960439e-01 8.60400153e-01 -7.57327691e-02 -1.71580387e+01] [-1.45516694e-01 1.85014631e-03 9.89354066e-01 -1.21792077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters 0.029836459660779337 Centerline is valid? [True, True] Translation: X:104.39, Y:-17.19, Z:-12.19 [[ 8.50031718e-01 5.12164955e-01 1.23016815e-01 1.04386939e+02] [-5.06644910e-01 8.58885911e-01 -7.50061782e-02 -1.71908262e+01] [-1.44072945e-01 1.43178756e-03 9.89566034e-01 -1.21868180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters 0.030085727058509964 Centerline is valid? [True, True] Translation: X:104.44, Y:-17.22, Z:-12.19 [[ 8.49006569e-01 5.12716105e-01 1.27710773e-01 1.04440709e+02] [-5.06759453e-01 8.58556977e-01 -7.79408379e-02 -1.72204671e+01] [-1.49608498e-01 1.45364214e-03 9.88744246e-01 -1.21945220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters 0.03042920729435362 Centerline is valid? [True, True] Translation: X:104.50, Y:-17.25, Z:-12.20 [[ 8.51303107e-01 5.09183127e-01 1.26552613e-01 1.04496432e+02] [-5.03288224e-01 8.60655642e-01 -7.72840854e-02 -1.72493308e+01] [-1.48269973e-01 2.09974210e-03 9.88944693e-01 -1.22015285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters 0.03129952007597234 Centerline is valid? [True, True] Translation: X:104.55, Y:-17.28, Z:-12.21 [[ 8.54564890e-01 5.03310578e-01 1.28051982e-01 1.04550567e+02] [-4.97195576e-01 8.64099538e-01 -7.82850491e-02 -1.72792477e+01] [-1.50051352e-01 3.23277564e-03 9.88672919e-01 -1.22063697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters 0.03236166445339141 Centerline is valid? [True, True] Translation: X:104.61, Y:-17.31, Z:-12.22 [[ 8.57767624e-01 4.97899611e-01 1.27791550e-01 1.04605519e+02] [-4.91740163e-01 8.67224368e-01 -7.81889302e-02 -1.73077716e+01] [-1.49754184e-01 4.22769552e-03 9.88714221e-01 -1.22151513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters 0.0327495033155511 Centerline is valid? [True, True] Translation: X:104.66, Y:-17.34, Z:-12.22 [[ 8.58175672e-01 4.96719054e-01 1.29632931e-01 1.04657761e+02] [-4.90355603e-01 8.67899410e-01 -7.93851134e-02 -1.73393554e+01] [-1.51940442e-01 4.56013919e-03 9.88379131e-01 -1.22237365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters 0.03245661375387195 Centerline is valid? [True, True] Translation: X:104.71, Y:-17.37, Z:-12.23 [[ 8.57952595e-01 4.97192848e-01 1.29292759e-01 1.04711107e+02] [-4.90857170e-01 8.67628244e-01 -7.92494117e-02 -1.73702535e+01] [-1.51580290e-01 4.52796082e-03 9.88434577e-01 -1.22312538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters 0.03230527994465027 Centerline is valid? [True, True] Translation: X:104.76, Y:-17.40, Z:-12.24 [[ 8.57393937e-01 4.98266190e-01 1.28865977e-01 1.04764533e+02] [-4.91972814e-01 8.67012989e-01 -7.90647049e-02 -1.74010565e+01] [-1.51123745e-01 4.39104142e-03 9.88505100e-01 -1.22388993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters 0.03257276999021391 Centerline is valid? [True, True] Translation: X:104.82, Y:-17.43, Z:-12.25 [[ 8.58221313e-01 4.97091367e-01 1.27891947e-01 1.04817915e+02] [-4.90868411e-01 8.67685842e-01 -7.85460573e-02 -1.74338931e+01] [-1.50014598e-01 4.63178369e-03 9.88672932e-01 -1.22456959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters 0.03274866407650401 Centerline is valid? [True, True] Translation: X:104.87, Y:-17.47, Z:-12.25 [[ 8.58455660e-01 4.96967294e-01 1.26796644e-01 1.04870768e+02] [-4.90837121e-01 8.67756616e-01 -7.79575257e-02 -1.74651507e+01] [-1.48770967e-01 4.68657962e-03 9.88860574e-01 -1.22534946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters 0.032575910834993484 Centerline is valid? [True, True] Translation: X:104.92, Y:-17.50, Z:-12.26 [[ 8.57592884e-01 4.97939947e-01 1.28803160e-01 1.04924031e+02] [-4.91612127e-01 8.67199002e-01 -7.92679537e-02 -1.74953276e+01] [-1.51168652e-01 4.65843771e-03 9.88497009e-01 -1.22612247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters 0.03258438996454415 Centerline is valid? [True, True] Translation: X:104.98, Y:-17.53, Z:-12.27 [[ 8.56046498e-01 5.00314051e-01 1.29885504e-01 1.04975489e+02] [-4.93894400e-01 8.65833128e-01 -8.00082252e-02 -1.75294096e+01] [-1.52488412e-01 4.34103786e-03 9.88295725e-01 -1.22687916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters 0.03218007165950111 Centerline is valid? [True, True] Translation: X:105.03, Y:-17.56, Z:-12.28 [[ 8.54956256e-01 5.02422467e-01 1.28924260e-01 1.05026787e+02] [-4.96110012e-01 8.64613001e-01 -7.94934825e-02 -1.75641920e+01] [-1.51408903e-01 4.00283391e-03 9.88463111e-01 -1.22755859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters 0.03131056505072577 Centerline is valid? [True, True] Translation: X:105.08, Y:-17.60, Z:-12.28 [[ 8.53890829e-01 5.05163226e-01 1.25222074e-01 1.05078589e+02] [-4.99230463e-01 8.63016858e-01 -7.72712573e-02 -1.75979859e+01] [-1.47103359e-01 3.46654397e-03 9.89115051e-01 -1.22808096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters 0.030942623183025302 Centerline is valid? [True, True] Translation: X:105.13, Y:-17.63, Z:-12.29 [[ 8.51760498e-01 5.08989561e-01 1.24232368e-01 1.05130763e+02] [-5.03186818e-01 8.60768108e-01 -7.66895732e-02 -1.76310168e+01] [-1.45969452e-01 2.80905928e-03 9.89285110e-01 -1.22869211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters 0.02997513420655362 Centerline is valid? [True, True] Translation: X:105.18, Y:-17.66, Z:-12.29 [[ 8.49731072e-01 5.13537012e-01 1.19318240e-01 1.05184151e+02] [-5.08222543e-01 8.58065115e-01 -7.37163827e-02 -1.76622021e+01] [-1.40238910e-01 1.99888140e-03 9.90115676e-01 -1.22908414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters 0.03008602126120486 Centerline is valid? [True, True] Translation: X:105.24, Y:-17.69, Z:-12.30 [[ 8.48516967e-01 5.15412041e-01 1.19872371e-01 1.05238146e+02] [-5.10062264e-01 8.56940757e-01 -7.40879557e-02 -1.76939028e+01] [-1.40909345e-01 1.72251446e-03 9.90021005e-01 -1.22997257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters 0.030222579436233056 Centerline is valid? [True, True] Translation: X:105.29, Y:-17.72, Z:-12.31 [[ 8.48137896e-01 5.15547639e-01 1.21953848e-01 1.05291999e+02] [-5.09998286e-01 8.56859016e-01 -7.54610882e-02 -1.77240955e+01] [-1.43401040e-01 1.80515515e-03 9.89663015e-01 -1.23063847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters 0.030487313913844745 Centerline is valid? [True, True] Translation: X:105.35, Y:-17.75, Z:-12.31 [[ 8.48753843e-01 5.14222232e-01 1.23257497e-01 1.05347594e+02] [-5.08527516e-01 8.57654362e-01 -7.63463220e-02 -1.77520659e+01] [-1.44971306e-01 2.11940564e-03 9.89433590e-01 -1.23137524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters 0.030238308031533056 Centerline is valid? [True, True] Translation: X:105.40, Y:-17.78, Z:-12.32 [[ 8.49096286e-01 5.14079858e-01 1.21480026e-01 1.05399996e+02] [-5.08536688e-01 8.57739562e-01 -7.53211872e-02 -1.77849310e+01] [-1.42919330e-01 2.17789005e-03 9.89731944e-01 -1.23191288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters 0.030084433291771216 Centerline is valid? [True, True] Translation: X:105.45, Y:-17.82, Z:-12.32 [[ 8.46285258e-01 5.18469023e-01 1.22438289e-01 1.05453283e+02] [-5.12871917e-01 8.55095067e-01 -7.59922522e-02 -1.78165009e+01] [-1.44096006e-01 1.51596285e-03 9.89562551e-01 -1.23240379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters 0.029986583027213985 Centerline is valid? [True, True] Translation: X:105.51, Y:-17.85, Z:-12.33 [[ 8.45631447e-01 5.19918741e-01 1.20797183e-01 1.05507090e+02] [-5.14476735e-01 8.54214722e-01 -7.50393079e-02 -1.78482240e+01] [-1.42201075e-01 1.30825803e-03 9.89836927e-01 -1.23292672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters 0.030210560578022096 Centerline is valid? [True, True] Translation: X:105.56, Y:-17.88, Z:-12.34 [[ 8.46499054e-01 5.18290899e-01 1.21712344e-01 1.05560757e+02] [-5.12743429e-01 8.55202840e-01 -7.56457483e-02 -1.78794429e+01] [-1.43295245e-01 1.62684971e-03 9.89678648e-01 -1.23353677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters 0.030884321171904892 Centerline is valid? [True, True] Translation: X:105.61, Y:-17.91, Z:-12.34 [[ 8.49603963e-01 5.12846462e-01 1.23132500e-01 1.05613989e+02] [-5.07099613e-01 8.58476275e-01 -7.66059293e-02 -1.79098326e+01] [-1.44993410e-01 2.64425803e-03 9.89429087e-01 -1.23420414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters 0.030834810127538678 Centerline is valid? [True, True] Translation: X:105.67, Y:-17.94, Z:-12.35 [[ 8.49973423e-01 5.11629161e-01 1.25621586e-01 1.05666617e+02] [-5.05621782e-01 8.59201225e-01 -7.82295892e-02 -1.79410251e+01] [-1.47958759e-01 2.97606173e-03 9.88989054e-01 -1.23522218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters 0.030509843219722176 Centerline is valid? [True, True] Translation: X:105.72, Y:-17.98, Z:-12.36 [[ 8.48184031e-01 5.14618386e-01 1.25506042e-01 1.05717858e+02] [-5.08643146e-01 8.57415634e-01 -7.82341321e-02 -1.79753404e+01] [-1.47871565e-01 2.51915365e-03 9.89003364e-01 -1.23590451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters 0.030342022571028936 Centerline is valid? [True, True] Translation: X:105.77, Y:-18.01, Z:-12.37 [[ 8.45803203e-01 5.18035482e-01 1.27499731e-01 1.05771292e+02] [-5.11894073e-01 8.55356736e-01 -7.95569755e-02 -1.80057993e+01] [-1.50271090e-01 2.02318784e-03 9.88642760e-01 -1.23671134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters 0.03021649125654866 Centerline is valid? [True, True] Translation: X:105.82, Y:-18.04, Z:-12.38 [[ 8.45708088e-01 5.18393521e-01 1.26672754e-01 1.05824623e+02] [-5.12324070e-01 8.55139812e-01 -7.91198403e-02 -1.80368729e+01] [-1.49338128e-01 2.01478795e-03 9.88784134e-01 -1.23770251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters 0.030940398865211362 Centerline is valid? [True, True] Translation: X:105.88, Y:-18.06, Z:-12.39 [[ 8.46984836e-01 5.15456309e-01 1.30082597e-01 1.05879392e+02] [-5.09006452e-01 8.56911691e-01 -8.13313313e-02 -1.80648327e+01] [-1.53392046e-01 2.67352286e-03 9.88161795e-01 -1.23865076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters 0.032149387167724815 Centerline is valid? [True, True] Translation: X:105.93, Y:-18.09, Z:-12.39 [[ 8.52203237e-01 5.07018798e-01 1.29157194e-01 1.05934882e+02] [-5.00554054e-01 8.61924651e-01 -8.08179163e-02 -1.80919019e+01] [-1.52299972e-01 4.22313304e-03 9.88325292e-01 -1.23921036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters 0.03226608783023137 Centerline is valid? [True, True] Translation: X:105.99, Y:-18.12, Z:-12.40 [[ 8.53011581e-01 5.05639232e-01 1.29229290e-01 1.05986471e+02] [-4.99144185e-01 8.62733213e-01 -8.09103568e-02 -1.81249181e+01] [-1.52401851e-01 4.51342255e-03 9.88308304e-01 -1.24010212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters 0.03188489883185801 Centerline is valid? [True, True] Translation: X:106.04, Y:-18.16, Z:-12.41 [[ 8.51699727e-01 5.08085355e-01 1.28284247e-01 1.06039809e+02] [-5.01701287e-01 8.61296905e-01 -8.03956437e-02 -1.81559418e+01] [-1.51338674e-01 4.11257592e-03 9.88473415e-01 -1.24086754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters 0.03107958252146157 Centerline is valid? [True, True] Translation: X:106.09, Y:-18.19, Z:-12.42 [[ 8.49256357e-01 5.12795472e-01 1.25715728e-01 1.06088164e+02] [-5.06707958e-01 8.58504615e-01 -7.88471364e-02 -1.81948661e+01] [-1.48359987e-01 3.26027213e-03 9.88928048e-01 -1.24151250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters 0.030600627291481365 Centerline is valid? [True, True] Translation: X:106.14, Y:-18.23, Z:-12.42 [[ 8.48567810e-01 5.14834590e-01 1.21975475e-01 1.06140069e+02] [-5.09124345e-01 8.57284862e-01 -7.65184088e-02 -1.82278020e+01] [-1.43962052e-01 2.83037459e-03 9.89579161e-01 -1.24200901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters 0.03033155955927132 Centerline is valid? [True, True] Translation: X:106.19, Y:-18.26, Z:-12.43 [[ 8.46084932e-01 5.18625227e-01 1.23159089e-01 1.06191321e+02] [-5.12837658e-01 8.54998751e-01 -7.72960117e-02 -1.82630986e+01] [-1.45388529e-01 2.23837217e-03 9.89372107e-01 -1.24265070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters 0.030179425270621917 Centerline is valid? [True, True] Translation: X:106.24, Y:-18.30, Z:-12.43 [[ 8.43848111e-01 5.22312409e-01 1.22923201e-01 1.06244380e+02] [-5.16574623e-01 8.52752583e-01 -7.72249322e-02 -1.82950805e+01] [-1.45158618e-01 1.66710690e-03 9.89406992e-01 -1.24336051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters 0.030201860080063408 Centerline is valid? [True, True] Translation: X:106.30, Y:-18.33, Z:-12.44 [[ 8.42563740e-01 5.24606303e-01 1.21961353e-01 1.06298629e+02] [-5.18971121e-01 8.51343916e-01 -7.66975379e-02 -1.83254447e+01] [-1.44067067e-01 1.32814448e-03 9.89567035e-01 -1.24383767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters 0.030158332050618436 Centerline is valid? [True, True] Translation: X:106.35, Y:-18.36, Z:-12.45 [[ 8.42847598e-01 5.23365696e-01 1.25284772e-01 1.06350164e+02] [-5.17392976e-01 8.52106590e-01 -7.88597940e-02 -1.83583834e+01] [-1.48028491e-01 1.64532677e-03 9.88981728e-01 -1.24490374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters 0.030832788254366413 Centerline is valid? [True, True] Translation: X:106.40, Y:-18.39, Z:-12.45 [[ 8.46797452e-01 5.16603470e-01 1.26708047e-01 1.06403684e+02] [-5.10410468e-01 8.56219840e-01 -7.98043781e-02 -1.83892353e+01] [-1.49717163e-01 2.90503033e-03 9.88724599e-01 -1.24538772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters 0.030879946331758574 Centerline is valid? [True, True] Translation: X:106.46, Y:-18.42, Z:-12.46 [[ 8.46679904e-01 5.17249044e-01 1.24846168e-01 1.06455002e+02] [-5.11233862e-01 8.55830309e-01 -7.87046356e-02 -1.84231587e+01] [-1.47557032e-01 2.81204477e-03 9.89049551e-01 -1.24607297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters 0.030113499147666947 Centerline is valid? [True, True] Translation: X:106.51, Y:-18.46, Z:-12.47 [[ 8.44799879e-01 5.21317283e-01 1.20587957e-01 1.06506340e+02] [-5.15739877e-01 8.53360391e-01 -7.60816836e-02 -1.84571415e+01] [-1.42567682e-01 2.08177926e-03 9.89782866e-01 -1.24668842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters 0.029889175865332355 Centerline is valid? [True, True] Translation: X:106.56, Y:-18.49, Z:-12.47 [[ 8.43979110e-01 5.23107023e-01 1.18567717e-01 1.06557903e+02] [-5.17729691e-01 8.52265160e-01 -7.48335741e-02 -1.84919409e+01] [-1.40197103e-01 1.77194554e-03 9.90122029e-01 -1.24737536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters 0.03030138082956808 Centerline is valid? [True, True] Translation: X:106.61, Y:-18.53, Z:-12.48 [[ 8.43953026e-01 5.22397126e-01 1.21838140e-01 1.06609289e+02] [-5.16698547e-01 8.52699946e-01 -7.69767056e-02 -1.85265228e+01] [-1.44103785e-01 2.01113347e-03 9.89560536e-01 -1.24789803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters 0.030116446321353393 Centerline is valid? [True, True] Translation: X:106.66, Y:-18.56, Z:-12.49 [[ 8.44183618e-01 5.22142724e-01 1.21330105e-01 1.06661208e+02] [-5.16477740e-01 8.52855502e-01 -7.67348545e-02 -1.85607638e+01] [-1.43543594e-01 2.11400846e-03 9.89641737e-01 -1.24872184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters 0.030007173436886334 Centerline is valid? [True, True] Translation: X:106.71, Y:-18.59, Z:-12.49 [[ 8.44573837e-01 5.21594536e-01 1.20971792e-01 1.06714561e+02] [-5.15944952e-01 8.53190460e-01 -7.65953316e-02 -1.85940674e+01] [-1.43163685e-01 2.27562786e-03 9.89696408e-01 -1.24945890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters 0.030637290144130427 Centerline is valid? [True, True] Translation: X:106.77, Y:-18.63, Z:-12.50 [[ 8.47708618e-01 5.16544451e-01 1.20714247e-01 1.06766028e+02] [-5.10855672e-01 8.56254408e-01 -7.65171225e-02 -1.86280608e+01] [-1.42886601e-01 3.19666634e-03 9.89733904e-01 -1.25006306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters 0.030779400570898202 Centerline is valid? [True, True] Translation: X:106.82, Y:-18.66, Z:-12.51 [[ 8.48886882e-01 5.14625556e-01 1.20630006e-01 1.06815333e+02] [-5.08914748e-01 8.57407551e-01 -7.65380422e-02 -1.86644940e+01] [-1.42817511e-01 3.58175069e-03 9.89742557e-01 -1.25088265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters 0.03056812769704007 Centerline is valid? [True, True] Translation: X:106.87, Y:-18.70, Z:-12.52 [[ 8.48521258e-01 5.15407091e-01 1.19863276e-01 1.06866042e+02] [-5.09766741e-01 8.56938365e-01 -7.61216714e-02 -1.86997868e+01] [-1.41949089e-01 3.48854472e-03 9.89867812e-01 -1.25158651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters 0.03023493676090731 Centerline is valid? [True, True] Translation: X:106.91, Y:-18.74, Z:-12.52 [[ 8.46054184e-01 5.19341374e-01 1.20319807e-01 1.06913883e+02] [-5.13686374e-01 8.54561933e-01 -7.64866761e-02 -1.87399958e+01] [-1.42543422e-01 2.90522688e-03 9.89784286e-01 -1.25242951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters 0.030085462469981436 Centerline is valid? [True, True] Translation: X:106.97, Y:-18.78, Z:-12.53 [[ 8.45622933e-01 5.20080979e-01 1.20156693e-01 1.06965861e+02] [-5.14437695e-01 8.54112224e-01 -7.64602306e-02 -1.87761251e+01] [-1.42392812e-01 2.84339222e-03 9.89806144e-01 -1.25294347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters 0.02994299699819339 Centerline is valid? [True, True] Translation: X:107.01, Y:-18.82, Z:-12.54 [[ 8.46503406e-01 5.18917374e-01 1.18982108e-01 1.07014891e+02] [-5.13360976e-01 8.54818846e-01 -7.57974177e-02 -1.88158111e+01] [-1.41040745e-01 3.08200134e-03 9.89998995e-01 -1.25363060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters 0.029825153302932478 Centerline is valid? [True, True] Translation: X:107.06, Y:-18.85, Z:-12.54 [[ 8.46699960e-01 5.18339082e-01 1.20099015e-01 1.07062671e+02] [-5.12659281e-01 8.55168886e-01 -7.65939861e-02 -1.88548612e+01] [-1.42406598e-01 3.28225017e-03 9.89802802e-01 -1.25439721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters 0.02964452689145264 Centerline is valid? [True, True] Translation: X:107.11, Y:-18.89, Z:-12.55 [[ 8.45476029e-01 5.20326824e-01 1.20126100e-01 1.07111835e+02] [-5.14653481e-01 8.53961893e-01 -7.66869017e-02 -1.88929340e+01] [-1.42485364e-01 3.01362137e-03 9.89792321e-01 -1.25486759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters 0.028768218200088635 Centerline is valid? [True, True] Translation: X:107.16, Y:-18.93, Z:-12.56 [[ 8.42974472e-01 5.24885823e-01 1.17851227e-01 1.07161490e+02] [-5.19461626e-01 8.51169658e-01 -7.52982933e-02 -1.89295609e+01] [-1.39834395e-01 2.25534914e-03 9.90172336e-01 -1.25560138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters 0.02827774976491389 Centerline is valid? [True, True] Translation: X:107.21, Y:-18.96, Z:-12.56 [[ 8.39440520e-01 5.30364982e-01 1.18543662e-01 1.07212418e+02] [-5.24926270e-01 8.47768296e-01 -7.57715422e-02 -1.89648354e+01] [-1.40684131e-01 1.37902046e-03 9.90053571e-01 -1.25623939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters 0.02862265473370673 Centerline is valid? [True, True] Translation: X:107.27, Y:-19.00, Z:-12.57 [[ 8.39332614e-01 5.30653195e-01 1.18016738e-01 1.07265046e+02] [-5.25254727e-01 8.47587901e-01 -7.55130571e-02 -1.89989599e+01] [-1.40100804e-01 1.39172215e-03 9.90136267e-01 -1.25667839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters 0.028567824301269085 Centerline is valid? [True, True] Translation: X:107.32, Y:-19.03, Z:-12.57 [[ 8.42552834e-01 5.26147458e-01 1.15210994e-01 1.07317776e+02] [-5.20950096e-01 8.50390599e-01 -7.38026142e-02 -1.90321149e+01] [-1.36805404e-01 2.16342321e-03 9.90595579e-01 -1.25737368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters 0.029157547232036743 Centerline is valid? [True, True] Translation: X:107.37, Y:-19.06, Z:-12.58 [[ 8.44770080e-01 5.22351774e-01 1.16241716e-01 1.07370487e+02] [-5.17012809e-01 8.52725245e-01 -7.45480485e-02 -1.90645479e+01] [-1.38062551e-01 2.87750482e-03 9.90419331e-01 -1.25796293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters 0.029399041537486615 Centerline is valid? [True, True] Translation: X:107.42, Y:-19.10, Z:-12.59 [[ 8.44470480e-01 5.22710183e-01 1.16806131e-01 1.07419509e+02] [-5.17311542e-01 8.52505517e-01 -7.49874055e-02 -1.91037368e+01] [-1.38774551e-01 2.89949071e-03 9.90319755e-01 -1.25858443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters 0.028914023944990295 Centerline is valid? [True, True] Translation: X:107.47, Y:-19.14, Z:-12.59 [[ 8.44375358e-01 5.23554521e-01 1.13670216e-01 1.07471069e+02] [-5.18440001e-01 8.51987723e-01 -7.30539839e-02 -1.91378746e+01] [-1.35093372e-01 2.75379692e-03 9.90829046e-01 -1.25926594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters 0.028888922804052045 Centerline is valid? [True, True] Translation: X:107.52, Y:-19.17, Z:-12.60 [[ 8.43528198e-01 5.24968234e-01 1.13439560e-01 1.07521256e+02] [-5.19877317e-01 8.51117895e-01 -7.29787872e-02 -1.91735649e+01] [-1.34861984e-01 2.58501085e-03 9.90861021e-01 -1.25998924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters 0.02923884026441562 Centerline is valid? [True, True] Translation: X:107.57, Y:-19.21, Z:-12.61 [[ 8.43485861e-01 5.24260666e-01 1.16971607e-01 1.07572762e+02] [-5.18829352e-01 8.51553087e-01 -7.53222614e-02 -1.92067301e+01] [-1.39096032e-01 2.84495921e-03 9.90274810e-01 -1.26068465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters 0.029376760297649844 Centerline is valid? [True, True] Translation: X:107.63, Y:-19.24, Z:-12.61 [[ 8.45222817e-01 5.21241981e-01 1.17920258e-01 1.07625735e+02] [-5.15685951e-01 8.53402117e-01 -7.59791241e-02 -1.92386689e+01] [-1.40236907e-01 3.40946878e-03 9.90112107e-01 -1.26146321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters 0.030487222211786524 Centerline is valid? [True, True] Translation: X:107.67, Y:-19.28, Z:-12.62 [[ 8.48931714e-01 5.15367150e-01 1.17096735e-01 1.07674255e+02] [-5.09823595e-01 8.56958144e-01 -7.55158392e-02 -1.92764585e+01] [-1.39265384e-01 4.40911238e-03 9.90245279e-01 -1.26231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters 0.03043454466207318 Centerline is valid? [True, True] Translation: X:107.72, Y:-19.31, Z:-12.63 [[ 8.49050881e-01 5.14798936e-01 1.18720923e-01 1.07724198e+02] [-5.09088042e-01 8.57298587e-01 -7.66061275e-02 -1.93120302e+01] [-1.41216032e-01 4.60309797e-03 9.89968102e-01 -1.26296527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters 0.03015062335507091 Centerline is valid? [True, True] Translation: X:107.77, Y:-19.35, Z:-12.64 [[ 8.48360221e-01 5.16021141e-01 1.18351672e-01 1.07771353e+02] [-5.10347857e-01 8.56564310e-01 -7.64372163e-02 -1.93532101e+01] [-1.40819038e-01 4.44577167e-03 9.90025370e-01 -1.26382231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters 0.029645259396778808 Centerline is valid? [True, True] Translation: X:107.82, Y:-19.39, Z:-12.65 [[ 8.47918238e-01 5.17181905e-01 1.16436847e-01 1.07820382e+02] [-5.11692470e-01 8.55864975e-01 -7.52725697e-02 -1.93913871e+01] [-1.38583830e-01 4.24512685e-03 9.90341608e-01 -1.26456262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters 0.030003911716835644 Centerline is valid? [True, True] Translation: X:107.87, Y:-19.43, Z:-12.65 [[ 8.49378696e-01 5.15266255e-01 1.14265119e-01 1.07868410e+02] [-5.09953674e-01 8.57018166e-01 -7.39399281e-02 -1.94304786e+01] [-1.36026032e-01 4.53308263e-03 9.90694892e-01 -1.26520276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters 0.029498349583969657 Centerline is valid? [True, True] Translation: X:107.92, Y:-19.47, Z:-12.66 [[ 8.49096216e-01 5.16068042e-01 1.12735940e-01 1.07918292e+02] [-5.10894843e-01 8.56536260e-01 -7.30211914e-02 -1.94667435e+01] [-1.34246324e-01 4.40580693e-03 9.90938199e-01 -1.26590916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters 0.029396034057600606 Centerline is valid? [True, True] Translation: X:107.97, Y:-19.51, Z:-12.67 [[ 8.47848094e-01 5.17813143e-01 1.14119055e-01 1.07966820e+02] [-5.12517065e-01 8.55483211e-01 -7.39914414e-02 -1.95069028e+01] [-1.35940677e-01 4.24553927e-03 9.90707882e-01 -1.26658571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters 0.028557095260800372 Centerline is valid? [True, True] Translation: X:108.02, Y:-19.55, Z:-12.67 [[ 8.46149233e-01 5.20849616e-01 1.12903287e-01 1.08016078e+02] [-5.15683228e-01 8.53640080e-01 -7.32763435e-02 -1.95457745e+01] [-1.34544727e-01 3.78039031e-03 9.90900310e-01 -1.26715877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters 0.028068817668753607 Centerline is valid? [True, True] Translation: X:108.06, Y:-19.58, Z:-12.68 [[ 8.43164142e-01 5.25724611e-01 1.12640417e-01 1.08064966e+02] [-5.20621087e-01 8.50649449e-01 -7.31382110e-02 -1.95832777e+01] [-1.34268066e-01 3.02454054e-03 9.90940431e-01 -1.26788990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters 0.02731878970472608 Centerline is valid? [True, True] Translation: X:108.11, Y:-19.62, Z:-12.68 [[ 8.39476719e-01 5.31653683e-01 1.12353010e-01 1.08114379e+02] [-5.26619092e-01 8.46959151e-01 -7.30241682e-02 -1.96209030e+01] [-1.33981978e-01 2.13484923e-03 9.90981469e-01 -1.26843953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters 0.02685778725454861 Centerline is valid? [True, True] Translation: X:108.17, Y:-19.65, Z:-12.69 [[ 8.35520225e-01 5.37882660e-01 1.12197138e-01 1.08166300e+02] [-5.32907805e-01 8.43018865e-01 -7.29963342e-02 -1.96539228e+01] [-1.33847767e-01 1.19918281e-03 9.91001179e-01 -1.26909724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters 0.026385604202441872 Centerline is valid? [True, True] Translation: X:108.22, Y:-19.68, Z:-12.70 [[ 8.32518467e-01 5.42983659e-01 1.09917001e-01 1.08219872e+02] [-5.38244382e-01 8.39743150e-01 -7.15851051e-02 -1.96842274e+01] [-1.31171591e-01 4.33713814e-04 9.91359584e-01 -1.26971949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters 0.026556317169904618 Centerline is valid? [True, True] Translation: X:108.27, Y:-19.71, Z:-12.71 [[ 8.29205960e-01 5.47741864e-01 1.11338788e-01 1.08274668e+02] [-5.42910669e-01 8.36647348e-01 -7.25893943e-02 -1.97143401e+01] [-1.32911552e-01 -2.55457269e-04 9.91127870e-01 -1.27052122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters 0.026586962600639488 Centerline is valid? [True, True] Translation: X:108.33, Y:-19.74, Z:-12.71 [[ 8.26932770e-01 5.51141476e-01 1.11468685e-01 1.08332625e+02] [-5.46317711e-01 8.34411496e-01 -7.27627299e-02 -1.97401861e+01] [-1.33113311e-01 -7.27431214e-04 9.91100559e-01 -1.27132863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters 0.02667116426534147 Centerline is valid? [True, True] Translation: X:108.39, Y:-19.77, Z:-12.72 [[ 8.24752219e-01 5.53978653e-01 1.13540429e-01 1.08385201e+02] [-5.48987710e-01 8.32530101e-01 -7.42032754e-02 -1.97719825e+01] [-1.35632855e-01 -1.13298396e-03 9.90758520e-01 -1.27202524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters 0.026697654787262163 Centerline is valid? [True, True] Translation: X:108.44, Y:-19.80, Z:-12.73 [[ 8.22217655e-01 5.57963028e-01 1.12407237e-01 1.08443606e+02] [-5.53098185e-01 8.29864053e-01 -7.35394597e-02 -1.97964219e+01] [-1.34315025e-01 -1.70679643e-03 9.90937213e-01 -1.27284805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters 0.02679096160153925 Centerline is valid? [True, True] Translation: X:108.50, Y:-19.83, Z:-12.74 [[ 8.22674376e-01 5.56838002e-01 1.14622469e-01 1.08498572e+02] [-5.51755650e-01 8.30619798e-01 -7.50763245e-02 -1.98256024e+01] [-1.37013043e-01 -1.48022672e-03 9.90568137e-01 -1.27355281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters 0.026579812999220267 Centerline is valid? [True, True] Translation: X:108.55, Y:-19.86, Z:-12.74 [[ 8.24817529e-01 5.53737770e-01 1.14238896e-01 1.08552714e+02] [-5.48649342e-01 8.32690625e-01 -7.49014126e-02 -1.98555328e+01] [-1.36601399e-01 -8.97096935e-04 9.90625688e-01 -1.27432914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters 0.02632511100896355 Centerline is valid? [True, True] Translation: X:108.61, Y:-19.88, Z:-12.75 [[ 8.28968969e-01 5.47626316e-01 1.13647994e-01 1.08609750e+02] [-5.42522658e-01 8.36723005e-01 -7.45907397e-02 -1.98808334e+01] [-1.35939743e-01 1.76796663e-04 9.90717091e-01 -1.27509471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters 0.027158707154291778 Centerline is valid? [True, True] Translation: X:108.66, Y:-19.91, Z:-12.76 [[ 8.32138908e-01 5.42093141e-01 1.16960950e-01 1.08662623e+02] [-5.36619893e-01 8.40317574e-01 -7.68470227e-02 -1.99127043e+01] [-1.39942585e-01 1.18382522e-03 9.90158912e-01 -1.27614252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters 0.027694043526672894 Centerline is valid? [True, True] Translation: X:108.72, Y:-19.94, Z:-12.77 [[ 8.34679135e-01 5.38277017e-01 1.16484307e-01 1.08716327e+02] [-5.32800323e-01 8.42765865e-01 -7.66127470e-02 -1.99433333e+01] [-1.39407879e-01 1.88418495e-03 9.90233252e-01 -1.27702919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters 0.027973751361941204 Centerline is valid? [True, True] Translation: X:108.77, Y:-19.98, Z:-12.78 [[ 8.35818993e-01 5.36276743e-01 1.17532408e-01 1.08767259e+02] [-5.30669700e-01 8.44039064e-01 -7.73804123e-02 -1.99782085e+01] [-1.40699259e-01 2.30513049e-03 9.90049698e-01 -1.27777111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters 0.02781769733444087 Centerline is valid? [True, True] Translation: X:108.82, Y:-20.01, Z:-12.79 [[ 8.34100015e-01 5.39275475e-01 1.16013473e-01 1.08818038e+02] [-5.33831407e-01 8.42127411e-01 -7.64555571e-02 -2.00132017e+01] [-1.38928733e-01 1.83994575e-03 9.90300672e-01 -1.27866011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters 0.02776706815316492 Centerline is valid? [True, True] Translation: X:108.87, Y:-20.05, Z:-12.79 [[ 8.33182191e-01 5.41150478e-01 1.13857792e-01 1.08868064e+02] [-5.35915778e-01 8.40924335e-01 -7.51035396e-02 -2.00505669e+01] [-1.36388104e-01 1.55674471e-03 9.90654259e-01 -1.27926442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters 0.028112326741466676 Centerline is valid? [True, True] Translation: X:108.92, Y:-20.08, Z:-12.80 [[ 8.33136017e-01 5.40570656e-01 1.16909127e-01 1.08919393e+02] [-5.35037408e-01 8.41296821e-01 -7.71662521e-02 -2.00842342e+01] [-1.40069089e-01 1.73922745e-03 9.90140205e-01 -1.28006973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters 0.028044571858082675 Centerline is valid? [True, True] Translation: X:108.97, Y:-20.12, Z:-12.81 [[ 8.33196989e-01 5.40854720e-01 1.15147508e-01 1.08971638e+02] [-5.35479883e-01 8.41114248e-01 -7.60796748e-02 -2.01170102e+01] [-1.38000261e-01 1.73018208e-03 9.90430681e-01 -1.28094494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters 0.028081145540685575 Centerline is valid? [True, True] Translation: X:109.03, Y:-20.15, Z:-12.82 [[ 8.32294307e-01 5.42202700e-01 1.15336108e-01 1.09025993e+02] [-5.36811911e-01 8.40246241e-01 -7.62838600e-02 -2.01474333e+01] [-1.38272046e-01 1.57682595e-03 9.90393031e-01 -1.28165393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters 0.028151563448166717 Centerline is valid? [True, True] Translation: X:109.08, Y:-20.18, Z:-12.82 [[ 8.32106016e-01 5.42337080e-01 1.16060631e-01 1.09077912e+02] [-5.36867029e-01 8.40159394e-01 -7.68504141e-02 -2.01815372e+01] [-1.39188258e-01 1.63856586e-03 9.90264583e-01 -1.28236297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters 0.028269251353774165 Centerline is valid? [True, True] Translation: X:109.13, Y:-20.21, Z:-12.83 [[ 8.32852062e-01 5.41241442e-01 1.15823767e-01 1.09132800e+02] [-5.35772189e-01 8.40865119e-01 -7.67724707e-02 -2.02123651e+01] [-1.38944609e-01 1.88495704e-03 9.90298360e-01 -1.28310465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters 0.02861402504426353 Centerline is valid? [True, True] Translation: X:109.19, Y:-20.25, Z:-12.84 [[ 8.33250184e-01 5.40391853e-01 1.16922095e-01 1.09185603e+02] [-5.34797043e-01 8.41410807e-01 -7.75885067e-02 -2.02452037e+01] [-1.40307711e-01 2.12104698e-03 9.90105675e-01 -1.28365118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters 0.028681237952211374 Centerline is valid? [True, True] Translation: X:109.24, Y:-20.28, Z:-12.84 [[ 8.33520404e-01 5.39818732e-01 1.17641286e-01 1.09237588e+02] [-5.34137664e-01 8.41778151e-01 -7.81441026e-02 -2.02793421e+01] [-1.41211514e-01 2.29806244e-03 9.89976781e-01 -1.28433234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters 0.028527834258438214 Centerline is valid? [True, True] Translation: X:109.29, Y:-20.32, Z:-12.85 [[ 8.33970555e-01 5.39929239e-01 1.13883849e-01 1.09288027e+02] [-5.34599023e-01 8.41707375e-01 -7.57137991e-02 -2.03159757e+01] [-1.36736969e-01 2.26088477e-03 9.90604810e-01 -1.28501758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters 0.02824565468403901 Centerline is valid? [True, True] Translation: X:109.34, Y:-20.35, Z:-12.86 [[ 8.31543013e-01 5.43528711e-01 1.14510952e-01 1.09339379e+02] [-5.38168268e-01 8.39388836e-01 -7.61662457e-02 -2.03507826e+01] [-1.37517756e-01 1.70934870e-03 9.90497827e-01 -1.28574592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters 0.027956715404621836 Centerline is valid? [True, True] Translation: X:109.39, Y:-20.39, Z:-12.86 [[ 8.26976742e-01 5.50717198e-01 1.13225595e-01 1.09387577e+02] [-5.45533443e-01 8.34691703e-01 -7.53858369e-02 -2.03901908e+01] [-1.36024741e-01 5.73985385e-04 9.90705274e-01 -1.28632168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters 0.02800962825538188 Centerline is valid? [True, True] Translation: X:109.44, Y:-20.43, Z:-12.87 [[ 8.21614351e-01 5.59116000e-01 1.11081757e-01 1.09436286e+02] [-5.54193539e-01 8.29089114e-01 -7.40321680e-02 -2.04281505e+01] [-1.33489245e-01 -7.34900628e-04 9.91049989e-01 -1.28704369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters 0.028227116565053396 Centerline is valid? [True, True] Translation: X:109.49, Y:-20.46, Z:-12.88 [[ 8.17491691e-01 5.65094233e-01 1.11246769e-01 1.09488464e+02] [-5.60201703e-01 8.25024722e-01 -7.42176578e-02 -2.04603446e+01] [-1.33721305e-01 -1.64831077e-03 9.91017606e-01 -1.28772277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters 0.028691418442339932 Centerline is valid? [True, True] Translation: X:109.54, Y:-20.49, Z:-12.88 [[ 8.14521578e-01 5.69319614e-01 1.11488910e-01 1.09541144e+02] [-5.64435221e-01 8.22113100e-01 -7.44508671e-02 -2.04934160e+01] [-1.34042833e-01 -2.28643008e-03 9.90972901e-01 -1.28841153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters 0.028652409751784024 Centerline is valid? [True, True] Translation: X:109.60, Y:-20.52, Z:-12.89 [[ 8.12469469e-01 5.72831256e-01 1.08432994e-01 1.09598733e+02] [-5.68233484e-01 8.19668791e-01 -7.24829691e-02 -2.05200132e+01] [-1.30399652e-01 -2.72505880e-03 9.91457768e-01 -1.28907652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters 0.028913105268714764 Centerline is valid? [True, True] Translation: X:109.66, Y:-20.55, Z:-12.90 [[ 8.09089918e-01 5.77448968e-01 1.09207114e-01 1.09656758e+02] [-5.72815733e-01 8.16419599e-01 -7.30833362e-02 -2.05450186e+01] [-1.31360725e-01 -3.42456262e-03 9.91328721e-01 -1.28966753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters 0.02918614184624468 Centerline is valid? [True, True] Translation: X:109.72, Y:-20.57, Z:-12.90 [[ 8.08299362e-01 5.78511892e-01 1.09435518e-01 1.09715443e+02] [-5.73859321e-01 8.15666242e-01 -7.33079866e-02 -2.05680887e+01] [-1.31672400e-01 -3.54579323e-03 9.91286945e-01 -1.29033537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters 0.028030674198926697 Centerline is valid? [True, True] Translation: X:109.78, Y:-20.59, Z:-12.91 [[ 8.12422642e-01 5.72279412e-01 1.11650017e-01 1.09776191e+02] [-5.67367695e-01 8.20054803e-01 -7.48599872e-02 -2.05892694e+01] [-1.34399962e-01 -2.52866399e-03 9.90923941e-01 -1.29096922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters 0.027605091435591107 Centerline is valid? [True, True] Translation: X:109.83, Y:-20.62, Z:-12.92 [[ 8.13428179e-01 5.70974200e-01 1.11009282e-01 1.09831166e+02] [-5.66102283e-01 8.20964862e-01 -7.44640977e-02 -2.06188452e+01] [-1.33651798e-01 -2.27141250e-03 9.91025750e-01 -1.29163445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters 0.026941989182302603 Centerline is valid? [True, True] Translation: X:109.89, Y:-20.65, Z:-12.92 [[ 8.16553969e-01 5.66247666e-01 1.12263957e-01 1.09887925e+02] [-5.61209314e-01 8.24233875e-01 -7.53831864e-02 -2.06450316e+01] [-1.35217309e-01 -1.44913807e-03 9.90814907e-01 -1.29240619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters 0.026590126404148012 Centerline is valid? [True, True] Translation: X:109.95, Y:-20.67, Z:-12.93 [[ 8.17894848e-01 5.64462725e-01 1.11489232e-01 1.09945259e+02] [-5.59467051e-01 8.25457850e-01 -7.49396899e-02 -2.06713784e+01] [-1.34330323e-01 -1.08176548e-03 9.90936019e-01 -1.29300504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters 0.026314096038046644 Centerline is valid? [True, True] Translation: X:110.00, Y:-20.70, Z:-12.94 [[ 8.19281755e-01 5.62105917e-01 1.13200459e-01 1.10001102e+02] [-5.56921408e-01 8.27065010e-01 -7.61709616e-02 -2.07001486e+01] [-1.36440287e-01 -6.38280085e-04 9.90648091e-01 -1.29392830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters 0.02612077866241572 Centerline is valid? [True, True] Translation: X:110.06, Y:-20.73, Z:-12.95 [[ 8.20286073e-01 5.60626194e-01 1.13265305e-01 1.10055221e+02] [-5.55409375e-01 8.28068940e-01 -7.63037067e-02 -2.07319116e+01] [-1.36569338e-01 -3.17744217e-04 9.90630463e-01 -1.29466706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters 0.026094215869883967 Centerline is valid? [True, True] Translation: X:110.11, Y:-20.76, Z:-12.95 [[ 8.22921498e-01 5.56762725e-01 1.13205457e-01 1.10110218e+02] [-5.51502788e-01 8.30671481e-01 -7.63515899e-02 -2.07622044e+01] [-1.36546264e-01 3.98239571e-04 9.90633615e-01 -1.29538074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters 0.02605815078153345 Centerline is valid? [True, True] Translation: X:110.17, Y:-20.79, Z:-12.96 [[ 8.22652547e-01 5.56933880e-01 1.14312906e-01 1.10165170e+02] [-5.51559452e-01 8.30556713e-01 -7.71862479e-02 -2.07916194e+01] [-1.37930988e-01 4.47099591e-04 9.90441741e-01 -1.29618241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters 0.026177033095457266 Centerline is valid? [True, True] Translation: X:110.22, Y:-20.82, Z:-12.97 [[ 8.20963137e-01 5.59369747e-01 1.14564453e-01 1.10221089e+02] [-5.53983938e-01 8.28918256e-01 -7.74359215e-02 -2.08198471e+01] [-1.38279878e-01 1.05170304e-04 9.90393187e-01 -1.29692136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters 0.026140612876611524 Centerline is valid? [True, True] Translation: X:110.28, Y:-20.85, Z:-12.98 [[ 8.19931503e-01 5.60683478e-01 1.15526482e-01 1.10276954e+02] [-5.55206891e-01 8.28030214e-01 -7.81746302e-02 -2.08468196e+01] [-1.39490641e-01 -4.32570543e-05 9.90223388e-01 -1.29769275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters 0.025950332103908107 Centerline is valid? [True, True] Translation: X:110.34, Y:-20.87, Z:-12.98 [[ 8.20529786e-01 5.60076494e-01 1.14215546e-01 1.10336815e+02] [-5.54707501e-01 8.28440888e-01 -7.73646136e-02 -2.08693507e+01] [-1.37950930e-01 1.23749828e-04 9.90439057e-01 -1.29825563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters 0.026480633338244117 Centerline is valid? [True, True] Translation: X:110.39, Y:-20.90, Z:-12.99 [[ 8.22782496e-01 5.56503191e-01 1.15469314e-01 1.10391554e+02] [-5.50968843e-01 8.30845089e-01 -7.82928578e-02 -2.08986254e+01] [-1.39507338e-01 7.97998758e-04 9.90220716e-01 -1.29912154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters 0.026993869530197688 Centerline is valid? [True, True] Translation: X:110.45, Y:-20.93, Z:-13.00 [[ 8.27121073e-01 5.49977731e-01 1.15737747e-01 1.10448343e+02] [-5.44342647e-01 8.35176993e-01 -7.85523591e-02 -2.09252785e+01] [-1.39863552e-01 1.97131986e-03 9.90168824e-01 -1.29980561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters 0.027590256244444118 Centerline is valid? [True, True] Translation: X:110.51, Y:-20.95, Z:-13.01 [[ 8.29951803e-01 5.45714266e-01 1.15654421e-01 1.10505393e+02] [-5.40035267e-01 8.37966800e-01 -7.85719551e-02 -2.09513448e+01] [-1.39792402e-01 2.75346977e-03 9.90177006e-01 -1.30054091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters 0.028701976076832055 Centerline is valid? [True, True] Translation: X:110.56, Y:-20.98, Z:-13.01 [[ 8.34518057e-01 5.39124613e-01 1.13684931e-01 1.10560514e+02] [-5.33567198e-01 8.42217188e-01 -7.73062337e-02 -2.09794204e+01] [-1.37425096e-01 3.85489808e-03 9.90504661e-01 -1.30121701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters 0.030694493182297604 Centerline is valid? [True, True] Translation: X:110.62, Y:-21.01, Z:-13.02 [[ 8.39817083e-01 5.30782886e-01 1.13915739e-01 1.10615847e+02] [-5.25117903e-01 8.47491357e-01 -7.75215326e-02 -2.10060161e+01] [-1.37689707e-01 5.28471359e-03 9.90461315e-01 -1.30186293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters 0.032222185734846816 Centerline is valid? [True, True] Translation: X:110.67, Y:-21.04, Z:-13.03 [[ 8.43354074e-01 5.25225010e-01 1.13545564e-01 1.10668821e+02] [-5.19544974e-01 8.50940915e-01 -7.72824634e-02 -2.10362228e+01] [-1.37211249e-01 6.18445331e-03 9.90522501e-01 -1.30270115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters 0.03310240348033307 Centerline is valid? [True, True] Translation: X:110.72, Y:-21.07, Z:-13.03 [[ 8.44838172e-01 5.23070440e-01 1.12453447e-01 1.10720206e+02] [-5.17478143e-01 8.52264768e-01 -7.65580666e-02 -2.10709614e+01] [-1.35885372e-01 6.48697616e-03 9.90703328e-01 -1.30343321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters 0.03303833845014378 Centerline is valid? [True, True] Translation: X:110.77, Y:-21.11, Z:-13.04 [[ 8.44859394e-01 5.22909720e-01 1.13039944e-01 1.10767569e+02] [-5.17247763e-01 8.52362471e-01 -7.70257741e-02 -2.11116575e+01] [-1.36628532e-01 6.60629080e-03 9.90600324e-01 -1.30413434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters 0.0333626384304884 Centerline is valid? [True, True] Translation: X:110.82, Y:-21.15, Z:-13.05 [[ 8.44346217e-01 5.23534394e-01 1.13978964e-01 1.10817624e+02] [-5.17773242e-01 8.51978812e-01 -7.77365639e-02 -2.11496175e+01] [-1.37805427e-01 6.62131599e-03 9.90437188e-01 -1.30488131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters 0.03348986550479461 Centerline is valid? [True, True] Translation: X:110.87, Y:-21.19, Z:-13.06 [[ 8.43905825e-01 5.24106928e-01 1.14607533e-01 1.10867400e+02] [-5.18275742e-01 8.51626636e-01 -7.82453110e-02 -2.11877452e+01] [-1.38611737e-01 6.63336951e-03 9.90324586e-01 -1.30550753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters 0.033268367588780275 Centerline is valid? [True, True] Translation: X:110.92, Y:-21.23, Z:-13.06 [[ 8.44255343e-01 5.24000849e-01 1.12499010e-01 1.10915205e+02] [-5.18372145e-01 8.51692242e-01 -7.68807144e-02 -2.12271094e+01] [-1.36100094e-01 6.59060068e-03 9.90673169e-01 -1.30630055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters 0.03315239417000149 Centerline is valid? [True, True] Translation: X:110.96, Y:-21.27, Z:-13.07 [[ 8.43439903e-01 5.25080942e-01 1.13574355e-01 1.10963080e+02] [-5.19343489e-01 8.51027169e-01 -7.76858986e-02 -2.12676381e+01] [-1.37446247e-01 6.53928487e-03 9.90487641e-01 -1.30704137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters 0.03247061534870576 Centerline is valid? [True, True] Translation: X:111.01, Y:-21.31, Z:-13.08 [[ 8.41381619e-01 5.27868114e-01 1.15897475e-01 1.11011371e+02] [-5.21907895e-01 8.49303172e-01 -7.93490446e-02 -2.13074086e+01] [-1.40317923e-01 6.27502054e-03 9.90086615e-01 -1.30771982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters 0.03108680283462031 Centerline is valid? [True, True] Translation: X:111.06, Y:-21.35, Z:-13.08 [[ 8.38648141e-01 5.32702373e-01 1.13567061e-01 1.11057702e+02] [-5.27019978e-01 8.46285531e-01 -7.77865210e-02 -2.13480334e+01] [-1.37547225e-01 5.38341144e-03 9.90480580e-01 -1.30848082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters 0.029477418137737618 Centerline is valid? [True, True] Translation: X:111.11, Y:-21.39, Z:-13.09 [[ 8.35264567e-01 5.38199860e-01 1.12578919e-01 1.11105164e+02] [-5.32664138e-01 8.42805495e-01 -7.71220656e-02 -2.13865902e+01] [-1.36389217e-01 4.45057579e-03 9.90645332e-01 -1.30917924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters 0.028532966994097207 Centerline is valid? [True, True] Translation: X:111.15, Y:-21.43, Z:-13.10 [[ 8.31832636e-01 5.43338220e-01 1.13305093e-01 1.11152715e+02] [-5.37774826e-01 8.39505955e-01 -7.76401148e-02 -2.14266730e+01] [-1.37305142e-01 3.65095454e-03 9.90522069e-01 -1.30980711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters 0.028612164851958343 Centerline is valid? [True, True] Translation: X:111.20, Y:-21.46, Z:-13.11 [[ 8.30961436e-01 5.44318140e-01 1.14981971e-01 1.11202544e+02] [-5.38586821e-01 8.38871127e-01 -7.88636083e-02 -2.14624533e+01] [-1.39381949e-01 3.60484269e-03 9.90232133e-01 -1.31053373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters 0.028825872648664656 Centerline is valid? [True, True] Translation: X:111.25, Y:-21.50, Z:-13.11 [[ 8.31474741e-01 5.43837575e-01 1.13536101e-01 1.11251979e+02] [-5.38235464e-01 8.39182336e-01 -7.79460771e-02 -2.15002091e+01] [-1.37667496e-01 3.70103846e-03 9.90471586e-01 -1.31135413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters 0.029143583533595165 Centerline is valid? [True, True] Translation: X:111.30, Y:-21.54, Z:-13.12 [[ 8.32465624e-01 5.42069585e-01 1.14723803e-01 1.11303098e+02] [-5.36320643e-01 8.40323569e-01 -7.88445767e-02 -2.15354357e+01] [-1.39144363e-01 4.10665593e-03 9.90263592e-01 -1.31210097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters 0.02911570181063692 Centerline is valid? [True, True] Translation: X:111.35, Y:-21.57, Z:-13.13 [[ 8.33236949e-01 5.41556960e-01 1.11499983e-01 1.11353181e+02] [-5.36114084e-01 8.40653906e-01 -7.66987598e-02 -2.15714211e+01] [-1.35269644e-01 4.13152913e-03 9.90800209e-01 -1.31261951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters 0.028992063258447352 Centerline is valid? [True, True] Translation: X:111.41, Y:-21.61, Z:-13.13 [[ 8.32388867e-01 5.42594563e-01 1.12782593e-01 1.11405884e+02] [-5.37024218e-01 8.39984852e-01 -7.76558954e-02 -2.16057150e+01] [-1.36871337e-01 4.07291887e-03 9.90580460e-01 -1.31349958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters 0.02844572121865706 Centerline is valid? [True, True] Translation: X:111.46, Y:-21.64, Z:-13.14 [[ 8.29970085e-01 5.46114026e-01 1.13618345e-01 1.11457822e+02] [-5.40482695e-01 8.37703189e-01 -7.83059593e-02 -2.16402787e+01] [-1.37942433e-01 3.58285454e-03 9.90433768e-01 -1.31416369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters 0.028287073145619592 Centerline is valid? [True, True] Translation: X:111.51, Y:-21.67, Z:-13.15 [[ 8.29168632e-01 5.47272977e-01 1.13893230e-01 1.11510168e+02] [-5.41620000e-01 8.36947148e-01 -7.85318204e-02 -2.16739511e+01] [-1.38300957e-01 3.42927099e-03 9.90384312e-01 -1.31490340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters 0.027774543688752488 Centerline is valid? [True, True] Translation: X:111.56, Y:-21.71, Z:-13.16 [[ 8.27095594e-01 5.50716814e-01 1.12355996e-01 1.11562974e+02] [-5.45237565e-01 8.34687196e-01 -7.75453609e-02 -2.17069608e+01] [-1.36487645e-01 2.87671695e-03 9.90637596e-01 -1.31569260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters 0.027493207654835806 Centerline is valid? [True, True] Translation: X:111.62, Y:-21.74, Z:-13.16 [[ 8.24612029e-01 5.54027545e-01 1.14317459e-01 1.11617617e+02] [-5.48380650e-01 8.32494869e-01 -7.89363976e-02 -2.17385246e+01] [-1.38901637e-01 2.40242037e-03 9.90303269e-01 -1.31619305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters 0.02698285012990288 Centerline is valid? [True, True] Translation: X:111.67, Y:-21.77, Z:-13.17 [[ 8.22487585e-01 5.57552949e-01 1.12467249e-01 1.11671858e+02] [-5.52110327e-01 8.30139334e-01 -7.77359152e-02 -2.17697019e+01] [-1.36705376e-01 1.84249561e-03 9.90610037e-01 -1.31694451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters 0.027049097937506966 Centerline is valid? [True, True] Translation: X:111.73, Y:-21.80, Z:-13.18 [[ 8.20448780e-01 5.60167049e-01 1.14353298e-01 1.11729262e+02] [-5.54556702e-01 8.28378350e-01 -7.90959779e-02 -2.17965585e+01] [-1.39034757e-01 1.47881066e-03 9.90286398e-01 -1.31777718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters 0.027189670195626507 Centerline is valid? [True, True] Translation: X:111.79, Y:-21.82, Z:-13.18 [[ 8.20811374e-01 5.59832318e-01 1.13386345e-01 1.11785342e+02] [-5.54301764e-01 8.28604389e-01 -7.85131906e-02 -2.18249144e+01] [-1.37906645e-01 1.59426856e-03 9.90443949e-01 -1.31848608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters 0.027582488872533485 Centerline is valid? [True, True] Translation: X:111.84, Y:-21.85, Z:-13.19 [[ 8.21575517e-01 5.58694733e-01 1.13463055e-01 1.11840044e+02] [-5.53135359e-01 8.29371313e-01 -7.86415970e-02 -2.18543166e+01] [-1.38039649e-01 1.84958325e-03 9.90424977e-01 -1.31937067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters 0.027743337511887914 Centerline is valid? [True, True] Translation: X:111.90, Y:-21.88, Z:-13.20 [[ 8.23071374e-01 5.56545141e-01 1.13185774e-01 1.11898108e+02] [-5.50982353e-01 8.30814277e-01 -7.85244144e-02 -2.18795704e+01] [-1.37738738e-01 2.26783343e-03 9.90466000e-01 -1.32000847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters 0.02779519300428239 Centerline is valid? [True, True] Translation: X:111.95, Y:-21.91, Z:-13.21 [[ 8.22489766e-01 5.57493994e-01 1.12743206e-01 1.11954150e+02] [-5.51973452e-01 8.30178155e-01 -7.82913738e-02 -2.19077112e+01] [-1.37243918e-01 2.16259715e-03 9.90534921e-01 -1.32079682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters 0.02796804871410192 Centerline is valid? [True, True] Translation: X:112.01, Y:-21.94, Z:-13.22 [[ 8.21427483e-01 5.58677188e-01 1.14615400e-01 1.12009821e+02] [-5.52971498e-01 8.29382630e-01 -7.96679109e-02 -2.19355291e+01] [-1.39568666e-01 2.06236196e-03 9.90210247e-01 -1.32157961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters 0.02792186647445819 Centerline is valid? [True, True] Translation: X:112.07, Y:-21.96, Z:-13.22 [[ 8.24487363e-01 5.55138365e-01 1.09735975e-01 1.12065655e+02] [-5.49870631e-01 8.31753951e-01 -7.63390673e-02 -2.19644786e+01] [-1.33652075e-01 2.60000665e-03 9.91024905e-01 -1.32226259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters 0.029047643691466597 Centerline is valid? [True, True] Translation: X:112.12, Y:-21.99, Z:-13.23 [[ 8.27023258e-01 5.50777153e-01 1.12592444e-01 1.12120805e+02] [-5.45186304e-01 8.34645353e-01 -7.83519529e-02 -2.19938112e+01] [-1.37129226e-01 3.41502898e-03 9.90547280e-01 -1.32287316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters 0.030176410538315847 Centerline is valid? [True, True] Translation: X:112.17, Y:-22.02, Z:-13.24 [[ 8.29249178e-01 5.47000647e-01 1.14612790e-01 1.12174986e+02] [-5.41166105e-01 8.37121949e-01 -7.97877795e-02 -2.20229114e+01] [-1.39588850e-01 4.13939321e-03 9.90200898e-01 -1.32370729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters 0.0315659716066865 Centerline is valid? [True, True] Translation: X:112.23, Y:-22.06, Z:-13.24 [[ 8.33040633e-01 5.41510975e-01 1.13177595e-01 1.12227341e+02] [-5.35763733e-01 8.40678536e-01 -7.88468241e-02 -2.20562592e+01] [-1.37842396e-01 5.04615729e-03 9.90441321e-01 -1.32446504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters 0.03279563083253191 Centerline is valid? [True, True] Translation: X:112.28, Y:-22.09, Z:-13.25 [[ 8.36561785e-01 5.36142569e-01 1.12763136e-01 1.12280080e+02] [-5.30386365e-01 8.44106644e-01 -7.85765697e-02 -2.20875573e+01] [-1.37312357e-01 5.92612538e-03 9.90510069e-01 -1.32503475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters 0.03300390328986817 Centerline is valid? [True, True] Translation: X:112.33, Y:-22.12, Z:-13.26 [[ 8.36547026e-01 5.36076438e-01 1.13186246e-01 1.12329883e+02] [-5.30273336e-01 8.44148288e-01 -7.88914280e-02 -2.21246909e+01] [-1.37837812e-01 5.97674111e-03 9.90436781e-01 -1.32569242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters 0.032780511570040465 Centerline is valid? [True, True] Translation: X:112.38, Y:-22.16, Z:-13.26 [[ 8.35356872e-01 5.37874904e-01 1.13443744e-01 1.12381652e+02] [-5.32051966e-01 8.43005039e-01 -7.91404464e-02 -2.21581739e+01] [-1.38201308e-01 5.75254866e-03 9.90387453e-01 -1.32648859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters 0.031182480421311 Centerline is valid? [True, True] Translation: X:112.43, Y:-22.19, Z:-13.27 [[ 8.32389575e-01 5.42823723e-01 1.11669162e-01 1.12431940e+02] [-5.37218541e-01 8.39832344e-01 -7.79607104e-02 -2.21931246e+01] [-1.36102298e-01 4.90293802e-03 9.90682656e-01 -1.32695091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters 0.03131018622669279 Centerline is valid? [True, True] Translation: X:112.48, Y:-22.23, Z:-13.28 [[ 8.32426842e-01 5.42899491e-01 1.11021154e-01 1.12483784e+02] [-5.37357304e-01 8.39783504e-01 -7.75293113e-02 -2.22278170e+01] [-1.35324357e-01 4.87945203e-03 9.90789337e-01 -1.32775467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters 0.032477512080152725 Centerline is valid? [True, True] Translation: X:112.54, Y:-22.26, Z:-13.28 [[ 8.34778556e-01 5.39056471e-01 1.12084271e-01 1.12536180e+02] [-5.33363037e-01 8.42250904e-01 -7.83408314e-02 -2.22590142e+01] [-1.36633211e-01 5.61563880e-03 9.90605790e-01 -1.32840385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters 0.033943881484819624 Centerline is valid? [True, True] Translation: X:112.59, Y:-22.29, Z:-13.29 [[ 8.37493658e-01 5.34700866e-01 1.12691421e-01 1.12588767e+02] [-5.28904593e-01 8.45017395e-01 -7.87752081e-02 -2.22898612e+01] [-1.37347383e-01 6.37072709e-03 9.90502453e-01 -1.32916056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters 0.03447691484841436 Centerline is valid? [True, True] Translation: X:112.64, Y:-22.32, Z:-13.30 [[ 8.38002784e-01 5.34154769e-01 1.11489984e-01 1.12642053e+02] [-5.28474493e-01 8.45362424e-01 -7.79556450e-02 -2.23232598e+01] [-1.35889823e-01 6.40743463e-03 9.90703235e-01 -1.32991823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters 0.0338429194313736 Centerline is valid? [True, True] Translation: X:112.70, Y:-22.35, Z:-13.31 [[ 8.37196697e-01 5.35381277e-01 1.11662793e-01 1.12696057e+02] [-5.29683672e-01 8.44587126e-01 -7.81523833e-02 -2.23534838e+01] [-1.36150280e-01 6.28295917e-03 9.90668272e-01 -1.33058321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters 0.03443349389371172 Centerline is valid? [True, True] Translation: X:112.75, Y:-22.39, Z:-13.31 [[ 8.37975667e-01 5.34178518e-01 1.11579984e-01 1.12748862e+02] [-5.28469568e-01 8.45346472e-01 -7.81617500e-02 -2.23860375e+01] [-1.36076073e-01 6.53101895e-03 9.90676864e-01 -1.33123672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters 0.03716733289247032 Centerline is valid? [True, True] Translation: X:112.80, Y:-22.42, Z:-13.32 [[ 8.41606575e-01 5.27822603e-01 1.14462537e-01 1.12800970e+02] [-5.21746274e-01 8.49318725e-01 -8.02404473e-02 -2.24173016e+01] [-1.39567898e-01 7.81048567e-03 9.90181700e-01 -1.33207866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters 0.03828819668471916 Centerline is valid? [True, True] Translation: X:112.85, Y:-22.45, Z:-13.33 [[ 8.43268836e-01 5.24803807e-01 1.16097520e-01 1.12851467e+02] [-5.18522180e-01 8.51181395e-01 -8.13939936e-02 -2.24509597e+01] [-1.41535927e-01 8.43787888e-03 9.89897158e-01 -1.33287157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters 0.03880277537198502 Centerline is valid? [True, True] Translation: X:112.90, Y:-22.49, Z:-13.34 [[ 8.45576343e-01 5.22050158e-01 1.11643547e-01 1.12902327e+02] [-5.16217242e-01 8.52871739e-01 -7.82914780e-02 -2.24861467e+01] [-1.36089705e-01 8.56909749e-03 9.90659459e-01 -1.33353191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters 0.03988005872735839 Centerline is valid? [True, True] Translation: X:112.95, Y:-22.53, Z:-13.34 [[ 8.45244655e-01 5.22035194e-01 1.14196010e-01 1.12949799e+02] [-5.15921345e-01 8.52878244e-01 -8.01490349e-02 -2.25251193e+01] [-1.39235910e-01 8.82938422e-03 9.90219876e-01 -1.33437487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters 0.04039512767546681 Centerline is valid? [True, True] Translation: X:113.00, Y:-22.56, Z:-13.35 [[ 8.47975358e-01 5.18427413e-01 1.10321396e-01 1.12997311e+02] [-5.12686183e-01 8.55072764e-01 -7.74819070e-02 -2.25649941e+01] [-1.34501565e-01 9.14249267e-03 9.90871204e-01 -1.33486902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters 0.038542292820884116 Centerline is valid? [True, True] Translation: X:113.04, Y:-22.61, Z:-13.35 [[ 8.44936402e-01 5.22918129e-01 1.12423783e-01 1.13042369e+02] [-5.16991661e-01 8.52339459e-01 -7.89751133e-02 -2.26062083e+01] [-1.37120745e-01 8.60678990e-03 9.90516948e-01 -1.33547830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters 0.03588524298095076 Centerline is valid? [True, True] Translation: X:113.09, Y:-22.64, Z:-13.36 [[ 8.39622640e-01 5.30767400e-01 1.15411392e-01 1.13089538e+02] [-5.24591963e-01 8.47484052e-01 -8.10805419e-02 -2.26449085e+01] [-1.40844222e-01 7.53317021e-03 9.90003109e-01 -1.33598365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters 0.03271992838897909 Centerline is valid? [True, True] Translation: X:113.13, Y:-22.69, Z:-13.37 [[ 8.33539771e-01 5.39931696e-01 1.16983818e-01 1.13134388e+02] [-5.33673225e-01 8.41686860e-01 -8.21956070e-02 -2.26864897e+01] [-1.42843756e-01 6.08217615e-03 9.89726563e-01 -1.33698128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters 0.03241895622910794 Centerline is valid? [True, True] Translation: X:113.18, Y:-22.72, Z:-13.38 [[ 8.31989103e-01 5.42224214e-01 1.17418202e-01 1.13183888e+02] [-5.35938054e-01 8.40214293e-01 -8.25248074e-02 -2.27232161e+01] [-1.43403400e-01 5.73085783e-03 9.89647726e-01 -1.33778836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters 0.03175177148753914 Centerline is valid? [True, True] Translation: X:113.24, Y:-22.76, Z:-13.38 [[ 8.30117244e-01 5.45209265e-01 1.16842713e-01 1.13235001e+02] [-5.39003820e-01 8.38283537e-01 -8.21924192e-02 -2.27578170e+01] [-1.42759391e-01 5.25067586e-03 9.89743495e-01 -1.33837758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters 0.0313957410779883 Centerline is valid? [True, True] Translation: X:113.29, Y:-22.79, Z:-13.39 [[ 8.29447313e-01 5.46396979e-01 1.16049541e-01 1.13286770e+02] [-5.40277298e-01 8.37510967e-01 -8.17057019e-02 -2.27928339e+01] [-1.41836512e-01 5.07164241e-03 9.89877105e-01 -1.33885895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters 0.031120205472976083 Centerline is valid? [True, True] Translation: X:113.34, Y:-22.83, Z:-13.40 [[ 8.29734732e-01 5.45974377e-01 1.15983857e-01 1.13338549e+02] [-5.39847244e-01 8.37785725e-01 -8.17314652e-02 -2.28266298e+01] [-1.41792905e-01 5.20186990e-03 9.89882676e-01 -1.33953907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters 0.03214597717401877 Centerline is valid? [True, True] Translation: X:113.39, Y:-22.86, Z:-13.40 [[ 8.31471096e-01 5.43139349e-01 1.16856598e-01 1.13389230e+02] [-5.36882178e-01 8.39622657e-01 -8.24094709e-02 -2.28620238e+01] [-1.42875274e-01 5.78286811e-03 9.89723807e-01 -1.34049561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters 0.03307837198909323 Centerline is valid? [True, True] Translation: X:113.44, Y:-22.89, Z:-13.41 [[ 8.33371109e-01 5.40564746e-01 1.15249077e-01 1.13442349e+02] [-5.34450733e-01 8.41279842e-01 -8.13058515e-02 -2.28945929e+01] [-1.40907803e-01 6.16299377e-03 9.90003540e-01 -1.34099751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters 0.03316967470035822 Centerline is valid? [True, True] Translation: X:113.49, Y:-22.93, Z:-13.42 [[ 8.33914419e-01 5.39681960e-01 1.15456151e-01 1.13490542e+02] [-5.33527210e-01 8.41844770e-01 -8.15236100e-02 -2.29330865e+01] [-1.41192979e-01 6.38471579e-03 9.89961503e-01 -1.34182703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters 0.033623926227602505 Centerline is valid? [True, True] Translation: X:113.54, Y:-22.97, Z:-13.43 [[ 8.34163720e-01 5.39039266e-01 1.16651439e-01 1.13539107e+02] [-5.32739034e-01 8.42254592e-01 -8.24398143e-02 -2.29706834e+01] [-1.42688507e-01 6.62352720e-03 9.89745482e-01 -1.34285815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters 0.03386302440369525 Centerline is valid? [True, True] Translation: X:113.59, Y:-23.01, Z:-13.44 [[ 8.34209616e-01 5.39105147e-01 1.16017058e-01 1.13589264e+02] [-5.32863784e-01 8.42212313e-01 -8.20646561e-02 -2.30086376e+01] [-1.41952474e-01 6.63783657e-03 9.89851218e-01 -1.34350336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters 0.03333370100160918 Centerline is valid? [True, True] Translation: X:113.64, Y:-23.05, Z:-13.44 [[ 8.34232340e-01 5.39581802e-01 1.13612857e-01 1.13635254e+02] [-5.33591468e-01 8.41908216e-01 -8.04406642e-02 -2.30512822e+01] [-1.39055917e-01 6.48335213e-03 9.90263307e-01 -1.34393184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters 0.034164183976118714 Centerline is valid? [True, True] Translation: X:113.68, Y:-23.09, Z:-13.45 [[ 8.36055152e-01 5.36804714e-01 1.13368785e-01 1.13682001e+02] [-5.30806425e-01 8.43677637e-01 -8.03279812e-02 -2.30915871e+01] [-1.38767148e-01 6.98174290e-03 9.90300426e-01 -1.34474151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters 0.03483244653768851 Centerline is valid? [True, True] Translation: X:113.73, Y:-23.13, Z:-13.45 [[ 8.37655379e-01 5.34250618e-01 1.13621050e-01 1.13729493e+02] [-5.28199309e-01 8.45293403e-01 -8.05267167e-02 -2.31320813e+01] [-1.39064572e-01 7.43907744e-03 9.90255374e-01 -1.34540942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters 0.03579376979667177 Centerline is valid? [True, True] Translation: X:113.78, Y:-23.17, Z:-13.46 [[ 8.40037887e-01 5.30847283e-01 1.11971025e-01 1.13775319e+02] [-5.24938689e-01 8.47430664e-01 -7.93765887e-02 -2.31741001e+01] [-1.37024527e-01 7.90141853e-03 9.90536141e-01 -1.34604656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters 0.036633760862870866 Centerline is valid? [True, True] Translation: X:113.82, Y:-23.22, Z:-13.47 [[ 8.40803601e-01 5.28884091e-01 1.15459612e-01 1.13818672e+02] [-5.22577527e-01 8.48651463e-01 -8.18744388e-02 -2.32172525e+01] [-1.41287056e-01 8.50372473e-03 9.89932146e-01 -1.34689616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters 0.035906322449541214 Centerline is valid? [True, True] Translation: X:113.86, Y:-23.26, Z:-13.48 [[ 8.39212813e-01 5.31199614e-01 1.16399420e-01 1.13862101e+02] [-5.24804422e-01 8.47206795e-01 -8.25891383e-02 -2.32628177e+01] [-1.42485698e-01 8.22293281e-03 9.89762704e-01 -1.34764456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters 0.03394553214369819 Centerline is valid? [True, True] Translation: X:113.91, Y:-23.31, Z:-13.48 [[ 8.36111301e-01 5.36580884e-01 1.14012485e-01 1.13905504e+02] [-5.30487315e-01 8.43818110e-01 -8.09580469e-02 -2.33066822e+01] [-1.39646340e-01 7.20776121e-03 9.90175211e-01 -1.34817365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters 0.03164223866485445 Centerline is valid? [True, True] Translation: X:113.95, Y:-23.35, Z:-13.49 [[ 8.31286190e-01 5.43764659e-01 1.15253052e-01 1.13948504e+02] [-5.37600012e-01 8.39215568e-01 -8.18746416e-02 -2.33519874e+01] [-1.41242692e-01 6.10121696e-03 9.89956200e-01 -1.34889631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters 0.029306496406445674 Centerline is valid? [True, True] Translation: X:113.99, Y:-23.39, Z:-13.50 [[ 8.24219461e-01 5.54008004e-01 1.17206704e-01 1.13993889e+02] [-5.47731525e-01 8.32499505e-01 -8.32751571e-02 -2.33933426e+01] [-1.43709626e-01 4.43919861e-03 9.89609942e-01 -1.34974433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters 0.027973058189855047 Centerline is valid? [True, True] Translation: X:114.04, Y:-23.43, Z:-13.51 [[ 8.19186929e-01 5.61417566e-01 1.17230936e-01 1.14040916e+02] [-5.55211262e-01 8.27526648e-01 -8.33072677e-02 -2.34319085e+01] [-1.43781887e-01 3.15628904e-03 9.89604369e-01 -1.35050790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters 0.02718071861794534 Centerline is valid? [True, True] Translation: X:114.09, Y:-23.47, Z:-13.51 [[ 8.17867755e-01 5.64034785e-01 1.13829244e-01 1.14090894e+02] [-5.58206590e-01 8.25746810e-01 -8.09172931e-02 -2.34675120e+01] [-1.39634304e-01 2.63941046e-03 9.90199624e-01 -1.35107004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters 0.02769300018706583 Centerline is valid? [True, True] Translation: X:114.14, Y:-23.50, Z:-13.52 [[ 8.18131898e-01 5.63078808e-01 1.16629553e-01 1.14141261e+02] [-5.56940114e-01 8.26398029e-01 -8.29699166e-02 -2.35030453e+01] [-1.43101034e-01 2.92465879e-03 9.89703764e-01 -1.35178862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters 0.027639254673586838 Centerline is valid? [True, True] Translation: X:114.20, Y:-23.54, Z:-13.53 [[ 8.17395186e-01 5.64089831e-01 1.16909250e-01 1.14195035e+02] [-5.57920139e-01 8.25708606e-01 -8.32491231e-02 -2.35360503e+01] [-1.43492957e-01 2.82140750e-03 9.89647316e-01 -1.35252688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters 0.027234864875889858 Centerline is valid? [True, True] Translation: X:114.25, Y:-23.57, Z:-13.53 [[ 8.15777737e-01 5.66880562e-01 1.14687022e-01 1.14246299e+02] [-5.60959823e-01 8.23796625e-01 -8.17508244e-02 -2.35713830e+01] [-1.40821735e-01 2.35569099e-03 9.90032166e-01 -1.35304942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters 0.026758281290587924 Centerline is valid? [True, True] Translation: X:114.30, Y:-23.61, Z:-13.54 [[ 8.13062053e-01 5.70866206e-01 1.14201024e-01 1.14298304e+02] [-5.65024063e-01 8.21041296e-01 -8.14800492e-02 -2.36055007e+01] [-1.40277963e-01 1.72200960e-03 9.90110664e-01 -1.35381786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters 0.026913689565719698 Centerline is valid? [True, True] Translation: X:114.35, Y:-23.64, Z:-13.54 [[ 8.14120301e-01 5.69369819e-01 1.14132133e-01 1.14349298e+02] [-5.63509244e-01 8.22078972e-01 -8.15076408e-02 -2.36400322e+01] [-1.40233618e-01 2.04251290e-03 9.90116337e-01 -1.35446528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters 0.027458887818525124 Centerline is valid? [True, True] Translation: X:114.40, Y:-23.67, Z:-13.55 [[ 8.16981144e-01 5.65531736e-01 1.12763761e-01 1.14401388e+02] [-5.59764536e-01 8.24722008e-01 -8.06056646e-02 -2.36738167e+01] [-1.38583817e-01 2.73215364e-03 9.90346940e-01 -1.35533889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters 0.028185403636502113 Centerline is valid? [True, True] Translation: X:114.45, Y:-23.71, Z:-13.56 [[ 8.18954277e-01 5.62192661e-01 1.15122999e-01 1.14451840e+02] [-5.56136288e-01 8.26999169e-01 -8.23699196e-02 -2.37090360e+01] [-1.41514389e-01 3.43312067e-03 9.89930246e-01 -1.35587010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters 0.028347916856007623 Centerline is valid? [True, True] Translation: X:114.50, Y:-23.75, Z:-13.57 [[ 8.19282085e-01 5.61684937e-01 1.15268802e-01 1.14500623e+02] [-5.55597754e-01 8.27343443e-01 -8.25467306e-02 -2.37471778e+01] [-1.41732143e-01 3.58597007e-03 9.89898551e-01 -1.35663819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters 0.02806382004717972 Centerline is valid? [True, True] Translation: X:114.55, Y:-23.79, Z:-13.57 [[ 8.16738848e-01 5.65555706e-01 1.14387055e-01 1.14549436e+02] [-5.59588649e-01 8.24704800e-01 -8.19910742e-02 -2.37858241e+01] [-1.40706073e-01 2.95559816e-03 9.90047002e-01 -1.35730662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters 0.027610727928791653 Centerline is valid? [True, True] Translation: X:114.60, Y:-23.82, Z:-13.58 [[ 8.13431814e-01 5.70182221e-01 1.14982258e-01 1.14602147e+02] [-5.64187376e-01 8.21515217e-01 -8.24945619e-02 -2.38187877e+01] [-1.41496607e-01 2.23216294e-03 9.89936224e-01 -1.35788557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters 0.027358518223611086 Centerline is valid? [True, True] Translation: X:114.65, Y:-23.85, Z:-13.59 [[ 8.11339990e-01 5.73075703e-01 1.15376164e-01 1.14654246e+02] [-5.67057350e-01 8.19500459e-01 -8.28550497e-02 -2.38526596e+01] [-1.42033035e-01 1.79871328e-03 9.89860284e-01 -1.35861915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters 0.027490649479728582 Centerline is valid? [True, True] Translation: X:114.71, Y:-23.88, Z:-13.59 [[ 8.11311135e-01 5.73055727e-01 1.15677901e-01 1.14707571e+02] [-5.66993915e-01 8.19514261e-01 -8.31521284e-02 -2.38847914e+01] [-1.42450493e-01 1.87358173e-03 9.89800155e-01 -1.35943701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters 0.027815127156612825 Centerline is valid? [True, True] Translation: X:114.76, Y:-23.92, Z:-13.60 [[ 8.12057192e-01 5.72187382e-01 1.14737600e-01 1.14761553e+02] [-5.66203567e-01 8.20120283e-01 -8.25605398e-02 -2.39174415e+01] [-1.41338732e-01 2.07904201e-03 9.89959111e-01 -1.36015723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters 0.027828316496115623 Centerline is valid? [True, True] Translation: X:114.82, Y:-23.95, Z:-13.61 [[ 8.13698933e-01 5.70022836e-01 1.13877183e-01 1.14816203e+02] [-5.64095640e-01 8.21625023e-01 -8.20270104e-02 -2.39474485e+01] [-1.40321612e-01 2.50766813e-03 9.90102801e-01 -1.36081127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters 0.02825983710031928 Centerline is valid? [True, True] Translation: X:114.87, Y:-23.98, Z:-13.61 [[ 8.14855102e-01 5.68193515e-01 1.14748827e-01 1.14867806e+02] [-5.62145591e-01 8.22889825e-01 -8.27325185e-02 -2.39810343e+01] [-1.41433723e-01 2.90946755e-03 9.89943451e-01 -1.36145469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters 0.02908896907615645 Centerline is valid? [True, True] Translation: X:114.92, Y:-24.01, Z:-13.62 [[ 8.18564560e-01 5.63157967e-01 1.13159907e-01 1.14919389e+02] [-5.57218632e-01 8.26340568e-01 -8.16618735e-02 -2.40147801e+01] [-1.39497156e-01 3.79070705e-03 9.90215216e-01 -1.36226810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters 0.0304549638556383 Centerline is valid? [True, True] Translation: X:114.97, Y:-24.05, Z:-13.63 [[ 8.22191723e-01 5.57408589e-01 1.15310171e-01 1.14968594e+02] [-5.51172918e-01 8.30223720e-01 -8.32885881e-02 -2.40513891e+01] [-1.42159013e-01 4.92334438e-03 9.89831590e-01 -1.36286258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters 0.03058141089311787 Centerline is valid? [True, True] Translation: X:115.02, Y:-24.09, Z:-13.64 [[ 8.23263045e-01 5.55992513e-01 1.14500152e-01 1.15016863e+02] [-5.49822790e-01 8.31171162e-01 -8.27611013e-02 -2.40892282e+01] [-1.41183777e-01 5.17936311e-03 9.89969856e-01 -1.36361113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters 0.030331714266531383 Centerline is valid? [True, True] Translation: X:115.06, Y:-24.13, Z:-13.64 [[ 8.22245371e-01 5.57338256e-01 1.15267596e-01 1.15064896e+02] [-5.51091121e-01 8.30270337e-01 -8.33651297e-02 -2.41296830e+01] [-1.42165841e-01 5.02364355e-03 9.89830105e-01 -1.36427933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters 0.030034661309580254 Centerline is valid? [True, True] Translation: X:115.11, Y:-24.17, Z:-13.65 [[ 8.21641508e-01 5.58463510e-01 1.14121601e-01 1.15114044e+02] [-5.52339790e-01 8.29514918e-01 -8.26181412e-02 -2.41673459e+01] [-1.40804788e-01 4.84859281e-03 9.90025506e-01 -1.36494108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters 0.03023724663257128 Centerline is valid? [True, True] Translation: X:115.17, Y:-24.20, Z:-13.66 [[ 8.22391415e-01 5.57420134e-01 1.13820709e-01 1.15165276e+02] [-5.51308409e-01 8.30215050e-01 -8.24742899e-02 -2.42026992e+01] [-1.40468495e-01 5.07583421e-03 9.90072138e-01 -1.36559805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters 0.03043436660033399 Centerline is valid? [True, True] Translation: X:115.21, Y:-24.24, Z:-13.66 [[ 8.21130233e-01 5.58261724e-01 1.18697042e-01 1.15211409e+02] [-5.51610613e-01 8.29648576e-01 -8.60753821e-02 -2.42439101e+01] [-1.46529423e-01 5.20455055e-03 9.89192621e-01 -1.36649440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters 0.029397944961488977 Centerline is valid? [True, True] Translation: X:115.26, Y:-24.28, Z:-13.67 [[ 8.18938898e-01 5.61972522e-01 1.16301186e-01 1.15260647e+02] [-5.55622638e-01 8.27143846e-01 -8.43596075e-02 -2.42795952e+01] [-1.43605591e-01 4.46579247e-03 9.89624924e-01 -1.36721405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters 0.02804953292152191 Centerline is valid? [True, True] Translation: X:115.31, Y:-24.32, Z:-13.68 [[ 8.15234330e-01 5.67833101e-01 1.13835655e-01 1.15307611e+02] [-5.61804178e-01 8.23136768e-01 -8.25949583e-02 -2.43190410e+01] [-1.40602464e-01 3.38089920e-03 9.90060360e-01 -1.36774716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters 0.02740613193105344 Centerline is valid? [True, True] Translation: X:115.36, Y:-24.36, Z:-13.68 [[ 8.11185059e-01 5.73723065e-01 1.13228285e-01 1.15356062e+02] [-5.67810626e-01 8.19045903e-01 -8.21882071e-02 -2.43559056e+01] [-1.39892433e-01 2.37762205e-03 9.90163852e-01 -1.36826754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters 0.02751392141600351 Centerline is valid? [True, True] Translation: X:115.41, Y:-24.39, Z:-13.69 [[ 8.11156180e-01 5.73767080e-01 1.13212142e-01 1.15407383e+02] [-5.67848082e-01 8.19014944e-01 -8.22379261e-02 -2.43921503e+01] [-1.39907851e-01 2.42050462e-03 9.90161570e-01 -1.36908893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters 0.0275128026067153 Centerline is valid? [True, True] Translation: X:115.46, Y:-24.43, Z:-13.70 [[ 8.12813941e-01 5.71549144e-01 1.12539208e-01 1.15458365e+02] [-5.65667558e-01 8.20562868e-01 -8.18339438e-02 -2.44277631e+01] [-1.39117616e-01 2.85599143e-03 9.90271747e-01 -1.36988113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters 0.02834057101130851 Centerline is valid? [True, True] Translation: X:115.51, Y:-24.46, Z:-13.70 [[ 8.15095253e-01 5.67941160e-01 1.14291592e-01 1.15507789e+02] [-5.61828943e-01 8.23061355e-01 -8.31759853e-02 -2.44649131e+01] [-1.41308058e-01 3.58402622e-03 9.89959185e-01 -1.37041783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters 0.029297812095626072 Centerline is valid? [True, True] Translation: X:115.56, Y:-24.50, Z:-13.71 [[ 8.16753431e-01 5.65254656e-01 1.15762719e-01 1.15556160e+02] [-5.58951588e-01 8.24906128e-01 -8.42793154e-02 -2.45019948e+01] [-1.43132651e-01 4.12966460e-03 9.89694897e-01 -1.37137468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters 0.030052000694409876 Centerline is valid? [True, True] Translation: X:115.61, Y:-24.54, Z:-13.72 [[ 8.18798976e-01 5.62011894e-01 1.17093416e-01 1.15606028e+02] [-5.55519958e-01 8.27115192e-01 -8.53113997e-02 -2.45386814e+01] [-1.44795765e-01 4.80515701e-03 9.89449896e-01 -1.37215727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters 0.030217101907807957 Centerline is valid? [True, True] Translation: X:115.66, Y:-24.57, Z:-13.73 [[ 8.19361012e-01 5.61279023e-01 1.16676437e-01 1.15656977e+02] [-5.54821280e-01 8.27611871e-01 -8.50407958e-02 -2.45739519e+01] [-1.44294419e-01 4.94454232e-03 9.89522446e-01 -1.37293167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters 0.030620916248627703 Centerline is valid? [True, True] Translation: X:115.71, Y:-24.61, Z:-13.74 [[ 8.19980106e-01 5.60340350e-01 1.16838855e-01 1.15708550e+02] [-5.53843877e-01 8.28246249e-01 -8.52356223e-02 -2.46085213e+01] [-1.44532302e-01 5.18103037e-03 9.89486519e-01 -1.37360114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters 0.030529383282620746 Centerline is valid? [True, True] Translation: X:115.76, Y:-24.64, Z:-13.74 [[ 8.19610759e-01 5.60836186e-01 1.17051167e-01 1.15759463e+02] [-5.54309425e-01 8.27910656e-01 -8.54693399e-02 -2.46445940e+01] [-1.44842207e-01 5.16902567e-03 9.89441265e-01 -1.37444890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters 0.029581810733487 Centerline is valid? [True, True] Translation: X:115.81, Y:-24.68, Z:-13.75 [[ 8.17767079e-01 5.63941981e-01 1.15006289e-01 1.15809097e+02] [-5.57662711e-01 8.25801618e-01 -8.40475336e-02 -2.46811109e+01] [-1.42370312e-01 4.59658734e-03 9.89802791e-01 -1.37508745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters 0.029555378186475106 Centerline is valid? [True, True] Translation: X:115.86, Y:-24.72, Z:-13.76 [[ 8.16740002e-01 5.65561790e-01 1.14348724e-01 1.15859889e+02] [-5.59367248e-01 8.24694678e-01 -8.35880915e-02 -2.47171304e+01] [-1.41577015e-01 4.30680695e-03 9.89917876e-01 -1.37578162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters 0.029703946767552843 Centerline is valid? [True, True] Translation: X:115.91, Y:-24.76, Z:-13.77 [[ 8.15917798e-01 5.66302273e-01 1.16532755e-01 1.15907498e+02] [-5.59867574e-01 8.24186403e-01 -8.52353943e-02 -2.47565922e+01] [-1.44313710e-01 4.30216436e-03 9.89522635e-01 -1.37662179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters 0.029507143586273443 Centerline is valid? [True, True] Translation: X:115.96, Y:-24.79, Z:-13.78 [[ 8.13306493e-01 5.69462110e-01 1.19354324e-01 1.15956995e+02] [-5.62731432e-01 8.22008311e-01 -8.73823389e-02 -2.47940131e+01] [-1.47871177e-01 3.90419414e-03 9.88998924e-01 -1.37752632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters 0.028842386141519783 Centerline is valid? [True, True] Translation: X:116.01, Y:-24.83, Z:-13.78 [[ 8.12297848e-01 5.71840509e-01 1.14763404e-01 1.16006140e+02] [-5.65633798e-01 8.20357797e-01 -8.40921627e-02 -2.48317101e+01] [-1.42234358e-01 3.39382284e-03 9.89827192e-01 -1.37800320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters 0.028058950182844593 Centerline is valid? [True, True] Translation: X:116.06, Y:-24.86, Z:-13.79 [[ 8.09979220e-01 5.75591953e-01 1.12372445e-01 1.16057232e+02] [-5.69675081e-01 8.17732617e-01 -8.23630384e-02 -2.48645864e+01] [-1.39298116e-01 2.69656787e-03 9.90246819e-01 -1.37887819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters 0.028536603901892207 Centerline is valid? [True, True] Translation: X:116.11, Y:-24.90, Z:-13.80 [[ 8.09209486e-01 5.75707624e-01 1.17220897e-01 1.16108127e+02] [-5.69259755e-01 8.17650707e-01 -8.59689060e-02 -2.48993895e+01] [-1.45338704e-01 2.83771505e-03 9.89377890e-01 -1.37965440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters 0.02857861819959961 Centerline is valid? [True, True] Translation: X:116.16, Y:-24.93, Z:-13.80 [[ 8.10157523e-01 5.74468686e-01 1.16749805e-01 1.16161382e+02] [-5.68054984e-01 8.18520779e-01 -8.56578598e-02 -2.49312300e+01] [-1.44769900e-01 3.07605082e-03 9.89460567e-01 -1.38036952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters 0.02907943914714136 Centerline is valid? [True, True] Translation: X:116.21, Y:-24.97, Z:-13.81 [[ 8.12416052e-01 5.71620498e-01 1.15022452e-01 1.16212373e+02] [-5.65356647e-01 8.20510261e-01 -8.44675875e-02 -2.49653083e+01] [-1.42660506e-01 3.59411645e-03 9.89765155e-01 -1.38124439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters 0.029829434344131826 Centerline is valid? [True, True] Translation: X:116.26, Y:-25.00, Z:-13.82 [[ 8.15320226e-01 5.67350063e-01 1.15615027e-01 1.16264150e+02] [-5.60968546e-01 8.23464848e-01 -8.49702002e-02 -2.49990516e+01] [-1.43412759e-01 4.42152948e-03 9.89653086e-01 -1.38183969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters 0.029908021795872076 Centerline is valid? [True, True] Translation: X:116.31, Y:-25.04, Z:-13.82 [[ 8.15102027e-01 5.67542244e-01 1.16208811e-01 1.16314142e+02] [-5.61091672e-01 8.23332314e-01 -8.54402520e-02 -2.50357385e+01] [-1.44169422e-01 4.43872637e-03 9.89543064e-01 -1.38249238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters 0.029213702059560545 Centerline is valid? [True, True] Translation: X:116.36, Y:-25.07, Z:-13.83 [[ 8.13415956e-01 5.70637609e-01 1.12814898e-01 1.16363020e+02] [-5.64580874e-01 8.21193079e-01 -8.30082221e-02 -2.50718481e+01] [-1.40010426e-01 3.82707895e-03 9.90142633e-01 -1.38312475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters 0.028107811696766717 Centerline is valid? [True, True] Translation: X:116.41, Y:-25.11, Z:-13.84 [[ 8.09850609e-01 5.76170306e-01 1.10316676e-01 1.16411500e+02] [-5.70428511e-01 8.17324790e-01 -8.11880654e-02 -2.51098098e+01] [-1.36942706e-01 2.82242731e-03 9.90574949e-01 -1.38391309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters 0.02751049762503321 Centerline is valid? [True, True] Translation: X:116.46, Y:-25.15, Z:-13.85 [[ 8.03661297e-01 5.84364965e-01 1.12454915e-01 1.16461251e+02] [-5.78472610e-01 8.11489612e-01 -8.27891838e-02 -2.51455571e+01] [-1.39635094e-01 1.48237448e-03 9.90201920e-01 -1.38478260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters 0.02708900883720533 Centerline is valid? [True, True] Translation: X:116.51, Y:-25.18, Z:-13.86 [[ 7.99841719e-01 5.89896342e-01 1.10794991e-01 1.16511516e+02] [-5.84219602e-01 8.07478779e-01 -8.16423793e-02 -2.51815867e+01] [-1.37625145e-01 5.72375721e-04 9.90484221e-01 -1.38556855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters 0.027119877504519094 Centerline is valid? [True, True] Translation: X:116.56, Y:-25.22, Z:-13.86 [[ 7.96611897e-01 5.94103400e-01 1.11582417e-01 1.16562837e+02] [-5.88374867e-01 8.04388676e-01 -8.23035423e-02 -2.52166869e+01] [-1.38652447e-01 -8.83087510e-05 9.90341098e-01 -1.38640758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters 0.027411142452557637 Centerline is valid? [True, True] Translation: X:116.62, Y:-25.25, Z:-13.87 [[ 7.95385598e-01 5.95745781e-01 1.11573807e-01 1.16615769e+02] [-5.90021494e-01 8.03173004e-01 -8.23878797e-02 -2.52510893e+01] [-1.38695301e-01 -3.00811107e-04 9.90335056e-01 -1.38705790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters 0.027373651652838726 Centerline is valid? [True, True] Translation: X:116.67, Y:-25.29, Z:-13.88 [[ 7.94029889e-01 5.97506347e-01 1.11815471e-01 1.16668510e+02] [-5.91761522e-01 8.01864003e-01 -8.26584717e-02 -2.52850367e+01] [-1.39049762e-01 -5.34795973e-04 9.90285251e-01 -1.38792608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters 0.027437485677576527 Centerline is valid? [True, True] Translation: X:116.72, Y:-25.32, Z:-13.89 [[ 7.96869844e-01 5.93663030e-01 1.12083265e-01 1.16722237e+02] [-5.87839642e-01 8.04713714e-01 -8.29481373e-02 -2.53184210e+01] [-1.39438183e-01 2.11882889e-04 9.90230755e-01 -1.38870895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters 0.027623997497994258 Centerline is valid? [True, True] Translation: X:116.77, Y:-25.35, Z:-13.89 [[ 8.01298304e-01 5.87759155e-01 1.11625287e-01 1.16774320e+02] [-5.81913733e-01 8.09034895e-01 -8.26979216e-02 -2.53520565e+01] [-1.38915213e-01 1.30941706e-03 9.90303413e-01 -1.38928052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters 0.0278182958624649 Centerline is valid? [True, True] Translation: X:116.83, Y:-25.39, Z:-13.90 [[ 8.03828350e-01 5.84129761e-01 1.12482915e-01 1.16826591e+02] [-5.78146933e-01 8.11657778e-01 -8.34132779e-02 -2.53859582e+01] [-1.40021811e-01 2.01830527e-03 9.90146362e-01 -1.38995829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters 0.02728488882538334 Centerline is valid? [True, True] Translation: X:116.88, Y:-25.42, Z:-13.91 [[ 8.01379535e-01 5.87632873e-01 1.11706969e-01 1.16876706e+02] [-5.81755681e-01 8.09126365e-01 -8.29147307e-02 -2.54225012e+01] [-1.39108476e-01 1.46000427e-03 9.90276073e-01 -1.39077629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters 0.026949609836125064 Centerline is valid? [True, True] Translation: X:116.93, Y:-25.46, Z:-13.91 [[ 7.99248436e-01 5.90692672e-01 1.10833682e-01 1.16928345e+02] [-5.84926067e-01 8.06896029e-01 -8.23425464e-02 -2.54578772e+01] [-1.38070396e-01 9.82641927e-04 9.90421930e-01 -1.39123256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters 0.026928595120941794 Centerline is valid? [True, True] Translation: X:116.98, Y:-25.49, Z:-13.92 [[ 8.02242530e-01 5.87092468e-01 1.08302159e-01 1.16982605e+02] [-5.81544743e-01 8.09518245e-01 -8.05352261e-02 -2.54890124e+01] [-1.34954198e-01 1.62623233e-03 9.90850503e-01 -1.39183821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters 0.027605651441444876 Centerline is valid? [True, True] Translation: X:117.04, Y:-25.52, Z:-13.93 [[ 8.04855949e-01 5.82699832e-01 1.12551356e-01 1.17035393e+02] [-5.76651726e-01 8.12683540e-01 -8.37750023e-02 -2.55206568e+01] [-1.40284314e-01 2.52387529e-03 9.90108045e-01 -1.39253189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters 0.027939916060883592 Centerline is valid? [True, True] Translation: X:117.09, Y:-25.55, Z:-13.93 [[ 8.07214437e-01 5.79894040e-01 1.10126091e-01 1.17090254e+02] [-5.74069071e-01 8.14686364e-01 -8.20416432e-02 -2.55519320e+01] [-1.37293684e-01 3.00521629e-03 9.90525826e-01 -1.39311557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters 0.027798685848113798 Centerline is valid? [True, True] Translation: X:117.14, Y:-25.59, Z:-13.94 [[ 8.06618208e-01 5.80429739e-01 1.11661924e-01 1.17139937e+02] [-5.74433367e-01 8.14304711e-01 -8.32715150e-02 -2.55891352e+01] [-1.39260094e-01 3.02598520e-03 9.90251215e-01 -1.39395303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters 0.027467919744983995 Centerline is valid? [True, True] Translation: X:117.19, Y:-25.62, Z:-13.95 [[ 8.04057801e-01 5.83707174e-01 1.13035339e-01 1.17193028e+02] [-5.77582715e-01 8.11960230e-01 -8.43729380e-02 -2.56207696e+01] [-1.41029289e-01 2.55346105e-03 9.90002131e-01 -1.39471289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters 0.026983917384978087 Centerline is valid? [True, True] Translation: X:117.24, Y:-25.66, Z:-13.95 [[ 8.03128691e-01 5.85536591e-01 1.10141751e-01 1.17243283e+02] [-5.79730202e-01 8.10642900e-01 -8.22859801e-02 -2.56569358e+01] [-1.37467081e-01 2.23373175e-03 9.90503817e-01 -1.39540328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters 0.027081519149882168 Centerline is valid? [True, True] Translation: X:117.30, Y:-25.68, Z:-13.96 [[ 8.03853314e-01 5.84480000e-01 1.10467098e-01 1.17300084e+02] [-5.78618753e-01 8.11404316e-01 -8.26037156e-02 -2.56845735e+01] [-1.37913700e-01 2.48293614e-03 9.90441137e-01 -1.39603748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters 0.027489999601597336 Centerline is valid? [True, True] Translation: X:117.35, Y:-25.72, Z:-13.97 [[ 8.05853196e-01 5.81769730e-01 1.10202580e-01 1.17352874e+02] [-5.75901090e-01 8.13348004e-01 -8.24800500e-02 -2.57166671e+01] [-1.37617445e-01 3.00102607e-03 9.90480910e-01 -1.39687981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters 0.028385992936614375 Centerline is valid? [True, True] Translation: X:117.41, Y:-25.75, Z:-13.98 [[ 8.08712995e-01 5.77950837e-01 1.09344054e-01 1.17407988e+02] [-5.72128939e-01 8.16063275e-01 -8.19097590e-02 -2.57454959e+01] [-1.36571481e-01 3.68258870e-03 9.90623374e-01 -1.39753137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters 0.029233396146479535 Centerline is valid? [True, True] Translation: X:117.46, Y:-25.78, Z:-13.98 [[ 8.11098690e-01 5.74284718e-01 1.10977370e-01 1.17459560e+02] [-5.68243814e-01 8.18643726e-01 -8.31950576e-02 -2.57792674e+01] [-1.38628578e-01 4.41719823e-03 9.90334593e-01 -1.39836757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters 0.031393983151113004 Centerline is valid? [True, True] Translation: X:117.51, Y:-25.81, Z:-13.99 [[ 8.15911200e-01 5.67121164e-01 1.12527770e-01 1.17509292e+02] [-5.60838523e-01 8.23614416e-01 -8.43767998e-02 -2.58141855e+01] [-1.40531362e-01 5.73406772e-03 9.90059623e-01 -1.39929247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters 0.03313059241832481 Centerline is valid? [True, True] Translation: X:117.56, Y:-25.85, Z:-14.00 [[ 8.19338945e-01 5.61912302e-01 1.13746465e-01 1.17555184e+02] [-5.55440676e-01 8.27169593e-01 -8.53001727e-02 -2.58531203e+01] [-1.42018833e-01 6.71034035e-03 9.89841211e-01 -1.40011178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters 0.03521592877718433 Centerline is valid? [True, True] Translation: X:117.60, Y:-25.89, Z:-14.01 [[ 8.23582741e-01 5.55999675e-01 1.12142010e-01 1.17599984e+02] [-5.49654848e-01 8.31147518e-01 -8.41032183e-02 -2.58940676e+01] [-1.39967915e-01 7.62655954e-03 9.90126668e-01 -1.40079446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters 0.034827392663042 Centerline is valid? [True, True] Translation: X:117.64, Y:-25.94, Z:-14.02 [[ 8.23362667e-01 5.55904991e-01 1.14208405e-01 1.17642098e+02] [-5.49318464e-01 8.31209181e-01 -8.56768541e-02 -2.59402662e+01] [-1.42559265e-01 7.80633767e-03 9.89755483e-01 -1.40165222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters 0.033244604620226346 Centerline is valid? [True, True] Translation: X:117.68, Y:-25.99, Z:-14.02 [[ 8.21219969e-01 5.59585210e-01 1.11634020e-01 1.17683335e+02] [-5.53319505e-01 8.28742829e-01 -8.38024354e-02 -2.59861295e+01] [-1.39410497e-01 7.05095271e-03 9.90209572e-01 -1.40214273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters 0.032493534502681234 Centerline is valid? [True, True] Translation: X:117.72, Y:-26.03, Z:-14.03 [[ 8.18734850e-01 5.62661938e-01 1.14388763e-01 1.17724776e+02] [-5.56108425e-01 8.26659878e-01 -8.58886823e-02 -2.60334677e+01] [-1.42886893e-01 6.70750253e-03 9.89716295e-01 -1.40288541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters 0.03164424349681569 Centerline is valid? [True, True] Translation: X:117.76, Y:-26.08, Z:-14.04 [[ 8.16785805e-01 5.65608281e-01 1.13790249e-01 1.17764644e+02] [-5.59143025e-01 8.24650653e-01 -8.55007480e-02 -2.60824739e+01] [-1.42197135e-01 6.21077292e-03 9.89818873e-01 -1.40364180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters 0.030060766767873996 Centerline is valid? [True, True] Translation: X:117.81, Y:-26.13, Z:-14.04 [[ 8.12195152e-01 5.72050167e-01 1.14444923e-01 1.17806892e+02] [-5.65570890e-01 8.20202603e-01 -8.60073198e-02 -2.61273717e+01] [-1.43068526e-01 5.12801105e-03 9.89699500e-01 -1.40431209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters 0.028475573422723197 Centerline is valid? [True, True] Translation: X:117.85, Y:-26.17, Z:-14.05 [[ 8.07426073e-01 5.78835678e-01 1.14071886e-01 1.17851882e+02] [-5.72464212e-01 8.15434766e-01 -8.57372097e-02 -2.61699577e+01] [-1.42645938e-01 3.92438600e-03 9.89766000e-01 -1.40495193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters 0.028053532589242425 Centerline is valid? [True, True] Translation: X:117.90, Y:-26.21, Z:-14.06 [[ 8.06076259e-01 5.80897591e-01 1.13132902e-01 1.17900718e+02] [-5.74647439e-01 8.13968901e-01 -8.50585046e-02 -2.62081451e+01] [-1.41496944e-01 3.55210886e-03 9.89932320e-01 -1.40565915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters 0.027611439804463015 Centerline is valid? [True, True] Translation: X:117.95, Y:-26.25, Z:-14.06 [[ 8.04289857e-01 5.83473732e-01 1.12588761e-01 1.17949053e+02] [-5.77298090e-01 8.12125916e-01 -8.47255139e-02 -2.62463950e+01] [-1.40871362e-01 3.14659498e-03 9.90022908e-01 -1.40638310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters 0.02744761461869269 Centerline is valid? [True, True] Translation: X:118.00, Y:-26.28, Z:-14.07 [[ 8.03381688e-01 5.85015659e-01 1.11060981e-01 1.18001130e+02] [-5.79011354e-01 8.11016817e-01 -8.36515131e-02 -2.62794358e+01] [-1.39009769e-01 2.89852465e-03 9.90286768e-01 -1.40720019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters 0.027341366161104934 Centerline is valid? [True, True] Translation: X:118.05, Y:-26.32, Z:-14.08 [[ 8.01706556e-01 5.87217103e-01 1.11546728e-01 1.18051306e+02] [-5.81170054e-01 8.09425324e-01 -8.40952640e-02 -2.63158240e+01] [-1.39670924e-01 2.59210626e-03 9.90194584e-01 -1.40786482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters 0.027281939233893663 Centerline is valid? [True, True] Translation: X:118.10, Y:-26.35, Z:-14.09 [[ 8.01922377e-01 5.87265015e-01 1.09728313e-01 1.18101474e+02] [-5.81404397e-01 8.09390528e-01 -8.28003671e-02 -2.63520613e+01] [-1.37438816e-01 2.60294343e-03 9.90506838e-01 -1.40863795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters 0.027240321025011928 Centerline is valid? [True, True] Translation: X:118.15, Y:-26.39, Z:-14.09 [[ 8.01525626e-01 5.87776209e-01 1.09889943e-01 1.18151072e+02] [-5.81891928e-01 8.09019438e-01 -8.30020073e-02 -2.63912786e+01] [-1.37689705e-01 2.58416521e-03 9.90472043e-01 -1.40927883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters 0.026882087799445543 Centerline is valid? [True, True] Translation: X:118.20, Y:-26.43, Z:-14.10 [[ 7.99766774e-01 5.90278469e-01 1.09290607e-01 1.18199454e+02] [-5.84469912e-01 8.07196655e-01 -8.26346330e-02 -2.64301774e+01] [-1.36996457e-01 2.21136224e-03 9.90569069e-01 -1.40990071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters 0.026439474427064267 Centerline is valid? [True, True] Translation: X:118.25, Y:-26.47, Z:-14.11 [[ 7.97566036e-01 5.93374541e-01 1.08605124e-01 1.18248705e+02] [-5.87657008e-01 8.04924628e-01 -8.21923571e-02 -2.64678525e+01] [-1.36189791e-01 1.73127012e-03 9.90681252e-01 -1.41056563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters 0.026261829241131657 Centerline is valid? [True, True] Translation: X:118.30, Y:-26.50, Z:-14.11 [[ 7.94529665e-01 5.97373962e-01 1.08935582e-01 1.18299011e+02] [-5.91648009e-01 8.01962038e-01 -8.25198302e-02 -2.65046861e+01] [-1.36657399e-01 1.11293265e-03 9.90617745e-01 -1.41110078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters 0.02610411706838355 Centerline is valid? [True, True] Translation: X:118.35, Y:-26.54, Z:-14.12 [[ 7.90974348e-01 6.02060006e-01 1.09010686e-01 1.18352347e+02] [-5.96359420e-01 7.98450758e-01 -8.26548810e-02 -2.65362157e+01] [-1.36802863e-01 3.68341404e-04 9.90598224e-01 -1.41184169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters 0.026067207601843757 Centerline is valid? [True, True] Translation: X:118.41, Y:-26.57, Z:-14.12 [[ 7.92724467e-01 5.99875189e-01 1.08340562e-01 1.18408371e+02] [-5.94213506e-01 8.00093188e-01 -8.22265170e-02 -2.65668769e+01] [-1.36008193e-01 8.05546858e-04 9.90707385e-01 -1.41231532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters 0.02670500940897377 Centerline is valid? [True, True] Translation: X:118.46, Y:-26.60, Z:-14.13 [[ 7.97433869e-01 5.93573846e-01 1.08486471e-01 1.18463220e+02] [-5.87826259e-01 8.04777147e-01 -8.24259272e-02 -2.65969447e+01] [-1.36233307e-01 1.95802963e-03 9.90674847e-01 -1.41292502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters 0.026931268756716444 Centerline is valid? [True, True] Translation: X:118.52, Y:-26.63, Z:-14.14 [[ 7.99296311e-01 5.91106660e-01 1.08251207e-01 1.18518836e+02] [-5.85350941e-01 8.06589722e-01 -8.23243351e-02 -2.66254448e+01] [-1.35976774e-01 2.43659131e-03 9.90709029e-01 -1.41372517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters 0.02650338885911634 Centerline is valid? [True, True] Translation: X:118.57, Y:-26.66, Z:-14.14 [[ 7.97207177e-01 5.93894300e-01 1.08398695e-01 1.18571240e+02] [-5.88137901e-01 8.04540524e-01 -8.25127583e-02 -2.66578315e+01] [-1.36215000e-01 2.02638218e-03 9.90677227e-01 -1.41449496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters 0.026190544363054888 Centerline is valid? [True, True] Translation: X:118.63, Y:-26.69, Z:-14.15 [[ 7.97207088e-01 5.94475589e-01 1.05164788e-01 1.18625358e+02] [-5.89055355e-01 8.04111361e-01 -8.01168360e-02 -2.66895402e+01] [-1.32191704e-01 1.92182798e-03 9.91222306e-01 -1.41519945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters 0.0260136683492556 Centerline is valid? [True, True] Translation: X:118.68, Y:-26.72, Z:-14.16 [[ 7.96878393e-01 5.95085801e-01 1.04200369e-01 1.18678811e+02] [-5.89765953e-01 8.03660092e-01 -7.94139650e-02 -2.67211055e+01] [-1.30999801e-01 1.82944300e-03 9.91380707e-01 -1.41597651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters 0.026316487235349843 Centerline is valid? [True, True] Translation: X:118.74, Y:-26.75, Z:-14.17 [[ 7.98662563e-01 5.92367078e-01 1.06015824e-01 1.18735537e+02] [-5.86825295e-01 8.05664689e-01 -8.08732433e-02 -2.67491259e+01] [-1.33319853e-01 2.37766447e-03 9.91070211e-01 -1.41674750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters 0.027027428137831298 Centerline is valid? [True, True] Translation: X:118.79, Y:-26.78, Z:-14.18 [[ 8.00752931e-01 5.89060603e-01 1.08638624e-01 1.18788703e+02] [-5.83200014e-01 8.08083072e-01 -8.29427032e-02 -2.67811345e+01] [-1.36647312e-01 3.05856573e-03 9.90615040e-01 -1.41765981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters 0.02761358795429094 Centerline is valid? [True, True] Translation: X:118.84, Y:-26.82, Z:-14.18 [[ 8.02352703e-01 5.86913414e-01 1.08456374e-01 1.18839413e+02] [-5.81048904e-01 8.09642383e-01 -8.28334581e-02 -2.68172817e+01] [-1.36426945e-01 3.44319178e-03 9.90644151e-01 -1.41830915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters 0.02745481701738511 Centerline is valid? [True, True] Translation: X:118.89, Y:-26.85, Z:-14.19 [[ 8.01090686e-01 5.88333862e-01 1.10077151e-01 1.18893515e+02] [-5.82294320e-01 8.08611332e-01 -8.41489000e-02 -2.68509081e+01] [-1.38517279e-01 3.31360025e-03 9.90354474e-01 -1.41883693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters 0.027375888840860854 Centerline is valid? [True, True] Translation: X:118.94, Y:-26.89, Z:-14.20 [[ 8.00239435e-01 5.89523748e-01 1.09902675e-01 1.18942293e+02] [-5.83502879e-01 8.07744821e-01 -8.40993164e-02 -2.68889132e+01] [-1.38351861e-01 3.17106219e-03 9.90378063e-01 -1.41955370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters 0.02701504564423475 Centerline is valid? [True, True] Translation: X:118.99, Y:-26.93, Z:-14.20 [[ 7.98678250e-01 5.91757918e-01 1.09250262e-01 1.18991765e+02] [-5.85819182e-01 8.06110769e-01 -8.36738606e-02 -2.69265315e+01] [-1.37582482e-01 2.82759329e-03 9.90486277e-01 -1.42021301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters 0.02669490051861857 Centerline is valid? [True, True] Translation: X:119.04, Y:-26.96, Z:-14.21 [[ 7.97681350e-01 5.93304121e-01 1.08141966e-01 1.19041410e+02] [-5.87489923e-01 8.04974218e-01 -8.28981216e-02 -2.69630139e+01] [-1.36235291e-01 2.59397046e-03 9.90673113e-01 -1.42085592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters 0.026256861451945505 Centerline is valid? [True, True] Translation: X:119.09, Y:-27.00, Z:-14.22 [[ 7.96068918e-01 5.95571003e-01 1.07561416e-01 1.19092301e+02] [-5.89829853e-01 8.03299508e-01 -8.25266296e-02 -2.69985624e+01] [-1.35554500e-01 2.25395071e-03 9.90767328e-01 -1.42162327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters 0.02639552729957341 Centerline is valid? [True, True] Translation: X:119.14, Y:-27.04, Z:-14.22 [[ 7.96307865e-01 5.95023112e-01 1.08817646e-01 1.19141838e+02] [-5.89130758e-01 8.03704894e-01 -8.35666984e-02 -2.70354025e+01] [-1.37181392e-01 2.43699694e-03 9.90542945e-01 -1.42227839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters 0.02674858868766818 Centerline is valid? [True, True] Translation: X:119.19, Y:-27.07, Z:-14.23 [[ 7.97070899e-01 5.94023772e-01 1.08691028e-01 1.19192555e+02] [-5.88125532e-01 8.04443065e-01 -8.35446825e-02 -2.70710627e+01] [-1.37063271e-01 2.66706638e-03 9.90558704e-01 -1.42297115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters 0.027077250512078325 Centerline is valid? [True, True] Translation: X:119.24, Y:-27.11, Z:-14.24 [[ 7.98107341e-01 5.92720032e-01 1.08201829e-01 1.19241349e+02] [-5.86852751e-01 8.05403207e-01 -8.32437529e-02 -2.71092795e+01] [-1.36486340e-01 2.93890907e-03 9.90637594e-01 -1.42384324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters 0.027798335403671603 Centerline is valid? [True, True] Translation: X:119.29, Y:-27.15, Z:-14.25 [[ 8.00784377e-01 5.89504395e-01 1.05966737e-01 1.19289796e+02] [-5.83840366e-01 8.07757702e-01 -8.15960872e-02 -2.71468870e+01] [-1.33696700e-01 3.47321346e-03 9.91016210e-01 -1.42465547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters 0.028201723513535934 Centerline is valid? [True, True] Translation: X:119.34, Y:-27.19, Z:-14.25 [[ 8.01727554e-01 5.87853587e-01 1.07986523e-01 1.19335923e+02] [-5.81945317e-01 8.08958026e-01 -8.32259577e-02 -2.71889404e+01] [-1.36281242e-01 3.88229201e-03 9.90662582e-01 -1.42528844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters 0.02751518563583169 Centerline is valid? [True, True] Translation: X:119.38, Y:-27.23, Z:-14.26 [[ 8.00297572e-01 5.90265635e-01 1.05405297e-01 1.19382903e+02] [-5.84649177e-01 8.07201721e-01 -8.13063485e-02 -2.72293804e+01] [-1.33075681e-01 3.44415309e-03 9.91099895e-01 -1.42604598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters 0.027259295914189928 Centerline is valid? [True, True] Translation: X:119.43, Y:-27.27, Z:-14.27 [[ 7.97664302e-01 5.93743877e-01 1.05829435e-01 1.19431100e+02] [-5.88102497e-01 8.04648738e-01 -8.17059437e-02 -2.72687245e+01] [-1.33667925e-01 2.93535950e-03 9.91021831e-01 -1.42670182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters 0.027502185752659433 Centerline is valid? [True, True] Translation: X:119.48, Y:-27.31, Z:-14.27 [[ 7.97758578e-01 5.93599459e-01 1.05928908e-01 1.19480662e+02] [-5.87936125e-01 8.04754960e-01 -8.18569920e-02 -2.73073339e+01] [-1.33837080e-01 3.02268576e-03 9.90998738e-01 -1.42733907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters 0.02722319675688586 Centerline is valid? [True, True] Translation: X:119.53, Y:-27.35, Z:-14.28 [[ 7.97660210e-01 5.93813493e-01 1.05469071e-01 1.19529866e+02] [-5.88190140e-01 8.04596972e-01 -8.15847536e-02 -2.73453827e+01] [-1.33306222e-01 3.04104432e-03 9.91070231e-01 -1.42806251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters 0.027633970409499806 Centerline is valid? [True, True] Translation: X:119.58, Y:-27.38, Z:-14.29 [[ 7.97078064e-01 5.94070627e-01 1.08381965e-01 1.19581206e+02] [-5.88121276e-01 8.04406709e-01 -8.39238372e-02 -2.73804006e+01] [-1.37039866e-01 3.15211025e-03 9.90560518e-01 -1.42891553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters 0.0273845922642568 Centerline is valid? [True, True] Translation: X:119.63, Y:-27.42, Z:-14.29 [[ 7.95237768e-01 5.96552100e-01 1.08270424e-01 1.19631083e+02] [-5.90627498e-01 8.02569528e-01 -8.39125203e-02 -2.74165896e+01] [-1.36952733e-01 2.78291574e-03 9.90573674e-01 -1.42947509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters 0.027786583162066763 Centerline is valid? [True, True] Translation: X:119.68, Y:-27.45, Z:-14.30 [[ 7.96880365e-01 5.94296425e-01 1.08597623e-01 1.19683081e+02] [-5.88304525e-01 8.04239549e-01 -8.42409221e-02 -2.74506632e+01] [-1.37402582e-01 3.24146372e-03 9.90509981e-01 -1.43025835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters 0.02962266515988788 Centerline is valid? [True, True] Translation: X:119.73, Y:-27.49, Z:-14.31 [[ 8.01805452e-01 5.87480973e-01 1.09426341e-01 1.19732132e+02] [-5.81324360e-01 8.09225470e-01 -8.49477898e-02 -2.74863252e+01] [-1.38455792e-01 4.49940355e-03 9.90358394e-01 -1.43108445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters 0.03138256544793214 Centerline is valid? [True, True] Translation: X:119.78, Y:-27.52, Z:-14.32 [[ 8.07246759e-01 5.80719991e-01 1.05437002e-01 1.19780719e+02] [-5.74947817e-01 8.14085072e-01 -8.18565997e-02 -2.75234304e+01] [-1.33370453e-01 5.45770100e-03 9.91051228e-01 -1.43177142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters 0.031830226806736514 Centerline is valid? [True, True] Translation: X:119.83, Y:-27.57, Z:-14.33 [[ 8.07901078e-01 5.79348250e-01 1.07941897e-01 1.19825668e+02] [-5.73283279e-01 8.15059260e-01 -8.38133933e-02 -2.75658377e+01] [-1.36536185e-01 5.83164633e-03 9.90617919e-01 -1.43256796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters 0.029736253369116852 Centerline is valid? [True, True] Translation: X:119.87, Y:-27.61, Z:-14.33 [[ 8.03056422e-01 5.86056373e-01 1.07881005e-01 1.19868228e+02] [-5.80055509e-01 8.10256611e-01 -8.37844304e-02 -2.76100164e+01] [-1.36513697e-01 4.70665346e-03 9.90627002e-01 -1.43311309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters 0.02829079162621278 Centerline is valid? [True, True] Translation: X:119.91, Y:-27.65, Z:-14.34 [[ 7.97508362e-01 5.93459162e-01 1.08566275e-01 1.19912278e+02] [-5.87447898e-01 8.04856608e-01 -8.43256018e-02 -2.76527335e+01] [-1.37424085e-01 3.47334238e-03 9.90506212e-01 -1.43403676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters 0.0277156176974679 Centerline is valid? [True, True] Translation: X:119.96, Y:-27.69, Z:-14.35 [[ 7.95017207e-01 5.96795456e-01 1.08548724e-01 1.19961782e+02] [-5.90813401e-01 8.02388104e-01 -8.43377430e-02 -2.76903181e+01] [-1.37430586e-01 2.91791615e-03 9.90507102e-01 -1.43456692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters 0.027477459713655037 Centerline is valid? [True, True] Translation: X:120.01, Y:-27.73, Z:-14.35 [[ 7.94931412e-01 5.97230446e-01 1.06770049e-01 1.20011273e+02] [-5.91437739e-01 8.02064615e-01 -8.30286328e-02 -2.77281846e+01] [-1.35223706e-01 2.85423169e-03 9.90810982e-01 -1.43517378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters 0.028044873471001746 Centerline is valid? [True, True] Translation: X:120.06, Y:-27.77, Z:-14.36 [[ 7.96696208e-01 5.94772926e-01 1.07332747e-01 1.20060834e+02] [-5.88886203e-01 8.03886773e-01 -8.35409839e-02 -2.77655951e+01] [-1.35971291e-01 3.35001137e-03 9.90707114e-01 -1.43579137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters 0.02809399013967459 Centerline is valid? [True, True] Translation: X:120.11, Y:-27.81, Z:-14.36 [[ 7.96305954e-01 5.95187138e-01 1.07930987e-01 1.20109036e+02] [-5.89227428e-01 8.03580101e-01 -8.40836493e-02 -2.78054625e+01] [-1.36776700e-01 3.36041267e-03 9.90596205e-01 -1.43638746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters 0.027711901407024443 Centerline is valid? [True, True] Translation: X:120.16, Y:-27.84, Z:-14.37 [[ 7.95470857e-01 5.96558981e-01 1.06505857e-01 1.20159615e+02] [-5.90757439e-01 8.02563061e-01 -8.30552925e-02 -2.78407419e+01] [-1.35025048e-01 3.14893716e-03 9.90837182e-01 -1.43709653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters 0.028238965460950262 Centerline is valid? [True, True] Translation: X:120.21, Y:-27.88, Z:-14.38 [[ 7.96153265e-01 5.95518208e-01 1.07228930e-01 1.20207358e+02] [-5.89617599e-01 8.03334577e-01 -8.36937463e-02 -2.78802575e+01] [-1.35981857e-01 3.40898527e-03 9.90705463e-01 -1.43784321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters 0.029309663452128997 Centerline is valid? [True, True] Translation: X:120.26, Y:-27.92, Z:-14.38 [[ 8.00235421e-01 5.90361064e-01 1.05342703e-01 1.20255748e+02] [-5.84612947e-01 8.07127989e-01 -8.22928443e-02 -2.79180932e+01] [-1.33607535e-01 4.26894100e-03 9.91025127e-01 -1.43849749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters 0.03158293445717858 Centerline is valid? [True, True] Translation: X:120.30, Y:-27.95, Z:-14.39 [[ 8.05809870e-01 5.82502481e-01 1.06589456e-01 1.20303578e+02] [-5.76539966e-01 8.12808996e-01 -8.33258940e-02 -2.79546500e+01] [-1.35174409e-01 5.69174662e-03 9.90805472e-01 -1.43912230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters 0.03306210559797137 Centerline is valid? [True, True] Translation: X:120.35, Y:-27.99, Z:-14.40 [[ 8.10076897e-01 5.76784749e-01 1.05331730e-01 1.20351013e+02] [-5.70913748e-01 8.16869720e-01 -8.23489676e-02 -2.79924544e+01] [-1.33539930e-01 6.57366335e-03 9.91021632e-01 -1.43984149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters 0.03341854485031475 Centerline is valid? [True, True] Translation: X:120.39, Y:-28.04, Z:-14.41 [[ 8.11505803e-01 5.74670313e-01 1.05888447e-01 1.20394841e+02] [-5.68716178e-01 8.18355284e-01 -8.28042121e-02 -2.80358319e+01] [-1.34239493e-01 6.97562579e-03 9.90924366e-01 -1.44064465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters 0.034574312012707546 Centerline is valid? [True, True] Translation: X:120.44, Y:-28.08, Z:-14.41 [[ 8.12952374e-01 5.72995396e-01 1.03849479e-01 1.20441384e+02] [-5.67247511e-01 8.19527286e-01 -8.12729235e-02 -2.80766778e+01] [-1.31676492e-01 7.16265783e-03 9.91266865e-01 -1.44137432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters 0.035850036188696026 Centerline is valid? [True, True] Translation: X:120.48, Y:-28.12, Z:-14.42 [[ 8.14516769e-01 5.70388014e-01 1.05924249e-01 1.20484354e+02] [-5.64376685e-01 8.21338438e-01 -8.29585907e-02 -2.81200661e+01] [-1.34318243e-01 7.78998674e-03 9.90907627e-01 -1.44207932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters 0.03557742331069928 Centerline is valid? [True, True] Translation: X:120.53, Y:-28.16, Z:-14.43 [[ 8.13435571e-01 5.71852279e-01 1.06336931e-01 1.20530853e+02] [-5.65804145e-01 8.20321495e-01 -8.32965399e-02 -2.81615664e+01] [-1.34863787e-01 7.59049192e-03 9.90835074e-01 -1.44276947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters 0.03459216568623801 Centerline is valid? [True, True] Translation: X:120.57, Y:-28.21, Z:-14.43 [[ 8.12544799e-01 5.73555492e-01 1.03947328e-01 1.20574066e+02] [-5.67783439e-01 8.19135160e-01 -8.14834723e-02 -2.82051266e+01] [-1.31882205e-01 7.18939993e-03 9.91239324e-01 -1.44342734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters 0.03358983996020611 Centerline is valid? [True, True] Translation: X:120.62, Y:-28.25, Z:-14.44 [[ 8.10231047e-01 5.76526615e-01 1.05559050e-01 1.20618852e+02] [-5.70596736e-01 8.17049897e-01 -8.27576657e-02 -2.82477146e+01] [-1.33959008e-01 6.82118079e-03 9.90963398e-01 -1.44400801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters 0.032035060251611645 Centerline is valid? [True, True] Translation: X:120.66, Y:-28.29, Z:-14.45 [[ 8.06809325e-01 5.81146662e-01 1.06429646e-01 1.20661861e+02] [-5.75155551e-01 8.13775831e-01 -8.34565056e-02 -2.82925387e+01] [-1.35110343e-01 6.11988529e-03 9.90811658e-01 -1.44482524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters 0.031653768096500494 Centerline is valid? [True, True] Translation: X:120.71, Y:-28.34, Z:-14.46 [[ 8.04927456e-01 5.83321226e-01 1.08757244e-01 1.20706518e+02] [-5.77079017e-01 8.12220058e-01 -8.53134503e-02 -2.83359902e+01] [-1.38099962e-01 5.90961487e-03 9.90400665e-01 -1.44578991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters 0.03195676266336669 Centerline is valid? [True, True] Translation: X:120.75, Y:-28.38, Z:-14.46 [[ 8.05358466e-01 5.83015959e-01 1.07192038e-01 1.20750835e+02] [-5.76940328e-01 8.12439028e-01 -8.41586848e-02 -2.83807069e+01] [-1.36152851e-01 5.93449965e-03 9.90670068e-01 -1.44644673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters 0.03174935451982084 Centerline is valid? [True, True] Translation: X:120.79, Y:-28.42, Z:-14.47 [[ 8.05072231e-01 5.83284469e-01 1.07879241e-01 1.20794762e+02] [-5.77121278e-01 8.12245830e-01 -8.47805572e-02 -2.84243856e+01] [-1.37075646e-01 5.99506681e-03 9.90542441e-01 -1.44720886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters 0.031283996134414724 Centerline is valid? [True, True] Translation: X:120.84, Y:-28.47, Z:-14.48 [[ 8.02410639e-01 5.86419014e-01 1.10679294e-01 1.20837803e+02] [-5.79948614e-01 8.09988037e-01 -8.70573635e-02 -2.84701135e+01] [-1.40700998e-01 5.66745133e-03 9.90035913e-01 -1.44800800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters 0.029083281619666373 Centerline is valid? [True, True] Translation: X:120.88, Y:-28.51, Z:-14.49 [[ 7.97417331e-01 5.93790255e-01 1.07418494e-01 1.20880751e+02] [-5.87753768e-01 8.04608400e-01 -8.45625847e-02 -2.85141544e+01] [-1.36642262e-01 4.29604573e-03 9.90611143e-01 -1.44866566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters 0.027721061801978853 Centerline is valid? [True, True] Translation: X:120.93, Y:-28.55, Z:-14.49 [[ 7.90679138e-01 6.02246175e-01 1.10118326e-01 1.20926926e+02] [-5.95973293e-01 7.98304938e-01 -8.67471050e-02 -2.85541200e+01] [-1.40151116e-01 2.96154464e-03 9.90125696e-01 -1.44925319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters 0.027325387872183766 Centerline is valid? [True, True] Translation: X:120.98, Y:-28.59, Z:-14.50 [[ 7.88389164e-01 6.05525391e-01 1.08542744e-01 1.20976047e+02] [-5.99458874e-01 7.95822472e-01 -8.55315889e-02 -2.85911059e+01] [-1.38172303e-01 2.36526705e-03 9.90405382e-01 -1.45016499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters 0.02735358224336582 Centerline is valid? [True, True] Translation: X:121.03, Y:-28.63, Z:-14.51 [[ 7.88408545e-01 6.05619787e-01 1.07873261e-01 1.21027215e+02] [-5.99618164e-01 7.95750543e-01 -8.50830833e-02 -2.86275504e+01] [-1.37368205e-01 2.39746290e-03 9.90517152e-01 -1.45096054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters 0.02763923403468751 Centerline is valid? [True, True] Translation: X:121.08, Y:-28.66, Z:-14.52 [[ 7.89250750e-01 6.04373992e-01 1.08698345e-01 1.21076289e+02] [-5.98255596e-01 7.96696150e-01 -8.58224186e-02 -2.86645594e+01] [-1.38468391e-01 2.70601530e-03 9.90363157e-01 -1.45165128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters 0.02825017619347035 Centerline is valid? [True, True] Translation: X:121.12, Y:-28.70, Z:-14.52 [[ 7.91397838e-01 6.01235187e-01 1.10479465e-01 1.21123241e+02] [-5.94871724e-01 7.99064992e-01 -8.73084822e-02 -2.87041835e+01] [-1.40773205e-01 3.37463416e-03 9.90036119e-01 -1.45227055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters 0.027728627805015865 Centerline is valid? [True, True] Translation: X:121.17, Y:-28.74, Z:-14.53 [[ 7.90461830e-01 6.02875766e-01 1.08216937e-01 1.21170383e+02] [-5.96778018e-01 7.97829173e-01 -8.55839209e-02 -2.87448736e+01] [-1.37935101e-01 3.06933340e-03 9.90436513e-01 -1.45308298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters 0.027452164791657085 Centerline is valid? [True, True] Translation: X:121.21, Y:-28.79, Z:-14.54 [[ 7.89051781e-01 6.04843521e-01 1.07524895e-01 1.21214620e+02] [-5.98837089e-01 7.96339642e-01 -8.50724067e-02 -2.87879918e+01] [-1.37081830e-01 2.73663894e-03 9.90555946e-01 -1.45373845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters 0.027043038353643117 Centerline is valid? [True, True] Translation: X:121.26, Y:-28.83, Z:-14.54 [[ 7.86825126e-01 6.07486112e-01 1.08935045e-01 1.21260082e+02] [-6.01333949e-01 7.94326754e-01 -8.62698661e-02 -2.88316284e+01] [-1.38937766e-01 2.37295757e-03 9.90298271e-01 -1.45429657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters 0.026627667733414503 Centerline is valid? [True, True] Translation: X:121.31, Y:-28.87, Z:-14.55 [[ 7.83834588e-01 6.11483087e-01 1.08128508e-01 1.21306404e+02] [-6.05447640e-01 7.91255626e-01 -8.57186650e-02 -2.88720290e+01] [-1.37972804e-01 1.72310448e-03 9.90434519e-01 -1.45502517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters 0.026364254084319718 Centerline is valid? [True, True] Translation: X:121.35, Y:-28.92, Z:-14.56 [[ 7.78907072e-01 6.17665659e-01 1.08595149e-01 1.21350733e+02] [-6.11625911e-01 7.86440491e-01 -8.61690137e-02 -2.89155096e+01] [-1.38627263e-01 6.98047070e-04 9.90344382e-01 -1.45556033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters 0.026614159326179797 Centerline is valid? [True, True] Translation: X:121.40, Y:-28.95, Z:-14.56 [[ 7.76770461e-01 6.20473438e-01 1.07890519e-01 1.21399633e+02] [-6.14527934e-01 7.84227419e-01 -8.56899851e-02 -2.89530785e+01] [-1.37779063e-01 2.59711659e-04 9.90462954e-01 -1.45598274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters 0.02678430073838939 Centerline is valid? [True, True] Translation: X:121.45, Y:-28.99, Z:-14.57 [[ 7.75980558e-01 6.21612526e-01 1.07014211e-01 1.21448600e+02] [-6.15763358e-01 7.83324870e-01 -8.50742895e-02 -2.89912732e+01] [-1.36710137e-01 1.20564711e-04 9.90611086e-01 -1.45680621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters 0.02666896786793831 Centerline is valid? [True, True] Translation: X:121.50, Y:-29.03, Z:-14.58 [[ 7.73707211e-01 6.24040032e-01 1.09321504e-01 1.21497218e+02] [-6.17946687e-01 7.81392333e-01 -8.69937600e-02 -2.90285857e+01] [-1.39710574e-01 -2.47161886e-04 9.90192352e-01 -1.45760531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters 0.02679104047096951 Centerline is valid? [True, True] Translation: X:121.55, Y:-29.06, Z:-14.58 [[ 7.70709808e-01 6.27743786e-01 1.09289208e-01 1.21548374e+02] [-6.21678862e-01 7.78419564e-01 -8.70538634e-02 -2.90645785e+01] [-1.39720380e-01 -8.49524437e-04 9.90190635e-01 -1.45831869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters 0.027020840490242667 Centerline is valid? [True, True] Translation: X:121.60, Y:-29.10, Z:-14.59 [[ 7.67025992e-01 6.32176262e-01 1.09655378e-01 1.21598832e+02] [-6.26102081e-01 7.74822982e-01 -8.74387245e-02 -2.91001996e+01] [-1.40240193e-01 -1.58768623e-03 9.90116239e-01 -1.45929675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters 0.026997364368487937 Centerline is valid? [True, True] Translation: X:121.65, Y:-29.13, Z:-14.60 [[ 7.64595742e-01 6.35572552e-01 1.06962065e-01 1.21650775e+02] [-6.29816380e-01 7.72038311e-01 -8.53707974e-02 -2.91349747e+01] [-1.36838147e-01 -2.09231224e-03 9.90591209e-01 -1.45989459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters 0.027307037384534622 Centerline is valid? [True, True] Translation: X:121.71, Y:-29.16, Z:-14.61 [[ 7.64397252e-01 6.35100167e-01 1.11106340e-01 1.21707662e+02] [-6.28869764e-01 7.72427147e-01 -8.87644282e-02 -2.91619747e+01] [-1.42195857e-01 -2.02013306e-03 9.89836480e-01 -1.46065292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters 0.027180570265670962 Centerline is valid? [True, True] Translation: X:121.76, Y:-29.20, Z:-14.61 [[ 7.64660854e-01 6.34551320e-01 1.12420643e-01 1.21758649e+02] [-6.28154184e-01 7.72878449e-01 -8.98956337e-02 -2.91961906e+01] [-1.43930885e-01 -1.87782547e-03 9.89585961e-01 -1.46148403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters 0.027179333233142502 Centerline is valid? [True, True] Translation: X:121.81, Y:-29.23, Z:-14.62 [[ 7.64761898e-01 6.34492889e-01 1.12062544e-01 1.21812237e+02] [-6.28125897e-01 7.72926589e-01 -8.96791309e-02 -2.92287340e+01] [-1.43516890e-01 -1.80620348e-03 9.89646220e-01 -1.46229161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters 0.02726348182798269 Centerline is valid? [True, True] Translation: X:121.86, Y:-29.26, Z:-14.63 [[ 7.63921913e-01 6.35890030e-01 1.09850718e-01 1.21864277e+02] [-6.29781844e-01 7.71777095e-01 -8.79485322e-02 -2.92630369e+01] [-1.40705863e-01 -1.99617683e-03 9.90049431e-01 -1.46289669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters 0.02719746832431532 Centerline is valid? [True, True] Translation: X:121.92, Y:-29.30, Z:-14.64 [[ 7.61425630e-01 6.39561109e-01 1.05795075e-01 1.21916606e+02] [-6.33922040e-01 7.68736155e-01 -8.47795458e-02 -2.92968478e+01] [-1.35550199e-01 -2.51251052e-03 9.90767294e-01 -1.46360310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters 0.026979126417904262 Centerline is valid? [True, True] Translation: X:121.97, Y:-29.33, Z:-14.64 [[ 7.60855658e-01 6.40533942e-01 1.03994887e-01 1.21970784e+02] [-6.35084531e-01 7.67925529e-01 -8.34147528e-02 -2.93276469e+01] [-1.33290309e-01 -2.57895753e-03 9.91073682e-01 -1.46433795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters 0.027296610979418733 Centerline is valid? [True, True] Translation: X:122.03, Y:-29.36, Z:-14.65 [[ 7.59733865e-01 6.41746988e-01 1.04715130e-01 1.22026816e+02] [-6.36222150e-01 7.66911497e-01 -8.40721853e-02 -2.93557018e+01] [-1.34260309e-01 -2.74959885e-03 9.90942284e-01 -1.46514397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters 0.02770632751536712 Centerline is valid? [True, True] Translation: X:122.08, Y:-29.38, Z:-14.66 [[ 7.58010614e-01 6.43695312e-01 1.05243783e-01 1.22084651e+02] [-6.38122534e-01 7.65275791e-01 -8.45730232e-02 -2.93816124e+01] [-1.34979778e-01 -3.05118019e-03 9.90843656e-01 -1.46609990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters 0.027232029767652523 Centerline is valid? [True, True] Translation: X:122.15, Y:-29.41, Z:-14.67 [[ 7.60145377e-01 6.41039897e-01 1.06051196e-01 1.22145049e+02] [-6.35343950e-01 7.67503367e-01 -8.53032663e-02 -2.94060670e+01] [-1.36077447e-01 -2.53610234e-03 9.90694956e-01 -1.46668368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters 0.027009080768466538 Centerline is valid? [True, True] Translation: X:122.20, Y:-29.43, Z:-14.68 [[ 7.64647763e-01 6.35698750e-01 1.05834290e-01 1.22202871e+02] [-6.29963893e-01 7.71935748e-01 -8.52097074e-02 -2.94324888e+01] [-1.35864976e-01 -1.51636885e-03 9.90726203e-01 -1.46752102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters 0.026915300530817962 Centerline is valid? [True, True] Translation: X:122.26, Y:-29.46, Z:-14.68 [[ 7.68238789e-01 6.31171384e-01 1.06919814e-01 1.22259042e+02] [-6.25262248e-01 7.75643123e-01 -8.61676656e-02 -2.94629252e+01] [-1.37318183e-01 -6.55580403e-04 9.90526772e-01 -1.46828661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters 0.026816651220584357 Centerline is valid? [True, True] Translation: X:122.32, Y:-29.49, Z:-14.69 [[ 7.72625760e-01 6.25873769e-01 1.06449337e-01 1.22315468e+02] [-6.19954108e-01 7.79924290e-01 -8.58778581e-02 -2.94921264e+01] [-1.36771123e-01 3.57741352e-04 9.90602611e-01 -1.46901921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters 0.027142185847033255 Centerline is valid? [True, True] Translation: X:122.37, Y:-29.52, Z:-14.70 [[ 7.76545834e-01 6.21003472e-01 1.06448367e-01 1.22369781e+02] [-6.15027210e-01 7.83806767e-01 -8.59562890e-02 -2.95235447e+01] [-1.36814104e-01 1.28035630e-03 9.90595912e-01 -1.46980605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters 0.027622012881209503 Centerline is valid? [True, True] Translation: X:122.42, Y:-29.56, Z:-14.71 [[ 7.79303669e-01 6.17789661e-01 1.04984410e-01 1.22420132e+02] [-6.11937711e-01 7.86341144e-01 -8.48518841e-02 -2.95603815e+01] [-1.34974178e-01 1.88146481e-03 9.90847330e-01 -1.47057366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters 0.028112329932739294 Centerline is valid? [True, True] Translation: X:122.47, Y:-29.59, Z:-14.71 [[ 7.82000759e-01 6.14339309e-01 1.05176169e-01 1.22472260e+02] [-6.08423036e-01 7.89037837e-01 -8.50923123e-02 -2.95941809e+01] [-1.35263529e-01 2.55064871e-03 9.90806375e-01 -1.47125082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters 0.02868322400682157 Centerline is valid? [True, True] Translation: X:122.52, Y:-29.64, Z:-14.72 [[ 7.83221909e-01 6.12799824e-01 1.05070530e-01 1.22518167e+02] [-6.06871471e-01 7.90232952e-01 -8.50817227e-02 -2.96357280e+01] [-1.35168260e-01 2.87356230e-03 9.90818492e-01 -1.47233580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters 0.028331719702732926 Centerline is valid? [True, True] Translation: X:122.57, Y:-29.67, Z:-14.73 [[ 7.82902672e-01 6.13679481e-01 1.02278545e-01 1.22567301e+02] [-6.08061454e-01 7.89550619e-01 -8.28920282e-02 -2.96730067e+01] [-1.31623225e-01 2.70474977e-03 9.91296127e-01 -1.47293367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters 0.028017949837227725 Centerline is valid? [True, True] Translation: X:122.61, Y:-29.71, Z:-14.74 [[ 7.81231055e-01 6.15693716e-01 1.02952837e-01 1.22614746e+02] [-6.10008607e-01 7.87981786e-01 -8.35117034e-02 -2.97131670e+01] [-1.32542592e-01 2.43981915e-03 9.91174308e-01 -1.47359936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters 0.027808860916670602 Centerline is valid? [True, True] Translation: X:122.66, Y:-29.75, Z:-14.74 [[ 7.79017684e-01 6.18324546e-01 1.03952892e-01 1.22663415e+02] [-6.12541083e-01 7.85920138e-01 -8.43976227e-02 -2.97510909e+01] [-1.33883793e-01 2.07182387e-03 9.90994873e-01 -1.47427194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters 0.02762131428930761 Centerline is valid? [True, True] Translation: X:122.71, Y:-29.79, Z:-14.75 [[ 7.76882105e-01 6.21071543e-01 1.03558358e-01 1.22713969e+02] [-6.15346376e-01 7.83752136e-01 -8.41512123e-02 -2.97875515e+01] [-1.33428007e-01 1.65131081e-03 9.91057133e-01 -1.47487831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters 0.02754296627360098 Centerline is valid? [True, True] Translation: X:122.77, Y:-29.82, Z:-14.75 [[ 7.77026587e-01 6.21031989e-01 1.02708089e-01 1.22766280e+02] [-6.15390535e-01 7.83783368e-01 -8.35351559e-02 -2.98224116e+01] [-1.32378896e-01 1.70345125e-03 9.91197723e-01 -1.47537163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters 0.027941211753575845 Centerline is valid? [True, True] Translation: X:122.82, Y:-29.86, Z:-14.76 [[ 7.78025430e-01 6.19807201e-01 1.02544933e-01 1.22817583e+02] [-6.14161934e-01 7.84751637e-01 -8.34864500e-02 -2.98568011e+01] [-1.32217807e-01 1.97538669e-03 9.91218719e-01 -1.47608405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters 0.029500959669826823 Centerline is valid? [True, True] Translation: X:122.87, Y:-29.89, Z:-14.77 [[ 7.82342911e-01 6.13770102e-01 1.05952025e-01 1.22870887e+02] [-6.07676694e-01 7.89478506e-01 -8.63291622e-02 -2.98878529e+01] [-1.36633105e-01 3.15443177e-03 9.90616699e-01 -1.47687876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters 0.030362445270640363 Centerline is valid? [True, True] Translation: X:122.92, Y:-29.92, Z:-14.78 [[ 7.84930347e-01 6.10295121e-01 1.06884121e-01 1.22922808e+02] [-6.04058419e-01 7.92164973e-01 -8.71096007e-02 -2.99209632e+01] [-1.37832421e-01 3.81071577e-03 9.90448233e-01 -1.47769817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters 0.03257249446525122 Centerline is valid? [True, True] Translation: X:122.97, Y:-29.96, Z:-14.79 [[ 7.91174785e-01 6.02335143e-01 1.05994505e-01 1.22972985e+02] [-5.96122638e-01 7.98226327e-01 -8.64438052e-02 -2.99556720e+01] [-1.36675746e-01 5.20643521e-03 9.90602157e-01 -1.47855326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters 0.033686375013346675 Centerline is valid? [True, True] Translation: X:123.02, Y:-29.99, Z:-14.79 [[ 7.94213368e-01 5.98310202e-01 1.06066147e-01 1.23021238e+02] [-5.92052152e-01 8.01242752e-01 -8.65118567e-02 -2.99921137e+01] [-1.36745658e-01 5.91218277e-03 9.90588548e-01 -1.47933365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters 0.035395839759744675 Centerline is valid? [True, True] Translation: X:123.07, Y:-30.03, Z:-14.80 [[ 7.98841114e-01 5.92365534e-01 1.04670668e-01 1.23068928e+02] [-5.86220310e-01 8.05640264e-01 -8.53786459e-02 -3.00297879e+01] [-1.34902272e-01 6.84390123e-03 9.90835273e-01 -1.48001977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters 0.037100588602510226 Centerline is valid? [True, True] Translation: X:123.11, Y:-30.07, Z:-14.81 [[ 8.00933579e-01 5.89414904e-01 1.05335049e-01 1.23112954e+02] [-5.83164957e-01 8.07796642e-01 -8.59256553e-02 -3.00717833e+01] [-1.35735160e-01 7.39303360e-03 9.90717573e-01 -1.48066627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters 0.038064093086480226 Centerline is valid? [True, True] Translation: X:123.16, Y:-30.11, Z:-14.81 [[ 8.02617857e-01 5.87068555e-01 1.05617646e-01 1.23157495e+02] [-5.80762695e-01 8.09499417e-01 -8.61706754e-02 -3.01147087e+01] [-1.36085517e-01 7.82333388e-03 9.90666204e-01 -1.48115839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters 0.03675273237246155 Centerline is valid? [True, True] Translation: X:123.20, Y:-30.16, Z:-14.82 [[ 8.01027360e-01 5.89225326e-01 1.05681991e-01 1.23197699e+02] [-5.82922651e-01 8.07933882e-01 -8.62787704e-02 -3.01621865e+01] [-1.36221698e-01 7.50722932e-03 9.90649933e-01 -1.48186181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters 0.03468119823133734 Centerline is valid? [True, True] Translation: X:123.24, Y:-30.21, Z:-14.83 [[ 7.97245290e-01 5.94538659e-01 1.04516650e-01 1.23239520e+02] [-5.88418739e-01 8.04040473e-01 -8.53364188e-02 -3.02069414e+01] [-1.34771417e-01 6.53450260e-03 9.90855169e-01 -1.48256768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters 0.0332063716578422 Centerline is valid? [True, True] Translation: X:123.28, Y:-30.25, Z:-14.83 [[ 7.93830268e-01 5.99075656e-01 1.04603367e-01 1.23280818e+02] [-5.92983658e-01 8.00671596e-01 -8.54129816e-02 -3.02533225e+01] [-1.34921783e-01 5.77532274e-03 9.90839421e-01 -1.48306772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters 0.03312697327506021 Centerline is valid? [True, True] Translation: X:123.33, Y:-30.30, Z:-14.84 [[ 7.91923582e-01 6.01086974e-01 1.07477857e-01 1.23325531e+02] [-5.94668790e-01 7.99163964e-01 -8.77837597e-02 -3.02965003e+01] [-1.38658105e-01 5.60430212e-03 9.90324453e-01 -1.48416690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters 0.03301080048589988 Centerline is valid? [True, True] Translation: X:123.37, Y:-30.34, Z:-14.85 [[ 7.91867407e-01 6.01181830e-01 1.07361158e-01 1.23372111e+02] [-5.94766751e-01 7.99092293e-01 -8.77725435e-02 -3.03391499e+01] [-1.38558733e-01 5.64936904e-03 9.90338105e-01 -1.48494356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters 0.03291713508580433 Centerline is valid? [True, True] Translation: X:123.42, Y:-30.38, Z:-14.86 [[ 7.90948767e-01 6.02350513e-01 1.07582092e-01 1.23419183e+02] [-5.95908022e-01 7.98212603e-01 -8.80356166e-02 -3.03793892e+01] [-1.38901681e-01 5.52263079e-03 9.90290777e-01 -1.48558799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters 0.03250667577691203 Centerline is valid? [True, True] Translation: X:123.46, Y:-30.42, Z:-14.86 [[ 7.89401003e-01 6.04249685e-01 1.08297619e-01 1.23464875e+02] [-5.97727916e-01 7.96777508e-01 -8.86957813e-02 -3.04215187e+01] [-1.39883505e-01 5.28402845e-03 9.90153869e-01 -1.48631675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters 0.032301443795621325 Centerline is valid? [True, True] Translation: X:123.51, Y:-30.46, Z:-14.87 [[ 7.89344422e-01 6.04747698e-01 1.05903755e-01 1.23511080e+02] [-5.98508181e-01 7.96400593e-01 -8.67989193e-02 -3.04634461e+01] [-1.36833260e-01 5.12997908e-03 9.90580811e-01 -1.48694356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters 0.031934585386887905 Centerline is valid? [True, True] Translation: X:123.56, Y:-30.50, Z:-14.87 [[ 7.87595277e-01 6.06886201e-01 1.06690292e-01 1.23559369e+02] [-6.00567823e-01 7.94774108e-01 -8.74780392e-02 -3.05025757e+01] [-1.37883897e-01 4.82253403e-03 9.90436658e-01 -1.48736567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters 0.03099346997843767 Centerline is valid? [True, True] Translation: X:123.61, Y:-30.54, Z:-14.88 [[ 7.85210795e-01 6.10010653e-01 1.06447225e-01 1.23606616e+02] [-6.03740516e-01 7.92381452e-01 -8.73442862e-02 -3.05432177e+01] [-1.37627751e-01 4.31717411e-03 9.90474616e-01 -1.48809432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters 0.030530980282339578 Centerline is valid? [True, True] Translation: X:123.65, Y:-30.58, Z:-14.89 [[ 7.82693305e-01 6.13175634e-01 1.06802774e-01 1.23652796e+02] [-6.06887633e-01 7.89937456e-01 -8.76710713e-02 -3.05839844e+01] [-1.38125276e-01 3.80227777e-03 9.90407467e-01 -1.48885150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters 0.030093412622477222 Centerline is valid? [True, True] Translation: X:123.70, Y:-30.62, Z:-14.90 [[ 7.81128440e-01 6.15426386e-01 1.05303010e-01 1.23701496e+02] [-6.09324814e-01 7.88186974e-01 -8.65133849e-02 -3.06215983e+01] [-1.36241081e-01 3.41432827e-03 9.90669829e-01 -1.48954581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters 0.030115591951213858 Centerline is valid? [True, True] Translation: X:123.75, Y:-30.66, Z:-14.90 [[ 7.81141558e-01 6.15519493e-01 1.04659540e-01 1.23749137e+02] [-6.09483082e-01 7.88114166e-01 -8.60606454e-02 -3.06620738e+01] [-1.35455671e-01 3.43732738e-03 9.90777445e-01 -1.49044052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters 0.032128690352818706 Centerline is valid? [True, True] Translation: X:123.80, Y:-30.70, Z:-14.91 [[ 7.84310394e-01 6.10450055e-01 1.10489527e-01 1.23796663e+02] [-6.03656987e-01 7.92041265e-01 -9.09333685e-02 -3.06990522e+01] [-1.43022545e-01 4.62221120e-03 9.89708637e-01 -1.49121095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters 0.03344839439902407 Centerline is valid? [True, True] Translation: X:123.84, Y:-30.74, Z:-14.92 [[ 7.88624959e-01 6.05092847e-01 1.09239739e-01 1.23842675e+02] [-5.98400603e-01 7.96135636e-01 -8.99153380e-02 -3.07390342e+01] [-1.41376777e-01 5.54035403e-03 9.89940358e-01 -1.49190826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters 0.033961661422508345 Centerline is valid? [True, True] Translation: X:123.89, Y:-30.78, Z:-14.93 [[ 7.89987592e-01 6.03566768e-01 1.07827462e-01 1.23890778e+02] [-5.97030131e-01 7.97291690e-01 -8.87749037e-02 -3.07783589e+01] [-1.39551521e-01 5.75482853e-03 9.90198089e-01 -1.49263981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters 0.03387867656002699 Centerline is valid? [True, True] Translation: X:123.94, Y:-30.82, Z:-14.93 [[ 7.88442456e-01 6.05230324e-01 1.09794118e-01 1.23935840e+02] [-5.98456355e-01 7.96030530e-01 -9.04731281e-02 -3.08222520e+01] [-1.42156551e-01 5.62586743e-03 9.89828200e-01 -1.49322581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters 0.03316449520129003 Centerline is valid? [True, True] Translation: X:123.98, Y:-30.86, Z:-14.94 [[ 7.86234852e-01 6.08087054e-01 1.09840300e-01 1.23982475e+02] [-6.01322771e-01 7.93853450e-01 -9.05959438e-02 -3.08625228e+01] [-1.42287322e-01 5.18021465e-03 9.89811842e-01 -1.49397453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters 0.03275409446534397 Centerline is valid? [True, True] Translation: X:124.03, Y:-30.90, Z:-14.95 [[ 7.84916567e-01 6.10096742e-01 1.08110818e-01 1.24027104e+02] [-6.03553347e-01 7.92312403e-01 -8.92435654e-02 -3.09048474e+01] [-1.40104750e-01 4.79810705e-03 9.90125061e-01 -1.49488956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters 0.032263384578964355 Centerline is valid? [True, True] Translation: X:124.07, Y:-30.95, Z:-14.96 [[ 7.82435006e-01 6.13230376e-01 1.08369589e-01 1.24072369e+02] [-6.06674402e-01 7.89892359e-01 -8.95334125e-02 -3.09470348e+01] [-1.40504919e-01 4.30902046e-03 9.90070604e-01 -1.49560724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters 0.03154581156812726 Centerline is valid? [True, True] Translation: X:124.12, Y:-30.99, Z:-14.96 [[ 7.79363876e-01 6.16835554e-01 1.10026584e-01 1.24119677e+02] [-6.10100719e-01 7.87082977e-01 -9.09807679e-02 -3.09868594e+01] [-1.42720224e-01 3.77982601e-03 9.89755854e-01 -1.49640301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters 0.0315670456877465 Centerline is valid? [True, True] Translation: X:124.17, Y:-31.03, Z:-14.97 [[ 7.78124208e-01 6.18490494e-01 1.09509022e-01 1.24167622e+02] [-6.11824329e-01 7.85784390e-01 -9.06304731e-02 -3.10253677e+01] [-1.42104566e-01 3.52148092e-03 9.89845388e-01 -1.49713417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters 0.031138077602304616 Centerline is valid? [True, True] Translation: X:124.22, Y:-31.07, Z:-14.98 [[ 7.76974537e-01 6.20215817e-01 1.07902314e-01 1.24215023e+02] [-6.13750560e-01 7.84424618e-01 -8.93771189e-02 -3.10652151e+01] [-1.40074334e-01 3.21864000e-03 9.90135759e-01 -1.49787714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters 0.03174287897580502 Centerline is valid? [True, True] Translation: X:124.27, Y:-31.10, Z:-14.98 [[ 7.78612363e-01 6.18066898e-01 1.08425538e-01 1.24269720e+02] [-6.11506623e-01 7.86116867e-01 -8.98883826e-02 -3.10963214e+01] [-1.40792178e-01 3.68527138e-03 9.90032313e-01 -1.49840820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters 0.03242385576878997 Centerline is valid? [True, True] Translation: X:124.32, Y:-31.13, Z:-14.99 [[ 7.81568050e-01 6.14309339e-01 1.08514601e-01 1.24321704e+02] [-6.07692524e-01 7.89052909e-01 -9.00294522e-02 -3.11306121e+01] [-1.40929695e-01 4.42063184e-03 9.90009737e-01 -1.49913998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters 0.034179851506024476 Centerline is valid? [True, True] Translation: X:124.37, Y:-31.16, Z:-15.00 [[ 7.86339887e-01 6.08375298e-01 1.07466643e-01 1.24373435e+02] [-6.01828328e-01 7.93630778e-01 -8.91787616e-02 -3.11628978e+01] [-1.39542991e-01 5.44834757e-03 9.90201025e-01 -1.49972610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters 0.036597028815287314 Centerline is valid? [True, True] Translation: X:124.42, Y:-31.20, Z:-15.01 [[ 7.93491433e-01 5.99321191e-01 1.05761313e-01 1.24422533e+02] [-5.92900186e-01 8.00478590e-01 -8.77689921e-02 -3.11988376e+01] [-1.37261484e-01 6.93804095e-03 9.90510549e-01 -1.50064299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters 0.038573634264053386 Centerline is valid? [True, True] Translation: X:124.47, Y:-31.24, Z:-15.01 [[ 7.97693502e-01 5.93941502e-01 1.04491953e-01 1.24467278e+02] [-5.87627764e-01 8.04470664e-01 -8.67211766e-02 -3.12394275e+01] [-1.35568017e-01 7.77454632e-03 9.90737538e-01 -1.50132168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters 0.039159895813453714 Centerline is valid? [True, True] Translation: X:124.51, Y:-31.28, Z:-15.02 [[ 7.98761231e-01 5.92345034e-01 1.05393820e-01 1.24512231e+02] [-5.85906421e-01 8.05643460e-01 -8.74773177e-02 -3.12816285e+01] [-1.36726597e-01 8.12257398e-03 9.90575520e-01 -1.50203490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters 0.0391360128863181 Centerline is valid? [True, True] Translation: X:124.56, Y:-31.32, Z:-15.03 [[ 7.97919473e-01 5.93303502e-01 1.06374196e-01 1.24557988e+02] [-5.86747963e-01 8.04938509e-01 -8.83222702e-02 -3.13248619e+01] [-1.38026599e-01 8.05921650e-03 9.90395733e-01 -1.50266601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters 0.03844318515928425 Centerline is valid? [True, True] Translation: X:124.60, Y:-31.37, Z:-15.03 [[ 7.95837217e-01 5.96212713e-01 1.05704895e-01 1.24602251e+02] [-5.89755475e-01 8.02790877e-01 -8.78367093e-02 -3.13677038e+01] [-1.37228288e-01 7.56368194e-03 9.90510569e-01 -1.50336812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters 0.03722320824682657 Centerline is valid? [True, True] Translation: X:124.65, Y:-31.41, Z:-15.04 [[ 7.93756007e-01 5.98846005e-01 1.06465322e-01 1.24645915e+02] [-5.92316386e-01 8.00832074e-01 -8.84832586e-02 -3.14106947e+01] [-1.38248691e-01 7.17296324e-03 9.90371571e-01 -1.50398391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters 0.03639008390941389 Centerline is valid? [True, True] Translation: X:124.69, Y:-31.45, Z:-15.05 [[ 7.92195784e-01 6.01203608e-01 1.04785791e-01 1.24691307e+02] [-5.94898465e-01 7.99068112e-01 -8.70974601e-02 -3.14513956e+01] [-1.36094292e-01 6.66133421e-03 9.90673493e-01 -1.50474615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters 0.03521917622257433 Centerline is valid? [True, True] Translation: X:124.74, Y:-31.49, Z:-15.05 [[ 7.89463508e-01 6.04685175e-01 1.05371762e-01 1.24736103e+02] [-5.98338044e-01 7.96441183e-01 -8.75958143e-02 -3.14940056e+01] [-1.36890301e-01 6.10576471e-03 9.90567396e-01 -1.50535525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters 0.03451478757450694 Centerline is valid? [True, True] Translation: X:124.78, Y:-31.54, Z:-15.06 [[ 7.87357412e-01 6.07440772e-01 1.05280643e-01 1.24779367e+02] [-6.01127011e-01 7.94344990e-01 -8.75348674e-02 -3.15370028e+01] [-1.36801398e-01 5.63418863e-03 9.90582472e-01 -1.50643385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters 0.034809455734371844 Centerline is valid? [True, True] Translation: X:124.82, Y:-31.58, Z:-15.07 [[ 7.87342185e-01 6.07569566e-01 1.04649442e-01 1.24824844e+02] [-6.01329764e-01 7.94246759e-01 -8.70321770e-02 -3.15797218e+01] [-1.35995582e-01 5.59527991e-03 9.90693643e-01 -1.50723474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters 0.03478251526009 Centerline is valid? [True, True] Translation: X:124.87, Y:-31.62, Z:-15.08 [[ 7.85875053e-01 6.09103153e-01 1.06741508e-01 1.24872174e+02] [-6.02611857e-01 7.93071879e-01 -8.88591264e-02 -3.16208491e+01] [-1.38778062e-01 5.50847239e-03 9.90308187e-01 -1.50777584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters 0.03452288375716138 Centerline is valid? [True, True] Translation: X:124.92, Y:-31.66, Z:-15.09 [[ 7.83892600e-01 6.11389783e-01 1.08235511e-01 1.24916108e+02] [-6.04723858e-01 7.91312211e-01 -9.01889122e-02 -3.16643371e+01] [-1.40788661e-01 5.24582496e-03 9.90025775e-01 -1.50894402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters 0.03464471215125652 Centerline is valid? [True, True] Translation: X:124.96, Y:-31.70, Z:-15.09 [[ 7.84452058e-01 6.10664398e-01 1.08277244e-01 1.24964999e+02] [-6.03975618e-01 7.91870829e-01 -9.02997411e-02 -3.17032685e+01] [-1.40884428e-01 5.43900218e-03 9.90011109e-01 -1.50937256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters 0.035735364822858336 Centerline is valid? [True, True] Translation: X:125.01, Y:-31.74, Z:-15.10 [[ 7.87204326e-01 6.07020271e-01 1.08792188e-01 1.25013019e+02] [-6.00222544e-01 7.94662326e-01 -9.08002483e-02 -3.17400643e+01] [-1.41570645e-01 6.17882421e-03 9.89908872e-01 -1.51023877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters 0.037455536748186385 Centerline is valid? [True, True] Translation: X:125.06, Y:-31.78, Z:-15.11 [[ 7.90934729e-01 6.01852794e-01 1.10433094e-01 1.25058385e+02] [-5.94791302e-01 7.98574163e-01 -9.22096165e-02 -3.17802611e+01] [-1.43685631e-01 7.24714420e-03 9.89596846e-01 -1.51103911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters 0.038518245071328 Centerline is valid? [True, True] Translation: X:125.10, Y:-31.82, Z:-15.12 [[ 7.93703914e-01 5.98555515e-01 1.08468396e-01 1.25103820e+02] [-5.91712399e-01 8.01044216e-01 -9.05792560e-02 -3.18219150e+01] [-1.41104694e-01 7.71101534e-03 9.89964649e-01 -1.51171033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters 0.04008165079673117 Centerline is valid? [True, True] Translation: X:125.15, Y:-31.86, Z:-15.12 [[ 7.97940502e-01 5.92854039e-01 1.08697024e-01 1.25147854e+02] [-5.85926552e-01 8.05262333e-01 -9.07890455e-02 -3.18641271e+01] [-1.41354272e-01 8.75578395e-03 9.89920353e-01 -1.51233152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters 0.041127651430479834 Centerline is valid? [True, True] Translation: X:125.19, Y:-31.91, Z:-15.13 [[ 7.98521309e-01 5.91956463e-01 1.09321841e-01 1.25189602e+02] [-5.84937307e-01 8.05919867e-01 -9.13318929e-02 -3.19101783e+01] [-1.42169148e-01 8.98403926e-03 9.89801607e-01 -1.51322122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters 0.039624266336262315 Centerline is valid? [True, True] Translation: X:125.23, Y:-31.96, Z:-15.14 [[ 7.97263127e-01 5.93914895e-01 1.07873088e-01 1.25227085e+02] [-5.87090875e-01 8.04482263e-01 -9.01808965e-02 -3.19606308e+01] [-1.40341764e-01 8.56659792e-03 9.90066060e-01 -1.51370768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters 0.03735642731964722 Centerline is valid? [True, True] Translation: X:125.26, Y:-32.01, Z:-15.14 [[ 7.92358290e-01 6.00371983e-01 1.08267364e-01 1.25264126e+02] [-5.93554108e-01 7.99685985e-01 -9.05309123e-02 -3.20121739e+01] [-1.40932117e-01 7.47038017e-03 9.89991077e-01 -1.51439410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters 0.03601572856545059 Centerline is valid? [True, True] Translation: X:125.31, Y:-32.06, Z:-15.15 [[ 7.88431214e-01 6.05186622e-01 1.10115274e-01 1.25306709e+02] [-5.98170915e-01 7.96054832e-01 -9.21317591e-02 -3.20567189e+01] [-1.43414704e-01 6.77180059e-03 9.89639513e-01 -1.51537452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters 0.03367751760040549 Centerline is valid? [True, True] Translation: X:125.34, Y:-32.11, Z:-15.16 [[ 7.82320854e-01 6.13138943e-01 1.09702865e-01 1.25341953e+02] [-6.06249069e-01 7.89957169e-01 -9.18136003e-02 -3.21106402e+01] [-1.42955059e-01 5.32043446e-03 9.89714880e-01 -1.51581642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters 0.03283383572834749 Centerline is valid? [True, True] Translation: X:125.39, Y:-32.15, Z:-15.17 [[ 7.79297551e-01 6.16970671e-01 1.09738408e-01 1.25385078e+02] [-6.10105410e-01 7.86972306e-01 -9.19020058e-02 -3.21548743e+01] [-1.43061930e-01 4.66701169e-03 9.89702735e-01 -1.51656049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters 0.03204238108358169 Centerline is valid? [True, True] Translation: X:125.43, Y:-32.20, Z:-15.17 [[ 7.74971105e-01 6.22489762e-01 1.09207520e-01 1.25426212e+02] [-6.15741605e-01 7.82619417e-01 -9.14829142e-02 -3.22003976e+01] [-1.42415103e-01 3.65300162e-03 9.89800280e-01 -1.51734125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters 0.03127638785500575 Centerline is valid? [True, True] Translation: X:125.47, Y:-32.24, Z:-15.18 [[ 7.70276164e-01 6.28731579e-01 1.06635983e-01 1.25471209e+02] [-6.22350060e-01 7.77618424e-01 -8.93867403e-02 -3.22415620e+01] [-1.39122371e-01 2.48756512e-03 9.90272073e-01 -1.51817628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters 0.031069488807750695 Centerline is valid? [True, True] Translation: X:125.52, Y:-32.28, Z:-15.19 [[ 7.65174130e-01 6.34788266e-01 1.07482126e-01 1.25517860e+02] [-6.28354367e-01 7.72684766e-01 -9.01611996e-02 -3.22825125e+01] [-1.40283073e-01 1.45215427e-03 9.90110373e-01 -1.51882571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters 0.031061447227780994 Centerline is valid? [True, True] Translation: X:125.57, Y:-32.32, Z:-15.20 [[ 7.63669001e-01 6.36394306e-01 1.08682770e-01 1.25566018e+02] [-6.29819190e-01 7.71362923e-01 -9.12525553e-02 -3.23208374e+01] [-1.41906466e-01 1.23625354e-03 9.89879299e-01 -1.51956498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters 0.030826371725969016 Centerline is valid? [True, True] Translation: X:125.61, Y:-32.36, Z:-15.20 [[ 7.61254278e-01 6.39667092e-01 1.06385784e-01 1.25613441e+02] [-6.33389966e-01 7.68651783e-01 -8.93956803e-02 -3.23609661e+01] [-1.38957098e-01 6.69155909e-04 9.90298176e-01 -1.52031135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters 0.030868266145801668 Centerline is valid? [True, True] Translation: X:125.66, Y:-32.40, Z:-15.21 [[ 7.60310606e-01 6.40879761e-01 1.05834371e-01 1.25661844e+02] [-6.34674158e-01 7.67641131e-01 -8.89708169e-02 -3.23994654e+01] [-1.38262412e-01 4.75115470e-04 9.90395517e-01 -1.52087281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters 0.030894881787209755 Centerline is valid? [True, True] Translation: X:125.71, Y:-32.44, Z:-15.22 [[ 7.57666765e-01 6.43924584e-01 1.06311826e-01 1.25710021e+02] [-6.37680240e-01 7.65088969e-01 -8.94582621e-02 -3.24402221e+01] [-1.38942379e-01 -1.33986120e-05 9.90300467e-01 -1.52152250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters 0.031039816450207168 Centerline is valid? [True, True] Translation: X:125.76, Y:-32.48, Z:-15.22 [[ 7.52731911e-01 6.49829267e-01 1.05435263e-01 1.25760038e+02] [-6.43732007e-01 7.60079528e-01 -8.88156237e-02 -3.24788800e+01] [-1.37854176e-01 -1.01769912e-03 9.90452013e-01 -1.52216440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters 0.031168709408581897 Centerline is valid? [True, True] Translation: X:125.81, Y:-32.52, Z:-15.23 [[ 7.50101260e-01 6.53353459e-01 1.02358963e-01 1.25809552e+02] [-6.47628893e-01 7.57051428e-01 -8.63131084e-02 -3.25163266e+01] [-1.33883967e-01 -1.54705061e-03 9.90995807e-01 -1.52301151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters 0.031159858166300642 Centerline is valid? [True, True] Translation: X:125.86, Y:-32.55, Z:-15.24 [[ 7.49191527e-01 6.54174203e-01 1.03769782e-01 1.25860917e+02] [-6.48286496e-01 7.56342102e-01 -8.75856364e-02 -3.25506002e+01] [-1.35781719e-01 -1.65413197e-03 9.90737396e-01 -1.52368002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters 0.0312249160878616 Centerline is valid? [True, True] Translation: X:125.91, Y:-32.58, Z:-15.24 [[ 7.48362356e-01 6.54873975e-01 1.05327396e-01 1.25912369e+02] [-6.48803238e-01 7.55736079e-01 -8.89794197e-02 -3.25849393e+01] [-1.37870019e-01 -1.74790724e-03 9.90448788e-01 -1.52428092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters 0.031167888004147527 Centerline is valid? [True, True] Translation: X:125.96, Y:-32.62, Z:-15.25 [[ 7.47532376e-01 6.56107423e-01 1.03529687e-01 1.25964549e+02] [-6.50244363e-01 7.54665161e-01 -8.75372154e-02 -3.26183150e+01] [-1.35564065e-01 -1.88269272e-03 9.90766794e-01 -1.52511105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters 0.031075075613466917 Centerline is valid? [True, True] Translation: X:126.02, Y:-32.65, Z:-15.26 [[ 7.48080144e-01 6.55431027e-01 1.03856951e-01 1.26019608e+02] [-6.49512402e-01 7.55253121e-01 -8.78997337e-02 -3.26500044e+01] [-1.36050499e-01 -1.70033192e-03 9.90700444e-01 -1.52581676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters 0.03102834168237035 Centerline is valid? [True, True] Translation: X:126.07, Y:-32.69, Z:-15.27 [[ 7.51871424e-01 6.50996088e-01 1.04371716e-01 1.26070293e+02] [-6.44962605e-01 7.59080633e-01 -8.84298036e-02 -3.26855345e+01] [-1.36794004e-01 -8.28011467e-04 9.90599170e-01 -1.52651459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters 0.03110633487404748 Centerline is valid? [True, True] Translation: X:126.12, Y:-32.72, Z:-15.28 [[ 7.53357706e-01 6.49129925e-01 1.05273483e-01 1.26123150e+02] [-6.42960885e-01 7.60677434e-01 -8.92812535e-02 -3.27196337e+01] [-1.38034297e-01 -4.26011570e-04 9.90427358e-01 -1.52752540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters 0.030927850158017234 Centerline is valid? [True, True] Translation: X:126.17, Y:-32.76, Z:-15.28 [[ 7.53303751e-01 6.49202942e-01 1.05209314e-01 1.26171320e+02] [-6.43028631e-01 7.60615151e-01 -8.93239735e-02 -3.27594556e+01] [-1.38013185e-01 -3.64517142e-04 9.90430325e-01 -1.52799647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters 0.03092773019656479 Centerline is valid? [True, True] Translation: X:126.22, Y:-32.80, Z:-15.29 [[ 7.53812397e-01 6.48772595e-01 1.04216075e-01 1.26219871e+02] [-6.42698115e-01 7.60982309e-01 -8.85723329e-02 -3.27979256e+01] [-1.36769892e-01 -2.12552360e-04 9.90602822e-01 -1.52878910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters 0.031229964747469995 Centerline is valid? [True, True] Translation: X:126.27, Y:-32.84, Z:-15.30 [[ 7.55366279e-01 6.46993168e-01 1.04027044e-01 1.26266921e+02] [-6.40912277e-01 7.62495777e-01 -8.84965664e-02 -3.28379983e+01] [-1.36576856e-01 1.75112196e-04 9.90629462e-01 -1.52985000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters 0.03105773131969274 Centerline is valid? [True, True] Translation: X:126.32, Y:-32.88, Z:-15.31 [[ 7.56377528e-01 6.45928594e-01 1.03292238e-01 1.26316178e+02] [-6.39911104e-01 7.63397708e-01 -8.79643017e-02 -3.28770454e+01] [-1.35671716e-01 4.36370722e-04 9.90753751e-01 -1.53051622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters 0.030942548296718376 Centerline is valid? [True, True] Translation: X:126.37, Y:-32.92, Z:-15.31 [[ 7.54922936e-01 6.47664387e-01 1.03064067e-01 1.26365008e+02] [-6.41676966e-01 7.61925720e-01 -8.78627813e-02 -3.29167128e+01] [-1.35432758e-01 1.95791300e-04 9.90786521e-01 -1.53112310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters 0.031132168793349766 Centerline is valid? [True, True] Translation: X:126.41, Y:-32.95, Z:-15.32 [[ 7.53965808e-01 6.48483368e-01 1.04904153e-01 1.26413755e+02] [-6.42274162e-01 7.61228814e-01 -8.95242649e-02 -3.29541229e+01] [-1.37911060e-01 1.21008069e-04 9.90444610e-01 -1.53179602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters 0.03075057127867936 Centerline is valid? [True, True] Translation: X:126.46, Y:-32.99, Z:-15.32 [[ 7.54373862e-01 6.48326430e-01 1.02921899e-01 1.26463491e+02] [-6.42339012e-01 7.61362462e-01 -8.79078745e-02 -3.29916461e+01] [-1.35353869e-01 2.04651849e-04 9.90797299e-01 -1.53242411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters 0.030431462790728437 Centerline is valid? [True, True] Translation: X:126.52, Y:-33.03, Z:-15.33 [[ 7.54202164e-01 6.48516791e-01 1.02980907e-01 1.26515150e+02] [-6.42512739e-01 7.61200313e-01 -8.80423978e-02 -3.30284214e+01] [-1.35486072e-01 2.35222669e-04 9.90779223e-01 -1.53315149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters 0.03029653392311041 Centerline is valid? [True, True] Translation: X:126.56, Y:-33.07, Z:-15.34 [[ 7.53559136e-01 6.49323715e-01 1.02602832e-01 1.26563773e+02] [-6.43358721e-01 7.60512121e-01 -8.78115584e-02 -3.30677131e+01] [-1.35048825e-01 1.60775126e-04 9.90838932e-01 -1.53386327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters 0.030106085160874665 Centerline is valid? [True, True] Translation: X:126.62, Y:-33.10, Z:-15.34 [[ 7.52210392e-01 6.50840754e-01 1.02887510e-01 1.26615432e+02] [-6.44843889e-01 7.59214272e-01 -8.81478715e-02 -3.31032705e+01] [-1.35483893e-01 -4.06372761e-05 9.90779548e-01 -1.53443526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters 0.02976152984900532 Centerline is valid? [True, True] Translation: X:126.67, Y:-33.14, Z:-15.35 [[ 7.50376477e-01 6.53025263e-01 1.02436071e-01 1.26666120e+02] [-6.47088814e-01 7.57336038e-01 -8.78532409e-02 -3.31409325e+01] [-1.34948914e-01 -3.62230353e-04 9.90852491e-01 -1.53501026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters 0.02997090783943058 Centerline is valid? [True, True] Translation: X:126.71, Y:-33.18, Z:-15.36 [[ 7.48787840e-01 6.54649634e-01 1.03685227e-01 1.26714927e+02] [-6.48569476e-01 7.55932210e-01 -8.90175755e-02 -3.31783123e+01] [-1.36654326e-01 -5.91795282e-04 9.90618617e-01 -1.53580625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters 0.02974194747044129 Centerline is valid? [True, True] Translation: X:126.77, Y:-33.21, Z:-15.36 [[ 7.47469324e-01 6.56354088e-01 1.02415435e-01 1.26765603e+02] [-6.50427580e-01 7.54452531e-01 -8.80076232e-02 -3.32141224e+01] [-1.35031748e-01 -8.30825104e-04 9.90840924e-01 -1.53635533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters 0.02981866831765806 Centerline is valid? [True, True] Translation: X:126.81, Y:-33.25, Z:-15.37 [[ 7.44879806e-01 6.58991231e-01 1.04329440e-01 1.26814273e+02] [-6.52854085e-01 7.52149551e-01 -8.97362602e-02 -3.32520541e+01] [-1.37606750e-01 -1.26917310e-03 9.90486129e-01 -1.53725399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters 0.02991798507869092 Centerline is valid? [True, True] Translation: X:126.87, Y:-33.29, Z:-15.38 [[ 7.43153864e-01 6.60843509e-01 1.04919927e-01 1.26865940e+02] [-6.54643000e-01 7.50522105e-01 -9.03278071e-02 -3.32864153e+01] [-1.38437269e-01 -1.55763686e-03 9.90369979e-01 -1.53785320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters 0.030100213199034206 Centerline is valid? [True, True] Translation: X:126.92, Y:-33.32, Z:-15.39 [[ 7.41185444e-01 6.63013937e-01 1.05150642e-01 1.26917085e+02] [-6.56795960e-01 7.48604632e-01 -9.06099962e-02 -3.33222448e+01] [-1.38791948e-01 -1.90370683e-03 9.90319732e-01 -1.53860547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters 0.02982068874964353 Centerline is valid? [True, True] Translation: X:126.97, Y:-33.36, Z:-15.39 [[ 7.40870822e-01 6.63356793e-01 1.05205464e-01 1.26970239e+02] [-6.57123710e-01 7.48300835e-01 -9.07429950e-02 -3.33562904e+01] [-1.38920319e-01 -1.90416749e-03 9.90301731e-01 -1.53914788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters 0.029732945756878907 Centerline is valid? [True, True] Translation: X:127.02, Y:-33.39, Z:-15.40 [[ 7.41104591e-01 6.63302913e-01 1.03890470e-01 1.27019071e+02] [-6.57212067e-01 7.48348852e-01 -8.97011366e-02 -3.33939064e+01] [-1.37245339e-01 -1.80014619e-03 9.90535449e-01 -1.53994551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters 0.029826836550051927 Centerline is valid? [True, True] Translation: X:127.07, Y:-33.43, Z:-15.41 [[ 7.43059241e-01 6.61159574e-01 1.03590453e-01 1.27071153e+02] [-6.55072659e-01 7.50244105e-01 -8.95186774e-02 -3.34290935e+01] [-1.36904257e-01 -1.34159279e-03 9.90583376e-01 -1.54059321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters 0.029580613875359082 Centerline is valid? [True, True] Translation: X:127.12, Y:-33.47, Z:-15.41 [[ 7.46669548e-01 6.56857461e-01 1.04989816e-01 1.27119455e+02] [-6.50554017e-01 7.54014594e-01 -9.07824995e-02 -3.34685280e+01] [-1.38795016e-01 -5.17018919e-04 9.90320997e-01 -1.54147978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters 0.029720487026653596 Centerline is valid? [True, True] Translation: X:127.17, Y:-33.51, Z:-15.42 [[ 7.49522051e-01 6.53663018e-01 1.04600928e-01 1.27167097e+02] [-6.47362093e-01 7.56785727e-01 -9.05410569e-02 -3.35087628e+01] [-1.38343830e-01 1.47842713e-04 9.90384250e-01 -1.54226978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters 0.029555626205790428 Centerline is valid? [True, True] Translation: X:127.22, Y:-33.55, Z:-15.43 [[ 7.50722341e-01 6.52652160e-01 1.02279640e-01 1.27215391e+02] [-6.46608662e-01 7.57657579e-01 -8.86128132e-02 -3.35483602e+01] [-1.35326288e-01 3.88717614e-04 9.90801012e-01 -1.54288962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters 0.02960230140483005 Centerline is valid? [True, True] Translation: X:127.26, Y:-33.59, Z:-15.44 [[ 7.51821241e-01 6.51513527e-01 1.01464014e-01 1.27261816e+02] [-6.45551035e-01 7.58636766e-01 -8.79438402e-02 -3.35909259e+01] [-1.34270933e-01 6.17848031e-04 9.90944466e-01 -1.54368908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters 0.02973849699649146 Centerline is valid? [True, True] Translation: X:127.31, Y:-33.63, Z:-15.44 [[ 7.53800685e-01 6.49083804e-01 1.02346192e-01 1.27307847e+02] [-6.42981916e-01 7.60716069e-01 -8.87993077e-02 -3.36319257e+01] [-1.35494586e-01 1.13022800e-03 9.90777442e-01 -1.54447294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters 0.0306206903510837 Centerline is valid? [True, True] Translation: X:127.35, Y:-33.67, Z:-15.45 [[ 7.59112998e-01 6.42907047e-01 1.02068532e-01 1.27354343e+02] [-6.36771696e-01 7.65940781e-01 -8.86370548e-02 -3.36722029e+01] [-1.35163838e-01 2.29118825e-03 9.90820613e-01 -1.54507063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters 0.031264963117367615 Centerline is valid? [True, True] Translation: X:127.40, Y:-33.72, Z:-15.46 [[ 7.62680783e-01 6.38561322e-01 1.02749505e-01 1.27398443e+02] [-6.32294956e-01 7.69564558e-01 -8.92943372e-02 -3.37157248e+01] [-1.36092288e-01 3.13508110e-03 9.90691203e-01 -1.54590337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters 0.03187531322236815 Centerline is valid? [True, True] Translation: X:127.44, Y:-33.76, Z:-15.47 [[ 7.64495137e-01 6.36386118e-01 1.02761346e-01 1.27442735e+02] [-6.30094443e-01 7.71362512e-01 -8.93356989e-02 -3.37594778e+01] [-1.36118249e-01 3.54735420e-03 9.90686246e-01 -1.54661554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters 0.032716002222723556 Centerline is valid? [True, True] Translation: X:127.48, Y:-33.80, Z:-15.47 [[ 7.68325610e-01 6.31895146e-01 1.01903294e-01 1.27484947e+02] [-6.25658953e-01 7.75041584e-01 -8.86646295e-02 -3.38048069e+01] [-1.35006039e-01 4.36659764e-03 9.90835154e-01 -1.54720587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters 0.03370437066006542 Centerline is valid? [True, True] Translation: X:127.53, Y:-33.85, Z:-15.48 [[ 7.69752533e-01 6.30103426e-01 1.02228717e-01 1.27528576e+02] [-6.23801636e-01 7.76496676e-01 -8.90192778e-02 -3.38491988e+01] [-1.35471611e-01 4.75237363e-03 9.90769831e-01 -1.54803227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters 0.033982160935458354 Centerline is valid? [True, True] Translation: X:127.57, Y:-33.90, Z:-15.49 [[ 7.70867089e-01 6.28866920e-01 1.01441257e-01 1.27570353e+02] [-6.22641481e-01 7.77496945e-01 -8.84086379e-02 -3.38952571e+01] [-1.34467535e-01 4.98977476e-03 9.90905437e-01 -1.54857201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters 0.03373848619929309 Centerline is valid? [True, True] Translation: X:127.61, Y:-33.94, Z:-15.50 [[ 7.69748018e-01 6.30127681e-01 1.02113145e-01 1.27611006e+02] [-6.23819841e-01 7.76476323e-01 -8.90692237e-02 -3.39427393e+01] [-1.35413423e-01 4.86065252e-03 9.90777260e-01 -1.54966412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters 0.03330326850469942 Centerline is valid? [True, True] Translation: X:127.65, Y:-33.99, Z:-15.50 [[ 7.67830318e-01 6.32636896e-01 1.01030491e-01 1.27653362e+02] [-6.26474317e-01 7.74435889e-01 -8.81985494e-02 -3.39881374e+01] [-1.34039294e-01 4.42851266e-03 9.90966122e-01 -1.55044419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters 0.03258436645485457 Centerline is valid? [True, True] Translation: X:127.70, Y:-34.03, Z:-15.51 [[ 7.65629566e-01 6.35481737e-01 9.98715644e-02 1.27698773e+02] [-6.29475388e-01 7.72105859e-01 -8.72541057e-02 -3.40312983e+01] [-1.32559811e-01 3.93763137e-03 9.91167187e-01 -1.55094211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters 0.03250613118798945 Centerline is valid? [True, True] Translation: X:127.74, Y:-34.08, Z:-15.52 [[ 7.63874219e-01 6.37456557e-01 1.00723961e-01 1.27742683e+02] [-6.31359157e-01 7.70477639e-01 -8.80330717e-02 -3.40753508e+01] [-1.33722818e-01 3.65319878e-03 9.91012039e-01 -1.55184459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters 0.0324595447655172 Centerline is valid? [True, True] Translation: X:127.79, Y:-34.12, Z:-15.52 [[ 7.63216547e-01 6.38268936e-01 1.00564741e-01 1.27788371e+02] [-6.32187654e-01 7.69805210e-01 -8.79699386e-02 -3.41167718e+01] [-1.33563741e-01 3.56432523e-03 9.91033815e-01 -1.55248215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters 0.03260124428622519 Centerline is valid? [True, True] Translation: X:127.83, Y:-34.16, Z:-15.53 [[ 7.64550700e-01 6.36924268e-01 9.89429336e-02 1.27833273e+02] [-6.31017482e-01 7.70917038e-01 -8.66248102e-02 -3.41600413e+01] [-1.31450237e-01 3.79433855e-03 9.91315509e-01 -1.55316865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters 0.03297311330006019 Centerline is valid? [True, True] Translation: X:127.88, Y:-34.20, Z:-15.54 [[ 7.65843999e-01 6.35346040e-01 9.90877274e-02 1.27876260e+02] [-6.29398761e-01 7.72216520e-01 -8.68265336e-02 -3.42042162e+01] [-1.31682074e-01 4.12988688e-03 9.91283398e-01 -1.55389600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters 0.03372784273280758 Centerline is valid? [True, True] Translation: X:127.92, Y:-34.25, Z:-15.55 [[ 7.66343660e-01 6.34197661e-01 1.02521810e-01 1.27916732e+02] [-6.27807779e-01 7.73157616e-01 -8.99149241e-02 -3.42508132e+01] [-1.36289353e-01 4.54174204e-03 9.90658662e-01 -1.55469023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters 0.0337726123611637 Centerline is valid? [True, True] Translation: X:127.96, Y:-34.30, Z:-15.56 [[ 7.66544366e-01 6.33915462e-01 1.02766350e-01 1.27958505e+02] [-6.27482284e-01 7.73388304e-01 -9.02026267e-02 -3.42968437e+01] [-1.36659133e-01 4.66025120e-03 9.90607169e-01 -1.55551198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters 0.032978609091985876 Centerline is valid? [True, True] Translation: X:128.00, Y:-34.34, Z:-15.56 [[ 7.64220218e-01 6.37017303e-01 1.00878215e-01 1.27997546e+02] [-6.30836525e-01 7.70838677e-01 -8.86172279e-02 -3.43442224e+01] [-1.34211537e-01 4.08541464e-03 9.90944283e-01 -1.55631558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters 0.03242784168365847 Centerline is valid? [True, True] Translation: X:128.04, Y:-34.39, Z:-15.57 [[ 7.60242610e-01 6.41505799e-01 1.02476747e-01 1.28039328e+02] [-6.35158476e-01 7.67110669e-01 -9.00829242e-02 -3.43902293e+01] [-1.36399724e-01 3.39590275e-03 9.90648062e-01 -1.55697061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters 0.03197235229730042 Centerline is valid? [True, True] Translation: X:128.08, Y:-34.43, Z:-15.58 [[ 7.58136537e-01 6.43995910e-01 1.02461013e-01 1.28084555e+02] [-6.37662155e-01 7.65023014e-01 -9.01485677e-02 -3.44330170e+01] [-1.36440342e-01 3.00941239e-03 9.90643718e-01 -1.55760482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters 0.03137187903761722 Centerline is valid? [True, True] Translation: X:128.13, Y:-34.48, Z:-15.59 [[ 7.54694892e-01 6.48138895e-01 1.01742781e-01 1.28127023e+02] [-6.41921348e-01 7.61518663e-01 -8.95896676e-02 -3.44784998e+01] [-1.35545575e-01 2.30200127e-03 9.90768438e-01 -1.55850916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters 0.03100675763570989 Centerline is valid? [True, True] Translation: X:128.17, Y:-34.52, Z:-15.59 [[ 7.51573243e-01 6.51923902e-01 1.00662238e-01 1.28174778e+02] [-6.45865464e-01 7.58282623e-01 -8.86863335e-02 -3.45184552e+01] [-1.34147167e-01 1.64001200e-03 9.90960064e-01 -1.55892797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters 0.030572466095413853 Centerline is valid? [True, True] Translation: X:128.22, Y:-34.56, Z:-15.60 [[ 7.47534150e-01 6.56575446e-01 1.00505613e-01 1.28223373e+02] [-6.50566848e-01 7.54259858e-01 -8.86275559e-02 -3.45574946e+01] [-1.33998027e-01 8.66504552e-04 9.90981220e-01 -1.55957966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters 0.030480668627169253 Centerline is valid? [True, True] Translation: X:128.27, Y:-34.60, Z:-15.60 [[ 7.47893122e-01 6.56202178e-01 1.00272524e-01 1.28273593e+02] [-6.50207094e-01 7.54584464e-01 -8.85043617e-02 -3.45957323e+01] [-1.33740844e-01 9.93896836e-04 9.91015842e-01 -1.56044934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters 0.031059437257841507 Centerline is valid? [True, True] Translation: X:128.32, Y:-34.63, Z:-15.61 [[ 7.52287718e-01 6.50962889e-01 1.01540660e-01 1.28321727e+02] [-6.44753990e-01 7.59106857e-01 -8.97166193e-02 -3.46341195e+01] [-1.35482401e-01 2.02396525e-03 9.90777686e-01 -1.56117648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters 0.03167426256821454 Centerline is valid? [True, True] Translation: X:128.37, Y:-34.67, Z:-15.62 [[ 7.56780082e-01 6.45927649e-01 1.00306428e-01 1.28370905e+02] [-6.39814340e-01 7.63392918e-01 -8.87066135e-02 -3.46724799e+01] [-1.33871271e-01 2.95390748e-03 9.90994328e-01 -1.56183090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters 0.031597550647204785 Centerline is valid? [True, True] Translation: X:128.42, Y:-34.71, Z:-15.63 [[ 7.57953706e-01 6.44904940e-01 9.79989660e-02 1.28418742e+02] [-6.39052217e-01 7.64256422e-01 -8.67432192e-02 -3.47124251e+01] [-1.30837470e-01 3.12088804e-03 9.91398919e-01 -1.56258621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters 0.03167538551565135 Centerline is valid? [True, True] Translation: X:128.46, Y:-34.75, Z:-15.63 [[ 7.57791704e-01 6.44633958e-01 1.00989077e-01 1.28464150e+02] [-6.38402273e-01 7.64484098e-01 -8.94796116e-02 -3.47540018e+01] [-1.34886139e-01 3.33525115e-03 9.90855492e-01 -1.56314291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters 0.03190470230365753 Centerline is valid? [True, True] Translation: X:128.51, Y:-34.79, Z:-15.64 [[ 7.58228006e-01 6.43941029e-01 1.02128562e-01 1.28511443e+02] [-6.37550565e-01 7.65066861e-01 -9.05647555e-02 -3.47930154e+01] [-1.36453540e-01 3.55661169e-03 9.90640087e-01 -1.56407773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters 0.032081298112198994 Centerline is valid? [True, True] Translation: X:128.56, Y:-34.83, Z:-15.65 [[ 7.58918142e-01 6.43271568e-01 1.01217309e-01 1.28558473e+02] [-6.36978369e-01 7.65629128e-01 -8.98364958e-02 -3.48338873e+01] [-1.35284184e-01 3.70530999e-03 9.90799909e-01 -1.56476698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters 0.03198576244494589 Centerline is valid? [True, True] Translation: X:128.61, Y:-34.87, Z:-15.65 [[ 7.57069952e-01 6.45117920e-01 1.03285805e-01 1.28607668e+02] [-6.38567605e-01 7.64074927e-01 -9.17655714e-02 -3.48734140e+01] [-1.38117708e-01 3.51798764e-03 9.90409573e-01 -1.56549598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters 0.03167733960201962 Centerline is valid? [True, True] Translation: X:128.65, Y:-34.91, Z:-15.66 [[ 7.53250819e-01 6.49312790e-01 1.04909980e-01 1.28653630e+02] [-6.42580935e-01 7.60516066e-01 -9.33008839e-02 -3.49145432e+01] [-1.40367183e-01 2.86581400e-03 9.90095370e-01 -1.56647145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters 0.031387040409121186 Centerline is valid? [True, True] Translation: X:128.70, Y:-34.95, Z:-15.67 [[ 7.51608635e-01 6.51236386e-01 1.04764637e-01 1.28702955e+02] [-6.44530203e-01 7.58870598e-01 -9.32535994e-02 -3.49524856e+01] [-1.40232940e-01 2.56623767e-03 9.90115214e-01 -1.56734093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters 0.031114961121694457 Centerline is valid? [True, True] Translation: X:128.75, Y:-34.99, Z:-15.68 [[ 7.49957990e-01 6.53064017e-01 1.05215984e-01 1.28749922e+02] [-6.46307152e-01 7.57299244e-01 -9.37279061e-02 -3.49934817e+01] [-1.40890308e-01 2.29014929e-03 9.90022564e-01 -1.56800557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters 0.031022152626100325 Centerline is valid? [True, True] Translation: X:128.80, Y:-35.03, Z:-15.69 [[ 7.48271668e-01 6.55019686e-01 1.05065321e-01 1.28800608e+02] [-6.48295723e-01 7.55609296e-01 -9.36335795e-02 -3.50291624e+01] [-1.40720171e-01 1.94995617e-03 9.90047489e-01 -1.56878287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters 0.030388542148868044 Centerline is valid? [True, True] Translation: X:128.85, Y:-35.07, Z:-15.70 [[ 7.44262338e-01 6.59698013e-01 1.04269379e-01 1.28848985e+02] [-6.53110788e-01 7.51529962e-01 -9.30000802e-02 -3.50682972e+01] [-1.39713531e-01 1.11700078e-03 9.90191336e-01 -1.56959498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters 0.03029930206580813 Centerline is valid? [True, True] Translation: X:128.90, Y:-35.11, Z:-15.70 [[ 7.41876372e-01 6.62465859e-01 1.03722875e-01 1.28898219e+02] [-6.55967315e-01 7.49091840e-01 -9.25650930e-02 -3.51051648e+01] [-1.39019173e-01 6.33039770e-04 9.90289487e-01 -1.57037594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters 0.030333047313030728 Centerline is valid? [True, True] Translation: X:128.95, Y:-35.14, Z:-15.71 [[ 7.40407920e-01 6.64214974e-01 1.03027084e-01 1.28949251e+02] [-6.57810132e-01 7.47541530e-01 -9.20189716e-02 -3.51415361e+01] [-1.38137403e-01 3.59315440e-04 9.90413009e-01 -1.57107751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters 0.030654839295371727 Centerline is valid? [True, True] Translation: X:129.00, Y:-35.18, Z:-15.72 [[ 7.39884504e-01 6.64512722e-01 1.04851146e-01 1.29000623e+02] [-6.57875007e-01 7.47276874e-01 -9.36896410e-02 -3.51774121e+01] [-1.40610795e-01 3.40564859e-04 9.90064891e-01 -1.57171632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters 0.030384386107419857 Centerline is valid? [True, True] Translation: X:129.05, Y:-35.21, Z:-15.73 [[ 7.40871577e-01 6.63635619e-01 1.03426650e-01 1.29051585e+02] [-6.57157650e-01 7.48055779e-01 -9.25006747e-02 -3.52133121e+01] [-1.38755646e-01 5.63506204e-04 9.90326488e-01 -1.57250438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters 0.03059329391172436 Centerline is valid? [True, True] Translation: X:129.10, Y:-35.25, Z:-15.73 [[ 7.40521373e-01 6.63922662e-01 1.04090319e-01 1.29101434e+02] [-6.57351675e-01 7.47801020e-01 -9.31794465e-02 -3.52500692e+01] [-1.39702793e-01 5.77426083e-04 9.90193313e-01 -1.57328268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters 0.031095437003308347 Centerline is valid? [True, True] Translation: X:129.15, Y:-35.28, Z:-15.74 [[ 7.41635997e-01 6.62515578e-01 1.05114969e-01 1.29153143e+02] [-6.55787626e-01 7.49047575e-01 -9.41823709e-02 -3.52842397e+01] [-1.41133400e-01 9.15940701e-04 9.89990164e-01 -1.57409597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters 0.03126402652526146 Centerline is valid? [True, True] Translation: X:129.21, Y:-35.32, Z:-15.75 [[ 7.42754098e-01 6.61290144e-01 1.04936625e-01 1.29205600e+02] [-6.54560636e-01 7.50129239e-01 -9.41089707e-02 -3.53186509e+01] [-1.40949365e-01 1.21243979e-03 9.90016064e-01 -1.57497275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters 0.03098029497854608 Centerline is valid? [True, True] Translation: X:129.26, Y:-35.35, Z:-15.75 [[ 7.43176898e-01 6.61224705e-01 1.02322955e-01 1.29258061e+02] [-6.54814790e-01 7.50186842e-01 -9.18547380e-02 -3.53530706e+01] [-1.37497956e-01 1.26173504e-03 9.90501247e-01 -1.57540655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters 0.031211741491536146 Centerline is valid? [True, True] Translation: X:129.31, Y:-35.39, Z:-15.76 [[ 7.42058275e-01 6.62303261e-01 1.03459687e-01 1.29308676e+02] [-6.55748022e-01 7.49235007e-01 -9.29593226e-02 -3.53888458e+01] [-1.39082881e-01 1.13774978e-03 9.90280090e-01 -1.57614240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters 0.031164993394110947 Centerline is valid? [True, True] Translation: X:129.36, Y:-35.42, Z:-15.77 [[ 7.43502034e-01 6.61025239e-01 1.01244053e-01 1.29360653e+02] [-6.54726343e-01 7.50362348e-01 -9.10481371e-02 -3.54239314e+01] [-1.36154842e-01 1.40732664e-03 9.90686569e-01 -1.57677833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters 0.031592445705159296 Centerline is valid? [True, True] Translation: X:129.41, Y:-35.46, Z:-15.77 [[ 7.45560003e-01 6.58638388e-01 1.01664916e-01 1.29412334e+02] [-6.52253323e-01 7.52457182e-01 -9.15084217e-02 -3.54592243e+01] [-1.36769456e-01 1.91373994e-03 9.90601057e-01 -1.57732462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters 0.031821913404550095 Centerline is valid? [True, True] Translation: X:129.46, Y:-35.50, Z:-15.78 [[ 7.47399799e-01 6.56887748e-01 9.94586750e-02 1.29463729e+02] [-6.50752107e-01 7.53985046e-01 -8.96004792e-02 -3.54950025e+01] [-1.33847811e-01 2.24443776e-03 9.90999357e-01 -1.57793676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters 0.032291563375881994 Centerline is valid? [True, True] Translation: X:129.51, Y:-35.53, Z:-15.79 [[ 7.49097342e-01 6.54902828e-01 9.97770385e-02 1.29513488e+02] [-6.48699277e-01 7.55708385e-01 -8.99671308e-02 -3.55320214e+01] [-1.34322073e-01 2.66884581e-03 9.90934134e-01 -1.57860045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters 0.03324858733271888 Centerline is valid? [True, True] Translation: X:129.57, Y:-35.56, Z:-15.79 [[ 7.52174147e-01 6.51030037e-01 1.01950696e-01 1.29566448e+02] [-6.44505129e-01 7.59043907e-01 -9.20080770e-02 -3.55649674e+01] [-1.37285077e-01 3.49835012e-03 9.90525401e-01 -1.57948003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters 0.03396031313951525 Centerline is valid? [True, True] Translation: X:129.62, Y:-35.60, Z:-15.80 [[ 7.55956157e-01 6.47001855e-01 9.95936168e-02 1.29615094e+02] [-6.40732082e-01 7.62476931e-01 -8.99518110e-02 -3.56035020e+01] [-1.34136824e-01 4.18679993e-03 9.90953976e-01 -1.58000176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters 0.034452907234848354 Centerline is valid? [True, True] Translation: X:129.66, Y:-35.64, Z:-15.81 [[ 7.57919964e-01 6.44721415e-01 9.94566538e-02 1.29664171e+02] [-6.38439260e-01 7.64403523e-01 -8.99030835e-02 -3.56408920e+01] [-1.33987460e-01 4.64230930e-03 9.90972154e-01 -1.58070639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters 0.035133597185063446 Centerline is valid? [True, True] Translation: X:129.71, Y:-35.68, Z:-15.82 [[ 7.59200907e-01 6.43273427e-01 9.90620057e-02 1.29710643e+02] [-6.37019437e-01 7.65620638e-01 -8.96173784e-02 -3.56817478e+01] [-1.33492394e-01 4.93317184e-03 9.91037560e-01 -1.58162484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters 0.03571353292168819 Centerline is valid? [True, True] Translation: X:129.76, Y:-35.72, Z:-15.82 [[ 7.60706799e-01 6.41535017e-01 9.87825272e-02 1.29757346e+02] [-6.35291847e-01 7.67075571e-01 -8.94390153e-02 -3.57226680e+01] [-1.33151924e-01 5.28113286e-03 9.91081568e-01 -1.58223277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters 0.036541680980736096 Centerline is valid? [True, True] Translation: X:129.80, Y:-35.76, Z:-15.83 [[ 7.62366460e-01 6.39309402e-01 1.00403535e-01 1.29802951e+02] [-6.32829099e-01 7.68927549e-01 -9.09821709e-02 -3.57642712e+01] [-1.35368802e-01 5.82347681e-03 9.90778166e-01 -1.58274913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters 0.03680142973622446 Centerline is valid? [True, True] Translation: X:129.85, Y:-35.81, Z:-15.83 [[ 7.63738451e-01 6.38052270e-01 9.79432460e-02 1.29848139e+02] [-6.31867982e-01 7.69970080e-01 -8.88196435e-02 -3.58064929e+01] [-1.32084944e-01 5.94777570e-03 9.91220556e-01 -1.58346158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters 0.03663526797108528 Centerline is valid? [True, True] Translation: X:129.89, Y:-35.85, Z:-15.84 [[ 7.62984485e-01 6.38810341e-01 9.88737765e-02 1.29891712e+02] [-6.32503577e-01 7.69341386e-01 -8.97388267e-02 -3.58513218e+01] [-1.33393779e-01 5.93131517e-03 9.91045367e-01 -1.58428709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters 0.034399839402808885 Centerline is valid? [True, True] Translation: X:129.93, Y:-35.89, Z:-15.85 [[ 7.58439928e-01 6.44302831e-01 9.81974405e-02 1.29934956e+02] [-6.38118252e-01 7.64754190e-01 -8.91971167e-02 -3.58946994e+01] [-1.32566859e-01 4.98907574e-03 9.91161509e-01 -1.58471967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters 0.03253976082109725 Centerline is valid? [True, True] Translation: X:129.98, Y:-35.93, Z:-15.86 [[ 7.52945659e-01 6.50785779e-01 9.77277031e-02 1.29980603e+02] [-6.44713686e-01 7.59251703e-01 -8.87756414e-02 -3.59347763e+01] [-1.31973850e-01 3.83684621e-03 9.91245773e-01 -1.58552981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters 0.03158164116464133 Centerline is valid? [True, True] Translation: X:130.03, Y:-35.97, Z:-15.86 [[ 7.48208120e-01 6.55903508e-01 9.98759103e-02 1.30029531e+02] [-6.49604067e-01 7.54838744e-01 -9.07360263e-02 -3.59733054e+01] [-1.34904285e-01 3.00963412e-03 9.90854064e-01 -1.58639772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters 0.03152683531445223 Centerline is valid? [True, True] Translation: X:130.08, Y:-36.01, Z:-15.87 [[ 7.47358805e-01 6.56850168e-01 1.00013371e-01 1.30079813e+02] [-6.50536608e-01 7.54015658e-01 -9.08983479e-02 -3.60112598e+01] [-1.35118243e-01 2.87132146e-03 9.90825321e-01 -1.58699808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters 0.03174275483835984 Centerline is valid? [True, True] Translation: X:130.13, Y:-36.05, Z:-15.88 [[ 7.49039082e-01 6.55005068e-01 9.95430275e-02 1.30130734e+02] [-6.48722997e-01 7.55617471e-01 -9.05577736e-02 -3.60467308e+01] [-1.34532251e-01 3.25546045e-03 9.90903868e-01 -1.58795407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters 0.031888060334675374 Centerline is valid? [True, True] Translation: X:130.18, Y:-36.09, Z:-15.89 [[ 7.49357667e-01 6.54534001e-01 1.00241353e-01 1.30176209e+02] [-6.48148908e-01 7.56024834e-01 -9.12657860e-02 -3.60878636e+01] [-1.35521512e-01 3.41939318e-03 9.90768504e-01 -1.58867722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters 0.0323243717278326 Centerline is valid? [True, True] Translation: X:130.23, Y:-36.12, Z:-15.89 [[ 7.48855255e-01 6.54550700e-01 1.03822867e-01 1.30226194e+02] [-6.47691653e-01 7.56009633e-01 -9.45777846e-02 -3.61249759e+01] [-1.40397043e-01 3.57986656e-03 9.90088812e-01 -1.58934365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters 0.03190434573694904 Centerline is valid? [True, True] Translation: X:130.27, Y:-36.17, Z:-15.90 [[ 7.48855013e-01 6.55101455e-01 1.00290846e-01 1.30271057e+02] [-6.48698283e-01 7.55533218e-01 -9.14335523e-02 -3.61669218e+01] [-1.35671319e-01 3.41197433e-03 9.90748026e-01 -1.59013865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters 0.03172101810549803 Centerline is valid? [True, True] Translation: X:130.32, Y:-36.21, Z:-15.91 [[ 7.47474239e-01 6.56715506e-01 1.00035027e-01 1.30316378e+02] [-6.50348993e-01 7.54131752e-01 -9.12769870e-02 -3.62086411e+01] [-1.35382603e-01 3.16951752e-03 9.90788325e-01 -1.59069780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters 0.03173128930351874 Centerline is valid? [True, True] Translation: X:130.36, Y:-36.25, Z:-15.92 [[ 7.46649061e-01 6.57401650e-01 1.01677183e-01 1.30361229e+02] [-6.50818565e-01 7.53533745e-01 -9.28552164e-02 -3.62510848e+01] [-1.37660361e-01 3.15686190e-03 9.90474462e-01 -1.59150580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters 0.03182407299767407 Centerline is valid? [True, True] Translation: X:130.40, Y:-36.30, Z:-15.92 [[ 7.44423087e-01 6.59675298e-01 1.03260685e-01 1.30404706e+02] [-6.52894420e-01 7.51545350e-01 -9.43846509e-02 -3.62963660e+01] [-1.39868310e-01 2.84378839e-03 9.90166031e-01 -1.59238841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters 0.03135719379988482 Centerline is valid? [True, True] Translation: X:130.45, Y:-36.34, Z:-15.93 [[ 7.43541757e-01 6.60740719e-01 1.02797651e-01 1.30449311e+02] [-6.54018299e-01 7.50609362e-01 -9.40513180e-02 -3.63389905e+01] [-1.39304415e-01 2.69953738e-03 9.90245925e-01 -1.59286162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters 0.03091344195784975 Centerline is valid? [True, True] Translation: X:130.50, Y:-36.38, Z:-15.93 [[ 7.41612672e-01 6.62925755e-01 1.02664931e-01 1.30495792e+02] [-6.56230315e-01 7.48681464e-01 -9.40097836e-02 -3.63804317e+01] [-1.39184838e-01 2.34700643e-03 9.90263638e-01 -1.59336812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters 0.03032257463853194 Centerline is valid? [True, True] Translation: X:130.54, Y:-36.42, Z:-15.94 [[ 7.39154398e-01 6.65907234e-01 1.01085764e-01 1.30541817e+02] [-6.59435132e-01 7.46032355e-01 -9.26338575e-02 -3.64224701e+01] [-1.37098806e-01 1.81121926e-03 9.90555721e-01 -1.59413056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters 0.03017104629647439 Centerline is valid? [True, True] Translation: X:130.59, Y:-36.46, Z:-15.95 [[ 7.36366196e-01 6.68846662e-01 1.02024345e-01 1.30589868e+02] [-6.62275543e-01 7.43399242e-01 -9.35343353e-02 -3.64631702e+01] [-1.38404949e-01 1.30729396e-03 9.90374859e-01 -1.59473685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters 0.030173305024823967 Centerline is valid? [True, True] Translation: X:130.64, Y:-36.50, Z:-15.96 [[ 7.34588975e-01 6.70759344e-01 1.02278737e-01 1.30641304e+02] [-6.64160416e-01 7.41674363e-01 -9.38620361e-02 -3.65001346e+01] [-1.38816355e-01 1.02052872e-03 9.90317615e-01 -1.59554347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters 0.02999990736110037 Centerline is valid? [True, True] Translation: X:130.69, Y:-36.54, Z:-15.96 [[ 7.33716457e-01 6.71908485e-01 1.00990835e-01 1.30691385e+02] [-6.65473866e-01 7.40633680e-01 -9.27700660e-02 -3.65375189e+01] [-1.37130208e-01 8.60163050e-04 9.90552657e-01 -1.59627410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters 0.03037715229403082 Centerline is valid? [True, True] Translation: X:130.74, Y:-36.57, Z:-15.97 [[ 7.35356848e-01 6.70042453e-01 1.01456482e-01 1.30743784e+02] [-6.63520360e-01 7.42321698e-01 -9.32696528e-02 -3.65725674e+01] [-1.37807975e-01 1.26803648e-03 9.90458154e-01 -1.59682772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters 0.03050406373994333 Centerline is valid? [True, True] Translation: X:130.79, Y:-36.61, Z:-15.98 [[ 7.38418938e-01 6.66753906e-01 1.00879637e-01 1.30792899e+02] [-6.60272249e-01 7.45275558e-01 -9.27625950e-02 -3.66107430e+01] [-1.37032951e-01 1.88963192e-03 9.90564687e-01 -1.59762938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters 0.031727677710208756 Centerline is valid? [True, True] Translation: X:130.84, Y:-36.65, Z:-15.99 [[ 7.43146055e-01 6.61365905e-01 1.01632085e-01 1.30840027e+02] [-6.54732995e-01 7.50057717e-01 -9.34779411e-02 -3.66506874e+01] [-1.38053053e-01 2.92588382e-03 9.90420514e-01 -1.59853107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters 0.032857662683338985 Centerline is valid? [True, True] Translation: X:130.89, Y:-36.69, Z:-15.99 [[ 7.45857952e-01 6.58060217e-01 1.03211751e-01 1.30885207e+02] [-6.51182120e-01 7.52956602e-01 -9.49642091e-02 -3.66918881e+01] [-1.40206137e-01 3.62016377e-03 9.90115717e-01 -1.59935354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters 0.033197355691498766 Centerline is valid? [True, True] Translation: X:130.93, Y:-36.74, Z:-16.00 [[ 7.45901850e-01 6.57884677e-01 1.04010493e-01 1.30929115e+02] [-6.50886545e-01 7.53109397e-01 -9.57754706e-02 -3.67360448e+01] [-1.41340494e-01 3.74007014e-03 9.89953977e-01 -1.60008196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters 0.03342357566042814 Centerline is valid? [True, True] Translation: X:130.97, Y:-36.78, Z:-16.01 [[ 7.46831137e-01 6.56903206e-01 1.03544340e-01 1.30973922e+02] [-6.49947318e-01 7.53964475e-01 -9.54256463e-02 -3.67790263e+01] [-1.40754167e-01 3.96847815e-03 9.90036623e-01 -1.60090406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters 0.03447008094924485 Centerline is valid? [True, True] Translation: X:131.02, Y:-36.82, Z:-16.02 [[ 7.48230521e-01 6.55070278e-01 1.05042937e-01 1.31018033e+02] [-6.47880878e-01 7.55554915e-01 -9.68872458e-02 -3.68218186e+01] [-1.42833662e-01 4.43868414e-03 9.89736754e-01 -1.60169505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters 0.03443643621580596 Centerline is valid? [True, True] Translation: X:131.06, Y:-36.86, Z:-16.02 [[ 7.48031432e-01 6.55172572e-01 1.05820025e-01 1.31062699e+02] [-6.47865620e-01 7.55465783e-01 -9.76810588e-02 -3.68645110e+01] [-1.43941359e-01 4.51134589e-03 9.89575936e-01 -1.60247918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters 0.035546028016399354 Centerline is valid? [True, True] Translation: X:131.11, Y:-36.90, Z:-16.03 [[ 7.50452662e-01 6.52672217e-01 1.04114258e-01 1.31110603e+02] [-6.45565040e-01 7.57624102e-01 -9.61847081e-02 -3.69043188e+01] [-1.41656558e-01 4.96954488e-03 9.89903391e-01 -1.60322665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters 0.03624608903245264 Centerline is valid? [True, True] Translation: X:131.15, Y:-36.95, Z:-16.04 [[ 7.52805463e-01 6.49834991e-01 1.04873351e-01 1.31154927e+02] [-6.42585777e-01 7.60054696e-01 -9.69555496e-02 -3.69472312e+01] [-1.42714591e-01 5.59854378e-03 9.89748050e-01 -1.60404092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters 0.03747921015159224 Centerline is valid? [True, True] Translation: X:131.20, Y:-36.99, Z:-16.05 [[ 7.55658999e-01 6.46526613e-01 1.04798930e-01 1.31201473e+02] [-6.39251346e-01 7.62865870e-01 -9.69194565e-02 -3.69872124e+01] [-1.42608535e-01 6.24520254e-03 9.89759467e-01 -1.60465490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters 0.03763574475909145 Centerline is valid? [True, True] Translation: X:131.24, Y:-37.03, Z:-16.05 [[ 7.57615214e-01 6.44763384e-01 1.01485793e-01 1.31244392e+02] [-6.37917479e-01 7.64355249e-01 -9.39273286e-02 -3.70328980e+01] [-1.38132101e-01 6.42121209e-03 9.90392998e-01 -1.60528530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters 0.0383820231832919 Centerline is valid? [True, True] Translation: X:131.29, Y:-37.08, Z:-16.06 [[ 7.59342949e-01 6.42620082e-01 1.02165139e-01 1.31286924e+02] [-6.35651713e-01 7.66153760e-01 -9.46325298e-02 -3.70778330e+01] [-1.39086970e-01 6.91709852e-03 9.90256012e-01 -1.60592317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters 0.039269015780088554 Centerline is valid? [True, True] Translation: X:131.32, Y:-37.13, Z:-16.07 [[ 7.61276064e-01 6.40450185e-01 1.01401751e-01 1.31324119e+02] [-6.33563981e-01 7.67965255e-01 -9.39470595e-02 -3.71287116e+01] [-1.38041433e-01 7.27515064e-03 9.90399735e-01 -1.60667420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters 0.03932633533296062 Centerline is valid? [True, True] Translation: X:131.37, Y:-37.17, Z:-16.07 [[ 7.60707202e-01 6.40953034e-01 1.02487859e-01 1.31365823e+02] [-6.33917756e-01 7.67545509e-01 -9.49851079e-02 -3.71742760e+01] [-1.39545089e-01 7.28698207e-03 9.90188905e-01 -1.60736359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters 0.038939406589696655 Centerline is valid? [True, True] Translation: X:131.41, Y:-37.22, Z:-16.08 [[ 7.59020626e-01 6.42841211e-01 1.03164277e-01 1.31407435e+02] [-6.35718571e-01 7.65967053e-01 -9.56889400e-02 -3.72202019e+01] [-1.40533231e-01 7.04643265e-03 9.90050887e-01 -1.60800567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters 0.03818258739636731 Centerline is valid? [True, True] Translation: X:131.45, Y:-37.27, Z:-16.09 [[ 7.57116172e-01 6.45292201e-01 1.01848309e-01 1.31448180e+02] [-6.38364096e-01 7.63907719e-01 -9.45318845e-02 -3.72657448e+01] [-1.38803397e-01 6.55531459e-03 9.90298260e-01 -1.60874446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters 0.03678640519064023 Centerline is valid? [True, True] Translation: X:131.49, Y:-37.31, Z:-16.09 [[ 7.54712065e-01 6.48477601e-01 9.94308794e-02 1.31489542e+02] [-6.41901955e-01 7.61211378e-01 -9.22990689e-02 -3.73109183e+01] [-1.35541795e-01 5.83434504e-03 9.90754451e-01 -1.60928515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters 0.036727737429846724 Centerline is valid? [True, True] Translation: X:131.53, Y:-37.35, Z:-16.10 [[ 7.55392346e-01 6.48097508e-01 9.67058628e-02 1.31534268e+02] [-6.41874012e-01 7.61535664e-01 -8.97841055e-02 -3.73545526e+01] [-1.31833818e-01 5.74924590e-03 9.91255159e-01 -1.60987481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters 0.037116456349267496 Centerline is valid? [True, True] Translation: X:131.58, Y:-37.40, Z:-16.11 [[ 7.54860339e-01 6.48481904e-01 9.82704919e-02 1.31579940e+02] [-6.42053018e-01 7.61207960e-01 -9.12708231e-02 -3.73958674e+01] [-1.33991758e-01 5.80185851e-03 9.90965462e-01 -1.61070120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters 0.03744913864949369 Centerline is valid? [True, True] Translation: X:131.62, Y:-37.44, Z:-16.11 [[ 7.55931492e-01 6.46900300e-01 1.00436955e-01 1.31622522e+02] [-6.40159931e-01 7.62548794e-01 -9.33520172e-02 -3.74405216e+01] [-1.36977527e-01 6.27201530e-03 9.90554299e-01 -1.61136199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters 0.03821107896832523 Centerline is valid? [True, True] Translation: X:131.67, Y:-37.48, Z:-16.12 [[ 7.58814098e-01 6.43884373e-01 9.80514104e-02 1.31665813e+02] [-6.37434099e-01 7.65093747e-01 -9.11555202e-02 -3.74847449e+01] [-1.33712136e-01 6.66878136e-03 9.90997776e-01 -1.61221520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters 0.03905887762885675 Centerline is valid? [True, True] Translation: X:131.71, Y:-37.53, Z:-16.13 [[ 7.60300696e-01 6.42337710e-01 9.66701572e-02 1.31708815e+02] [-6.36052671e-01 7.66391001e-01 -8.98990154e-02 -3.75299180e+01] [-1.31832666e-01 6.86297224e-03 9.91248227e-01 -1.61262538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters 0.038687885737604816 Centerline is valid? [True, True] Translation: X:131.75, Y:-37.57, Z:-16.13 [[ 7.58487419e-01 6.44118306e-01 9.90375828e-02 1.31751789e+02] [-6.37524708e-01 7.64895871e-01 -9.21767484e-02 -3.75747427e+01] [-1.35126169e-01 6.77599794e-03 9.90805230e-01 -1.61348515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters 0.0374005338672259 Centerline is valid? [True, True] Translation: X:131.79, Y:-37.62, Z:-16.14 [[ 7.56189093e-01 6.46987632e-01 9.79033169e-02 1.31793361e+02] [-6.40559885e-01 7.62474950e-01 -9.11865363e-02 -3.76202173e+01] [-1.33645388e-01 6.24132677e-03 9.91009564e-01 -1.61411246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters 0.03654817291983766 Centerline is valid? [True, True] Translation: X:131.84, Y:-37.66, Z:-16.15 [[ 7.53681373e-01 6.49819210e-01 9.84854428e-02 1.31836636e+02] [-6.43335320e-01 7.60066741e-01 -9.17508373e-02 -3.76642735e+01] [-1.34476966e-01 5.79173324e-03 9.90899794e-01 -1.61461172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters 0.035873354652124774 Centerline is valid? [True, True] Translation: X:131.88, Y:-37.71, Z:-16.15 [[ 7.52555475e-01 6.51270184e-01 9.75059153e-02 1.31880842e+02] [-6.44924073e-01 7.58826034e-01 -9.08624802e-02 -3.77075001e+01] [-1.33166051e-01 5.49514499e-03 9.91078507e-01 -1.61538355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters 0.03478254945238672 Centerline is valid? [True, True] Translation: X:131.93, Y:-37.75, Z:-16.16 [[ 7.49391355e-01 6.54841546e-01 9.79548190e-02 1.31925971e+02] [-6.48457801e-01 7.55750087e-01 -9.13470628e-02 -3.77483020e+01] [-1.33847215e-01 4.93513261e-03 9.90989691e-01 -1.61599639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters 0.034213889854536335 Centerline is valid? [True, True] Translation: X:131.97, Y:-37.79, Z:-16.17 [[ 7.46940843e-01 6.57345952e-01 9.98783062e-02 1.31971008e+02] [-6.50726876e-01 7.53574945e-01 -9.31629485e-02 -3.77905729e+01] [-1.36506076e-01 4.59371313e-03 9.90628583e-01 -1.61683234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters 0.034024675461035075 Centerline is valid? [True, True] Translation: X:132.02, Y:-37.83, Z:-16.18 [[ 7.46819169e-01 6.57790330e-01 9.78417588e-02 1.32018896e+02] [-6.51433351e-01 7.53187790e-01 -9.13386192e-02 -3.78303068e+01] [-1.33774879e-01 4.47604695e-03 9.91001638e-01 -1.61755252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters 0.03389575261318678 Centerline is valid? [True, True] Translation: X:132.06, Y:-37.87, Z:-16.18 [[ 7.45376885e-01 6.59123670e-01 9.98463182e-02 1.32064260e+02] [-6.52502835e-01 7.52021768e-01 -9.32915377e-02 -3.78738421e+01] [-1.36577265e-01 4.38735004e-03 9.90619706e-01 -1.61834517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters 0.033550796314167776 Centerline is valid? [True, True] Translation: X:132.11, Y:-37.91, Z:-16.19 [[ 7.44619754e-01 6.60014587e-01 9.96100806e-02 1.32110804e+02] [-6.53421097e-01 7.51240592e-01 -9.31581668e-02 -3.79142922e+01] [-1.36316885e-01 4.28008312e-03 9.90656039e-01 -1.61896982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters 0.03373693006559079 Centerline is valid? [True, True] Translation: X:132.16, Y:-37.95, Z:-16.20 [[ 7.44866699e-01 6.59564406e-01 1.00739238e-01 1.32157715e+02] [-6.52804741e-01 7.51634744e-01 -9.42930603e-02 -3.79538812e+01] [-1.37911458e-01 4.47270808e-03 9.90434463e-01 -1.61977187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters 0.034265298170437525 Centerline is valid? [True, True] Translation: X:132.20, Y:-38.00, Z:-16.20 [[ 7.47108045e-01 6.57334881e-01 9.86935881e-02 1.32202961e+02] [-6.50819135e-01 7.53583070e-01 -9.24500373e-02 -3.79964250e+01] [-1.35144451e-01 4.83849091e-03 9.90814093e-01 -1.62037550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters 0.03522867729234623 Centerline is valid? [True, True] Translation: X:132.25, Y:-38.04, Z:-16.21 [[ 7.49176404e-01 6.54774252e-01 1.00026976e-01 1.32246848e+02] [-6.48047641e-01 7.55805005e-01 -9.37712608e-02 -3.80393407e+01] [-1.36999896e-01 5.42896989e-03 9.90556185e-01 -1.62110163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters 0.03562146818145885 Centerline is valid? [True, True] Translation: X:132.29, Y:-38.08, Z:-16.22 [[ 7.49620437e-01 6.54332815e-01 9.95879905e-02 1.32289289e+02] [-6.47655621e-01 7.56186564e-01 -9.34027653e-02 -3.80847936e+01] [-1.36423595e-01 5.51789983e-03 9.90635228e-01 -1.62198829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters 0.03489952742779591 Centerline is valid? [True, True] Translation: X:132.33, Y:-38.13, Z:-16.22 [[ 7.47780009e-01 6.56445939e-01 9.95177732e-02 1.32331744e+02] [-6.49786121e-01 7.54355231e-01 -9.34140354e-02 -3.81304659e+01] [-1.36393017e-01 5.18788039e-03 9.90641222e-01 -1.62247449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters 0.03425311149745416 Centerline is valid? [True, True] Translation: X:132.38, Y:-38.17, Z:-16.23 [[ 7.46478858e-01 6.58032923e-01 9.88027645e-02 1.32375959e+02] [-6.51472363e-01 7.52973085e-01 -9.28186076e-02 -3.81740369e+01] [-1.35473522e-01 4.91985782e-03 9.90768752e-01 -1.62314118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters 0.03401188905273962 Centerline is valid? [True, True] Translation: X:132.42, Y:-38.22, Z:-16.24 [[ 7.44808134e-01 6.59917217e-01 9.88438659e-02 1.32419401e+02] [-6.53357817e-01 7.51324028e-01 -9.29288342e-02 -3.82185793e+01] [-1.35589109e-01 4.63373924e-03 9.90754320e-01 -1.62403671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters 0.03375660740097619 Centerline is valid? [True, True] Translation: X:132.47, Y:-38.26, Z:-16.25 [[ 7.43981430e-01 6.60726060e-01 9.96629577e-02 1.32466358e+02] [-6.54057101e-01 7.50613251e-01 -9.37499612e-02 -3.82601843e+01] [-1.36751379e-01 4.56296499e-03 9.90594892e-01 -1.62467518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters 0.03360746195292329 Centerline is valid? [True, True] Translation: X:132.52, Y:-38.30, Z:-16.25 [[ 7.43213577e-01 6.61801621e-01 9.82455784e-02 1.32515390e+02] [-6.55319570e-01 7.49666289e-01 -9.25025223e-02 -3.82992437e+01] [-1.34869717e-01 4.36688031e-03 9.90853718e-01 -1.62509318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters 0.0334918385051933 Centerline is valid? [True, True] Translation: X:132.56, Y:-38.34, Z:-16.26 [[ 7.42319948e-01 6.62764497e-01 9.85104888e-02 1.32561867e+02] [-6.56245746e-01 7.48815789e-01 -9.28247552e-02 -3.83403264e+01] [-1.35287162e-01 4.25857828e-03 9.90797279e-01 -1.62605637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters 0.034312713690899437 Centerline is valid? [True, True] Translation: X:132.61, Y:-38.38, Z:-16.27 [[ 7.44503425e-01 6.60092891e-01 9.99601162e-02 1.32610783e+02] [-6.53350297e-01 7.51168348e-01 -9.42311075e-02 -3.83783073e+01] [-1.37288160e-01 4.84641062e-03 9.90519295e-01 -1.62665613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters 0.034735539969227625 Centerline is valid? [True, True] Translation: X:132.66, Y:-38.42, Z:-16.27 [[ 7.47022778e-01 6.57627315e-01 9.73821487e-02 1.32655216e+02] [-6.51204838e-01 7.53325590e-01 -9.18303563e-02 -3.84215076e+01] [-1.33750615e-01 5.18364152e-03 9.91001465e-01 -1.62723774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters 0.035696831117659956 Centerline is valid? [True, True] Translation: X:132.70, Y:-38.46, Z:-16.28 [[ 7.48800360e-01 6.55573300e-01 9.75790435e-02 1.32700795e+02] [-6.49097031e-01 7.55110627e-01 -9.20922649e-02 -3.84623183e+01] [-1.34056203e-01 5.62045363e-03 9.90957792e-01 -1.62801757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters 0.036195138870279274 Centerline is valid? [True, True] Translation: X:132.74, Y:-38.51, Z:-16.29 [[ 7.51242961e-01 6.52861252e-01 9.69855609e-02 1.32741565e+02] [-6.46431911e-01 7.57452780e-01 -9.16027874e-02 -3.85083264e+01] [-1.33265893e-01 6.12138775e-03 9.91061416e-01 -1.62869999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters 0.038225364213975814 Centerline is valid? [True, True] Translation: X:132.78, Y:-38.56, Z:-16.29 [[ 7.55597302e-01 6.47903028e-01 9.64073795e-02 1.32780711e+02] [-6.41502148e-01 7.61690641e-01 -9.11172985e-02 -3.85554918e+01] [-1.32467772e-01 7.00244394e-03 9.91162578e-01 -1.62939991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters 0.04060205704707948 Centerline is valid? [True, True] Translation: X:132.82, Y:-38.60, Z:-16.30 [[ 7.60746208e-01 6.42049955e-01 9.50634660e-02 1.32818576e+02] [-6.35780903e-01 7.66621943e-01 -8.98523202e-02 -3.86040937e+01] [-1.30567417e-01 7.91527560e-03 9.91407836e-01 -1.62986133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters 0.0411740708446618 Centerline is valid? [True, True] Translation: X:132.86, Y:-38.65, Z:-16.31 [[ 7.61742012e-01 6.41054796e-01 9.37968815e-02 1.32857114e+02] [-6.34943390e-01 7.67453563e-01 -8.86674704e-02 -3.86534451e+01] [-1.28825458e-01 7.98602742e-03 9.91635127e-01 -1.63050896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters 0.04081442211833037 Centerline is valid? [True, True] Translation: X:132.89, Y:-38.71, Z:-16.31 [[ 7.59994248e-01 6.42949275e-01 9.49998574e-02 1.32892092e+02] [-6.36684493e-01 7.65868831e-01 -8.98765251e-02 -3.87065609e+01] [-1.30543476e-01 7.82070605e-03 9.91411740e-01 -1.63139691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters 0.03920020979054196 Centerline is valid? [True, True] Translation: X:132.93, Y:-38.76, Z:-16.32 [[ 7.58437522e-01 6.44913546e-01 9.41224905e-02 1.32929742e+02] [-6.38771198e-01 7.64219110e-01 -8.91095346e-02 -3.87559510e+01] [-1.29398152e-01 7.46127863e-03 9.91564646e-01 -1.63197453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters 0.038340929134084545 Centerline is valid? [True, True] Translation: X:132.97, Y:-38.81, Z:-16.33 [[ 7.56376229e-01 6.47359271e-01 9.39200406e-02 1.32968074e+02] [-6.41260559e-01 7.62152515e-01 -8.89294051e-02 -3.88050263e+01] [-1.29150670e-01 7.03687031e-03 9.91600014e-01 -1.63264072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters 0.037840527276063525 Centerline is valid? [True, True] Translation: X:133.01, Y:-38.85, Z:-16.33 [[ 7.54285100e-01 6.49615226e-01 9.51527526e-02 1.33005983e+02] [-6.43368472e-01 7.60233076e-01 -9.01259130e-02 -3.88545892e+01] [-1.30885435e-01 6.76235231e-03 9.91374437e-01 -1.63337790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters 0.03745941549818688 Centerline is valid? [True, True] Translation: X:133.05, Y:-38.90, Z:-16.34 [[ 7.53054285e-01 6.51034102e-01 9.52042108e-02 1.33046192e+02] [-6.44782002e-01 7.59019994e-01 -9.02486451e-02 -3.89017841e+01] [-1.31016845e-01 6.57616720e-03 9.91358331e-01 -1.63396936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters 0.0376533796464536 Centerline is valid? [True, True] Translation: X:133.08, Y:-38.95, Z:-16.35 [[ 7.53106520e-01 6.50822259e-01 9.62338703e-02 1.33083348e+02] [-6.44421703e-01 7.59200178e-01 -9.13003792e-02 -3.89529072e+01] [-1.32481090e-01 6.74371625e-03 9.91162592e-01 -1.63473435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters 0.037955612747070204 Centerline is valid? [True, True] Translation: X:133.12, Y:-39.00, Z:-16.35 [[ 7.53299164e-01 6.50408767e-01 9.75131055e-02 1.33122961e+02] [-6.43822200e-01 7.59552426e-01 -9.25909622e-02 -3.90006471e+01] [-1.34288289e-01 6.96759225e-03 9.90917811e-01 -1.63547091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters 0.03784158981042625 Centerline is valid? [True, True] Translation: X:133.16, Y:-39.05, Z:-16.36 [[ 7.51917485e-01 6.51744627e-01 9.92423153e-02 1.33162735e+02] [-6.44921578e-01 7.58406990e-01 -9.43132905e-02 -3.90503815e+01] [-1.36734246e-01 6.91230164e-03 9.90583649e-01 -1.63614085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters 0.036575029344358786 Centerline is valid? [True, True] Translation: X:133.20, Y:-39.10, Z:-16.37 [[ 7.48586014e-01 6.55653869e-01 9.86761559e-02 1.33200108e+02] [-6.48931872e-01 7.55035954e-01 -9.38516588e-02 -3.91001449e+01] [-1.36038249e-01 6.22193656e-03 9.90684048e-01 -1.63698717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters 0.03489731638540033 Centerline is valid? [True, True] Translation: X:133.24, Y:-39.15, Z:-16.38 [[ 7.43012084e-01 6.61829109e-01 9.95754654e-02 1.33240207e+02] [-6.55035692e-01 7.49637014e-01 -9.47237539e-02 -3.91472636e+01] [-1.37336392e-01 5.15540991e-03 9.90511048e-01 -1.63775899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters 0.033706370385227544 Centerline is valid? [True, True] Translation: X:133.28, Y:-39.19, Z:-16.38 [[ 7.38636101e-01 6.66688530e-01 9.97151669e-02 1.33284097e+02] [-6.59917384e-01 7.45324188e-01 -9.48730749e-02 -3.91904792e+01] [-1.37570917e-01 4.27290600e-03 9.90482703e-01 -1.63845386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters 0.03292067175742172 Centerline is valid? [True, True] Translation: X:133.33, Y:-39.23, Z:-16.39 [[ 7.33317883e-01 6.72193141e-01 1.01986587e-01 1.33328078e+02] [-6.65156506e-01 7.40368293e-01 -9.70649980e-02 -3.92341247e+01] [-1.40754061e-01 3.34245688e-03 9.90038950e-01 -1.63908256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters 0.032812553423417566 Centerline is valid? [True, True] Translation: X:133.38, Y:-39.27, Z:-16.40 [[ 7.29017311e-01 6.76683254e-01 1.03119026e-01 1.33376422e+02] [-6.69520499e-01 7.36269763e-01 -9.82300259e-02 -3.92726420e+01] [-1.42394034e-01 2.57108760e-03 9.89806713e-01 -1.64005498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters 0.032588485885472016 Centerline is valid? [True, True] Translation: X:133.42, Y:-39.31, Z:-16.41 [[ 7.26507778e-01 6.79121262e-01 1.04789117e-01 1.33422788e+02] [-6.71734876e-01 7.34022807e-01 -9.99138354e-02 -3.93149563e+01] [-1.44771212e-01 2.19767373e-03 9.89462716e-01 -1.64085223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters 0.032374800955376024 Centerline is valid? [True, True] Translation: X:133.47, Y:-39.35, Z:-16.41 [[ 7.22825494e-01 6.83022254e-01 1.04899500e-01 1.33470639e+02] [-6.75646204e-01 7.30396036e-01 -1.00119122e-01 -3.93542813e+01] [-1.45001767e-01 1.49370536e-03 9.89430269e-01 -1.64145470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters 0.03215307721020145 Centerline is valid? [True, True] Translation: X:133.52, Y:-39.39, Z:-16.42 [[ 7.19803483e-01 6.86385813e-01 1.03718180e-01 1.33518022e+02] [-6.79197577e-01 7.27237068e-01 -9.90802600e-02 -3.93937354e+01] [-1.43434990e-01 8.73179755e-04 9.89659356e-01 -1.64232982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters 0.03219642807416691 Centerline is valid? [True, True] Translation: X:133.57, Y:-39.43, Z:-16.43 [[ 7.17639473e-01 6.88548796e-01 1.04375012e-01 1.33566923e+02] [-6.81277711e-01 7.25189832e-01 -9.98017449e-02 -3.94333224e+01] [-1.44410069e-01 5.13302505e-04 9.89517796e-01 -1.64291484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters 0.03187482592169009 Centerline is valid? [True, True] Translation: X:133.62, Y:-39.47, Z:-16.44 [[ 7.16754962e-01 6.89813520e-01 1.02076603e-01 1.33616281e+02] [-6.82859528e-01 7.23987019e-01 -9.77019053e-02 -3.94716960e+01] [-1.41298230e-01 3.24344700e-04 9.89967022e-01 -1.64354319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters 0.03202481585868615 Centerline is valid? [True, True] Translation: X:133.67, Y:-39.51, Z:-16.44 [[ 7.18566845e-01 6.87933044e-01 1.02028505e-01 1.33665724e+02] [-6.80953610e-01 7.25773757e-01 -9.77478114e-02 -3.95109711e+01] [-1.41293561e-01 7.61657971e-04 9.89967449e-01 -1.64421157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters 0.03225806540989884 Centerline is valid? [True, True] Translation: X:133.71, Y:-39.55, Z:-16.45 [[ 7.23197001e-01 6.83314477e-01 1.00336546e-01 1.33711988e+02] [-6.76507344e-01 7.30122178e-01 -9.62258717e-02 -3.95531217e+01] [-1.39010469e-01 1.71185124e-03 9.90289432e-01 -1.64495684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters 0.03261661638608612 Centerline is valid? [True, True] Translation: X:133.76, Y:-39.60, Z:-16.46 [[ 7.24667451e-01 6.81423677e-01 1.02561485e-01 1.33757344e+02] [-6.74276271e-01 7.31885884e-01 -9.84609758e-02 -3.95955657e+01] [-1.42156943e-01 2.19668902e-03 9.89841693e-01 -1.64571384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters 0.03252495583836334 Centerline is valid? [True, True] Translation: X:133.80, Y:-39.64, Z:-16.47 [[ 7.24504227e-01 6.81833048e-01 1.00981776e-01 1.33799761e+02] [-6.74897021e-01 7.31504673e-01 -9.70305393e-02 -3.96400860e+01] [-1.40027269e-01 2.14673629e-03 9.90145320e-01 -1.64658732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters 0.03228961276437188 Centerline is valid? [True, True] Translation: X:133.84, Y:-39.68, Z:-16.47 [[ 7.22415918e-01 6.83819233e-01 1.02501207e-01 1.33844530e+02] [-6.76679089e-01 7.29649108e-01 -9.85778368e-02 -3.96819773e+01] [-1.42199335e-01 1.85377506e-03 9.89836306e-01 -1.64729160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters 0.031811859622098496 Centerline is valid? [True, True] Translation: X:133.89, Y:-39.73, Z:-16.48 [[ 7.20040765e-01 6.86394458e-01 1.01999729e-01 1.33885612e+02] [-6.79338314e-01 7.27228086e-01 -9.81772177e-02 -3.97277548e+01] [-1.41565366e-01 1.39927498e-03 9.89927921e-01 -1.64805037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters 0.0318360700820665 Centerline is valid? [True, True] Translation: X:133.93, Y:-39.77, Z:-16.49 [[ 7.18690335e-01 6.87986860e-01 1.00788310e-01 1.33931938e+02] [-6.81101556e-01 7.25722255e-01 -9.70972708e-02 -3.97685570e+01] [-1.39945966e-01 1.13579549e-03 9.90158491e-01 -1.64887759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters 0.031920260644310666 Centerline is valid? [True, True] Translation: X:133.98, Y:-39.81, Z:-16.50 [[ 7.18122481e-01 6.88497860e-01 1.01344957e-01 1.33976960e+02] [-6.81528027e-01 7.25237525e-01 -9.77245108e-02 -3.98124331e+01] [-1.40782282e-01 1.10873964e-03 9.90039959e-01 -1.64961951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters 0.03143997003440086 Centerline is valid? [True, True] Translation: X:134.02, Y:-39.86, Z:-16.50 [[ 7.16716098e-01 6.90061962e-01 1.00660437e-01 1.34021092e+02] [-6.83187962e-01 7.23749775e-01 -9.71620952e-02 -3.98554852e+01] [-1.39900834e-01 8.67639054e-04 9.90165140e-01 -1.65025166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters 0.031136693963344307 Centerline is valid? [True, True] Translation: X:134.07, Y:-39.90, Z:-16.51 [[ 7.15276119e-01 6.91448837e-01 1.01383328e-01 1.34067233e+02] [-6.84476043e-01 7.22425124e-01 -9.79514540e-02 -3.98975102e+01] [-1.40970282e-01 6.67876974e-04 9.90013603e-01 -1.65089723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters 0.030903204516304888 Centerline is valid? [True, True] Translation: X:134.12, Y:-39.94, Z:-16.52 [[ 7.13562761e-01 6.93473403e-01 9.96133791e-02 1.34115047e+02] [-6.86749131e-01 7.20482150e-01 -9.63384831e-02 -3.99362326e+01] [-1.38577837e-01 3.34152552e-04 9.90351489e-01 -1.65175673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters 0.030733646653637835 Centerline is valid? [True, True] Translation: X:134.16, Y:-39.98, Z:-16.53 [[ 7.12484609e-01 6.94624051e-01 9.93131881e-02 1.34161498e+02] [-6.87938891e-01 7.19372919e-01 -9.61388843e-02 -3.99786408e+01] [-1.38223599e-01 1.76070927e-04 9.90401033e-01 -1.65253150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters 0.03090091112578736 Centerline is valid? [True, True] Translation: X:134.21, Y:-40.02, Z:-16.53 [[ 7.11149774e-01 6.95783241e-01 1.00755551e-01 1.34208262e+02] [-6.88898750e-01 7.18251823e-01 -9.76362166e-02 -4.00189797e+01] [-1.40301501e-01 2.36004158e-05 9.90108826e-01 -1.65319188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters 0.030497160789003174 Centerline is valid? [True, True] Translation: X:134.26, Y:-40.06, Z:-16.54 [[ 7.09643758e-01 6.97516515e-01 9.93803180e-02 1.34256358e+02] [-6.90824168e-01 7.16568662e-01 -9.63914996e-02 -4.00575152e+01] [-1.38447484e-01 -2.50699467e-04 9.90369745e-01 -1.65397171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters 0.030427610029342158 Centerline is valid? [True, True] Translation: X:134.31, Y:-40.09, Z:-16.55 [[ 7.07989750e-01 6.99103481e-01 1.00024182e-01 1.34306611e+02] [-6.92326951e-01 7.15020330e-01 -9.71046894e-02 -4.00937976e+01] [-1.39405550e-01 -5.00312121e-04 9.90235246e-01 -1.65470240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters 0.030678510331657735 Centerline is valid? [True, True] Translation: X:134.35, Y:-40.13, Z:-16.55 [[ 7.07088398e-01 7.00112817e-01 9.93380145e-02 1.34354215e+02] [-6.93427607e-01 7.14031962e-01 -9.65220809e-02 -4.01339038e+01] [-1.38506863e-01 -6.34078049e-04 9.90361271e-01 -1.65533479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters 0.030662532394632343 Centerline is valid? [True, True] Translation: X:134.41, Y:-40.17, Z:-16.56 [[ 7.08287331e-01 6.99170651e-01 9.74138452e-02 1.34405919e+02] [-6.92722477e-01 7.14954724e-01 -9.47381268e-02 -4.01692660e+01] [-1.35884607e-01 -3.78945148e-04 9.90724599e-01 -1.65606825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters 0.03062859008680657 Centerline is valid? [True, True] Translation: X:134.46, Y:-40.21, Z:-16.57 [[ 7.08616858e-01 6.98779805e-01 9.78209172e-02 1.34455313e+02] [-6.92261366e-01 7.15336792e-01 -9.52232926e-02 -4.02081053e+01] [-1.36515015e-01 -2.40811382e-04 9.90637973e-01 -1.65688051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters 0.030703390727791754 Centerline is valid? [True, True] Translation: X:134.51, Y:-40.24, Z:-16.58 [[ 7.11531878e-01 6.95866831e-01 9.74255569e-02 1.34508023e+02] [-6.89360379e-01 7.18170733e-01 -9.49371709e-02 -4.02440699e+01] [-1.36031812e-01 3.89504691e-04 9.90704393e-01 -1.65769864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters 0.030850135195016278 Centerline is valid? [True, True] Translation: X:134.56, Y:-40.28, Z:-16.58 [[ 7.16154878e-01 6.91361096e-01 9.56139427e-02 1.34557806e+02] [-6.85042309e-01 7.22508241e-01 -9.32677653e-02 -4.02832434e+01] [-1.33563566e-01 1.29456896e-03 9.91039403e-01 -1.65841594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters 0.031214039827546513 Centerline is valid? [True, True] Translation: X:134.61, Y:-40.32, Z:-16.59 [[ 7.18992490e-01 6.88485744e-01 9.50640796e-02 1.34605919e+02] [-6.82202160e-01 7.25247419e-01 -9.28245347e-02 -4.03225318e+01] [-1.32853347e-01 1.88722288e-03 9.91133909e-01 -1.65919035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters 0.032017185546870094 Centerline is valid? [True, True] Translation: X:134.65, Y:-40.36, Z:-16.60 [[ 7.22676172e-01 6.84647891e-01 9.48494369e-02 1.34654543e+02] [-6.78348738e-01 7.28869158e-01 -9.26970339e-02 -4.03612204e+01] [-1.32597658e-01 2.64894177e-03 9.91166406e-01 -1.65994881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters 0.03243595039238896 Centerline is valid? [True, True] Translation: X:134.70, Y:-40.40, Z:-16.61 [[ 7.24757030e-01 6.82487327e-01 9.45425627e-02 1.34703161e+02] [-6.76200007e-01 7.30890878e-01 -9.24774298e-02 -4.04005822e+01] [-1.32214971e-01 3.09398585e-03 9.91216237e-01 -1.66058232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters 0.033254283107400306 Centerline is valid? [True, True] Translation: X:134.75, Y:-40.44, Z:-16.61 [[ 7.28342142e-01 6.78691661e-01 9.43151816e-02 1.34750464e+02] [-6.72392420e-01 7.34413325e-01 -9.23336404e-02 -4.04395742e+01] [-1.31932398e-01 3.83366825e-03 9.91251303e-01 -1.66143819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters 0.03498553813589005 Centerline is valid? [True, True] Translation: X:134.80, Y:-40.48, Z:-16.62 [[ 7.35194031e-01 6.71652400e-01 9.15029585e-02 1.34798177e+02] [-6.65662058e-01 7.40849582e-01 -8.96433014e-02 -4.04783611e+01] [-1.27999067e-01 4.99517242e-03 9.91761709e-01 -1.66197916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters 0.037997944571681076 Centerline is valid? [True, True] Translation: X:134.84, Y:-40.52, Z:-16.63 [[ 7.42874357e-01 6.63109948e-01 9.17762795e-02 1.34840227e+02] [-6.57016846e-01 7.48493767e-01 -8.99218858e-02 -4.05214879e+01] [-1.28322070e-01 6.50210144e-03 9.91711233e-01 -1.66275929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters 0.03948382745689505 Centerline is valid? [True, True] Translation: X:134.88, Y:-40.56, Z:-16.63 [[ 7.46840847e-01 6.58619481e-01 9.19191377e-02 1.34883158e+02] [-6.52472126e-01 7.52440806e-01 -9.00719667e-02 -4.05640136e+01] [-1.28486862e-01 7.29474872e-03 9.91684382e-01 -1.66337649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters 0.03954551960638014 Centerline is valid? [True, True] Translation: X:134.92, Y:-40.61, Z:-16.64 [[ 7.46915180e-01 6.58571814e-01 9.16563063e-02 1.34924608e+02] [-6.52457124e-01 7.52482524e-01 -8.98318011e-02 -4.06100679e+01] [-1.28130461e-01 7.29492596e-03 9.91730492e-01 -1.66413609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters 0.03917021305687744 Centerline is valid? [True, True] Translation: X:134.96, Y:-40.66, Z:-16.65 [[ 7.45934788e-01 6.59726739e-01 9.13341266e-02 1.34963973e+02] [-6.53654447e-01 7.51471791e-01 -8.95880119e-02 -4.06586044e+01] [-1.27738627e-01 7.12585661e-03 9.91782267e-01 -1.66489102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters 0.03815900677003769 Centerline is valid? [True, True] Translation: X:135.00, Y:-40.71, Z:-16.66 [[ 7.44427079e-01 6.61391502e-01 9.15947874e-02 1.35001812e+02] [-6.55288060e-01 7.50009008e-01 -8.99113222e-02 -4.07091445e+01] [-1.28163500e-01 6.91145235e-03 9.91728970e-01 -1.66557024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters 0.038573299296927356 Centerline is valid? [True, True] Translation: X:135.04, Y:-40.76, Z:-16.66 [[ 7.43090016e-01 6.62661291e-01 9.32590039e-02 1.35042074e+02] [-6.56338541e-01 7.48887984e-01 -9.15778737e-02 -4.07563816e+01] [-1.30525659e-01 6.84112504e-03 9.91421329e-01 -1.66624921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters 0.03746445118897902 Centerline is valid? [True, True] Translation: X:135.08, Y:-40.81, Z:-16.67 [[ 7.40860328e-01 6.65214492e-01 9.28205439e-02 1.35080306e+02] [-6.58962248e-01 7.46624778e-01 -9.12151063e-02 -4.08051471e+01] [-1.29979729e-01 6.41241927e-03 9.91495916e-01 -1.66694154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters 0.03554332898635858 Centerline is valid? [True, True] Translation: X:135.12, Y:-40.85, Z:-16.68 [[ 7.36089753e-01 6.70738383e-01 9.10049340e-02 1.35118088e+02] [-6.64769126e-01 7.41674778e-01 -8.94456993e-02 -4.08535903e+01] [-1.27490728e-01 5.34279231e-03 9.91825372e-01 -1.66760358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters 0.03368855793375125 Centerline is valid? [True, True] Translation: X:135.16, Y:-40.90, Z:-16.68 [[ 7.28386996e-01 6.78652179e-01 9.42528693e-02 1.35157089e+02] [-6.72311018e-01 7.34448280e-01 -9.26478218e-02 -4.08999070e+01] [-1.32099504e-01 4.11622613e-03 9.91227914e-01 -1.66834435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters 0.03214810451748858 Centerline is valid? [True, True] Translation: X:135.20, Y:-40.94, Z:-16.69 [[ 7.22734474e-01 6.84676725e-01 9.41948075e-02 1.35199998e+02] [-6.78392943e-01 7.28840618e-01 -9.25978891e-02 -4.09437333e+01] [-1.32052621e-01 3.02259402e-03 9.91238099e-01 -1.66901203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters 0.03133911866534032 Centerline is valid? [True, True] Translation: X:135.24, Y:-40.99, Z:-16.70 [[ 7.16393422e-01 6.91344811e-01 9.39298552e-02 1.35241866e+02] [-6.85150849e-01 7.22522728e-01 -9.23537864e-02 -4.09885041e+01] [-1.31714766e-01 1.80552511e-03 9.91286013e-01 -1.66968645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters 0.03106679859987689 Centerline is valid? [True, True] Translation: X:135.29, Y:-41.02, Z:-16.70 [[ 7.10421167e-01 6.97271889e-01 9.54655883e-02 1.35293693e+02] [-6.90922548e-01 7.16806366e-01 -9.38864557e-02 -4.10243629e+01] [-1.33894728e-01 7.39597986e-04 9.90995285e-01 -1.67031944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters 0.030463645570036436 Centerline is valid? [True, True] Translation: X:135.34, Y:-41.06, Z:-16.71 [[ 7.05797635e-01 7.02258235e-01 9.31829908e-02 1.35341657e+02] [-6.96242456e-01 7.11922294e-01 -9.17228991e-02 -4.10637576e+01] [-1.30752210e-01 -1.40149080e-04 9.91415069e-01 -1.67111596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters 0.030461952090059176 Centerline is valid? [True, True] Translation: X:135.39, Y:-41.10, Z:-16.72 [[ 7.02546859e-01 7.05468634e-01 9.34982215e-02 1.35394621e+02] [-6.99428826e-01 7.08740817e-01 -9.21182435e-02 -4.10994986e+01] [-1.31252537e-01 -6.77968716e-04 9.91348734e-01 -1.67177675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters 0.030405234211701604 Centerline is valid? [True, True] Translation: X:135.45, Y:-41.13, Z:-16.72 [[ 7.03695083e-01 7.04437381e-01 9.26347970e-02 1.35446299e+02] [-6.98487948e-01 7.09766021e-01 -9.13607235e-02 -4.11348551e+01] [-1.30106940e-01 -4.14197294e-04 9.91499880e-01 -1.67240660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters 0.030498304148440653 Centerline is valid? [True, True] Translation: X:135.50, Y:-41.17, Z:-16.73 [[ 7.08850627e-01 6.99395730e-01 9.15226811e-02 1.35499379e+02] [-6.93535874e-01 7.14734418e-01 -9.03476785e-02 -4.11698763e+01] [-1.28603191e-01 5.68745916e-04 9.91695969e-01 -1.67319593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters 0.03098695963851045 Centerline is valid? [True, True] Translation: X:135.55, Y:-41.21, Z:-16.74 [[ 7.12059923e-01 6.95983193e-01 9.26178174e-02 1.35547610e+02] [-6.89940248e-01 7.18056949e-01 -9.15241600e-02 -4.12082700e+01] [-1.30204145e-01 1.26992639e-03 9.91486393e-01 -1.67392411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters 0.031701593916927145 Centerline is valid? [True, True] Translation: X:135.60, Y:-41.25, Z:-16.75 [[ 7.16105011e-01 6.91600407e-01 9.42469675e-02 1.35596802e+02] [-6.85293309e-01 7.22277089e-01 -9.32142010e-02 -4.12462265e+01] [-1.32539405e-01 2.16434014e-03 9.91175374e-01 -1.67463412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters 0.03251713692965805 Centerline is valid? [True, True] Translation: X:135.64, Y:-41.29, Z:-16.76 [[ 7.16829671e-01 6.90485402e-01 9.68768910e-02 1.35644068e+02] [-6.83797583e-01 7.23342003e-01 -9.59020974e-02 -4.12864553e+01] [-1.36294123e-01 2.50128500e-03 9.90665259e-01 -1.67550129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters 0.032667959648271974 Centerline is valid? [True, True] Translation: X:135.69, Y:-41.33, Z:-16.76 [[ 7.17956453e-01 6.89474590e-01 9.57252390e-02 1.35690703e+02] [-6.82925286e-01 7.24304758e-01 -9.48455146e-02 -4.13285592e+01] [-1.34727818e-01 2.72176311e-03 9.90878906e-01 -1.67632672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters 0.033677505366884526 Centerline is valid? [True, True] Translation: X:135.74, Y:-41.37, Z:-16.77 [[ 7.21225925e-01 6.85866892e-01 9.70555129e-02 1.35736039e+02] [-6.79089052e-01 7.27718561e-01 -9.62484018e-02 -4.13706574e+01] [-1.36642690e-01 3.50750634e-03 9.90614190e-01 -1.67709381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters 0.034482068685417484 Centerline is valid? [True, True] Translation: X:135.78, Y:-41.41, Z:-16.78 [[ 7.23663194e-01 6.83257379e-01 9.73187290e-02 1.35779209e+02] [-6.76414382e-01 7.30166459e-01 -9.65428684e-02 -4.14149129e+01] [-1.37022499e-01 4.03673257e-03 9.90559710e-01 -1.67785902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters 0.03455073725747461 Centerline is valid? [True, True] Translation: X:135.82, Y:-41.46, Z:-16.79 [[ 7.22897250e-01 6.84095091e-01 9.71260616e-02 1.35822779e+02] [-6.77275471e-01 7.29382243e-01 -9.64338125e-02 -4.14584406e+01] [-1.36811922e-01 3.93063872e-03 9.90589243e-01 -1.67854984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters 0.034358191310127593 Centerline is valid? [True, True] Translation: X:135.87, Y:-41.50, Z:-16.79 [[ 7.21631835e-01 6.85358836e-01 9.76256191e-02 1.35866056e+02] [-6.78468557e-01 7.28195746e-01 -9.70122308e-02 -4.15024921e+01] [-1.37578750e-01 3.77120124e-03 9.90483652e-01 -1.67919581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters 0.03327229469976071 Centerline is valid? [True, True] Translation: X:135.91, Y:-41.55, Z:-16.80 [[ 7.18337452e-01 6.89102603e-01 9.55453193e-02 1.35905798e+02] [-6.82527427e-01 7.24657406e-01 -9.50155554e-02 -4.15495889e+01] [-1.34713090e-01 3.04093100e-03 9.90879981e-01 -1.67998982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters 0.032827361246781823 Centerline is valid? [True, True] Translation: X:135.95, Y:-41.59, Z:-16.81 [[ 7.15080551e-01 6.92412093e-01 9.60484240e-02 1.35948314e+02] [-6.85792043e-01 7.21498065e-01 -9.55500691e-02 -4.15938931e+01] [-1.35458775e-01 2.45675116e-03 9.90779937e-01 -1.68087463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters 0.03311883664445479 Centerline is valid? [True, True] Translation: X:135.99, Y:-41.64, Z:-16.81 [[ 7.16047493e-01 6.91302314e-01 9.68354205e-02 1.35990843e+02] [-6.84551129e-01 7.22560410e-01 -9.64168296e-02 -4.16389017e+01] [-1.36622619e-01 2.75023271e-03 9.90619350e-01 -1.68128628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters 0.0334836738088613 Centerline is valid? [True, True] Translation: X:136.03, Y:-41.68, Z:-16.82 [[ 7.17588202e-01 6.89844365e-01 9.58223571e-02 1.36033490e+02] [-6.83210176e-01 7.23951250e-01 -9.54905377e-02 -4.16832404e+01] [-1.35244325e-01 3.05607379e-03 9.90807566e-01 -1.68207121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters 0.03424362106300752 Centerline is valid? [True, True] Translation: X:136.07, Y:-41.73, Z:-16.83 [[ 7.21097403e-01 6.86243352e-01 9.53341376e-02 1.36072058e+02] [-6.79634423e-01 7.27362237e-01 -9.50853715e-02 -4.17313278e+01] [-1.34594156e-01 3.77345286e-03 9.90893624e-01 -1.68287739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters 0.03464082051034832 Centerline is valid? [True, True] Translation: X:136.11, Y:-41.78, Z:-16.83 [[ 7.22156680e-01 6.85153980e-01 9.51512091e-02 1.36110659e+02] [-6.78550768e-01 7.28387139e-01 -9.49791074e-02 -4.17807877e+01] [-1.34382230e-01 4.02487088e-03 9.90921398e-01 -1.68342589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters 0.03492830731724013 Centerline is valid? [True, True] Translation: X:136.15, Y:-41.83, Z:-16.84 [[ 7.23170891e-01 6.84092824e-01 9.50834873e-02 1.36148345e+02] [-6.77478928e-01 7.29382409e-01 -9.49926479e-02 -4.18311857e+01] [-1.34336012e-01 4.27885878e-03 9.90926600e-01 -1.68402720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters 0.03410741901600835 Centerline is valid? [True, True] Translation: X:136.18, Y:-41.88, Z:-16.85 [[ 7.20745360e-01 6.86772215e-01 9.41809470e-02 1.36183878e+02] [-6.80295895e-01 7.26862759e-01 -9.41701914e-02 -4.18834717e+01] [-1.33130094e-01 3.80181684e-03 9.91091279e-01 -1.68479734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters 0.033965224802503 Centerline is valid? [True, True] Translation: X:136.21, Y:-41.89, Z:-16.85 [[ 6.70813920e-01 7.36375440e-01 8.80902726e-02 1.36210650e+02] [-7.29373228e-01 6.76562716e-01 -1.01378427e-01 -4.18910911e+01] [-1.34251178e-01 3.75537357e-03 9.90940219e-01 -1.68489555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters 0.03365892332114259 Centerline is valid? [True, True] Translation: X:136.17, Y:-42.28, Z:-14.87 [[ 6.88679534e-01 -7.22425852e-01 -6.18173679e-02 1.36166341e+02] [-7.18746752e-01 -6.91423403e-01 7.30533023e-02 -4.22755656e+01] [-9.55175690e-02 -5.87928185e-03 -9.95410382e-01 -1.48745319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters 0.03334508927796575 Centerline is valid? [True, True] Translation: X:136.24, Y:-41.97, Z:-16.86 [[ 7.19837140e-01 6.87571875e-01 9.52859315e-02 1.36235404e+02] [-6.81060199e-01 7.26109723e-01 -9.44546224e-02 -4.19690690e+01] [-1.34132383e-01 3.09648974e-03 9.90958584e-01 -1.68592695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters 0.03251533651197441 Centerline is valid? [True, True] Translation: X:136.27, Y:-42.02, Z:-16.87 [[ 7.14492109e-01 6.93088586e-01 9.55470457e-02 1.36273059e+02] [-6.86578474e-01 7.20849271e-01 -9.47962373e-02 -4.20191963e+01] [-1.34577208e-01 2.13061861e-03 9.90900820e-01 -1.68664024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters 0.03145591005509621 Centerline is valid? [True, True] Translation: X:136.31, Y:-42.07, Z:-16.87 [[ 7.05729227e-01 7.02082399e-01 9.50082226e-02 1.36312306e+02] [-6.95714787e-01 7.12095549e-01 -9.43443871e-02 -4.20677374e+01] [-1.33892466e-01 4.82966034e-04 9.90995749e-01 -1.68736424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters 0.03129523217699181 Centerline is valid? [True, True] Translation: X:136.35, Y:-42.11, Z:-16.88 [[ 7.00906243e-01 7.06943711e-01 9.46627109e-02 1.36354246e+02] [-7.00654798e-01 7.07269712e-01 -9.40872397e-02 -4.21145693e+01] [-1.33466451e-01 -3.79548847e-04 9.91053259e-01 -1.68799746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters 0.031709837883373435 Centerline is valid? [True, True] Translation: X:136.40, Y:-42.16, Z:-16.89 [[ 6.94066644e-01 7.13429048e-01 9.63871776e-02 1.36399081e+02] [-7.06955819e-01 7.00725694e-01 -9.59008478e-02 -4.21574302e+01] [-1.35959422e-01 -1.57989654e-03 9.90713147e-01 -1.68872257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters 0.031900741201592135 Centerline is valid? [True, True] Translation: X:136.45, Y:-42.20, Z:-16.89 [[ 6.90628201e-01 7.16741055e-01 9.65139841e-02 1.36445401e+02] [-7.10270719e-01 6.97336034e-01 -9.61143156e-02 -4.21978698e+01] [-1.36191755e-01 -2.17180004e-03 9.90680114e-01 -1.68938850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters 0.03180736654269298 Centerline is valid? [True, True] Translation: X:136.49, Y:-42.24, Z:-16.90 [[ 6.88050125e-01 7.19362509e-01 9.54180609e-02 1.36491634e+02] [-7.13052868e-01 6.94629982e-01 -9.51041277e-02 -4.22390656e+01] [-1.34694590e-01 -2.60171495e-03 9.90883746e-01 -1.69006619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters 0.031711726899060544 Centerline is valid? [True, True] Translation: X:136.54, Y:-42.28, Z:-16.91 [[ 6.87465924e-01 7.19669392e-01 9.72962970e-02 1.36541235e+02] [-7.13098187e-01 6.94311843e-01 -9.70671887e-02 -4.22769624e+01] [-1.37410256e-01 -2.65142850e-03 9.90510672e-01 -1.69067205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters 0.031377241280013755 Centerline is valid? [True, True] Translation: X:136.59, Y:-42.32, Z:-16.91 [[ 6.89666175e-01 7.17557881e-01 9.73203714e-02 1.36589287e+02] [-7.10949922e-01 6.96495507e-01 -9.71813634e-02 -4.23167312e+01] [-1.37516455e-01 -2.16721124e-03 9.90497112e-01 -1.69142797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters 0.03127993445626269 Centerline is valid? [True, True] Translation: X:136.64, Y:-42.36, Z:-16.92 [[ 6.91605961e-01 7.15519058e-01 9.85579655e-02 1.36636089e+02] [-7.08707255e-01 6.98591102e-01 -9.85114122e-02 -4.23587588e+01] [-1.39338511e-01 -1.71766529e-03 9.90243318e-01 -1.69207134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters 0.03103040553305154 Centerline is valid? [True, True] Translation: X:136.62, Y:-42.73, Z:-14.95 [[ 7.56838806e-01 -6.50704725e-01 -6.14685461e-02 1.36621156e+02] [-6.47591686e-01 -7.59280289e-01 6.41751519e-02 -4.27289394e+01] [-8.84309300e-02 -8.76372596e-03 -9.96043758e-01 -1.49497821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters 0.03129486415831665 Centerline is valid? [True, True] Translation: X:136.68, Y:-42.41, Z:-16.93 [[ 7.51938329e-01 6.50621038e-01 1.06212118e-01 1.36683931e+02] [-6.44130253e-01 7.59402393e-01 -9.16745444e-02 -4.24053123e+01] [-1.40303124e-01 5.19165162e-04 9.90108461e-01 -1.69294083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters 0.03142823887126716 Centerline is valid? [True, True] Translation: X:136.73, Y:-42.44, Z:-16.93 [[ 7.56906577e-01 6.45489217e-01 1.02157249e-01 1.36733692e+02] [-6.39428043e-01 7.63767940e-01 -8.82627407e-02 -4.24427867e+01] [-1.34997079e-01 1.48443909e-03 9.90844884e-01 -1.69348887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters 0.03195408981016346 Centerline is valid? [True, True] Translation: X:136.78, Y:-42.48, Z:-16.94 [[ 7.59650846e-01 6.42154404e-01 1.02802306e-01 1.36782635e+02] [-6.35974522e-01 7.66572295e-01 -8.89006453e-02 -4.24809278e+01] [-1.35893340e-01 2.15380304e-03 9.90721132e-01 -1.69424597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters 0.032627240433317405 Centerline is valid? [True, True] Translation: X:136.83, Y:-42.52, Z:-16.95 [[ 7.61081401e-01 6.40327545e-01 1.03613399e-01 1.36831579e+02] [-6.34021325e-01 7.68097695e-01 -8.96821625e-02 -4.25193692e+01] [-1.37011172e-01 2.56232137e-03 9.90566188e-01 -1.69498686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters 0.03275532507505108 Centerline is valid? [True, True] Translation: X:136.88, Y:-42.56, Z:-16.96 [[ 7.62419978e-01 6.38914964e-01 1.02486324e-01 1.36878756e+02] [-6.32722369e-01 7.69272102e-01 -8.87853415e-02 -4.25605574e+01] [-1.35566153e-01 2.84632829e-03 9.90764208e-01 -1.69583448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters 0.03306767831748524 Centerline is valid? [True, True] Translation: X:136.93, Y:-42.60, Z:-16.96 [[ 7.64673119e-01 6.36690284e-01 9.95012703e-02 1.36925423e+02] [-6.30824866e-01 7.71112945e-01 -8.62833396e-02 -4.26022325e+01] [-1.31662482e-01 3.21067494e-03 9.91289404e-01 -1.69634396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters 0.03349113447354377 Centerline is valid? [True, True] Translation: X:136.97, Y:-42.64, Z:-16.97 [[ 7.64863939e-01 6.36282918e-01 1.00634008e-01 1.36971001e+02] [-6.30267361e-01 7.71448365e-01 -8.73525870e-02 -4.26437473e+01] [-1.33214900e-01 3.38651285e-03 9.91081390e-01 -1.69703454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters 0.03340096504443057 Centerline is valid? [True, True] Translation: X:137.02, Y:-42.69, Z:-16.98 [[ 7.63097231e-01 6.38310463e-01 1.01204588e-01 1.37015446e+02] [-6.32233447e-01 7.69772745e-01 -8.79249124e-02 -4.26869480e+01] [-1.34027925e-01 3.11033190e-03 9.90972674e-01 -1.69764760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters 0.033425153331253614 Centerline is valid? [True, True] Translation: X:137.06, Y:-42.73, Z:-16.98 [[ 7.63072036e-01 6.38376156e-01 1.00979955e-01 1.37061451e+02] [-6.32316319e-01 7.69718096e-01 -8.78073145e-02 -4.27301189e+01] [-1.33780195e-01 3.15203265e-03 9.91006016e-01 -1.69846959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters 0.03343272507744033 Centerline is valid? [True, True] Translation: X:137.11, Y:-42.77, Z:-16.99 [[ 7.63658991e-01 6.37690785e-01 1.00873232e-01 1.37107694e+02] [-6.31626370e-01 7.70285234e-01 -8.77996989e-02 -4.27716751e+01] [-1.33690220e-01 3.33483635e-03 9.91017560e-01 -1.69911347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters 0.034017429476991205 Centerline is valid? [True, True] Translation: X:137.15, Y:-42.81, Z:-17.00 [[ 7.66119861e-01 6.34739567e-01 1.00826786e-01 1.37151960e+02] [-6.28645753e-01 7.72716275e-01 -8.78298091e-02 -4.28147154e+01] [-1.33659554e-01 3.90383018e-03 9.91019618e-01 -1.69958302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters 0.03412435590629358 Centerline is valid? [True, True] Translation: X:137.20, Y:-42.86, Z:-17.00 [[ 7.66633230e-01 6.34283068e-01 9.97921839e-02 1.37198173e+02] [-6.28304434e-01 7.73090664e-01 -8.69733541e-02 -4.28572689e+01] [-1.32314132e-01 3.97679181e-03 9.91199857e-01 -1.70032998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters 0.03385079802663645 Centerline is valid? [True, True] Translation: X:137.24, Y:-42.90, Z:-17.01 [[ 7.65035729e-01 6.36039366e-01 1.00867527e-01 1.37242089e+02] [-6.29934084e-01 7.71647349e-01 -8.79966934e-02 -4.29004230e+01] [-1.33803521e-01 3.78072095e-03 9.91000668e-01 -1.70118105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters 0.03430975135148797 Centerline is valid? [True, True] Translation: X:137.29, Y:-42.94, Z:-17.02 [[ 7.65631052e-01 6.34983922e-01 1.02978205e-01 1.37287577e+02] [-6.28598786e-01 7.72514412e-01 -8.99169039e-02 -4.29423739e+01] [-1.36647936e-01 4.11119905e-03 9.90611145e-01 -1.70178028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters 0.03381207434314437 Centerline is valid? [True, True] Translation: X:137.33, Y:-42.99, Z:-17.02 [[ 7.65968092e-01 6.34994478e-01 1.00373777e-01 1.37331918e+02] [-6.28919917e-01 7.72506000e-01 -8.77166908e-02 -4.29855717e+01] [-1.33238959e-01 4.06111865e-03 9.91075621e-01 -1.70249223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters 0.033209071265478944 Centerline is valid? [True, True] Translation: X:137.38, Y:-43.03, Z:-17.03 [[ 7.64037790e-01 6.37488050e-01 9.92735715e-02 1.37377161e+02] [-6.31557621e-01 7.70451627e-01 -8.68289154e-02 -4.30276507e+01] [-1.31837881e-01 3.64359193e-03 9.91264595e-01 -1.70305869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters 0.031860241449239976 Centerline is valid? [True, True] Translation: X:137.42, Y:-43.07, Z:-17.04 [[ 7.58137659e-01 6.43965709e-01 1.02642364e-01 1.37421633e+02] [-6.37672678e-01 7.65049716e-01 -8.98470251e-02 -4.30715569e+01] [-1.36384915e-01 2.66418212e-03 9.90652339e-01 -1.70375494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters 0.030756898763551362 Centerline is valid? [True, True] Translation: X:137.47, Y:-43.11, Z:-17.04 [[ 7.53437241e-01 6.49802517e-01 1.00444077e-01 1.37468740e+02] [-6.43825380e-01 7.60101406e-01 -8.79473292e-02 -4.31099229e+01] [-1.33496080e-01 1.59434722e-03 9.91048059e-01 -1.70449281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters 0.03038656404392208 Centerline is valid? [True, True] Translation: X:137.52, Y:-43.15, Z:-17.05 [[ 7.51467757e-01 6.51987890e-01 1.01034655e-01 1.37516423e+02] [-6.45956380e-01 7.58228378e-01 -8.84877470e-02 -4.31503989e+01] [-1.34300282e-01 1.23170901e-03 9.90939916e-01 -1.70523661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters 0.030567702298721404 Centerline is valid? [True, True] Translation: X:137.57, Y:-43.18, Z:-17.06 [[ 7.51639766e-01 6.51636189e-01 1.02019307e-01 1.37569660e+02] [-6.45470283e-01 7.58530408e-01 -8.94412287e-02 -4.31843580e+01] [-1.35667888e-01 1.37715336e-03 9.90753414e-01 -1.70567446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters 0.030560023105353773 Centerline is valid? [True, True] Translation: X:137.62, Y:-43.22, Z:-17.07 [[ 7.52815923e-01 6.50519363e-01 1.00462654e-01 1.37621660e+02] [-6.44520653e-01 7.59487955e-01 -8.81542626e-02 -4.32185974e+01] [-1.33646230e-01 1.61367729e-03 9.91027790e-01 -1.70652766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters 0.030674826046463793 Centerline is valid? [True, True] Translation: X:137.67, Y:-43.26, Z:-17.07 [[ 7.55991812e-01 6.47021866e-01 9.91921636e-02 1.37671463e+02] [-6.41134211e-01 7.62468084e-01 -8.71168499e-02 -4.32558974e+01] [-1.31997366e-01 2.26413574e-03 9.91247481e-01 -1.70726578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters 0.03173001549838367 Centerline is valid? [True, True] Translation: X:137.72, Y:-43.29, Z:-17.08 [[ 7.59818628e-01 6.42559744e-01 9.89577064e-02 1.37720652e+02] [-6.36651964e-01 7.66229344e-01 -8.69877558e-02 -4.32939660e+01] [-1.31719128e-01 3.09329918e-03 9.91282252e-01 -1.70787220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters 0.03259565546858806 Centerline is valid? [True, True] Translation: X:137.77, Y:-43.33, Z:-17.09 [[ 7.62611873e-01 6.39121674e-01 9.97327240e-02 1.37766460e+02] [-6.33081572e-01 7.69096384e-01 -8.77409573e-02 -4.33341239e+01] [-1.32781225e-01 3.77334602e-03 9.91138188e-01 -1.70880336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters 0.03348100034961096 Centerline is valid? [True, True] Translation: X:137.81, Y:-43.38, Z:-17.10 [[ 7.65674764e-01 6.35423875e-01 9.98932152e-02 1.37811902e+02] [-6.29328110e-01 7.72150693e-01 -8.79172142e-02 -4.33761765e+01] [-1.32997312e-01 4.45038392e-03 9.91106407e-01 -1.70962324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters 0.03440189868636939 Centerline is valid? [True, True] Translation: X:137.86, Y:-43.42, Z:-17.10 [[ 7.68528994e-01 6.32096704e-01 9.90804820e-02 1.37856579e+02] [-6.26069793e-01 7.74873366e-01 -8.72231660e-02 -4.34194734e+01] [-1.31908302e-01 5.00223515e-03 9.91249301e-01 -1.71023855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters 0.03574080825616941 Centerline is valid? [True, True] Translation: X:137.90, Y:-43.46, Z:-17.11 [[ 7.71387947e-01 6.28648282e-01 9.88026955e-02 1.37902088e+02] [-6.22624267e-01 7.77669627e-01 -8.69998446e-02 -4.34613996e+01] [-1.31528158e-01 5.59367570e-03 9.91296653e-01 -1.71111818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters 0.03642512892872731 Centerline is valid? [True, True] Translation: X:137.95, Y:-43.50, Z:-17.12 [[ 7.73044304e-01 6.26425640e-01 9.99671073e-02 1.37945846e+02] [-6.20235825e-01 7.79457582e-01 -8.80533935e-02 -4.35042585e+01] [-1.33079023e-01 6.06599307e-03 9.91086867e-01 -1.71184488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters 0.036870558404361216 Centerline is valid? [True, True] Translation: X:137.99, Y:-43.55, Z:-17.13 [[ 7.73922438e-01 6.25434516e-01 9.93766851e-02 1.37989214e+02] [-6.19300725e-01 7.80251606e-01 -8.76016144e-02 -4.35480483e+01] [-1.32327891e-01 6.25280190e-03 9.91186275e-01 -1.71253605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters 0.03631470415228169 Centerline is valid? [True, True] Translation: X:138.03, Y:-43.59, Z:-17.13 [[ 7.72139998e-01 6.27394825e-01 1.00873968e-01 1.38031669e+02] [-6.21081215e-01 7.78677721e-01 -8.89895022e-02 -4.35938871e+01] [-1.34379864e-01 6.06142764e-03 9.90911354e-01 -1.71335383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters 0.036429039463358716 Centerline is valid? [True, True] Translation: X:138.08, Y:-43.64, Z:-17.14 [[ 7.71515321e-01 6.28126571e-01 1.01099559e-01 1.38077684e+02] [-6.21785952e-01 7.78088238e-01 -8.92240099e-02 -4.36364048e+01] [-1.34708349e-01 5.97540520e-03 9.90867274e-01 -1.71411398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters 0.0362271242706558 Centerline is valid? [True, True] Translation: X:138.12, Y:-43.68, Z:-17.15 [[ 7.71077360e-01 6.28681707e-01 1.00990181e-01 1.38122166e+02] [-6.22347999e-01 7.77640046e-01 -8.92128234e-02 -4.36804164e+01] [-1.34620479e-01 5.93895117e-03 9.90879435e-01 -1.71502111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters 0.03650935426939701 Centerline is valid? [True, True] Translation: X:138.17, Y:-43.72, Z:-17.16 [[ 7.71664426e-01 6.27919941e-01 1.01245055e-01 1.38167865e+02] [-6.21536127e-01 7.78253611e-01 -8.95218390e-02 -4.37225819e+01] [-1.35006878e-01 6.15335919e-03 9.90825554e-01 -1.71573427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters 0.0369605971431239 Centerline is valid? [True, True] Translation: X:138.21, Y:-43.76, Z:-17.17 [[ 7.72365732e-01 6.27181395e-01 1.00472255e-01 1.38213631e+02] [-6.20878936e-01 7.78847809e-01 -8.89125247e-02 -4.37645600e+01] [-1.34016877e-01 6.29188059e-03 9.90959075e-01 -1.71652176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters 0.03659611211048928 Centerline is valid? [True, True] Translation: X:138.26, Y:-43.81, Z:-17.17 [[ 7.71492089e-01 6.28501554e-01 9.89229654e-02 1.38259210e+02] [-6.22394033e-01 7.77784999e-01 -8.76137120e-02 -4.38064094e+01] [-1.32006153e-01 6.02422222e-03 9.91230591e-01 -1.71728109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters 0.036455103718896806 Centerline is valid? [True, True] Translation: X:138.30, Y:-43.85, Z:-17.18 [[ 7.69540742e-01 6.30692401e-01 1.00170564e-01 1.38304699e+02] [-6.24437358e-01 7.76011396e-01 -8.87935827e-02 -4.38481757e+01] [-1.33734937e-01 5.78003735e-03 9.91000281e-01 -1.71804654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters 0.03650244876948664 Centerline is valid? [True, True] Translation: X:138.35, Y:-43.89, Z:-17.19 [[ 7.70033550e-01 6.30356337e-01 9.84846222e-02 1.38351641e+02] [-6.24298564e-01 7.76284286e-01 -8.73728218e-02 -4.38901633e+01] [-1.31528077e-01 5.79619597e-03 9.91295500e-01 -1.71881766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters 0.036695614160663984 Centerline is valid? [True, True] Translation: X:138.40, Y:-43.93, Z:-17.19 [[ 7.69942028e-01 6.30418692e-01 9.88005377e-02 1.38395700e+02] [-6.24311297e-01 7.76233100e-01 -8.77358509e-02 -4.39334667e+01] [-1.32002568e-01 5.86922714e-03 9.91231998e-01 -1.71949499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters 0.035735578835529976 Centerline is valid? [True, True] Translation: X:138.44, Y:-43.98, Z:-17.20 [[ 7.66199366e-01 6.34777947e-01 9.99774478e-02 1.38440311e+02] [-6.28551264e-01 7.72676886e-01 -8.88467108e-02 -4.39750742e+01] [-1.33648196e-01 5.23334236e-03 9.91015021e-01 -1.71999432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters 0.034287470996678726 Centerline is valid? [True, True] Translation: X:138.48, Y:-44.02, Z:-17.21 [[ 7.61372302e-01 6.40435607e-01 1.00769298e-01 1.38480770e+02] [-6.34156726e-01 7.67999908e-01 -8.95622070e-02 -4.40215245e+01] [-1.34749638e-01 4.28665593e-03 9.90870405e-01 -1.72088042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters 0.03384762924903375 Centerline is valid? [True, True] Translation: X:138.53, Y:-44.06, Z:-17.22 [[ 7.57662943e-01 6.44534547e-01 1.02577202e-01 1.38525833e+02] [-6.38060587e-01 7.64566496e-01 -9.11962749e-02 -4.40633192e+01] [-1.37206242e-01 3.64556834e-03 9.90535793e-01 -1.72161837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters 0.033624302315621794 Centerline is valid? [True, True] Translation: X:138.57, Y:-44.10, Z:-17.22 [[ 7.56942430e-01 6.45468852e-01 1.02020194e-01 1.38571261e+02] [-6.39063071e-01 7.63778497e-01 -9.07788469e-02 -4.41046314e+01] [-1.36515749e-01 3.51702227e-03 9.90631658e-01 -1.72234210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters 0.03320909950474771 Centerline is valid? [True, True] Translation: X:138.62, Y:-44.15, Z:-17.23 [[ 7.54067097e-01 6.48954280e-01 1.01198595e-01 1.38617805e+02] [-6.42672227e-01 7.60821791e-01 -9.01255289e-02 -4.41452067e+01] [-1.35481444e-01 2.92316980e-03 9.90775572e-01 -1.72305724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters 0.0330735445767871 Centerline is valid? [True, True] Translation: X:138.66, Y:-44.19, Z:-17.24 [[ 7.52173789e-01 6.51037076e-01 1.01908378e-01 1.38661691e+02] [-6.44674059e-01 7.59041381e-01 -9.08379854e-02 -4.41882013e+01] [-1.36491572e-01 2.62826385e-03 9.90637746e-01 -1.72382568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters 0.03277724114348594 Centerline is valid? [True, True] Translation: X:138.71, Y:-44.23, Z:-17.24 [[ 7.51126427e-01 6.52355878e-01 1.01197326e-01 1.38707204e+02] [-6.46082808e-01 7.57908894e-01 -9.02835179e-02 -4.42302489e+01] [-1.35595337e-01 2.43248380e-03 9.90761317e-01 -1.72447427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters 0.032472525952679056 Centerline is valid? [True, True] Translation: X:138.76, Y:-44.27, Z:-17.25 [[ 7.48861176e-01 6.55017918e-01 1.00789216e-01 1.38755828e+02] [-6.48809743e-01 7.55610704e-01 -8.99910040e-02 -4.42695117e+01] [-1.35103131e-01 1.99774354e-03 9.90829528e-01 -1.72508153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters 0.03208295952782989 Centerline is valid? [True, True] Translation: X:138.80, Y:-44.31, Z:-17.26 [[ 7.46524289e-01 6.57710895e-01 1.00587595e-01 1.38802164e+02] [-6.51546874e-01 7.53268889e-01 -8.98479430e-02 -4.43105097e+01] [-1.34863477e-01 1.53613853e-03 9.90862999e-01 -1.72572991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters 0.0322191823634634 Centerline is valid? [True, True] Translation: X:138.85, Y:-44.35, Z:-17.26 [[ 7.47409768e-01 6.56660739e-01 1.00872752e-01 1.38849897e+02] [-6.50440887e-01 7.54183969e-01 -9.01842136e-02 -4.43501914e+01] [-1.35297045e-01 1.79279976e-03 9.90803460e-01 -1.72635034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters 0.03247297850952802 Centerline is valid? [True, True] Translation: X:138.90, Y:-44.39, Z:-17.27 [[ 7.49885131e-01 6.53827388e-01 1.00906083e-01 1.38898806e+02] [-6.47566663e-01 7.56640034e-01 -9.02954917e-02 -4.43875791e+01] [-1.35387247e-01 2.36783129e-03 9.90789931e-01 -1.72716106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters 0.03274703544745569 Centerline is valid? [True, True] Translation: X:138.95, Y:-44.43, Z:-17.28 [[ 7.52846643e-01 6.50620132e-01 9.95759807e-02 1.38948273e+02] [-6.44485444e-01 7.59397551e-01 -8.91844788e-02 -4.44257666e+01] [-1.33642973e-01 2.96696535e-03 9.91025102e-01 -1.72780324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters 0.03312846401922499 Centerline is valid? [True, True] Translation: X:139.00, Y:-44.47, Z:-17.28 [[ 7.54908030e-01 6.48350579e-01 9.87693884e-02 1.38995148e+02] [-6.42285637e-01 7.61334329e-01 -8.85392552e-02 -4.44661337e+01] [-1.32601003e-01 3.40083515e-03 9.91163664e-01 -1.72839410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters 0.03368893160928366 Centerline is valid? [True, True] Translation: X:139.04, Y:-44.50, Z:-17.29 [[ 7.57406476e-01 6.45538324e-01 9.80596885e-02 1.39044762e+02] [-6.39526922e-01 7.63717794e-01 -8.79798074e-02 -4.45040514e+01] [-1.31684266e-01 3.92466508e-03 9.91283941e-01 -1.72882048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters 0.034068947451099445 Centerline is valid? [True, True] Translation: X:139.09, Y:-44.55, Z:-17.30 [[ 7.58821069e-01 6.43862714e-01 9.81396445e-02 1.39089936e+02] [-6.37817344e-01 7.65129076e-01 -8.81279356e-02 -4.45461901e+01] [-1.31831787e-01 4.27816694e-03 9.91262870e-01 -1.72950939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters 0.034049716088465985 Centerline is valid? [True, True] Translation: X:139.14, Y:-44.59, Z:-17.30 [[ 7.58082919e-01 6.44670544e-01 9.85402310e-02 1.39137052e+02] [-6.38571838e-01 7.64448901e-01 -8.85657153e-02 -4.45878146e+01] [-1.32424679e-01 4.21513955e-03 9.91184109e-01 -1.73014830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters 0.032906603055270996 Centerline is valid? [True, True] Translation: X:139.18, Y:-44.63, Z:-17.31 [[ 7.55022481e-01 6.48402262e-01 9.75477336e-02 1.39179748e+02] [-6.42447125e-01 7.61289474e-01 -8.77498045e-02 -4.46313513e+01] [-1.31159234e-01 3.58381402e-03 9.91354836e-01 -1.73071085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters 0.03229638587698271 Centerline is valid? [True, True] Translation: X:139.23, Y:-44.67, Z:-17.31 [[ 7.50903713e-01 6.53075500e-01 9.81631584e-02 1.39226262e+02] [-6.47082108e-01 7.57287631e-01 -8.83186799e-02 -4.46728251e+01] [-1.32016512e-01 2.79920117e-03 9.91243565e-01 -1.73144219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters 0.03166532445205402 Centerline is valid? [True, True] Translation: X:139.27, Y:-44.71, Z:-17.32 [[ 7.45792277e-01 6.58665180e-01 9.97700387e-02 1.39273110e+02] [-6.52515799e-01 7.52433813e-01 -8.98136370e-02 -4.47128297e+01] [-1.34227466e-01 1.88079033e-03 9.90948763e-01 -1.73214525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters 0.031557717360171794 Centerline is valid? [True, True] Translation: X:139.32, Y:-44.75, Z:-17.33 [[ 7.46237298e-01 6.58028461e-01 1.00640146e-01 1.39320608e+02] [-6.51753991e-01 7.52990199e-01 -9.06779775e-02 -4.47523670e+01] [-1.35449733e-01 2.07467220e-03 9.90782047e-01 -1.73272067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters 0.031910943978612404 Centerline is valid? [True, True] Translation: X:139.37, Y:-44.79, Z:-17.34 [[ 7.48558884e-01 6.55488659e-01 9.99710741e-02 1.39369425e+02] [-6.49264299e-01 7.55200615e-01 -9.01548683e-02 -4.47903350e+01] [-1.34593710e-01 2.57857825e-03 9.90897514e-01 -1.73360626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters 0.03180343798120892 Centerline is valid? [True, True] Translation: X:139.42, Y:-44.83, Z:-17.34 [[ 7.48487687e-01 6.55579037e-01 9.99115016e-02 1.39416433e+02] [-6.49351671e-01 7.55122004e-01 -9.01840699e-02 -4.48320184e+01] [-1.34568159e-01 2.62396541e-03 9.90900866e-01 -1.73428619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters 0.0315334243925967 Centerline is valid? [True, True] Translation: X:139.46, Y:-44.87, Z:-17.35 [[ 7.47898506e-01 6.56468696e-01 9.84717032e-02 1.39462621e+02] [-6.50416175e-01 7.54349141e-01 -8.89728787e-02 -4.48733202e+01] [-1.32689954e-01 2.49509453e-03 9.91154453e-01 -1.73484850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters 0.032011625783570745 Centerline is valid? [True, True] Translation: X:139.51, Y:-44.91, Z:-17.36 [[ 7.50672587e-01 6.53084880e-01 9.98539303e-02 1.39507295e+02] [-6.46819727e-01 7.57277957e-01 -9.03013609e-02 -4.49149690e+01] [-1.34591634e-01 3.19926417e-03 9.90895987e-01 -1.73570941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters 0.03276103863106546 Centerline is valid? [True, True] Translation: X:139.55, Y:-44.96, Z:-17.36 [[ 7.54116073e-01 6.49044416e-01 1.00251155e-01 1.39551971e+02] [-6.42684374e-01 7.60740058e-01 -9.07268355e-02 -4.49579706e+01] [-1.35150816e-01 3.98871379e-03 9.90817010e-01 -1.73647711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters 0.03418488683822454 Centerline is valid? [True, True] Translation: X:139.60, Y:-45.00, Z:-17.37 [[ 7.59342290e-01 6.43044569e-01 9.94634054e-02 1.39596255e+02] [-6.36729211e-01 7.65812159e-01 -9.00424864e-02 -4.50000541e+01] [-1.34071617e-01 5.04181216e-03 9.90958819e-01 -1.73720866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters 0.035915029611483545 Centerline is valid? [True, True] Translation: X:139.64, Y:-45.05, Z:-17.38 [[ 7.64807366e-01 6.36651634e-01 9.87136779e-02 1.39638123e+02] [-6.30370761e-01 7.71126911e-01 -8.94202994e-02 -4.50452138e+01] [-1.33050353e-01 6.16308736e-03 9.91090117e-01 -1.73776943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters 0.03747498148838922 Centerline is valid? [True, True] Translation: X:139.68, Y:-45.09, Z:-17.39 [[ 7.69071468e-01 6.31540928e-01 9.84130743e-02 1.39678643e+02] [-6.25253959e-01 7.75310544e-01 -8.91686440e-02 -4.50909481e+01] [-1.32614342e-01 7.04389559e-03 9.91142684e-01 -1.73853591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters 0.03918314882525934 Centerline is valid? [True, True] Translation: X:139.72, Y:-45.14, Z:-17.39 [[ 7.73378431e-01 6.26295455e-01 9.81825085e-02 1.39717200e+02] [-6.19988193e-01 7.79545022e-01 -8.90179762e-02 -4.51397363e+01] [-1.32289240e-01 7.97258679e-03 9.91179093e-01 -1.73925155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters 0.039470963434413094 Centerline is valid? [True, True] Translation: X:139.76, Y:-45.19, Z:-17.40 [[ 7.74435886e-01 6.24896363e-01 9.87602853e-02 1.39755671e+02] [-6.18495276e-01 7.80663527e-01 -8.95993948e-02 -4.51886292e+01] [-1.33088889e-01 8.30621676e-03 9.91069299e-01 -1.74015280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters 0.03894120532209944 Centerline is valid? [True, True] Translation: X:139.79, Y:-45.24, Z:-17.41 [[ 7.72508663e-01 6.26964288e-01 1.00728082e-01 1.39793435e+02] [-6.20317444e-01 7.79005518e-01 -9.14148288e-02 -4.52394252e+01] [-1.35781565e-01 8.13536079e-03 9.90705396e-01 -1.74085243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters 0.03828207787131307 Centerline is valid? [True, True] Translation: X:139.83, Y:-45.29, Z:-17.42 [[ 7.70733682e-01 6.29285451e-01 9.98469409e-02 1.39834296e+02] [-6.22764635e-01 7.77135976e-01 -9.06856339e-02 -4.52853715e+01] [-1.34661800e-01 7.71332892e-03 9.90861597e-01 -1.74162354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters 0.03747920675321981 Centerline is valid? [True, True] Translation: X:139.87, Y:-45.33, Z:-17.42 [[ 7.68213965e-01 6.32311942e-01 1.00144455e-01 1.39874398e+02] [-6.25769730e-01 7.74679969e-01 -9.10120355e-02 -4.53318647e+01] [-1.35127900e-01 7.24934826e-03 9.90801644e-01 -1.74240941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters 0.03684575585725511 Centerline is valid? [True, True] Translation: X:139.92, Y:-45.38, Z:-17.43 [[ 7.67596370e-01 6.32995946e-01 1.00558167e-01 1.39915763e+02] [-6.26396688e-01 7.74121562e-01 -9.14494229e-02 -4.53790277e+01] [-1.35731359e-01 7.20694229e-03 9.90719465e-01 -1.74313692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters 0.03646460708428617 Centerline is valid? [True, True] Translation: X:139.96, Y:-45.42, Z:-17.44 [[ 7.66722657e-01 6.34238094e-01 9.93901763e-02 1.39958283e+02] [-6.27792037e-01 7.73106425e-01 -9.04633318e-02 -4.54248019e+01] [-1.34214475e-01 6.96392492e-03 9.90927837e-01 -1.74378449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters 0.036230397806986905 Centerline is valid? [True, True] Translation: X:140.00, Y:-45.47, Z:-17.44 [[ 7.65614924e-01 6.35612246e-01 9.91506991e-02 1.40003412e+02] [-6.29204134e-01 7.71979101e-01 -9.02797059e-02 -4.54673525e+01] [-1.33925154e-01 6.73346041e-03 9.90968573e-01 -1.74439965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters 0.03506859604448619 Centerline is valid? [True, True] Translation: X:140.04, Y:-45.51, Z:-17.45 [[ 7.62487483e-01 6.39124830e-01 1.00659271e-01 1.40044665e+02] [-6.32540054e-01 7.69077494e-01 -9.17217979e-02 -4.55132780e+01] [-1.36036458e-01 6.26570211e-03 9.90684018e-01 -1.74512966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters 0.034604147267431926 Centerline is valid? [True, True] Translation: X:140.09, Y:-45.56, Z:-17.46 [[ 7.60338026e-01 6.41763230e-01 1.00130130e-01 1.40085370e+02] [-6.35266810e-01 7.66881022e-01 -9.12665228e-02 -4.55599407e+01] [-1.35359395e-01 5.78405978e-03 9.90779682e-01 -1.74584585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters 0.03437566750806234 Centerline is valid? [True, True] Translation: X:140.13, Y:-45.60, Z:-17.47 [[ 7.58935210e-01 6.43253494e-01 1.01204202e-01 1.40128847e+02] [-6.36618700e-01 7.65632517e-01 -9.23226935e-02 -4.56044457e+01] [-1.36872123e-01 5.63845505e-03 9.90572678e-01 -1.74667307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters 0.033984052863801927 Centerline is valid? [True, True] Translation: X:140.17, Y:-45.65, Z:-17.47 [[ 7.57421981e-01 6.44973525e-01 1.01592788e-01 1.40168895e+02] [-6.38291676e-01 7.64185763e-01 -9.27569715e-02 -4.56518955e+01] [-1.37461553e-01 5.41033838e-03 9.90492327e-01 -1.74744946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters 0.033251343099500806 Centerline is valid? [True, True] Translation: X:140.21, Y:-45.70, Z:-17.48 [[ 7.54896492e-01 6.48228649e-01 9.96539294e-02 1.40208642e+02] [-6.41819438e-01 7.61430757e-01 -9.10549967e-02 -4.57003294e+01] [-1.34904024e-01 4.77726859e-03 9.90847154e-01 -1.74816186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters 0.03270140476209535 Centerline is valid? [True, True] Translation: X:140.25, Y:-45.74, Z:-17.49 [[ 7.51932657e-01 6.51280655e-01 1.02131227e-01 1.40253010e+02] [-6.44570302e-01 7.58824397e-01 -9.33523517e-02 -4.57439186e+01] [-1.38298247e-01 4.36392606e-03 9.90381013e-01 -1.74887892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters 0.03246383332220196 Centerline is valid? [True, True] Translation: X:140.30, Y:-45.79, Z:-17.50 [[ 7.48340178e-01 6.55458117e-01 1.01792115e-01 1.40295464e+02] [-6.48819349e-01 7.55222736e-01 -9.31239579e-02 -4.57884034e+01] [-1.37914574e-01 3.64370552e-03 9.90437426e-01 -1.74974049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters 0.03203933057426952 Centerline is valid? [True, True] Translation: X:140.34, Y:-45.83, Z:-17.50 [[ 7.44402591e-01 6.60033299e-01 1.01098108e-01 1.40339725e+02] [-6.53517081e-01 7.51231003e-01 -9.25602795e-02 -4.58321950e+01] [-1.37040899e-01 2.83277172e-03 9.90561339e-01 -1.75030200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters 0.03179871815764411 Centerline is valid? [True, True] Translation: X:140.38, Y:-45.88, Z:-17.51 [[ 7.39695189e-01 6.65016035e-01 1.02979133e-01 1.40383955e+02] [-6.58297459e-01 7.46826479e-01 -9.43115362e-02 -4.58761000e+01] [-1.39626227e-01 1.97088808e-03 9.90202319e-01 -1.75104408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters 0.031420710862890076 Centerline is valid? [True, True] Translation: X:140.43, Y:-45.92, Z:-17.52 [[ 7.33038002e-01 6.72382671e-01 1.02746441e-01 1.40431814e+02] [-6.65760152e-01 7.40203472e-01 -9.41394730e-02 -4.59151803e+01] [-1.39351023e-01 6.03325258e-04 9.90242863e-01 -1.75164437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters 0.03149399379926645 Centerline is valid? [True, True] Translation: X:140.48, Y:-45.95, Z:-17.52 [[ 7.29435708e-01 6.76348628e-01 1.02352725e-01 1.40479541e+02] [-6.69803507e-01 7.36581649e-01 -9.38655230e-02 -4.59539954e+01] [-1.38876957e-01 -8.73500066e-05 9.90309640e-01 -1.75236767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters 0.03156351604459842 Centerline is valid? [True, True] Translation: X:140.53, Y:-45.99, Z:-17.53 [[ 7.27209191e-01 6.78652818e-01 1.02942438e-01 1.40531236e+02] [-6.72041972e-01 7.34459079e-01 -9.44957656e-02 -4.59894168e+01] [-1.39736826e-01 -4.63450059e-04 9.90188570e-01 -1.75312332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters 0.031211068867250915 Centerline is valid? [True, True] Translation: X:140.58, Y:-46.03, Z:-17.54 [[ 7.27160220e-01 6.78936911e-01 1.01403575e-01 1.40580182e+02] [-6.72515137e-01 7.34196476e-01 -9.31607480e-02 -4.60283807e+01] [-1.37700418e-01 -4.52649010e-04 9.90473821e-01 -1.75372837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters 0.03131056107458538 Centerline is valid? [True, True] Translation: X:140.63, Y:-46.07, Z:-17.54 [[ 7.26237218e-01 6.79977968e-01 1.01041901e-01 1.40629219e+02] [-6.73606177e-01 7.33232285e-01 -9.28716012e-02 -4.60680244e+01] [-1.37237827e-01 -6.15635400e-04 9.90537935e-01 -1.75438971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters 0.03156194897955545 Centerline is valid? [True, True] Translation: X:140.68, Y:-46.11, Z:-17.55 [[ 7.25650304e-01 6.80310456e-01 1.03001556e-01 1.40677874e+02] [-6.73676830e-01 7.32923805e-01 -9.47746026e-02 -4.61055143e+01] [-1.39968446e-01 -6.16542667e-04 9.90155773e-01 -1.75527498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters 0.03136511986249643 Centerline is valid? [True, True] Translation: X:140.72, Y:-46.15, Z:-17.56 [[ 7.27143146e-01 6.78935488e-01 1.01535453e-01 1.40724413e+02] [-6.72464779e-01 7.34197878e-01 -9.35125497e-02 -4.61455331e+01] [-1.38036103e-01 -2.82006506e-04 9.90427158e-01 -1.75603230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters 0.03156970032451775 Centerline is valid? [True, True] Translation: X:140.77, Y:-46.18, Z:-17.57 [[ 7.27725420e-01 6.78103618e-01 1.02913537e-01 1.40773436e+02] [-6.71434176e-01 7.34966312e-01 -9.48718452e-02 -4.61834450e+01] [-1.39970924e-01 -5.90127981e-05 9.90155612e-01 -1.75669012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters 0.03159470113002543 Centerline is valid? [True, True] Translation: X:140.82, Y:-46.22, Z:-17.57 [[ 7.27476637e-01 6.78311729e-01 1.03300244e-01 1.40824350e+02] [-6.71580748e-01 7.34774249e-01 -9.53210473e-02 -4.62207549e+01] [-1.40559744e-01 -3.06202331e-05 9.90072198e-01 -1.75745355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters 0.03157571932019758 Centerline is valid? [True, True] Translation: X:140.87, Y:-46.26, Z:-17.58 [[ 7.27684585e-01 6.78197725e-01 1.02581629e-01 1.40873790e+02] [-6.71546917e-01 7.34879475e-01 -9.47464866e-02 -4.62589351e+01] [-1.39641985e-01 5.71811916e-05 9.90202057e-01 -1.75821071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters 0.03152852323762996 Centerline is valid? [True, True] Translation: X:140.92, Y:-46.30, Z:-17.59 [[ 7.27717783e-01 6.78336792e-01 1.01420044e-01 1.40921703e+02] [-6.71832138e-01 7.34751110e-01 -9.37143818e-02 -4.62976695e+01] [-1.38088403e-01 6.03770984e-05 9.90419906e-01 -1.75885904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters 0.031650867299637814 Centerline is valid? [True, True] Translation: X:140.97, Y:-46.33, Z:-17.60 [[ 7.31266480e-01 6.74482433e-01 1.01601100e-01 1.40972425e+02] [-6.67904960e-01 7.38290399e-01 -9.39694174e-02 -4.63331911e+01] [-1.38391838e-01 8.56806594e-04 9.90377183e-01 -1.75955875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters 0.03151490511443176 Centerline is valid? [True, True] Translation: X:141.02, Y:-46.37, Z:-17.60 [[ 7.32813257e-01 6.73073143e-01 9.97861424e-02 1.41020200e+02] [-6.66705131e-01 7.39575004e-01 -9.23746830e-02 -4.63723813e+01] [-1.35974255e-01 1.16545918e-03 9.90711685e-01 -1.76019193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters 0.031737094948848715 Centerline is valid? [True, True] Translation: X:141.07, Y:-46.41, Z:-17.61 [[ 7.34943189e-01 6.70735996e-01 9.98585620e-02 1.41065735e+02] [-6.64325522e-01 7.41694315e-01 -9.25264513e-02 -4.64135955e+01] [-1.36125349e-01 1.66309388e-03 9.90690226e-01 -1.76090786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters 0.03154693829363114 Centerline is valid? [True, True] Translation: X:141.11, Y:-46.45, Z:-17.62 [[ 7.35146001e-01 6.70359674e-01 1.00887391e-01 1.41111260e+02] [-6.63800234e-01 7.42034103e-01 -9.35662231e-02 -4.64546383e+01] [-1.37584907e-01 1.81576103e-03 9.90488312e-01 -1.76182228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters 0.03134470965030017 Centerline is valid? [True, True] Translation: X:141.15, Y:-46.50, Z:-17.62 [[ 7.33787584e-01 6.71668575e-01 1.02064231e-01 1.41154774e+02] [-6.64954865e-01 7.40849911e-01 -9.47440596e-02 -4.64982969e+01] [-1.39250884e-01 1.65390788e-03 9.90255753e-01 -1.76247469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters 0.03095699036978983 Centerline is valid? [True, True] Translation: X:141.20, Y:-46.54, Z:-17.63 [[ 7.32347184e-01 6.73537831e-01 1.00071933e-01 1.41198863e+02] [-6.67090827e-01 7.39151546e-01 -9.29775238e-02 -4.65414948e+01] [-1.36592204e-01 1.33475891e-03 9.90626462e-01 -1.76303565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters 0.03056975275138655 Centerline is valid? [True, True] Translation: X:141.24, Y:-46.59, Z:-17.64 [[ 7.31125031e-01 6.74903077e-01 9.98099424e-02 1.41240712e+02] [-6.68491002e-01 7.37905507e-01 -9.28183314e-02 -4.65880447e+01] [-1.36293684e-01 1.13975701e-03 9.90667822e-01 -1.76359827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters 0.03052363793901362 Centerline is valid? [True, True] Translation: X:141.29, Y:-46.63, Z:-17.64 [[ 7.28040443e-01 6.78459344e-01 9.82345751e-02 1.41287735e+02] [-6.72269936e-01 7.34637761e-01 -9.14357330e-02 -4.66281013e+01] [-1.34202256e-01 5.28760065e-04 9.90953821e-01 -1.76438850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters 0.03055451462523539 Centerline is valid? [True, True] Translation: X:141.33, Y:-46.67, Z:-17.65 [[ 7.24141698e-01 6.82606229e-01 9.83236347e-02 1.41332978e+02] [-6.76431653e-01 7.30786361e-01 -9.16052015e-02 -4.66716491e+01] [-1.34383852e-01 -1.74072646e-04 9.90929336e-01 -1.76489691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters 0.03039165940590404 Centerline is valid? [True, True] Translation: X:141.38, Y:-46.71, Z:-17.66 [[ 7.22793331e-01 6.84095509e-01 9.78934889e-02 1.41381307e+02] [-6.77975493e-01 7.29392345e-01 -9.13019055e-02 -4.67116919e+01] [-1.33861985e-01 -3.76978024e-04 9.90999913e-01 -1.76555550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters 0.03045462016304576 Centerline is valid? [True, True] Translation: X:141.43, Y:-46.75, Z:-17.66 [[ 7.22116632e-01 6.84937526e-01 9.69956469e-02 1.41428963e+02] [-6.78924631e-01 7.28601657e-01 -9.05592064e-02 -4.67511242e+01] [-1.32698588e-01 -4.58424705e-04 9.91156332e-01 -1.76636475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters 0.030373305102184958 Centerline is valid? [True, True] Translation: X:141.48, Y:-46.79, Z:-17.67 [[ 7.20993938e-01 6.85991673e-01 9.78936461e-02 1.41476577e+02] [-6.79864327e-01 7.27609147e-01 -9.14845721e-02 -4.67912386e+01] [-1.33985967e-01 -5.94575921e-04 9.90983051e-01 -1.76697973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters 0.030293814489670005 Centerline is valid? [True, True] Translation: X:141.52, Y:-46.83, Z:-17.68 [[ 7.21424382e-01 6.85821005e-01 9.58979164e-02 1.41522762e+02] [-6.79929578e-01 7.27770093e-01 -8.97020668e-02 -4.68324860e+01] [-1.31311197e-01 -4.90571771e-04 9.91341076e-01 -1.76767054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters 0.030242034387388036 Centerline is valid? [True, True] Translation: X:141.57, Y:-46.87, Z:-17.68 [[ 7.21474311e-01 6.85808801e-01 9.56091370e-02 1.41569889e+02] [-6.79941541e-01 7.27781635e-01 -8.95175559e-02 -4.68740547e+01] [-1.30974502e-01 -4.24006897e-04 9.91385647e-01 -1.76843195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters 0.030466914713104743 Centerline is valid? [True, True] Translation: X:141.62, Y:-46.92, Z:-17.69 [[ 7.18459976e-01 6.88641809e-01 9.79169099e-02 1.41615181e+02] [-6.82500023e-01 7.25101137e-01 -9.17717778e-02 -4.69155030e+01] [-1.34197546e-01 -8.93943895e-04 9.90954197e-01 -1.76905504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters 0.030635662058757715 Centerline is valid? [True, True] Translation: X:141.66, Y:-46.96, Z:-17.70 [[ 7.14679316e-01 6.92616094e-01 9.75521488e-02 1.41661733e+02] [-6.86549859e-01 7.21304654e-01 -9.14816200e-02 -4.69561517e+01] [-1.33726461e-01 -1.59439237e-03 9.91016999e-01 -1.76982346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters 0.031136588537583137 Centerline is valid? [True, True] Translation: X:141.71, Y:-46.99, Z:-17.70 [[ 7.10667886e-01 6.97096852e-01 9.49059318e-02 1.41711582e+02] [-6.91385353e-01 7.16973256e-01 -8.90822344e-02 -4.69947653e+01] [-1.30143960e-01 -2.30868799e-03 9.91492420e-01 -1.77048279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters 0.031115371115620797 Centerline is valid? [True, True] Translation: X:141.76, Y:-47.03, Z:-17.71 [[ 7.11111893e-01 6.96500393e-01 9.59535222e-02 1.41762954e+02] [-6.90643249e-01 7.17553179e-01 -9.01628455e-02 -4.70315399e+01] [-1.31650212e-01 -2.15378052e-03 9.91293893e-01 -1.77119727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters 0.03127518489242091 Centerline is valid? [True, True] Translation: X:141.81, Y:-47.07, Z:-17.72 [[ 7.11727412e-01 6.95444726e-01 9.89986059e-02 1.41814244e+02] [-6.89184211e-01 7.18576952e-01 -9.31251184e-02 -4.70666669e+01] [-1.35901489e-01 -1.94857657e-03 9.90720439e-01 -1.77208569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters 0.031325273806517825 Centerline is valid? [True, True] Translation: X:141.87, Y:-47.10, Z:-17.73 [[ 7.12356865e-01 6.94722942e-01 9.95375799e-02 1.41867318e+02] [-6.88374301e-01 7.19275296e-01 -9.37222977e-02 -4.71019869e+01] [-1.36705953e-01 -1.75538980e-03 9.90610116e-01 -1.77287516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters 0.031469973186112714 Centerline is valid? [True, True] Translation: X:141.92, Y:-47.14, Z:-17.74 [[ 7.13174441e-01 6.93872360e-01 9.96160873e-02 1.41920714e+02] [-6.87491607e-01 7.20096406e-01 -9.38959856e-02 -4.71355650e+01] [-1.36885016e-01 -1.52100690e-03 9.90585776e-01 -1.77390452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters 0.031535100908732405 Centerline is valid? [True, True] Translation: X:141.97, Y:-47.17, Z:-17.75 [[ 7.14192641e-01 6.92556737e-01 1.01459538e-01 1.41972443e+02] [-6.85908901e-01 7.21362379e-01 -9.57355602e-02 -4.71703994e+01] [-1.39491401e-01 -1.21836761e-03 9.90222533e-01 -1.77469328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters 0.03158000039350892 Centerline is valid? [True, True] Translation: X:142.02, Y:-47.21, Z:-17.76 [[ 7.15687767e-01 6.90709084e-01 1.03498699e-01 1.42022568e+02] [-6.83757529e-01 7.23132289e-01 -9.77513955e-02 -4.72070243e+01] [-1.42361028e-01 -8.08536924e-04 9.89814469e-01 -1.77550286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters 0.031455977486213545 Centerline is valid? [True, True] Translation: X:142.07, Y:-47.24, Z:-17.76 [[ 7.17055378e-01 6.89110085e-01 1.04684651e-01 1.42071655e+02] [-6.81967094e-01 7.24656544e-01 -9.89635063e-02 -4.72446316e+01] [-1.44057168e-01 -4.29173023e-04 9.89569274e-01 -1.77626094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters 0.03145750250909561 Centerline is valid? [True, True] Translation: X:142.12, Y:-47.28, Z:-17.77 [[ 7.23437204e-01 6.82659276e-01 1.03028756e-01 1.42119494e+02] [-6.75663331e-01 7.30736259e-01 -9.74863248e-02 -4.72833067e+01] [-1.41836792e-01 9.12481736e-04 9.89889636e-01 -1.77702454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters 0.03146515686423781 Centerline is valid? [True, True] Translation: X:142.17, Y:-47.32, Z:-17.78 [[ 7.25085613e-01 6.81104434e-01 1.01723177e-01 1.42166232e+02] [-6.74257963e-01 7.32185187e-01 -9.63382115e-02 -4.73242848e+01] [-1.40096586e-01 1.26578930e-03 9.90137033e-01 -1.77770867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters 0.03149005841596763 Centerline is valid? [True, True] Translation: X:142.21, Y:-47.37, Z:-17.79 [[ 7.24105213e-01 6.82011420e-01 1.02625838e-01 1.42209053e+02] [-6.75038681e-01 7.31340593e-01 -9.72816291e-02 -4.73685848e+01] [-1.41401624e-01 1.16572412e-03 9.89951626e-01 -1.77851848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters 0.031266865373412375 Centerline is valid? [True, True] Translation: X:142.25, Y:-47.41, Z:-17.79 [[ 7.22556143e-01 6.84066378e-01 9.98289043e-02 1.42253488e+02] [-6.77478274e-01 7.29419320e-01 -9.47134865e-02 -4.74117084e+01] [-1.37607443e-01 8.03897759e-04 9.90486520e-01 -1.77899996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters 0.031406376373507114 Centerline is valid? [True, True] Translation: X:142.30, Y:-47.45, Z:-17.80 [[ 7.20704133e-01 6.85838821e-01 1.01047833e-01 1.42299128e+02] [-6.79092962e-01 7.27753272e-01 -9.59579338e-02 -4.74528036e+01] [-1.39349568e-01 5.36407021e-04 9.90243107e-01 -1.77973606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters 0.03133122562991343 Centerline is valid? [True, True] Translation: X:142.35, Y:-47.49, Z:-17.80 [[ 7.21466749e-01 6.85440180e-01 9.82725266e-02 1.42346596e+02] [-6.79046280e-01 7.28128646e-01 -9.34067696e-02 -4.74931455e+01] [-1.35579795e-01 6.58284769e-04 9.90766212e-01 -1.78042778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters 0.031315234106509486 Centerline is valid? [True, True] Translation: X:142.39, Y:-47.53, Z:-17.81 [[ 7.21384980e-01 6.85732625e-01 9.68218810e-02 1.42393553e+02] [-6.79519419e-01 7.27853244e-01 -9.21032793e-02 -4.75344350e+01] [-1.33630344e-01 6.49573929e-04 9.91031033e-01 -1.78097236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters 0.03141290624195112 Centerline is valid? [True, True] Translation: X:142.44, Y:-47.58, Z:-17.82 [[ 7.19800078e-01 6.87352235e-01 9.71326571e-02 1.42439369e+02] [-6.81108003e-01 7.26324143e-01 -9.24398572e-02 -4.75765787e+01] [-1.34088536e-01 3.80386306e-04 9.90969283e-01 -1.78182083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters 0.03151992532550422 Centerline is valid? [True, True] Translation: X:142.49, Y:-47.62, Z:-17.82 [[ 7.17406221e-01 6.90104000e-01 9.53141236e-02 1.42485274e+02] [-6.84104145e-01 7.23710208e-01 -9.08022817e-02 -4.76180930e+01] [-1.31642822e-01 -6.26651864e-05 9.91297212e-01 -1.78234424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters 0.03132762136105865 Centerline is valid? [True, True] Translation: X:142.53, Y:-47.66, Z:-17.83 [[ 7.15235050e-01 6.92385172e-01 9.50873130e-02 1.42531213e+02] [-6.86422617e-01 7.21527961e-01 -9.06718902e-02 -4.76615886e+01] [-1.31388027e-01 -4.18368352e-04 9.91330929e-01 -1.78287027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters 0.031250844616796454 Centerline is valid? [True, True] Translation: X:142.58, Y:-47.70, Z:-17.84 [[ 7.14323905e-01 6.93319345e-01 9.51296138e-02 1.42576193e+02] [-6.87346880e-01 7.20630290e-01 -9.08088766e-02 -4.77046299e+01] [-1.31512832e-01 -5.20091843e-04 9.91314332e-01 -1.78369911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters 0.0308974508002169 Centerline is valid? [True, True] Translation: X:142.62, Y:-47.75, Z:-17.84 [[ 7.12466930e-01 6.95371386e-01 9.40718262e-02 1.42621582e+02] [-6.89537002e-01 7.18650097e-01 -8.98930499e-02 -4.77473206e+01] [-1.30113782e-01 -8.20179723e-04 9.91498730e-01 -1.78441096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters 0.031008091663579415 Centerline is valid? [True, True] Translation: X:142.67, Y:-47.79, Z:-17.85 [[ 7.09834828e-01 6.97934491e-01 9.49840147e-02 1.42666188e+02] [-6.91996200e-01 7.16160544e-01 -9.08588759e-02 -4.77896481e+01] [-1.31437347e-01 -1.23378256e-03 9.91323712e-01 -1.78519722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters 0.031036372740745586 Centerline is valid? [True, True] Translation: X:142.71, Y:-47.83, Z:-17.86 [[ 7.07328865e-01 7.00450645e-01 9.51565590e-02 1.42713044e+02] [-6.94502211e-01 7.13698950e-01 -9.11070113e-02 -4.78305587e+01] [-1.31729101e-01 -1.64382173e-03 9.91284390e-01 -1.78600416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters 0.03074306472843496 Centerline is valid? [True, True] Translation: X:142.76, Y:-47.87, Z:-17.87 [[ 7.06861023e-01 7.00774809e-01 9.62401209e-02 1.42760304e+02] [-6.94681137e-01 7.13380615e-01 -9.22291532e-02 -4.78705021e+01] [-1.33287704e-01 -1.66300297e-03 9.91075992e-01 -1.78692683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters 0.030390938552113767 Centerline is valid? [True, True] Translation: X:142.81, Y:-47.91, Z:-17.88 [[ 7.09830167e-01 6.97727825e-01 9.65246939e-02 1.42808176e+02] [-6.91558340e-01 7.16362211e-01 -9.25864168e-02 -4.79099580e+01] [-1.33746762e-01 -1.03182540e-03 9.91015004e-01 -1.78758395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters 0.030272201382958136 Centerline is valid? [True, True] Translation: X:142.86, Y:-47.95, Z:-17.89 [[ 7.13000190e-01 6.94086992e-01 9.93678836e-02 1.42857021e+02] [-6.87499201e-01 7.19891076e-01 -9.54027685e-02 -4.79481049e+01] [-1.37751873e-01 -2.93148518e-04 9.90466726e-01 -1.78859413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters 0.03024359605114349 Centerline is valid? [True, True] Translation: X:142.90, Y:-47.99, Z:-17.89 [[ 7.15455611e-01 6.91412719e-01 1.00357964e-01 1.42903424e+02] [-6.84653654e-01 7.22459942e-01 -9.64417265e-02 -4.79891658e+01] [-1.39185645e-01 2.89327893e-04 9.90266263e-01 -1.78934767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters 0.030304878297437932 Centerline is valid? [True, True] Translation: X:142.95, Y:-48.03, Z:-17.90 [[ 7.17546909e-01 6.89046543e-01 1.01692155e-01 1.42949271e+02] [-6.82069282e-01 7.24716622e-01 -9.78126380e-02 -4.80310821e+01] [-1.41095455e-01 8.24060696e-04 9.89995653e-01 -1.79009573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters 0.030639548160691952 Centerline is valid? [True, True] Translation: X:142.99, Y:-48.07, Z:-17.91 [[ 7.22113705e-01 6.84133029e-01 1.02536809e-01 1.42994542e+02] [-6.76976396e-01 7.29354859e-01 -9.87139734e-02 -4.80726537e+01] [-1.42319209e-01 1.86771396e-03 9.89819051e-01 -1.79084528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters 0.03171221549053388 Centerline is valid? [True, True] Translation: X:143.04, Y:-48.12, Z:-17.92 [[ 7.27269640e-01 6.78193883e-01 1.05507954e-01 1.43037607e+02] [-6.70539077e-01 7.34876117e-01 -1.01658446e-01 -4.81155253e+01] [-1.46479412e-01 3.18589527e-03 9.89208589e-01 -1.79164073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters 0.03209434759117667 Centerline is valid? [True, True] Translation: X:143.08, Y:-48.16, Z:-17.93 [[ 7.29067795e-01 6.76504772e-01 1.03929993e-01 1.43078175e+02] [-6.69052420e-01 7.36429847e-01 -1.00199501e-01 -4.81634055e+01] [-1.44322589e-01 3.51761578e-03 9.89524440e-01 -1.79258215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters 0.03215363920594549 Centerline is valid? [True, True] Translation: X:143.12, Y:-48.21, Z:-17.93 [[ 7.28786218e-01 6.76682765e-01 1.04742942e-01 1.43121533e+02] [-6.69100283e-01 7.36265986e-01 -1.01080212e-01 -4.82082137e+01] [-1.45517903e-01 3.58233366e-03 9.89349133e-01 -1.79326353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters 0.031810808697463 Centerline is valid? [True, True] Translation: X:143.16, Y:-48.26, Z:-17.94 [[ 7.26267008e-01 6.79252580e-01 1.05603815e-01 1.43161968e+02] [-6.71558169e-01 7.33897781e-01 -1.01998390e-01 -4.82555230e+01] [-1.46785075e-01 3.15896052e-03 9.89163365e-01 -1.79394947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters 0.03174160742724157 Centerline is valid? [True, True] Translation: X:143.20, Y:-48.30, Z:-17.95 [[ 7.25847101e-01 6.79965127e-01 1.03891344e-01 1.43201574e+02] [-6.72514500e-01 7.33238201e-01 -1.00429024e-01 -4.83034107e+01] [-1.44465336e-01 3.02768104e-03 9.89505230e-01 -1.79453936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters 0.03156863868276377 Centerline is valid? [True, True] Translation: X:143.24, Y:-48.35, Z:-17.95 [[ 7.25169046e-01 6.80557424e-01 1.04744679e-01 1.43241875e+02] [-6.72976493e-01 7.32688611e-01 -1.01341201e-01 -4.83503391e+01] [-1.45713740e-01 2.99879578e-03 9.89322249e-01 -1.79531648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters 0.03174766806381855 Centerline is valid? [True, True] Translation: X:143.28, Y:-48.40, Z:-17.96 [[ 7.24111770e-01 6.81665965e-01 1.04850636e-01 1.43283767e+02] [-6.74067838e-01 7.31657990e-01 -1.01533911e-01 -4.83968455e+01] [-1.45927017e-01 2.84545861e-03 9.89291266e-01 -1.79608443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters 0.03145504077679284 Centerline is valid? [True, True] Translation: X:143.33, Y:-48.44, Z:-17.97 [[ 7.22780011e-01 6.82970121e-01 1.05550317e-01 1.43326566e+02] [-6.75268342e-01 7.30441412e-01 -1.02313294e-01 -4.84431236e+01] [-1.46975245e-01 2.67521629e-03 9.89136553e-01 -1.79693108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters 0.03122586672344843 Centerline is valid? [True, True] Translation: X:143.37, Y:-48.49, Z:-17.98 [[ 7.21249176e-01 6.84790963e-01 1.04215945e-01 1.43369940e+02] [-6.77288461e-01 7.28735778e-01 -1.01116301e-01 -4.84869393e+01] [-1.45189417e-01 2.34579208e-03 9.89401097e-01 -1.79754236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters 0.031207428993309208 Centerline is valid? [True, True] Translation: X:143.42, Y:-48.53, Z:-17.98 [[ 7.21458703e-01 6.84806160e-01 1.02654093e-01 1.43415234e+02] [-6.77515785e-01 7.28721418e-01 -9.96867886e-02 -4.85291352e+01] [-1.43072363e-01 2.37013271e-03 9.89709392e-01 -1.79811582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters 0.0317214875884356 Centerline is valid? [True, True] Translation: X:143.46, Y:-48.57, Z:-17.99 [[ 7.23331471e-01 6.82333418e-01 1.05889994e-01 1.43458551e+02] [-6.74533523e-01 7.31034878e-01 -1.02920037e-01 -4.85720918e+01] [-1.47635059e-01 3.01895104e-03 9.89037297e-01 -1.79896777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters 0.031790954987677526 Centerline is valid? [True, True] Translation: X:143.50, Y:-48.61, Z:-18.00 [[ 7.24616227e-01 6.81200812e-01 1.04387627e-01 1.43503297e+02] [-6.73598047e-01 7.32089339e-01 -1.01542461e-01 -4.86145771e+01] [-1.45591876e-01 3.26401299e-03 9.89339351e-01 -1.79960283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters 0.031372709746924306 Centerline is valid? [True, True] Translation: X:143.55, Y:-48.66, Z:-18.00 [[ 7.22966872e-01 6.83002208e-01 1.04052325e-01 1.43547953e+02] [-6.75454080e-01 7.30410323e-01 -1.01304222e-01 -4.86570572e+01] [-1.45191899e-01 2.95702924e-03 9.89399095e-01 -1.80027370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters 0.03103436134614602 Centerline is valid? [True, True] Translation: X:143.59, Y:-48.70, Z:-18.01 [[ 7.19372660e-01 6.86856499e-01 1.03591144e-01 1.43592743e+02] [-6.79403977e-01 7.26789647e-01 -1.00930889e-01 -4.87001727e+01] [-1.44614008e-01 2.22668741e-03 9.89485639e-01 -1.80100333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters 0.0309193888966477 Centerline is valid? [True, True] Translation: X:143.64, Y:-48.74, Z:-18.02 [[ 7.16463369e-01 6.89856262e-01 1.03819934e-01 1.43639457e+02] [-6.82395324e-01 7.23944465e-01 -1.01197995e-01 -4.87407668e+01] [-1.44971937e-01 1.65841886e-03 9.89434377e-01 -1.80167822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters 0.030824332938682118 Centerline is valid? [True, True] Translation: X:143.69, Y:-48.78, Z:-18.02 [[ 7.15195420e-01 6.91176020e-01 1.03784490e-01 1.43686644e+02] [-6.83720478e-01 7.22684982e-01 -1.01255740e-01 -4.87826786e+01] [-1.44989032e-01 1.45806045e-03 9.89432188e-01 -1.80241285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters 0.030742348427291823 Centerline is valid? [True, True] Translation: X:143.73, Y:-48.82, Z:-18.03 [[ 7.14897843e-01 6.91775773e-01 1.01820206e-01 1.43733563e+02] [-6.84593355e-01 7.22111052e-01 -9.94362458e-02 -4.88234608e+01] [-1.42313082e-01 1.38132113e-03 9.89820731e-01 -1.80304010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters 0.03121029088951869 Centerline is valid? [True, True] Translation: X:143.78, Y:-48.86, Z:-18.04 [[ 7.14017227e-01 6.92438008e-01 1.03484321e-01 1.43779798e+02] [-6.85011182e-01 7.21476138e-01 -1.01152670e-01 -4.88647431e+01] [-1.44703422e-01 1.33683167e-03 9.89474170e-01 -1.80379922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters 0.031307383504247506 Centerline is valid? [True, True] Translation: X:143.83, Y:-48.90, Z:-18.04 [[ 7.13567911e-01 6.93001717e-01 1.02807862e-01 1.43827191e+02] [-6.85665004e-01 7.20934798e-01 -1.00580908e-01 -4.89044334e+01] [-1.43820507e-01 1.27955548e-03 9.89602963e-01 -1.80445284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters 0.031324077065685026 Centerline is valid? [True, True] Translation: X:143.87, Y:-48.95, Z:-18.05 [[ 7.12736747e-01 6.94005049e-01 1.01800399e-01 1.43873732e+02] [-6.86809697e-01 7.19969245e-01 -9.96831288e-02 -4.89456208e+01] [-1.42473751e-01 1.13032785e-03 9.89797935e-01 -1.80518960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters 0.03162463149884055 Centerline is valid? [True, True] Translation: X:143.92, Y:-48.99, Z:-18.06 [[ 7.12706199e-01 6.93986591e-01 1.02139542e-01 1.43921386e+02] [-6.86729525e-01 7.19986917e-01 -1.00106936e-01 -4.89860503e+01] [-1.43012005e-01 1.20459447e-03 9.89720221e-01 -1.80598435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters 0.031824535447649974 Centerline is valid? [True, True] Translation: X:143.97, Y:-49.03, Z:-18.07 [[ 7.12640547e-01 6.93944407e-01 1.02881534e-01 1.43965229e+02] [-6.86565763e-01 7.20027417e-01 -1.00935484e-01 -4.90300650e+01] [-1.44121140e-01 1.29577970e-03 9.89559204e-01 -1.80662196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters 0.03184231888762901 Centerline is valid? [True, True] Translation: X:144.01, Y:-49.07, Z:-18.07 [[ 7.14001956e-01 6.92812489e-01 1.01054742e-01 1.44010371e+02] [-6.85671187e-01 7.21116094e-01 -9.92300513e-02 -4.90719017e+01] [-1.41620019e-01 1.56012614e-03 9.89919863e-01 -1.80746336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters 0.031921902030135695 Centerline is valid? [True, True] Translation: X:144.05, Y:-49.12, Z:-18.08 [[ 7.13146694e-01 6.93557550e-01 1.01979006e-01 1.44054976e+02] [-6.86278875e-01 7.20399682e-01 -1.00227762e-01 -4.91151055e+01] [-1.42979365e-01 1.49105967e-03 9.89724546e-01 -1.80824096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters 0.03190038474256251 Centerline is valid? [True, True] Translation: X:144.10, Y:-49.16, Z:-18.09 [[ 7.12231099e-01 6.94548487e-01 1.01632972e-01 1.44097954e+02] [-6.87318377e-01 7.19444643e-01 -9.99642657e-02 -4.91602294e+01] [-1.42549326e-01 1.34344975e-03 9.89786787e-01 -1.80896729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters 0.03194989480905042 Centerline is valid? [True, True] Translation: X:144.14, Y:-49.20, Z:-18.10 [[ 7.13507027e-01 6.93460068e-01 1.00104226e-01 1.44142155e+02] [-6.86430424e-01 7.20493357e-01 -9.85017516e-02 -4.92038584e+01] [-1.40431461e-01 1.56710549e-03 9.90089162e-01 -1.80961124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters 0.03200260629754329 Centerline is valid? [True, True] Translation: X:144.19, Y:-49.25, Z:-18.10 [[ 7.14486903e-01 6.92551050e-01 9.94057782e-02 1.44188457e+02] [-6.85598368e-01 7.21366626e-01 -9.79033600e-02 -4.92469042e+01] [-1.39511086e-01 1.79822916e-03 9.90218876e-01 -1.81024470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters 0.03205737341490734 Centerline is valid? [True, True] Translation: X:144.23, Y:-49.29, Z:-18.11 [[ 7.14702188e-01 6.92171205e-01 1.00497784e-01 1.44232768e+02] [-6.85046328e-01 7.21730670e-01 -9.90775886e-02 -4.92899135e+01] [-1.41110987e-01 1.96533167e-03 9.89991832e-01 -1.81105252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters 0.03221966866086647 Centerline is valid? [True, True] Translation: X:144.28, Y:-49.33, Z:-18.12 [[ 7.14887003e-01 6.91794795e-01 1.01767062e-01 1.44277674e+02] [-6.84471144e-01 7.22091006e-01 -1.00418288e-01 -4.93327800e+01] [-1.42953929e-01 2.13111158e-03 9.89727049e-01 -1.81179803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters 0.032252564548148385 Centerline is valid? [True, True] Translation: X:144.32, Y:-49.38, Z:-18.12 [[ 7.15115398e-01 6.91685035e-01 1.00904807e-01 1.44322902e+02] [-6.84472069e-01 7.22195944e-01 -9.96544274e-02 -4.93750238e+01] [-1.41802518e-01 2.19789351e-03 9.89892527e-01 -1.81249017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters 0.03207786629801313 Centerline is valid? [True, True] Translation: X:144.37, Y:-49.42, Z:-18.13 [[ 7.15157624e-01 6.91675728e-01 1.00669060e-01 1.44369898e+02] [-6.84483731e-01 7.22204667e-01 -9.95110083e-02 -4.94173003e+01] [-1.41533014e-01 2.25972218e-03 9.89930957e-01 -1.81313567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters 0.032006972780633164 Centerline is valid? [True, True] Translation: X:144.41, Y:-49.46, Z:-18.14 [[ 7.12508920e-01 6.94234316e-01 1.01831990e-01 1.44414146e+02] [-6.86885430e-01 7.19746693e-01 -1.00762609e-01 -4.94618936e+01] [-1.43246098e-01 1.84734733e-03 9.89685376e-01 -1.81383667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters 0.03193858693394582 Centerline is valid? [True, True] Translation: X:144.46, Y:-49.50, Z:-18.15 [[ 7.11378600e-01 6.95429298e-01 1.01580406e-01 1.44459955e+02] [-6.88114802e-01 7.18592575e-01 -1.00611782e-01 -4.95031669e+01] [-1.42963307e-01 1.67408808e-03 9.89726574e-01 -1.81452694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters 0.03175722893175068 Centerline is valid? [True, True] Translation: X:144.50, Y:-49.55, Z:-18.15 [[ 7.11923211e-01 6.95199389e-01 9.93133933e-02 1.44504249e+02] [-6.88195151e-01 7.18814838e-01 -9.84513197e-02 -4.95458793e+01] [-1.39831238e-01 1.74278398e-03 9.90173817e-01 -1.81526267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters 0.03195990294695451 Centerline is valid? [True, True] Translation: X:144.55, Y:-49.59, Z:-18.16 [[ 7.13376344e-01 6.93558109e-01 1.00356078e-01 1.44551524e+02] [-6.86376379e-01 7.20397474e-01 -9.95738224e-02 -4.95858408e+01] [-1.41356497e-01 2.15156823e-03 9.89956419e-01 -1.81590464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters 0.032416765987046424 Centerline is valid? [True, True] Translation: X:144.60, Y:-49.63, Z:-18.17 [[ 7.15318044e-01 6.91414102e-01 1.01324406e-01 1.44595177e+02] [-6.84058007e-01 7.22453756e-01 -1.00624125e-01 -4.96287813e+01] [-1.42775137e-01 2.66648154e-03 9.89751560e-01 -1.81683326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters 0.032396793270676696 Centerline is valid? [True, True] Translation: X:144.64, Y:-49.67, Z:-18.17 [[ 7.14714104e-01 6.91992712e-01 1.01635798e-01 1.44641484e+02] [-6.84583785e-01 7.21899713e-01 -1.01023988e-01 -4.96717291e+01] [-1.43278717e-01 2.62505025e-03 9.89678897e-01 -1.81746832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters 0.032425913238526616 Centerline is valid? [True, True] Translation: X:144.69, Y:-49.72, Z:-18.18 [[ 7.16251500e-01 6.90641159e-01 9.99928902e-02 1.44686177e+02] [-6.83444109e-01 7.23191724e-01 -9.94880873e-02 -4.97162050e+01] [-1.41024599e-01 2.91894002e-03 9.90001789e-01 -1.81813702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters 0.03280700904761734 Centerline is valid? [True, True] Translation: X:144.73, Y:-49.76, Z:-18.19 [[ 7.17691003e-01 6.89033994e-01 1.00756037e-01 1.44732370e+02] [-6.81696349e-01 7.24721365e-01 -1.00344563e-01 -4.97574966e+01] [-1.42160867e-01 3.33136738e-03 9.89837961e-01 -1.81879886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters 0.03295401016874439 Centerline is valid? [True, True] Translation: X:144.78, Y:-49.80, Z:-18.19 [[ 7.19257744e-01 6.87685992e-01 9.87738558e-02 1.44779237e+02] [-6.80611007e-01 7.25999379e-01 -9.84558743e-02 -4.97997709e+01] [-1.39416484e-01 3.58857654e-03 9.90227331e-01 -1.81939957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters 0.03306595424151789 Centerline is valid? [True, True] Translation: X:144.82, Y:-49.84, Z:-18.20 [[ 7.19316741e-01 6.87682392e-01 9.83684641e-02 1.44823903e+02] [-6.80652261e-01 7.26002513e-01 -9.81470884e-02 -4.98434254e+01] [-1.38909777e-01 3.64412626e-03 9.90298336e-01 -1.82022522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters 0.03262341186234129 Centerline is valid? [True, True] Translation: X:144.87, Y:-49.89, Z:-18.21 [[ 7.18433128e-01 6.88894238e-01 9.63253266e-02 1.44869587e+02] [-6.82152988e-01 7.24853878e-01 -9.61985278e-02 -4.98854967e+01] [-1.36092398e-01 3.40359988e-03 9.90690302e-01 -1.82072441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters 0.03214053752437513 Centerline is valid? [True, True] Translation: X:144.91, Y:-49.93, Z:-18.21 [[ 7.15980352e-01 6.91585832e-01 9.52951858e-02 1.44914446e+02] [-6.85001385e-01 7.22288385e-01 -9.52501534e-02 -4.99279838e+01] [-1.34704262e-01 2.91990420e-03 9.90881545e-01 -1.82138282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters 0.03164166627351802 Centerline is valid? [True, True] Translation: X:144.85, Y:-50.34, Z:-16.24 [[ 7.40966218e-01 -6.68397877e-01 -6.49102510e-02 1.44848673e+02] [-6.65057258e-01 -7.43775344e-01 6.70602823e-02 -5.03401723e+01] [-9.31015946e-02 -6.52037020e-03 -9.95635263e-01 -1.62366460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters 0.0315572873699132 Centerline is valid? [True, True] Translation: X:144.95, Y:-49.97, Z:-18.22 [[ 7.59609890e-01 6.42202969e-01 1.02801562e-01 1.44953148e+02] [-6.36006345e-01 7.66531354e-01 -8.90259049e-02 -4.99682438e+01] [-1.35973321e-01 2.24251227e-03 9.90709961e-01 -1.82222991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters 0.031684099358203176 Centerline is valid? [True, True] Translation: X:145.00, Y:-50.00, Z:-18.23 [[ 7.60593853e-01 6.41092494e-01 1.02456847e-01 1.45004367e+02] [-6.34915619e-01 7.67459551e-01 -8.88143772e-02 -5.00038777e+01] [-1.35569716e-01 2.50021715e-03 9.90764655e-01 -1.82277661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters 0.03195359214270619 Centerline is valid? [True, True] Translation: X:145.06, Y:-50.04, Z:-18.23 [[ 7.61422541e-01 6.39859227e-01 1.03999443e-01 1.45056440e+02] [-6.33471467e-01 7.68486953e-01 -9.02313855e-02 -5.00381766e+01] [-1.37657600e-01 2.82353117e-03 9.90475852e-01 -1.82344347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters 0.03214853600302194 Centerline is valid? [True, True] Translation: X:145.11, Y:-50.07, Z:-18.24 [[ 7.61935968e-01 6.39041526e-01 1.05259243e-01 1.45106005e+02] [-6.32478174e-01 7.69166107e-01 -9.14049231e-02 -5.00747735e+01] [-1.39373384e-01 3.07052455e-03 9.90235140e-01 -1.82439153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters 0.03272171763255252 Centerline is valid? [True, True] Translation: X:145.15, Y:-50.11, Z:-18.25 [[ 7.64895112e-01 6.35384866e-01 1.05931767e-01 1.45154780e+02] [-6.28692074e-01 7.72186186e-01 -9.20585153e-02 -5.01124852e+01] [-1.40291634e-01 3.81664628e-03 9.90102869e-01 -1.82507254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters 0.03337088493608194 Centerline is valid? [True, True] Translation: X:145.20, Y:-50.15, Z:-18.26 [[ 7.67711329e-01 6.32177260e-01 1.04743627e-01 1.45203512e+02] [-6.25600291e-01 7.74811423e-01 -9.10578642e-02 -5.01500988e+01] [-1.38721270e-01 4.37851036e-03 9.90321785e-01 -1.82592106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters 0.03417116766690539 Centerline is valid? [True, True] Translation: X:145.25, Y:-50.19, Z:-18.27 [[ 7.69178843e-01 6.29964841e-01 1.07276313e-01 1.45250353e+02] [-6.23031386e-01 7.76607828e-01 -9.33390260e-02 -5.01896133e+01] [-1.42111929e-01 4.95789395e-03 9.89838178e-01 -1.82668811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters 0.03479267332402436 Centerline is valid? [True, True] Translation: X:145.30, Y:-50.23, Z:-18.27 [[ 7.71437544e-01 6.27239095e-01 1.07029124e-01 1.45299290e+02] [-6.20302716e-01 7.78807359e-01 -9.31860358e-02 -5.02272353e+01] [-1.41804994e-01 5.49675036e-03 9.89879351e-01 -1.82746149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters 0.03439856773475738 Centerline is valid? [True, True] Translation: X:145.34, Y:-50.27, Z:-18.28 [[ 7.71010146e-01 6.27699237e-01 1.07410532e-01 1.45343785e+02] [-6.20712381e-01 7.78436805e-01 -9.35536273e-02 -5.02719600e+01] [-1.42335852e-01 5.45974870e-03 9.89803363e-01 -1.82825748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters 0.033701010819033886 Centerline is valid? [True, True] Translation: X:145.39, Y:-50.31, Z:-18.29 [[ 7.69922634e-01 6.29506960e-01 1.04595055e-01 1.45389582e+02] [-6.22890103e-01 7.76978470e-01 -9.11722353e-02 -5.03120342e+01] [-1.38661662e-01 5.04434311e-03 9.90326965e-01 -1.82878302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters 0.032619226226618815 Centerline is valid? [True, True] Translation: X:145.43, Y:-50.36, Z:-18.29 [[ 7.66930506e-01 6.33225910e-01 1.04127549e-01 1.45432077e+02] [-6.26700783e-01 7.73954729e-01 -9.07755806e-02 -5.03563591e+01] [-1.38071459e-01 4.36174535e-03 9.90412665e-01 -1.82927619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters 0.03176895059336234 Centerline is valid? [True, True] Translation: X:145.48, Y:-50.40, Z:-18.30 [[ 7.63848324e-01 6.36992868e-01 1.03806668e-01 1.45478207e+02] [-6.30541013e-01 7.70860915e-01 -9.05068009e-02 -5.03961899e+01] [-1.37672690e-01 3.67910660e-03 9.90470946e-01 -1.82992414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters 0.03118449428554101 Centerline is valid? [True, True] Translation: X:145.52, Y:-50.44, Z:-18.31 [[ 7.61748265e-01 6.39626894e-01 1.03038909e-01 1.45523254e+02] [-6.33291462e-01 7.68678879e-01 -8.98593686e-02 -5.04386809e+01] [-1.36680302e-01 3.19655659e-03 9.90610053e-01 -1.83054020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters 0.030794786948637565 Centerline is valid? [True, True] Translation: X:145.57, Y:-50.48, Z:-18.31 [[ 7.59283065e-01 6.42344955e-01 1.04317715e-01 1.45570396e+02] [-6.35864896e-01 7.66410530e-01 -9.10534668e-02 -5.04782757e+01] [-1.38437930e-01 2.80338240e-03 9.90367144e-01 -1.83111220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters 0.03045285734070384 Centerline is valid? [True, True] Translation: X:145.62, Y:-50.52, Z:-18.32 [[ 7.57760166e-01 6.44279615e-01 1.03456798e-01 1.45617387e+02] [-6.37913690e-01 7.64785969e-01 -9.03800018e-02 -5.05186771e+01] [-1.37352300e-01 2.48985762e-03 9.90519130e-01 -1.83177716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters 0.03018363432554267 Centerline is valid? [True, True] Translation: X:145.67, Y:-50.56, Z:-18.33 [[ 7.56384848e-01 6.46023413e-01 1.02643618e-01 1.45666332e+02] [-6.39762976e-01 7.63314379e-01 -8.97468261e-02 -5.05567364e+01] [-1.36327900e-01 2.21555287e-03 9.90661292e-01 -1.83273033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters 0.030569009525195 Centerline is valid? [True, True] Translation: X:145.71, Y:-50.60, Z:-18.33 [[ 7.56835729e-01 6.45211674e-01 1.04410609e-01 1.45714268e+02] [-6.38713672e-01 7.63999879e-01 -9.13730216e-02 -5.05953178e+01] [-1.38724633e-01 2.46588425e-03 9.90327923e-01 -1.83345127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters 0.030688319589724938 Centerline is valid? [True, True] Translation: X:145.77, Y:-50.63, Z:-18.34 [[ 7.57590245e-01 6.44375014e-01 1.04105057e-01 1.45765295e+02] [-6.37895995e-01 7.64704970e-01 -9.11866676e-02 -5.06322618e+01] [-1.38368065e-01 2.67393073e-03 9.90377266e-01 -1.83425120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters 0.030770924786299114 Centerline is valid? [True, True] Translation: X:145.81, Y:-50.67, Z:-18.35 [[ 7.57954635e-01 6.43974321e-01 1.03931929e-01 1.45813537e+02] [-6.37500556e-01 7.65041936e-01 -9.11256094e-02 -5.06728162e+01] [-1.38194837e-01 2.81241551e-03 9.90401069e-01 -1.83504040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters 0.031136999889958546 Centerline is valid? [True, True] Translation: X:145.86, Y:-50.71, Z:-18.36 [[ 7.59947252e-01 6.41734723e-01 1.03231390e-01 1.45863719e+02] [-6.35315687e-01 7.66919736e-01 -9.05985447e-02 -5.07103977e+01] [-1.37310422e-01 3.26559354e-03 9.90522682e-01 -1.83554200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters 0.031619352486881 Centerline is valid? [True, True] Translation: X:145.91, Y:-50.75, Z:-18.36 [[ 7.61003455e-01 6.40255139e-01 1.04628383e-01 1.45914910e+02] [-6.33635182e-01 7.68153685e-01 -9.19041433e-02 -5.07454450e+01] [-1.39212778e-01 3.64314628e-03 9.90255790e-01 -1.83625602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters 0.03179050471091506 Centerline is valid? [True, True] Translation: X:145.97, Y:-50.78, Z:-18.37 [[ 7.61728729e-01 6.39544964e-01 1.03689840e-01 1.45967091e+02] [-6.33026235e-01 7.68744300e-01 -9.11591285e-02 -5.07808632e+01] [-1.38011335e-01 3.80013779e-03 9.90423359e-01 -1.83692546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters 0.03269067351958669 Centerline is valid? [True, True] Translation: X:146.02, Y:-50.82, Z:-18.38 [[ 7.62649411e-01 6.38109251e-01 1.05747146e-01 1.46017636e+02] [-6.31302943e-01 7.69934357e-01 -9.30466560e-02 -5.08160922e+01] [-1.40792293e-01 4.20349279e-03 9.90030232e-01 -1.83790152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters 0.03345232244396403 Centerline is valid? [True, True] Translation: X:146.07, Y:-50.85, Z:-18.39 [[ 7.64529759e-01 6.35717031e-01 1.06574410e-01 1.46068044e+02] [-6.28776808e-01 7.71907878e-01 -9.37974065e-02 -5.08525169e+01] [-1.41894236e-01 4.69939110e-03 9.89870669e-01 -1.83865821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters 0.035878510209232606 Centerline is valid? [True, True] Translation: X:146.12, Y:-50.89, Z:-18.39 [[ 7.69610487e-01 6.29139850e-01 1.09008013e-01 1.46115936e+02] [-6.21808260e-01 7.77268428e-01 -9.59597785e-02 -5.08900553e+01] [-1.45100608e-01 6.06956878e-03 9.89398289e-01 -1.83948498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters 0.038157494251739504 Centerline is valid? [True, True] Translation: X:146.16, Y:-50.93, Z:-18.40 [[ 7.74970902e-01 6.22801843e-01 1.07414925e-01 1.46161441e+02] [-6.15622204e-01 7.82346865e-01 -9.45657694e-02 -5.09298409e+01] [-1.42931465e-01 7.15870680e-03 9.89706699e-01 -1.84025476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters 0.03928763395086488 Centerline is valid? [True, True] Translation: X:146.21, Y:-50.97, Z:-18.41 [[ 7.77575956e-01 6.19833283e-01 1.05746558e-01 1.46206752e+02] [-6.12847701e-01 7.84696817e-01 -9.31053190e-02 -5.09718297e+01] [-1.40688763e-01 7.58992264e-03 9.90024780e-01 -1.84088159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters 0.038910222320109426 Centerline is valid? [True, True] Translation: X:146.25, Y:-51.02, Z:-18.42 [[ 7.76378440e-01 6.21291495e-01 1.05987719e-01 1.46249979e+02] [-6.14283701e-01 7.83544937e-01 -9.33427343e-02 -5.10173072e+01] [-1.41039188e-01 7.36275786e-03 9.89976635e-01 -1.84150696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters 0.038531084005865274 Centerline is valid? [True, True] Translation: X:146.29, Y:-51.06, Z:-18.42 [[ 7.74910545e-01 6.23181385e-01 1.05634320e-01 1.46294920e+02] [-6.16231213e-01 7.82045721e-01 -9.30783723e-02 -5.10601815e+01] [-1.40615577e-01 7.03224674e-03 9.90039296e-01 -1.84210140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters 0.03832189885908375 Centerline is valid? [True, True] Translation: X:146.34, Y:-51.10, Z:-18.43 [[ 7.73915609e-01 6.24529908e-01 1.04962007e-01 1.46340752e+02] [-6.17670269e-01 7.80971275e-01 -9.25597414e-02 -5.11016939e+01] [-1.39778639e-01 6.80151751e-03 9.90159417e-01 -1.84275771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters 0.03831811117421074 Centerline is valid? [True, True] Translation: X:146.39, Y:-51.14, Z:-18.44 [[ 7.73082069e-01 6.25315080e-01 1.06419758e-01 1.46385365e+02] [-6.18258931e-01 7.80342628e-01 -9.39216529e-02 -5.11440471e+01] [-1.41774500e-01 6.81417976e-03 9.89875527e-01 -1.84355797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters 0.038461198098627226 Centerline is valid? [True, True] Translation: X:146.43, Y:-51.18, Z:-18.44 [[ 7.73263322e-01 6.25105991e-01 1.06331250e-01 1.46432062e+02] [-6.18048835e-01 7.80509321e-01 -9.39193099e-02 -5.11844227e+01] [-1.41702055e-01 6.90645214e-03 9.89885260e-01 -1.84423804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters 0.039055280837047075 Centerline is valid? [True, True] Translation: X:146.48, Y:-51.23, Z:-18.45 [[ 7.75213208e-01 6.23052728e-01 1.04162278e-01 1.46478248e+02] [-6.16253397e-01 7.82146802e-01 -9.20767692e-02 -5.12259500e+01] [-1.38838875e-01 7.18876990e-03 9.90288891e-01 -1.84479429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters 0.03978432927482612 Centerline is valid? [True, True] Translation: X:146.52, Y:-51.27, Z:-18.45 [[ 7.77554885e-01 6.20362111e-01 1.02758222e-01 1.46520399e+02] [-6.13713605e-01 7.84278558e-01 -9.08996929e-02 -5.12720075e+01] [-1.36981796e-01 7.61538139e-03 9.90544292e-01 -1.84544043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters 0.040870866946837996 Centerline is valid? [True, True] Translation: X:146.56, Y:-51.32, Z:-18.46 [[ 7.79013687e-01 6.18507874e-01 1.02886757e-01 1.46562472e+02] [-6.11823668e-01 7.85738195e-01 -9.10345442e-02 -5.13180337e+01] [-1.37147637e-01 7.96860310e-03 9.90518565e-01 -1.84619082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters 0.039919011273806745 Centerline is valid? [True, True] Translation: X:146.60, Y:-51.37, Z:-18.47 [[ 7.77204216e-01 6.20918667e-01 1.02047124e-01 1.46600828e+02] [-6.14361593e-01 7.83839154e-01 -9.03106535e-02 -5.13665946e+01] [-1.36064102e-01 7.49598705e-03 9.90671676e-01 -1.84690870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters 0.03854263362207325 Centerline is valid? [True, True] Translation: X:146.64, Y:-51.41, Z:-18.47 [[ 7.74946508e-01 6.23896626e-01 1.01049050e-01 1.46640690e+02] [-6.17491352e-01 7.81476302e-01 -8.94383585e-02 -5.14146173e+01] [-1.34767728e-01 6.91302903e-03 9.90853102e-01 -1.84743132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters 0.036950398376910734 Centerline is valid? [True, True] Translation: X:146.68, Y:-51.47, Z:-18.48 [[ 7.71349706e-01 6.28141996e-01 1.02260762e-01 1.46675762e+02] [-6.21616144e-01 7.78073546e-01 -9.05258299e-02 -5.14671641e+01] [-1.36429469e-01 6.26013167e-03 9.90630007e-01 -1.84808205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters 0.036420274111022014 Centerline is valid? [True, True] Translation: X:146.72, Y:-51.52, Z:-18.49 [[ 7.70117850e-01 6.29752355e-01 1.01638910e-01 1.46715124e+02] [-6.23317077e-01 7.76773143e-01 -8.99961389e-02 -5.15159573e+01] [-1.35625656e-01 5.95436470e-03 9.90742261e-01 -1.84879721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters 0.0352608137959375 Centerline is valid? [True, True] Translation: X:146.75, Y:-51.57, Z:-18.49 [[ 7.66540189e-01 6.34139595e-01 1.01405686e-01 1.46754076e+02] [-6.27763019e-01 7.73200971e-01 -8.98546066e-02 -5.15650545e+01] [-1.35387338e-01 5.21842783e-03 9.90779005e-01 -1.84933720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters 0.033510559876444135 Centerline is valid? [True, True] Translation: X:146.79, Y:-51.61, Z:-18.50 [[ 7.61145169e-01 6.40675059e-01 1.00962867e-01 1.46794826e+02] [-6.34409059e-01 7.67801433e-01 -8.94768441e-02 -5.16102674e+01] [-1.34845016e-01 4.05311011e-03 9.90858413e-01 -1.85007304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters 0.032826688734936826 Centerline is valid? [True, True] Translation: X:146.84, Y:-51.65, Z:-18.51 [[ 7.58534481e-01 6.43828450e-01 1.00550323e-01 1.46838356e+02] [-6.37638941e-01 7.65161899e-01 -8.91282687e-02 -5.16543215e+01] [-1.34320591e-01 3.49206389e-03 9.90931776e-01 -1.85067020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters 0.03240507978833134 Centerline is valid? [True, True] Translation: X:146.89, Y:-51.70, Z:-18.52 [[ 7.57435925e-01 6.44969496e-01 1.01514377e-01 1.46885349e+02] [-6.38659392e-01 7.64200825e-01 -9.00626460e-02 -5.16952744e+01] [-1.35665030e-01 3.38357333e-03 9.90748985e-01 -1.85152583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters 0.03260677778830169 Centerline is valid? [True, True] Translation: X:146.93, Y:-51.74, Z:-18.52 [[ 7.60416891e-01 6.41254516e-01 1.02756012e-01 1.46930977e+02] [-6.34742266e-01 7.67316942e-01 -9.12522117e-02 -5.17363980e+01] [-1.37362321e-01 4.16613938e-03 9.90512108e-01 -1.85225292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters 0.03332172176819197 Centerline is valid? [True, True] Translation: X:146.98, Y:-51.78, Z:-18.53 [[ 7.63180411e-01 6.38277875e-01 1.00782017e-01 1.46977637e+02] [-6.31979087e-01 7.69791907e-01 -8.95703849e-02 -5.17771239e+01] [-1.34751976e-01 4.66623592e-03 9.90868372e-01 -1.85286264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters 0.032982066844584455 Centerline is valid? [True, True] Translation: X:147.02, Y:-51.82, Z:-18.54 [[ 7.63439004e-01 6.37947615e-01 1.00914456e-01 1.47023034e+02] [-6.31618868e-01 7.70064862e-01 -8.97647706e-02 -5.18193152e+01] [-1.34975898e-01 4.79045278e-03 9.90837302e-01 -1.85351274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters 0.03285132430448709 Centerline is valid? [True, True] Translation: X:147.07, Y:-51.86, Z:-18.55 [[ 7.62622379e-01 6.38636815e-01 1.02713807e-01 1.47066307e+02] [-6.32074529e-01 7.69493237e-01 -9.14436877e-02 -5.18628895e+01] [-1.37436886e-01 4.81422122e-03 9.90498827e-01 -1.85451068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters 0.032934957889029885 Centerline is valid? [True, True] Translation: X:147.11, Y:-51.91, Z:-18.55 [[ 7.62303421e-01 6.38906587e-01 1.03401488e-01 1.47110304e+02] [-6.32247207e-01 7.69268981e-01 -9.21341687e-02 -5.19068882e+01] [-1.38408685e-01 4.85888978e-03 9.90363280e-01 -1.85515539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters 0.0331592095722591 Centerline is valid? [True, True] Translation: X:147.16, Y:-51.95, Z:-18.56 [[ 7.62973174e-01 6.38004186e-01 1.04031700e-01 1.47155079e+02] [-6.31243546e-01 7.70015905e-01 -9.27744089e-02 -5.19498238e+01] [-1.39296525e-01 5.11504619e-03 9.90237504e-01 -1.85577537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters 0.03315993380612317 Centerline is valid? [True, True] Translation: X:147.20, Y:-51.99, Z:-18.57 [[ 7.62971061e-01 6.37908080e-01 1.04634802e-01 1.47200010e+02] [-6.31056320e-01 7.70094791e-01 -9.33912911e-02 -5.19929469e+01] [-1.40153775e-01 5.22439958e-03 9.90115965e-01 -1.85653214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters 0.033377752334001115 Centerline is valid? [True, True] Translation: X:147.24, Y:-52.04, Z:-18.57 [[ 7.63266971e-01 6.37662698e-01 1.03970260e-01 1.47240938e+02] [-6.30884610e-01 7.70297486e-01 -9.28783705e-02 -5.20403162e+01] [-1.39313102e-01 5.29775590e-03 9.90234211e-01 -1.85745100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters 0.03331546535109181 Centerline is valid? [True, True] Translation: X:147.28, Y:-52.09, Z:-18.58 [[ 7.62403980e-01 6.38269209e-01 1.06548530e-01 1.47283373e+02] [-6.31141539e-01 7.69794369e-01 -9.52732212e-02 -5.20859930e+01] [-1.42830422e-01 5.38948003e-03 9.89732501e-01 -1.85825648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters 0.03316196623495313 Centerline is valid? [True, True] Translation: X:147.33, Y:-52.13, Z:-18.59 [[ 7.61990772e-01 6.38796125e-01 1.06346480e-01 1.47325918e+02] [-6.31689226e-01 7.69357504e-01 -9.51722216e-02 -5.21316445e+01] [-1.42614109e-01 5.34242873e-03 9.89763949e-01 -1.85885475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters 0.03266129738867396 Centerline is valid? [True, True] Translation: X:147.36, Y:-52.18, Z:-18.60 [[ 7.59996296e-01 6.41450063e-01 1.04630049e-01 1.47364310e+02] [-6.34587471e-01 7.67149671e-01 -9.37023148e-02 -5.21803045e+01] [-1.40372263e-01 4.81649393e-03 9.90087082e-01 -1.85968652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters 0.03152620504434244 Centerline is valid? [True, True] Translation: X:147.40, Y:-52.23, Z:-18.60 [[ 7.57005727e-01 6.44983198e-01 1.04589694e-01 1.47404368e+02] [-6.38156858e-01 7.64185351e-01 -9.36833742e-02 -5.22265759e+01] [-1.40350115e-01 4.17421992e-03 9.90093138e-01 -1.86029791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters 0.03117315874736901 Centerline is valid? [True, True] Translation: X:147.45, Y:-52.27, Z:-18.61 [[ 7.54070649e-01 6.48722040e-01 1.02650723e-01 1.47445665e+02] [-6.42178625e-01 7.61017695e-01 -9.19710886e-02 -5.22716501e+01] [-1.37782688e-01 3.43259865e-03 9.90456535e-01 -1.86090644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters 0.03088411340237125 Centerline is valid? [True, True] Translation: X:147.49, Y:-52.32, Z:-18.62 [[ 7.51686958e-01 6.51286117e-01 1.03889897e-01 1.47488515e+02] [-6.44597779e-01 7.58826122e-01 -9.31483707e-02 -5.23159132e+01] [-1.39500608e-01 3.05121886e-03 9.90217284e-01 -1.86173023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters 0.03078680869875068 Centerline is valid? [True, True] Translation: X:147.53, Y:-52.36, Z:-18.63 [[ 7.48361553e-01 6.55007388e-01 1.04500274e-01 1.47532275e+02] [-6.48263920e-01 7.55618544e-01 -9.37790275e-02 -5.23596927e+01] [-1.40388300e-01 2.43686154e-03 9.90093524e-01 -1.86257037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters 0.03057672246429905 Centerline is valid? [True, True] Translation: X:147.58, Y:-52.40, Z:-18.63 [[ 7.47488634e-01 6.56062406e-01 1.04129059e-01 1.47578171e+02] [-6.49365478e-01 7.54703158e-01 -9.35287079e-02 -5.24014236e+01] [-1.39947199e-01 2.29382966e-03 9.90156311e-01 -1.86311872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters 0.03082465280558726 Centerline is valid? [True, True] Translation: X:147.62, Y:-52.45, Z:-18.64 [[ 7.47703083e-01 6.55752380e-01 1.04541454e-01 1.47621670e+02] [-6.48987109e-01 7.54972141e-01 -9.39829673e-02 -5.24450249e+01] [-1.40555439e-01 2.42529872e-03 9.90069839e-01 -1.86405734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters 0.031009937906849583 Centerline is valid? [True, True] Translation: X:147.67, Y:-52.49, Z:-18.65 [[ 7.46978570e-01 6.56430741e-01 1.05459462e-01 1.47666663e+02] [-6.49539942e-01 7.54382529e-01 -9.48939560e-02 -5.24872949e+01] [-1.41848086e-01 2.38361838e-03 9.89885569e-01 -1.86474512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters 0.030546849695079828 Centerline is valid? [True, True] Translation: X:147.71, Y:-52.53, Z:-18.65 [[ 7.44438656e-01 6.59533111e-01 1.04053653e-01 1.47712770e+02] [-6.52844018e-01 7.51673279e-01 -9.37121584e-02 -5.25285671e+01] [-1.40020622e-01 1.83214801e-03 9.90146892e-01 -1.86541134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters 0.03030101713973809 Centerline is valid? [True, True] Translation: X:147.76, Y:-52.57, Z:-18.66 [[ 7.40316223e-01 6.64203540e-01 1.03757158e-01 1.47756939e+02] [-6.57587701e-01 7.47551101e-01 -9.35187985e-02 -5.25725305e+01] [-1.39679295e-01 1.00405244e-03 9.90196287e-01 -1.86615099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters 0.03068091514125659 Centerline is valid? [True, True] Translation: X:147.80, Y:-52.61, Z:-18.67 [[ 7.37756901e-01 6.67231073e-01 1.02554623e-01 1.47804369e+02] [-6.60791950e-01 7.44850647e-01 -9.24743878e-02 -5.26122289e+01] [-1.38089662e-01 4.56348782e-04 9.90419627e-01 -1.86689033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters 0.030495544878415378 Centerline is valid? [True, True] Translation: X:147.85, Y:-52.65, Z:-18.68 [[ 7.37159017e-01 6.67897817e-01 1.02513856e-01 1.47853520e+02] [-6.61457973e-01 7.44252880e-01 -9.25256774e-02 -5.26514488e+01] [-1.38093930e-01 3.97530111e-04 9.90419057e-01 -1.86751560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters 0.030844957838004314 Centerline is valid? [True, True] Translation: X:147.90, Y:-52.69, Z:-18.68 [[ 7.37964574e-01 6.66885339e-01 1.03306495e-01 1.47901673e+02] [-6.60321421e-01 7.45160051e-01 -9.33387344e-02 -5.26904591e+01] [-1.39226107e-01 6.65187668e-04 9.90260394e-01 -1.86833118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters 0.03119030552658067 Centerline is valid? [True, True] Translation: X:147.95, Y:-52.73, Z:-18.69 [[ 7.41165453e-01 6.63135552e-01 1.04522777e-01 1.47949613e+02] [-6.56365566e-01 7.48497913e-01 -9.45257535e-02 -5.27297513e+01] [-1.40918468e-01 1.45407114e-03 9.90020137e-01 -1.86897640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters 0.03159183598022472 Centerline is valid? [True, True] Translation: X:148.00, Y:-52.77, Z:-18.70 [[ 7.43651021e-01 6.60535005e-01 1.03327954e-01 1.47999332e+02] [-6.53882309e-01 7.50792609e-01 -9.35327951e-02 -5.27678454e+01] [-1.39359550e-01 1.99143722e-03 9.90239845e-01 -1.86970355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters 0.03185145419158897 Centerline is valid? [True, True] Translation: X:148.05, Y:-52.81, Z:-18.71 [[ 7.45568996e-01 6.58389112e-01 1.03201989e-01 1.48046080e+02] [-6.51718859e-01 7.52673711e-01 -9.35137108e-02 -5.28078407e+01] [-1.39245833e-01 2.46224084e-03 9.90254783e-01 -1.87054609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters 0.032586127287128674 Centerline is valid? [True, True] Translation: X:148.09, Y:-52.85, Z:-18.71 [[ 7.47919596e-01 6.55482015e-01 1.04688138e-01 1.48092313e+02] [-6.48578277e-01 7.55204402e-01 -9.49343512e-02 -5.28491808e+01] [-1.41288703e-01 3.10480916e-03 9.89963566e-01 -1.87119442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters 0.03296126050181088 Centerline is valid? [True, True] Translation: X:148.14, Y:-52.89, Z:-18.72 [[ 7.50804304e-01 6.52338011e-01 1.03672644e-01 1.48138983e+02] [-6.45533430e-01 7.57919204e-01 -9.40482318e-02 -5.28892133e+01] [-1.39926724e-01 3.68765978e-03 9.90154994e-01 -1.87191991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters 0.03316296591111569 Centerline is valid? [True, True] Translation: X:148.19, Y:-52.93, Z:-18.73 [[ 7.50846111e-01 6.52271816e-01 1.03786299e-01 1.48186228e+02] [-6.45439780e-01 7.57975777e-01 -9.42348757e-02 -5.29295403e+01] [-1.40134254e-01 3.76808415e-03 9.90125342e-01 -1.87267746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters 0.033205226939940685 Centerline is valid? [True, True] Translation: X:148.23, Y:-52.97, Z:-18.73 [[ 7.49648982e-01 6.53535620e-01 1.04487306e-01 1.48232297e+02] [-6.46611564e-01 7.56887124e-01 -9.49492874e-02 -5.29713738e+01] [-1.41137838e-01 3.61593619e-03 9.89983351e-01 -1.87343084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters 0.03336967024803894 Centerline is valid? [True, True] Translation: X:148.28, Y:-53.01, Z:-18.74 [[ 7.48829135e-01 6.54501199e-01 1.04322134e-01 1.48278157e+02] [-6.47602784e-01 7.56053052e-01 -9.48389004e-02 -5.30127943e+01] [-1.40945242e-01 3.45882758e-03 9.90011351e-01 -1.87406560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters 0.03299264421848197 Centerline is valid? [True, True] Translation: X:148.32, Y:-53.05, Z:-18.75 [[ 7.49257691e-01 6.54516576e-01 1.01098781e-01 1.48323880e+02] [-6.48029295e-01 7.56039975e-01 -9.19868976e-02 -5.30548894e+01] [-1.36641669e-01 3.40691848e-03 9.90614681e-01 -1.87465458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters 0.03300092771333522 Centerline is valid? [True, True] Translation: X:148.37, Y:-53.10, Z:-18.75 [[ 7.47045384e-01 6.56867373e-01 1.02217654e-01 1.48370211e+02] [-6.50245241e-01 7.53999870e-01 -9.30877178e-02 -5.30961780e+01] [-1.38218383e-01 3.07420657e-03 9.90397005e-01 -1.87537304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters 0.032723876858925395 Centerline is valid? [True, True] Translation: X:148.42, Y:-53.14, Z:-18.76 [[ 7.44238725e-01 6.59986249e-01 1.02600543e-01 1.48415225e+02] [-6.53331871e-01 7.51273288e-01 -9.35195845e-02 -5.31390541e+01] [-1.38802687e-01 2.56869192e-03 9.90316725e-01 -1.87598758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters 0.03263002505394248 Centerline is valid? [True, True] Translation: X:148.46, Y:-53.18, Z:-18.77 [[ 7.41456136e-01 6.63031052e-01 1.03114611e-01 1.48461467e+02] [-6.56326855e-01 7.48589023e-01 -9.40719595e-02 -5.31800163e+01] [-1.39563096e-01 2.07334309e-03 9.90211010e-01 -1.87683999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters 0.03271792924661473 Centerline is valid? [True, True] Translation: X:148.51, Y:-53.22, Z:-18.77 [[ 7.39596276e-01 6.65001413e-01 1.03780869e-01 1.48507309e+02] [-6.58216693e-01 7.46839980e-01 -9.47672384e-02 -5.32225142e+01] [-1.40528049e-01 1.77919635e-03 9.90075099e-01 -1.87734481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters 0.032495813767502324 Centerline is valid? [True, True] Translation: X:148.56, Y:-53.26, Z:-18.78 [[ 7.35919139e-01 6.69151408e-01 1.03244438e-01 1.48555164e+02] [-6.62464037e-01 7.43125346e-01 -9.43722410e-02 -5.32617287e+01] [-1.39872877e-01 1.05461085e-03 9.90168908e-01 -1.87789609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters 0.03249404391464301 Centerline is valid? [True, True] Translation: X:148.60, Y:-53.30, Z:-18.79 [[ 7.32056684e-01 6.73282514e-01 1.03844441e-01 1.48603899e+02] [-6.66545276e-01 7.39385248e-01 -9.50097411e-02 -5.33016866e+01] [-1.40749445e-01 3.35494319e-04 9.90045191e-01 -1.87873116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters 0.0325404984336821 Centerline is valid? [True, True] Translation: X:148.65, Y:-53.34, Z:-18.79 [[ 7.31087247e-01 6.74303282e-01 1.04050569e-01 1.48652158e+02] [-6.67535050e-01 7.38454493e-01 -9.52991084e-02 -5.33416515e+01] [-1.41097111e-01 2.14561318e-04 9.89995737e-01 -1.87938208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters 0.03251735749522589 Centerline is valid? [True, True] Translation: X:148.70, Y:-53.38, Z:-18.80 [[ 7.29801144e-01 6.75762868e-01 1.03609052e-01 1.48703517e+02] [-6.69052688e-01 7.37119085e-01 -9.49945015e-02 -5.33783215e+01] [-1.40565966e-01 7.18141549e-06 9.90071315e-01 -1.88023337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters 0.03244214336978845 Centerline is valid? [True, True] Translation: X:148.75, Y:-53.41, Z:-18.81 [[ 7.29922090e-01 6.75974851e-01 1.01349606e-01 1.48754424e+02] [-6.69544473e-01 7.36924690e-01 -9.30171997e-02 -5.34140276e+01] [-1.37564314e-01 3.72405300e-05 9.90492836e-01 -1.88094059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters 0.03282171213611755 Centerline is valid? [True, True] Translation: X:148.81, Y:-53.45, Z:-18.82 [[ 7.29237172e-01 6.76167104e-01 1.04934242e-01 1.48805127e+02] [-6.69260261e-01 7.36748290e-01 -9.63984435e-02 -5.34499849e+01] [-1.42491580e-01 6.90098454e-05 9.89796012e-01 -1.88184885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters 0.03267592382523684 Centerline is valid? [True, True] Translation: X:148.86, Y:-53.48, Z:-18.82 [[ 7.29592034e-01 6.75904664e-01 1.04155408e-01 1.48857547e+02] [-6.69085361e-01 7.36989044e-01 -9.57701859e-02 -5.34844720e+01] [-1.41492910e-01 1.84306107e-04 9.89939252e-01 -1.88247537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters 0.03265112336312838 Centerline is valid? [True, True] Translation: X:148.91, Y:-53.52, Z:-18.83 [[ 7.28899723e-01 6.76798768e-01 1.03192156e-01 1.48908673e+02] [-6.70102358e-01 7.36168066e-01 -9.49705633e-02 -5.35199885e+01] [-1.40242730e-01 7.47103921e-05 9.90117150e-01 -1.88321139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters 0.032803630269257214 Centerline is valid? [True, True] Translation: X:148.96, Y:-53.56, Z:-18.84 [[ 7.29371672e-01 6.76202149e-01 1.03767137e-01 1.48959111e+02] [-6.69412248e-01 7.36716085e-01 -9.55858428e-02 -5.35558500e+01] [-1.41082271e-01 2.54613278e-04 9.89997842e-01 -1.88385230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters 0.032824831982397336 Centerline is valid? [True, True] Translation: X:149.01, Y:-53.59, Z:-18.85 [[ 7.29499233e-01 6.75953495e-01 1.04487997e-01 1.49008957e+02] [-6.69054036e-01 7.36944189e-01 -9.63325454e-02 -5.35929586e+01] [-1.42118143e-01 3.66402114e-04 9.89849635e-01 -1.88454458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters 0.03285943039764893 Centerline is valid? [True, True] Translation: X:149.06, Y:-53.63, Z:-18.85 [[ 7.30417002e-01 6.75164591e-01 1.03168693e-01 1.49060939e+02] [-6.68419262e-01 7.37666892e-01 -9.52010874e-02 -5.36278240e+01] [-1.40380532e-01 5.76551001e-04 9.90097457e-01 -1.88540129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters 0.03290858847203047 Centerline is valid? [True, True] Translation: X:149.11, Y:-53.66, Z:-18.86 [[ 7.32588115e-01 6.72883427e-01 1.02676912e-01 1.49112926e+02] [-6.66167958e-01 7.39747754e-01 -9.48341270e-02 -5.36643745e+01] [-1.39767328e-01 1.07428522e-03 9.90183791e-01 -1.88591487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters 0.0327972635333688 Centerline is valid? [True, True] Translation: X:149.16, Y:-53.70, Z:-18.87 [[ 7.34714875e-01 6.70654023e-01 1.02064856e-01 1.49163622e+02] [-6.63983771e-01 7.41768657e-01 -9.43653030e-02 -5.37018015e+01] [-1.38994981e-01 1.56218393e-03 9.90291853e-01 -1.88656960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters 0.03307905009939237 Centerline is valid? [True, True] Translation: X:149.22, Y:-53.74, Z:-18.87 [[ 7.38063707e-01 6.67239133e-01 1.00269155e-01 1.49215821e+02] [-6.60758409e-01 7.44840208e-01 -9.27975695e-02 -5.37384477e+01] [-1.36602668e-01 2.23683109e-03 9.90623393e-01 -1.88718007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters 0.03362550764052435 Centerline is valid? [True, True] Translation: X:149.26, Y:-53.78, Z:-18.88 [[ 7.41486436e-01 6.63239731e-01 1.01542718e-01 1.49263701e+02] [-6.56543411e-01 7.48400691e-01 -9.40593179e-02 -5.37775882e+01] [-1.38378517e-01 3.07650581e-03 9.90374637e-01 -1.88787573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters 0.034255149704273 Centerline is valid? [True, True] Translation: X:149.31, Y:-53.82, Z:-18.89 [[ 7.43416575e-01 6.60916267e-01 1.02574290e-01 1.49310203e+02] [-6.54055513e-01 7.50451149e-01 -9.50497716e-02 -5.38184720e+01] [-1.39796934e-01 3.57229592e-03 9.90173750e-01 -1.88865943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters 0.03519635316583711 Centerline is valid? [True, True] Translation: X:149.36, Y:-53.86, Z:-18.89 [[ 7.47782691e-01 6.56304313e-01 1.00427565e-01 1.49358341e+02] [-6.49676662e-01 7.54483443e-01 -9.31395131e-02 -5.38575346e+01] [-1.36898799e-01 4.40267047e-03 9.90575255e-01 -1.88932929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters 0.035562057869834164 Centerline is valid? [True, True] Translation: X:149.40, Y:-53.90, Z:-18.90 [[ 7.47418955e-01 6.56332110e-01 1.02922631e-01 1.49403047e+02] [-6.49357795e-01 7.54458254e-01 -9.55363599e-02 -5.39003367e+01] [-1.40354409e-01 4.57207360e-03 9.90090772e-01 -1.89006810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters 0.035456624355522 Centerline is valid? [True, True] Translation: X:149.45, Y:-53.94, Z:-18.91 [[ 7.47541528e-01 6.56331830e-01 1.02030355e-01 1.49447875e+02] [-6.49467442e-01 7.54458377e-01 -9.47871224e-02 -5.39426224e+01] [-1.39189462e-01 4.59191651e-03 9.90255123e-01 -1.89068681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters 0.0350745674494893 Centerline is valid? [True, True] Translation: X:149.49, Y:-53.99, Z:-18.91 [[ 7.45260334e-01 6.58721187e-01 1.03312303e-01 1.49491618e+02] [-6.51693496e-01 7.52375066e-01 -9.60590772e-02 -5.39861668e+01] [-1.41005750e-01 4.26106395e-03 9.89999607e-01 -1.89132894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters 0.03459105102416522 Centerline is valid? [True, True] Translation: X:149.53, Y:-54.03, Z:-18.92 [[ 7.42882491e-01 6.61311607e-01 1.03887263e-01 1.49534712e+02] [-6.54218455e-01 7.50101400e-01 -9.66752467e-02 -5.40304972e+01] [-1.41858444e-01 3.85338337e-03 9.89879454e-01 -1.89212485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters 0.034572677624679395 Centerline is valid? [True, True] Translation: X:149.58, Y:-54.08, Z:-18.93 [[ 7.40244517e-01 6.64114837e-01 1.04831003e-01 1.49576855e+02] [-6.56907337e-01 7.47622800e-01 -9.76365681e-02 -5.40757452e+01] [-1.43215941e-01 3.41067944e-03 9.89685587e-01 -1.89287099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters 0.03349538679484552 Centerline is valid? [True, True] Translation: X:149.62, Y:-54.12, Z:-18.93 [[ 7.35934192e-01 6.69155321e-01 1.03111695e-01 1.49618106e+02] [-6.62222770e-01 7.43118557e-01 -9.61031336e-02 -5.41214850e+01] [-1.40932137e-01 2.44266997e-03 9.90016245e-01 -1.89340352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters 0.03270370571207122 Centerline is valid? [True, True] Translation: X:149.66, Y:-54.17, Z:-18.94 [[ 7.29779786e-01 6.75903052e-01 1.02842250e-01 1.49659776e+02] [-6.69070791e-01 7.36989643e-01 -9.58673178e-02 -5.41679773e+01] [-1.40590686e-01 1.15328523e-03 9.90067134e-01 -1.89420328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters 0.03239636660922383 Centerline is valid? [True, True] Translation: X:149.71, Y:-54.21, Z:-18.95 [[ 7.23803949e-01 6.82283313e-01 1.02943305e-01 1.49706324e+02] [-6.75495439e-01 7.31087873e-01 -9.60022575e-02 -5.42084815e+01] [-1.40761340e-01 -5.09196694e-05 9.90043556e-01 -1.89483271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters 0.03227325504740018 Centerline is valid? [True, True] Translation: X:149.75, Y:-54.25, Z:-18.96 [[ 7.21253435e-01 6.85182474e-01 1.01579823e-01 1.49752665e+02] [-6.78590884e-01 7.28371251e-01 -9.48141975e-02 -5.42500976e+01] [-1.38952849e-01 -5.46076001e-04 9.90298848e-01 -1.89553056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters 0.03218759563494827 Centerline is valid? [True, True] Translation: X:149.80, Y:-54.29, Z:-18.96 [[ 7.22000395e-01 6.84136467e-01 1.03308877e-01 1.49801265e+02] [-6.77294222e-01 7.29353969e-01 -9.65159291e-02 -5.42890983e+01] [-1.41378806e-01 -2.85966547e-04 9.89955530e-01 -1.89607871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters 0.03192751871446767 Centerline is valid? [True, True] Translation: X:149.85, Y:-54.33, Z:-18.97 [[ 7.21667677e-01 6.84648427e-01 1.02236469e-01 1.49849252e+02] [-6.77941195e-01 7.28873398e-01 -9.55997144e-02 -5.43288965e+01] [-1.39969637e-01 -3.19090323e-04 9.90155745e-01 -1.89670295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters 0.03185011757279433 Centerline is valid? [True, True] Translation: X:149.90, Y:-54.37, Z:-18.97 [[ 7.19534110e-01 6.86965938e-01 1.01727403e-01 1.49898604e+02] [-6.80336319e-01 7.26689279e-01 -9.52112643e-02 -5.43680049e+01] [-1.39331108e-01 -7.01094329e-04 9.90245601e-01 -1.89743869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters 0.03195608954325164 Centerline is valid? [True, True] Translation: X:149.95, Y:-54.41, Z:-18.98 [[ 7.17851055e-01 6.88822319e-01 1.01062731e-01 1.49946496e+02] [-6.82284179e-01 7.24929546e-01 -9.46860696e-02 -5.44083397e+01] [-1.38485238e-01 -9.83007627e-04 9.90364010e-01 -1.89790125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters 0.03204500237415962 Centerline is valid? [True, True] Translation: X:150.00, Y:-54.44, Z:-18.99 [[ 7.18827847e-01 6.87929500e-01 1.00197450e-01 1.49998926e+02] [-6.81481666e-01 7.25777144e-01 -9.39695496e-02 -5.44429298e+01] [-1.37365445e-01 -7.34796338e-04 9.90520164e-01 -1.89882188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters 0.03207753409946843 Centerline is valid? [True, True] Translation: X:150.05, Y:-54.48, Z:-19.00 [[ 7.22413496e-01 6.84038349e-01 1.01045925e-01 1.50051527e+02] [-6.77429763e-01 7.29446045e-01 -9.48545399e-02 -5.44789164e+01] [-1.38591693e-01 7.26828096e-05 9.90349604e-01 -1.89966362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters 0.03236758222994788 Centerline is valid? [True, True] Translation: X:150.10, Y:-54.52, Z:-19.01 [[ 7.25039801e-01 6.81110338e-01 1.02009781e-01 1.50102333e+02] [-6.74331621e-01 7.32180443e-01 -9.58575175e-02 -5.45153534e+01] [-1.39979113e-01 7.12094579e-04 9.90154201e-01 -1.90052030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters 0.03232750577969081 Centerline is valid? [True, True] Translation: X:150.15, Y:-54.55, Z:-19.01 [[ 7.26656060e-01 6.79501883e-01 1.01233204e-01 1.50151122e+02] [-6.72798797e-01 7.33672971e-01 -9.52142386e-02 -5.45545837e+01] [-1.38970320e-01 1.07842541e-03 9.90295959e-01 -1.90117586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters 0.032495253654346475 Centerline is valid? [True, True] Translation: X:150.20, Y:-54.59, Z:-19.02 [[ 7.27007559e-01 6.79059877e-01 1.01674442e-01 1.50200081e+02] [-6.72280282e-01 7.34081841e-01 -9.57239391e-02 -5.45926641e+01] [-1.39639648e-01 1.23830500e-03 9.90201614e-01 -1.90186189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters 0.032641816859053985 Centerline is valid? [True, True] Translation: X:150.25, Y:-54.63, Z:-19.02 [[ 7.28081901e-01 6.77903828e-01 1.01701253e-01 1.50247485e+02] [-6.71097551e-01 7.35149019e-01 -9.58331727e-02 -5.46322994e+01] [-1.39731251e-01 1.52293649e-03 9.90188294e-01 -1.90244868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters 0.03316854632800588 Centerline is valid? [True, True] Translation: X:150.30, Y:-54.67, Z:-19.03 [[ 7.30845579e-01 6.74626319e-01 1.03653609e-01 1.50298178e+02] [-6.67509569e-01 7.38155971e-01 -9.77585677e-02 -5.46680562e+01] [-1.42463033e-01 2.25664114e-03 9.89797551e-01 -1.90326119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters 0.03344375329206795 Centerline is valid? [True, True] Translation: X:150.35, Y:-54.70, Z:-19.04 [[ 7.34028274e-01 6.71290186e-01 1.02820128e-01 1.50348532e+02] [-6.64244088e-01 7.41188801e-01 -9.70512930e-02 -5.47046585e+01] [-1.41358708e-01 2.94073100e-03 9.89954074e-01 -1.90391905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters 0.03395266587299262 Centerline is valid? [True, True] Translation: X:150.40, Y:-54.74, Z:-19.05 [[ 7.36845377e-01 6.67994439e-01 1.04126464e-01 1.50397062e+02] [-6.60723828e-01 7.44157190e-01 -9.83569982e-02 -5.47435073e+01] [-1.43188385e-01 3.67506362e-03 9.89688628e-01 -1.90474064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters 0.03437917941791542 Centerline is valid? [True, True] Translation: X:150.45, Y:-54.78, Z:-19.05 [[ 7.39566096e-01 6.65036736e-01 1.03769596e-01 1.50446732e+02] [-6.57781979e-01 7.46798491e-01 -9.80555049e-02 -5.47807415e+01] [-1.42705491e-01 4.26075661e-03 9.89756025e-01 -1.90549373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters 0.03432109329079699 Centerline is valid? [True, True] Translation: X:150.49, Y:-54.82, Z:-19.06 [[ 7.39967139e-01 6.64119144e-01 1.06744534e-01 1.50491952e+02] [-6.56419704e-01 7.47612462e-01 -1.00939483e-01 -5.48226640e+01] [-1.46839387e-01 4.62268476e-03 9.89149547e-01 -1.90633978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters 0.035139600821142335 Centerline is valid? [True, True] Translation: X:150.54, Y:-54.86, Z:-19.07 [[ 7.40881644e-01 6.63118393e-01 1.06622637e-01 1.50540827e+02] [-6.55420796e-01 7.48498854e-01 -1.00861517e-01 -5.48606578e+01] [-1.46690049e-01 4.84375273e-03 9.89170646e-01 -1.90708828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters 0.03562194666685238 Centerline is valid? [True, True] Translation: X:150.59, Y:-54.90, Z:-19.08 [[ 7.42902128e-01 6.60908711e-01 1.06283134e-01 1.50586506e+02] [-6.53225541e-01 7.50447402e-01 -1.00623503e-01 -5.49023116e+01] [-1.46262851e-01 5.32655699e-03 9.89231422e-01 -1.90790656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters 0.036651693585742696 Centerline is valid? [True, True] Translation: X:150.63, Y:-54.94, Z:-19.08 [[ 7.44515387e-01 6.58708530e-01 1.08627395e-01 1.50632553e+02] [-6.50646957e-01 7.52374758e-01 -1.02911420e-01 -5.49429813e+01] [-1.49517140e-01 5.94105206e-03 9.88741285e-01 -1.90845932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters 0.03799456013320577 Centerline is valid? [True, True] Translation: X:150.68, Y:-54.99, Z:-19.09 [[ 7.46321290e-01 6.56575390e-01 1.09148012e-01 1.50676149e+02] [-6.48410310e-01 7.54233127e-01 -1.03423690e-01 -5.49855822e+01] [-1.50228496e-01 6.41460494e-03 9.88630493e-01 -1.90945152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters 0.03846476685063712 Centerline is valid? [True, True] Translation: X:150.72, Y:-55.03, Z:-19.10 [[ 7.48052239e-01 6.54716273e-01 1.08464044e-01 1.50719829e+02] [-6.46626838e-01 7.55844288e-01 -1.02825798e-01 -5.50293396e+01] [-1.49303651e-01 6.78330710e-03 9.88768126e-01 -1.91021931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters 0.03889786923504253 Centerline is valid? [True, True] Translation: X:150.76, Y:-55.07, Z:-19.11 [[ 7.47346270e-01 6.55291483e-01 1.09848190e-01 1.50762814e+02] [-6.46986268e-01 7.55345328e-01 -1.04221899e-01 -5.50738276e+01] [-1.51269040e-01 6.81957675e-03 9.88469105e-01 -1.91107811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters 0.038577642975973804 Centerline is valid? [True, True] Translation: X:150.81, Y:-55.12, Z:-19.12 [[ 7.46382156e-01 6.56447346e-01 1.09501414e-01 1.50806373e+02] [-6.48196456e-01 7.54342820e-01 -1.03962806e-01 -5.51180585e+01] [-1.50847713e-01 6.61755487e-03 9.88534863e-01 -1.91197253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters 0.03879445877452197 Centerline is valid? [True, True] Translation: X:150.85, Y:-55.16, Z:-19.13 [[ 7.46827629e-01 6.56102386e-01 1.08527196e-01 1.50850608e+02] [-6.47988184e-01 7.54642496e-01 -1.03082575e-01 -5.51620752e+01] [-1.49531958e-01 6.66057444e-03 9.88734459e-01 -1.91267541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters 0.03848924699357555 Centerline is valid? [True, True] Translation: X:150.89, Y:-55.21, Z:-19.13 [[ 7.46694600e-01 6.56406509e-01 1.07599576e-01 1.50891223e+02] [-6.48420882e-01 7.54378415e-01 -1.02291577e-01 -5.52088274e+01] [-1.48315654e-01 6.61075641e-03 9.88917977e-01 -1.91337783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters 0.03797570112123254 Centerline is valid? [True, True] Translation: X:150.93, Y:-55.25, Z:-19.14 [[ 7.44612251e-01 6.58895460e-01 1.06814647e-01 1.50934227e+02] [-6.51042277e-01 7.52209630e-01 -1.01610168e-01 -5.52519277e+01] [-1.47297484e-01 6.11932483e-03 9.89073306e-01 -1.91404969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters 0.03656902992665076 Centerline is valid? [True, True] Translation: X:150.98, Y:-55.30, Z:-19.15 [[ 7.41751373e-01 6.62445806e-01 1.04739943e-01 1.50975213e+02] [-6.54929928e-01 7.49090980e-01 -9.96468446e-02 -5.52965638e+01] [-1.44470381e-01 5.31586057e-03 9.89494846e-01 -1.91464427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters 0.035663092165491336 Centerline is valid? [True, True] Translation: X:151.02, Y:-55.34, Z:-19.15 [[ 7.38350200e-01 6.66110128e-01 1.05528572e-01 1.51021889e+02] [-6.58515312e-01 7.45838942e-01 -1.00408449e-01 -5.53379949e+01] [-1.45590403e-01 4.64441819e-03 9.89334051e-01 -1.91520676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters 0.03529241793798901 Centerline is valid? [True, True] Translation: X:151.07, Y:-55.38, Z:-19.16 [[ 7.36755511e-01 6.67858198e-01 1.05625493e-01 1.51065825e+02] [-6.60262762e-01 7.44275967e-01 -1.00530447e-01 -5.53821589e+01] [-1.45754599e-01 4.32578109e-03 9.89311318e-01 -1.91590689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters 0.03488554258249547 Centerline is valid? [True, True] Translation: X:151.11, Y:-55.42, Z:-19.16 [[ 7.36187707e-01 6.68785572e-01 1.03699173e-01 1.51111274e+02] [-6.61469554e-01 7.43444073e-01 -9.87367137e-02 -5.54241336e+01] [-1.43128225e-01 4.09490895e-03 9.89695682e-01 -1.91641276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters 0.034472005560594036 Centerline is valid? [True, True] Translation: X:151.16, Y:-55.46, Z:-19.17 [[ 7.34312116e-01 6.70975280e-01 1.02848873e-01 1.51158834e+02] [-6.63789047e-01 7.41470494e-01 -9.80081993e-02 -5.54635886e+01] [-1.42020484e-01 3.69865269e-03 9.89856809e-01 -1.91709220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters 0.03421687666942435 Centerline is valid? [True, True] Translation: X:151.21, Y:-55.50, Z:-19.18 [[ 7.33046545e-01 6.72362277e-01 1.02818925e-01 1.51206756e+02] [-6.65181987e-01 7.40214012e-01 -9.80619217e-02 -5.55030452e+01] [-1.42041146e-01 3.49065633e-03 9.89854600e-01 -1.91766024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters 0.03460151051670827 Centerline is valid? [True, True] Translation: X:151.25, Y:-55.54, Z:-19.18 [[ 7.33837281e-01 6.71540920e-01 1.02545783e-01 1.51253416e+02] [-6.64379180e-01 7.40958226e-01 -9.78836674e-02 -5.55435059e+01] [-1.41715029e-01 3.70140143e-03 9.89900576e-01 -1.91834761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters 0.03431851585548445 Centerline is valid? [True, True] Translation: X:151.30, Y:-55.58, Z:-19.19 [[ 7.34813725e-01 6.70767774e-01 1.00595143e-01 1.51300086e+02] [-6.63858911e-01 7.41657523e-01 -9.61013220e-02 -5.55842060e+01] [-1.39068814e-01 3.83558854e-03 9.90275292e-01 -1.91889897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters 0.03431205275639904 Centerline is valid? [True, True] Translation: X:151.35, Y:-55.62, Z:-19.20 [[ 7.35100090e-01 6.70418965e-01 1.00827917e-01 1.51347554e+02] [-6.63463370e-01 7.41972131e-01 -9.64039100e-02 -5.56247758e+01] [-1.39442514e-01 3.97089326e-03 9.90222206e-01 -1.91954873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters 0.03392488416781595 Centerline is valid? [True, True] Translation: X:151.39, Y:-55.67, Z:-19.20 [[ 7.32946344e-01 6.72578640e-01 1.02115768e-01 1.51394348e+02] [-6.65452325e-01 7.40016564e-01 -9.77173840e-02 -5.56659768e+01] [-1.41289985e-01 3.66842404e-03 9.89961455e-01 -1.92016211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters 0.033599041140931284 Centerline is valid? [True, True] Translation: X:151.44, Y:-55.71, Z:-19.21 [[ 7.32995955e-01 6.72605847e-01 1.01579061e-01 1.51441558e+02] [-6.65544849e-01 7.39991697e-01 -9.72745725e-02 -5.57067660e+01] [-1.40595108e-01 3.69644760e-03 9.90060277e-01 -1.92085549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters 0.03368006191805612 Centerline is valid? [True, True] Translation: X:151.49, Y:-55.75, Z:-19.22 [[ 7.33540159e-01 6.72004520e-01 1.01630511e-01 1.51486899e+02] [-6.64925050e-01 7.40537074e-01 -9.73628286e-02 -5.57482954e+01] [-1.40689422e-01 3.84287191e-03 9.90046322e-01 -1.92153959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters 0.03370901389234592 Centerline is valid? [True, True] Translation: X:151.53, Y:-55.79, Z:-19.22 [[ 7.33913218e-01 6.71321003e-01 1.03438385e-01 1.51531965e+02] [-6.63967294e-01 7.41155338e-01 -9.91776063e-02 -5.57900550e+01] [-1.43243921e-01 4.10805164e-03 9.89678889e-01 -1.92221210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters 0.0335073065267946 Centerline is valid? [True, True] Translation: X:151.58, Y:-55.83, Z:-19.23 [[ 7.33786148e-01 6.71448409e-01 1.03512916e-01 1.51576980e+02] [-6.64073618e-01 7.41039702e-01 -9.93297036e-02 -5.58339934e+01] [-1.43401952e-01 4.14656412e-03 9.89655842e-01 -1.92294840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters 0.033787575855207544 Centerline is valid? [True, True] Translation: X:151.62, Y:-55.88, Z:-19.24 [[ 7.33333670e-01 6.71817320e-01 1.04322658e-01 1.51621075e+02] [-6.64316092e-01 7.40705097e-01 -1.00200247e-01 -5.58769563e+01] [-1.44588586e-01 4.17699436e-03 9.89483044e-01 -1.92374701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters 0.03406239561539921 Centerline is valid? [True, True] Translation: X:151.67, Y:-55.92, Z:-19.25 [[ 7.34091772e-01 6.70816111e-01 1.05427773e-01 1.51665674e+02] [-6.63131390e-01 7.41610159e-01 -1.01346590e-01 -5.59201646e+01] [-1.46171233e-01 4.48523174e-03 9.89249136e-01 -1.92452519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters 0.034214528612168345 Centerline is valid? [True, True] Translation: X:151.71, Y:-55.96, Z:-19.25 [[ 7.35047004e-01 6.69773705e-01 1.05399650e-01 1.51709856e+02] [-6.62070096e-01 7.42550053e-01 -1.01403187e-01 -5.59628000e+01] [-1.46181704e-01 4.75415210e-03 9.89246333e-01 -1.92538623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters 0.03476586368604866 Centerline is valid? [True, True] Translation: X:151.75, Y:-56.01, Z:-19.26 [[ 7.36706472e-01 6.67752327e-01 1.06632094e-01 1.51753374e+02] [-6.59832853e-01 7.44364796e-01 -1.02672569e-01 -5.60061042e+01] [-1.47933023e-01 5.28018716e-03 9.88983286e-01 -1.92613277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters 0.03535608120029022 Centerline is valid? [True, True] Translation: X:151.80, Y:-56.05, Z:-19.27 [[ 7.37283282e-01 6.66857116e-01 1.08235619e-01 1.51798005e+02] [-6.58676436e-01 7.45164607e-01 -1.04283561e-01 -5.60486930e+01] [-1.50195587e-01 5.59427428e-03 9.88640475e-01 -1.92716681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters 0.03508911810271818 Centerline is valid? [True, True] Translation: X:151.84, Y:-56.09, Z:-19.28 [[ 7.35808272e-01 6.68539309e-01 1.07895224e-01 1.51841578e+02] [-6.60422349e-01 7.43658179e-01 -1.03994394e-01 -5.60924728e+01] [-1.49761506e-01 5.26351758e-03 9.88708140e-01 -1.92790458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters 0.03480365434166118 Centerline is valid? [True, True] Translation: X:151.89, Y:-56.14, Z:-19.29 [[ 7.35025455e-01 6.69168651e-01 1.09320157e-01 1.51886601e+02] [-6.60828123e-01 7.43091881e-01 -1.05454481e-01 -5.61351005e+01] [-1.51801754e-01 5.26989351e-03 9.88396912e-01 -1.92858911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters 0.034731331765691306 Centerline is valid? [True, True] Translation: X:151.93, Y:-56.18, Z:-19.29 [[ 7.35788071e-01 6.68586451e-01 1.07740762e-01 1.51929548e+02] [-6.60467773e-01 7.43615011e-01 -1.04014596e-01 -5.61794432e+01] [-1.49660398e-01 5.37339729e-03 9.88722859e-01 -1.92930129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters 0.03531561266727706 Centerline is valid? [True, True] Translation: X:151.97, Y:-56.22, Z:-19.30 [[ 7.35496319e-01 6.68697817e-01 1.09033912e-01 1.51974190e+02] [-6.60369810e-01 7.43514077e-01 -1.05349573e-01 -5.62224407e+01] [-1.51515278e-01 5.48151943e-03 9.88439717e-01 -1.93001138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters 0.03484028122475115 Centerline is valid? [True, True] Translation: X:152.02, Y:-56.27, Z:-19.31 [[ 7.34640561e-01 6.69758459e-01 1.08290594e-01 1.52017415e+02] [-6.61542802e-01 7.42560182e-01 -1.04716272e-01 -5.62667525e+01] [-1.50546892e-01 5.28995750e-03 9.88588716e-01 -1.93065153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters 0.03481101942161815 Centerline is valid? [True, True] Translation: X:152.06, Y:-56.31, Z:-19.31 [[ 7.35503723e-01 6.68975351e-01 1.07267206e-01 1.52061350e+02] [-6.60893788e-01 7.43264512e-01 -1.03813611e-01 -5.63114219e+01] [-1.49176654e-01 5.46306757e-03 9.88795470e-01 -1.93130178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters 0.03480797759297125 Centerline is valid? [True, True] Translation: X:152.10, Y:-56.36, Z:-19.32 [[ 7.35179130e-01 6.69404854e-01 1.06811930e-01 1.52104758e+02] [-6.61382589e-01 7.42878007e-01 -1.03466596e-01 -5.63551634e+01] [-1.48609275e-01 5.42293131e-03 9.88881123e-01 -1.93200002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters 0.0340242513971256 Centerline is valid? [True, True] Translation: X:152.15, Y:-56.40, Z:-19.33 [[ 7.32752498e-01 6.72213711e-01 1.05841881e-01 1.52146758e+02] [-6.64356307e-01 7.40341213e-01 -1.02594277e-01 -5.63998123e+01] [-1.47324386e-01 4.85949167e-03 9.89076292e-01 -1.93263617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters 0.03354652625580524 Centerline is valid? [True, True] Translation: X:152.19, Y:-56.45, Z:-19.33 [[ 7.30624862e-01 6.74586958e-01 1.05450213e-01 1.52187287e+02] [-6.66808214e-01 7.38182361e-01 -1.02242885e-01 -5.64469553e+01] [-1.46813203e-01 4.38612554e-03 9.89154510e-01 -1.93344155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters 0.03309127567102861 Centerline is valid? [True, True] Translation: X:152.23, Y:-56.49, Z:-19.34 [[ 7.29895024e-01 6.75739146e-01 1.03101214e-01 1.52231411e+02] [-6.68304639e-01 7.37129316e-01 -1.00046396e-01 -5.64901450e+01] [-1.43604194e-01 4.12034652e-03 9.89626626e-01 -1.93410347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters 0.032961488080255515 Centerline is valid? [True, True] Translation: X:152.27, Y:-56.54, Z:-19.35 [[ 7.30118894e-01 6.75614688e-01 1.02328854e-01 1.52274991e+02] [-6.68278439e-01 7.37243079e-01 -9.93809415e-02 -5.65352429e+01] [-1.42584463e-01 4.17573602e-03 9.89773830e-01 -1.93472165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters 0.03322383011903458 Centerline is valid? [True, True] Translation: X:152.32, Y:-56.58, Z:-19.35 [[ 7.29724878e-01 6.76017522e-01 1.02478840e-01 1.52318999e+02] [-6.68650046e-01 7.36873732e-01 -9.96203734e-02 -5.65791541e+01] [-1.42859083e-01 4.17298401e-03 9.89734241e-01 -1.93548444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters 0.03389136944037734 Centerline is valid? [True, True] Translation: X:152.36, Y:-56.63, Z:-19.36 [[ 7.31224189e-01 6.74389471e-01 1.02518425e-01 1.52359577e+02] [-6.66987737e-01 7.38361743e-01 -9.97461539e-02 -5.66253570e+01] [-1.42963439e-01 4.55826840e-03 9.89717474e-01 -1.93629083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters 0.03392173061030242 Centerline is valid? [True, True] Translation: X:152.40, Y:-56.67, Z:-19.37 [[ 7.31763875e-01 6.74061192e-01 1.00812401e-01 1.52402180e+02] [-6.66891232e-01 7.38661185e-01 -9.81618004e-02 -5.66704066e+01] [-1.40633268e-01 4.60035290e-03 9.90051070e-01 -1.93686259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters 0.03381036865242045 Centerline is valid? [True, True] Translation: X:152.44, Y:-56.72, Z:-19.38 [[ 7.31003348e-01 6.74689058e-01 1.02121404e-01 1.52443044e+02] [-6.67324785e-01 7.38087737e-01 -9.95194664e-02 -5.67177625e+01] [-1.42519251e-01 4.60091923e-03 9.89781337e-01 -1.93757103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters 0.03308300593500406 Centerline is valid? [True, True] Translation: X:152.48, Y:-56.77, Z:-19.38 [[ 7.29206660e-01 6.76554796e-01 1.02621907e-01 1.52483149e+02] [-6.69124045e-01 7.36379622e-01 -1.00090278e-01 -5.67651569e+01] [-1.43285239e-01 4.31971224e-03 9.89672006e-01 -1.93815651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters 0.03249797705050799 Centerline is valid? [True, True] Translation: X:152.52, Y:-56.81, Z:-19.39 [[ 7.26528003e-01 6.79604902e-01 1.01460526e-01 1.52519641e+02] [-6.72362059e-01 7.33568874e-01 -9.90250951e-02 -5.68147824e+01] [-1.41726223e-01 3.72629679e-03 9.89898880e-01 -1.93892107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters 0.03152280066036935 Centerline is valid? [True, True] Translation: X:152.56, Y:-56.86, Z:-19.39 [[ 7.22488558e-01 6.83763399e-01 1.02361600e-01 1.52561096e+02] [-6.76429595e-01 7.29697818e-01 -9.99204566e-02 -5.68618096e+01] [-1.43014987e-01 2.95097134e-03 9.89716124e-01 -1.93935030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters 0.03084081378464745 Centerline is valid? [True, True] Translation: X:152.60, Y:-56.91, Z:-19.40 [[ 7.18033996e-01 6.88603118e-01 1.01256734e-01 1.52600948e+02] [-6.81471250e-01 7.25135707e-01 -9.88693176e-02 -5.69087105e+01] [-1.41506594e-01 1.98797791e-03 9.89935317e-01 -1.94021235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters 0.030922552713715266 Centerline is valid? [True, True] Translation: X:152.64, Y:-56.95, Z:-19.41 [[ 7.16702962e-01 6.89723667e-01 1.03044298e-01 1.52644765e+02] [-6.82343047e-01 7.24070397e-01 -1.00648039e-01 -5.69524152e+01] [-1.44030660e-01 1.82318752e-03 9.89571546e-01 -1.94104011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters 0.03107424889910616 Centerline is valid? [True, True] Translation: X:152.69, Y:-57.00, Z:-19.42 [[ 7.16859813e-01 6.89736380e-01 1.01861352e-01 1.52689870e+02] [-6.82514527e-01 7.24058208e-01 -9.95672216e-02 -5.69955979e+01] [-1.42428683e-01 1.85388762e-03 9.89803331e-01 -1.94165648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters 0.03150538799807166 Centerline is valid? [True, True] Translation: X:152.74, Y:-57.04, Z:-19.43 [[ 7.17062547e-01 6.89178547e-01 1.04183656e-01 1.52735087e+02] [-6.81609561e-01 7.24588684e-01 -1.01880547e-01 -5.70367777e+01] [-1.45704186e-01 2.04214863e-03 9.89326094e-01 -1.94262493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters 0.03135695994565944 Centerline is valid? [True, True] Translation: X:152.78, Y:-57.08, Z:-19.43 [[ 7.16284124e-01 6.89982301e-01 1.04218418e-01 1.52780194e+02] [-6.82403898e-01 7.23823632e-01 -1.02001324e-01 -5.70806567e+01] [-1.45814862e-01 1.94287459e-03 9.89309987e-01 -1.94316399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters 0.03164242535421016 Centerline is valid? [True, True] Translation: X:152.82, Y:-57.13, Z:-19.44 [[ 7.18974072e-01 6.87405261e-01 1.02714608e-01 1.52823795e+02] [-6.80004640e-01 7.26269747e-01 -1.00627747e-01 -5.71251561e+01] [-1.43770555e-01 2.50233092e-03 9.89607885e-01 -1.94407884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters 0.03206705739176863 Centerline is valid? [True, True] Translation: X:152.87, Y:-57.17, Z:-19.45 [[ 7.21165858e-01 6.85058861e-01 1.03025055e-01 1.52868283e+02] [-6.77575057e-01 7.28481326e-01 -1.01029696e-01 -5.71681724e+01] [-1.44263117e-01 3.05195997e-03 9.89534658e-01 -1.94468173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters 0.03276162859926457 Centerline is valid? [True, True] Translation: X:152.91, Y:-57.21, Z:-19.45 [[ 7.22857953e-01 6.82936686e-01 1.05232424e-01 1.52909818e+02] [-6.75092624e-01 7.30468648e-01 -1.03273925e-01 -5.72130768e+01] [-1.47398539e-01 3.61074538e-03 9.89070591e-01 -1.94543301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters 0.033359627754184905 Centerline is valid? [True, True] Translation: X:152.95, Y:-57.26, Z:-19.46 [[ 7.25982602e-01 6.80008553e-01 1.02652954e-01 1.52952172e+02] [-6.72509705e-01 7.33192492e-01 -1.00794177e-01 -5.72586516e+01] [-1.43805277e-01 4.13971097e-03 9.89597345e-01 -1.94632272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters 0.03366690445067428 Centerline is valid? [True, True] Translation: X:152.99, Y:-57.30, Z:-19.47 [[ 7.27230114e-01 6.78703613e-01 1.02458609e-01 1.52993161e+02] [-6.71206842e-01 7.34398750e-01 -1.00696832e-01 -5.73043330e+01] [-1.43588778e-01 4.45884986e-03 9.89627395e-01 -1.94706802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters 0.03407996682375053 Centerline is valid? [True, True] Translation: X:153.03, Y:-57.35, Z:-19.48 [[ 7.27993537e-01 6.77732742e-01 1.03458888e-01 1.53033030e+02] [-6.70066589e-01 7.35292942e-01 -1.01759797e-01 -5.73515243e+01] [-1.45038536e-01 4.75613069e-03 9.89414575e-01 -1.94771342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters 0.03489075148977383 Centerline is valid? [True, True] Translation: X:153.07, Y:-57.40, Z:-19.49 [[ 7.30992480e-01 6.74410930e-01 1.04018708e-01 1.53071060e+02] [-6.66615896e-01 7.38335686e-01 -1.02389753e-01 -5.73999761e+01] [-1.45853492e-01 5.50561550e-03 9.89290881e-01 -1.94852362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters 0.03510656953466486 Centerline is valid? [True, True] Translation: X:153.11, Y:-57.45, Z:-19.49 [[ 7.31400695e-01 6.74135747e-01 1.02927245e-01 1.53107641e+02] [-6.66490176e-01 7.38586545e-01 -1.01394091e-01 -5.74505360e+01] [-1.44374059e-01 5.55971049e-03 9.89507565e-01 -1.94910014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters 0.034716633922669535 Centerline is valid? [True, True] Translation: X:153.14, Y:-57.50, Z:-19.50 [[ 7.29263467e-01 6.76546795e-01 1.02270382e-01 1.53143869e+02] [-6.69010354e-01 7.36381898e-01 -1.00830782e-01 -5.75014434e+01] [-1.43526800e-01 5.11226136e-03 9.89633226e-01 -1.94976432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters 0.03325302356955156 Centerline is valid? [True, True] Translation: X:153.18, Y:-57.55, Z:-19.50 [[ 7.25208083e-01 6.81085514e-01 1.00974050e-01 1.53180954e+02] [-6.73773438e-01 7.32191758e-01 -9.96222042e-02 -5.75515867e+01] [-1.41783608e-01 4.21319468e-03 9.89888710e-01 -1.95021620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters 0.0330244118995824 Centerline is valid? [True, True] Translation: X:153.22, Y:-57.60, Z:-19.51 [[ 7.24180941e-01 6.82300942e-01 1.00136852e-01 1.53221823e+02] [-6.75117498e-01 7.31060675e-01 -9.88263797e-02 -5.75981401e+01] [-1.40635447e-01 3.96403967e-03 9.90053512e-01 -1.95092830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters 0.03279902486351637 Centerline is valid? [True, True] Translation: X:153.26, Y:-57.65, Z:-19.52 [[ 7.24061332e-01 6.82448310e-01 9.99974524e-02 1.53262601e+02] [-6.75274171e-01 7.30922949e-01 -9.87746730e-02 -5.76457277e+01] [-1.40499042e-01 3.99322457e-03 9.90072762e-01 -1.95158496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters 0.03288663760289563 Centerline is valid? [True, True] Translation: X:153.30, Y:-57.69, Z:-19.53 [[ 7.22548963e-01 6.84042394e-01 1.00044989e-01 1.53303471e+02] [-6.76863173e-01 7.29432591e-01 -9.89158245e-02 -5.76914673e+01] [-1.40638693e-01 3.75475802e-03 9.90053867e-01 -1.95253594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters 0.03248771735142624 Centerline is valid? [True, True] Translation: X:153.35, Y:-57.74, Z:-19.53 [[ 7.19200273e-01 6.87333383e-01 1.01606041e-01 1.53345201e+02] [-6.79948226e-01 7.26334943e-01 -1.00538350e-01 -5.77378362e+01] [-1.42903382e-01 3.22036164e-03 9.89731404e-01 -1.95327123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters 0.03214469701454115 Centerline is valid? [True, True] Translation: X:153.39, Y:-57.78, Z:-19.54 [[ 7.17073563e-01 6.89720285e-01 1.00456128e-01 1.53386696e+02] [-6.82517741e-01 7.24070680e-01 -9.94544274e-02 -5.77834044e+01] [-1.41333073e-01 2.75305088e-03 9.89958273e-01 -1.95396520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters 0.03196669018906733 Centerline is valid? [True, True] Translation: X:153.43, Y:-57.83, Z:-19.55 [[ 7.16886509e-01 6.90104932e-01 9.91408921e-02 1.53430740e+02] [-6.83082505e-01 7.23704274e-01 -9.82365283e-02 -5.78269281e+01] [-1.39542200e-01 2.70303292e-03 9.90212436e-01 -1.95455098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters 0.032253766302342286 Centerline is valid? [True, True] Translation: X:153.48, Y:-57.87, Z:-19.55 [[ 7.16192267e-01 6.90697497e-01 1.00028022e-01 1.53476911e+02] [-6.83541568e-01 7.23138862e-01 -9.92023766e-02 -5.78684547e+01] [-1.40852983e-01 2.67466404e-03 9.90026910e-01 -1.95531818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters 0.032468502638793445 Centerline is valid? [True, True] Translation: X:153.52, Y:-57.91, Z:-19.56 [[ 7.17342561e-01 6.89336592e-01 1.01166759e-01 1.53522082e+02] [-6.81989714e-01 7.24434825e-01 -1.00420188e-01 -5.79111335e+01] [-1.42512033e-01 3.04098614e-03 9.89788398e-01 -1.95606644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters 0.03257473167946951 Centerline is valid? [True, True] Translation: X:153.57, Y:-57.95, Z:-19.57 [[ 7.18219232e-01 6.88298127e-01 1.02013839e-01 1.53568480e+02] [-6.80803670e-01 7.25420245e-01 -1.01350043e-01 -5.79524123e+01] [-1.43761949e-01 3.34015366e-03 9.89606662e-01 -1.95659325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters 0.03247437758411008 Centerline is valid? [True, True] Translation: X:153.61, Y:-58.00, Z:-19.57 [[ 7.18378650e-01 6.88419164e-01 1.00055835e-01 1.53613496e+02] [-6.81201666e-01 7.25305540e-01 -9.94794639e-02 -5.79955876e+01] [-1.41054621e-01 3.30572141e-03 9.89996296e-01 -1.95727713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters 0.03248887527378541 Centerline is valid? [True, True] Translation: X:153.66, Y:-58.04, Z:-19.58 [[ 7.16461583e-01 6.90279695e-01 1.00978924e-01 1.53659902e+02] [-6.82939557e-01 7.23536413e-01 -1.00442125e-01 -5.80374095e+01] [-1.42395087e-01 3.00042222e-03 9.89805353e-01 -1.95811505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters 0.0324522306666664 Centerline is valid? [True, True] Translation: X:153.70, Y:-58.08, Z:-19.59 [[ 7.14745340e-01 6.92043694e-01 1.01067425e-01 1.53704985e+02] [-6.84694126e-01 7.21850478e-01 -1.00627234e-01 -5.80800174e+01] [-1.42594012e-01 2.72257410e-03 9.89777518e-01 -1.95878595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters 0.032081810985384776 Centerline is valid? [True, True] Translation: X:153.75, Y:-58.12, Z:-19.59 [[ 7.13671028e-01 6.93360511e-01 9.96236258e-02 1.53752036e+02] [-6.86221189e-01 7.20586583e-01 -9.92746482e-02 -5.81208208e+01] [-1.40620569e-01 2.48559728e-03 9.90060441e-01 -1.95941514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters 0.03209448224353842 Centerline is valid? [True, True] Translation: X:153.80, Y:-58.16, Z:-19.60 [[ 7.10933110e-01 6.95988851e-01 1.00864420e-01 1.53800983e+02] [-6.88682719e-01 7.18049639e-01 -1.00602329e-01 -5.81604382e+01] [-1.42443759e-01 2.05794348e-03 9.89800758e-01 -1.96021204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters 0.032158426019372195 Centerline is valid? [True, True] Translation: X:153.85, Y:-58.20, Z:-19.61 [[ 7.09091750e-01 6.97875892e-01 1.00787546e-01 1.53847509e+02] [-6.90585511e-01 7.16216571e-01 -1.00625420e-01 -5.82005517e+01] [-1.42409765e-01 1.75023641e-03 9.89806241e-01 -1.96108902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters 0.032050051270855 Centerline is valid? [True, True] Translation: X:153.90, Y:-58.24, Z:-19.62 [[ 7.06545299e-01 7.00420785e-01 1.01017150e-01 1.53895424e+02] [-6.93109921e-01 7.13728954e-01 -1.00943639e-01 -5.82401594e+01] [-1.42801888e-01 1.30526458e-03 9.89750432e-01 -1.96162031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters 0.0322140276650984 Centerline is valid? [True, True] Translation: X:153.94, Y:-58.28, Z:-19.63 [[ 7.05041101e-01 7.01888660e-01 1.01337819e-01 1.53943191e+02] [-6.94532772e-01 7.12285860e-01 -1.01356216e-01 -5.82803471e+01] [-1.43322275e-01 1.07786204e-03 9.89675484e-01 -1.96252987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters 0.032253578943111615 Centerline is valid? [True, True] Translation: X:153.91, Y:-58.68, Z:-17.65 [[ 7.47839674e-01 -6.61319765e-01 -5.82407949e-02 1.53909262e+02] [-6.58511644e-01 -7.50066393e-01 6.13418381e-02 -5.86775001e+01] [-8.42510329e-02 -7.52161870e-03 -9.96416172e-01 -1.76497156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters 0.03264890431024803 Centerline is valid? [True, True] Translation: X:153.99, Y:-58.33, Z:-19.63 [[ 7.55461416e-01 6.45917186e-01 1.09859173e-01 1.53991474e+02] [-6.38896871e-01 7.63405873e-01 -9.49855849e-02 -5.83308261e+01] [-1.45219960e-01 1.56926252e-03 9.89398151e-01 -1.96329918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters 0.03293045588958055 Centerline is valid? [True, True] Translation: X:154.04, Y:-58.37, Z:-19.64 [[ 7.57930373e-01 6.43140223e-01 1.09143042e-01 1.54041122e+02] [-6.36170748e-01 7.65745401e-01 -9.44497710e-02 -5.83684250e+01] [-1.44320229e-01 2.15273963e-03 9.89528694e-01 -1.96411047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters 0.03315346067438983 Centerline is valid? [True, True] Translation: X:154.09, Y:-58.41, Z:-19.65 [[ 7.59864267e-01 6.41075119e-01 1.07837784e-01 1.54090127e+02] [-6.34239383e-01 7.67473802e-01 -9.34043225e-02 -5.84069546e+01] [-1.42641861e-01 2.57963771e-03 9.89771006e-01 -1.96487382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters 0.033512435058787815 Centerline is valid? [True, True] Translation: X:154.14, Y:-58.44, Z:-19.66 [[ 7.60564225e-01 6.40136361e-01 1.08478103e-01 1.54139032e+02] [-6.33195770e-01 7.68256043e-01 -9.40519493e-02 -5.84449352e+01] [-1.43545031e-01 2.84467187e-03 9.89639698e-01 -1.96568905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters 0.03353729414440578 Centerline is valid? [True, True] Translation: X:154.19, Y:-58.49, Z:-19.66 [[ 7.61445709e-01 6.39217621e-01 1.07709165e-01 1.54186327e+02] [-6.32354479e-01 7.69019808e-01 -9.34684349e-02 -5.84867445e+01] [-1.42577152e-01 3.06076556e-03 9.89778959e-01 -1.96636883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters 0.033369907200241654 Centerline is valid? [True, True] Translation: X:154.23, Y:-58.53, Z:-19.67 [[ 7.61252006e-01 6.39598202e-01 1.06815367e-01 1.54234353e+02] [-6.32840135e-01 7.68703415e-01 -9.27815873e-02 -5.85256710e+01] [-1.41452274e-01 3.03311840e-03 9.89940430e-01 -1.96709349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters 0.03339228335825932 Centerline is valid? [True, True] Translation: X:154.28, Y:-58.57, Z:-19.68 [[ 7.61191092e-01 6.39653391e-01 1.06918949e-01 1.54280230e+02] [-6.32870843e-01 7.68657265e-01 -9.29543180e-02 -5.85683692e+01] [-1.41642572e-01 3.09011317e-03 9.89913043e-01 -1.96799603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters 0.03350661979271222 Centerline is valid? [True, True] Translation: X:154.33, Y:-58.61, Z:-19.69 [[ 7.60029063e-01 6.40793376e-01 1.08349773e-01 1.54326237e+02] [-6.33825194e-01 7.67707573e-01 -9.42905429e-02 -5.86107263e+01] [-1.43601697e-01 2.98873696e-03 9.89631053e-01 -1.96852866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters 0.033468965879669896 Centerline is valid? [True, True] Translation: X:154.37, Y:-58.65, Z:-19.69 [[ 7.59356576e-01 6.41552874e-01 1.08570256e-01 1.54371879e+02] [-6.34551500e-01 7.67073270e-01 -9.45673976e-02 -5.86533885e+01] [-1.43951327e-01 2.91695619e-03 9.89580470e-01 -1.96929330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters 0.033120152020600147 Centerline is valid? [True, True] Translation: X:154.42, Y:-58.70, Z:-19.70 [[ 7.57664801e-01 6.43806552e-01 1.07038185e-01 1.54415534e+02] [-6.37011964e-01 7.65184136e-01 -9.33219983e-02 -5.86980283e+01] [-1.41985235e-01 2.52218892e-03 9.89865562e-01 -1.96996418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters 0.03291549810169045 Centerline is valid? [True, True] Translation: X:154.46, Y:-58.74, Z:-19.71 [[ 7.55288460e-01 6.46615050e-01 1.06903320e-01 1.54457416e+02] [-6.39855467e-01 7.62813731e-01 -9.32748262e-02 -5.87445924e+01] [-1.41860227e-01 2.04672634e-03 9.89884583e-01 -1.97071914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters 0.03264740271857915 Centerline is valid? [True, True] Translation: X:154.50, Y:-58.79, Z:-19.71 [[ 7.50895385e-01 6.51501878e-01 1.08173119e-01 1.54501288e+02] [-6.44624038e-01 7.58646116e-01 -9.44241497e-02 -5.87887875e+01] [-1.43582628e-01 1.17166539e-03 9.89637639e-01 -1.97132058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters 0.03227837895437916 Centerline is valid? [True, True] Translation: X:154.55, Y:-58.83, Z:-19.72 [[ 7.46660014e-01 6.56742313e-01 1.05775038e-01 1.54546864e+02] [-6.50208106e-01 7.54115034e-01 -9.24117635e-02 -5.88309657e+01] [-1.40457262e-01 2.24381499e-04 9.90086717e-01 -1.97195275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters 0.0321369145125869 Centerline is valid? [True, True] Translation: X:154.59, Y:-58.87, Z:-19.72 [[ 7.42915519e-01 6.61335440e-01 1.03498632e-01 1.54593932e+02] [-6.55113755e-01 7.50090070e-01 -9.05033414e-02 -5.88713815e+01] [-1.37486363e-01 -5.67040644e-04 9.90503497e-01 -1.97248761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters 0.03205606793899237 Centerline is valid? [True, True] Translation: X:154.64, Y:-58.91, Z:-19.73 [[ 7.41579789e-01 6.62881706e-01 1.03185561e-01 1.54641933e+02] [-6.56701026e-01 7.48723730e-01 -9.03135547e-02 -5.89111876e+01] [-1.37124681e-01 -7.87356921e-04 9.90553483e-01 -1.97313989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters 0.03179226660219253 Centerline is valid? [True, True] Translation: X:154.69, Y:-58.95, Z:-19.74 [[ 7.42187479e-01 6.62359753e-01 1.02163119e-01 1.54691402e+02] [-6.56285297e-01 7.49185672e-01 -8.95010495e-02 -5.89493665e+01] [-1.35821038e-01 -6.21594626e-04 9.90733193e-01 -1.97378729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters 0.031724656544783375 Centerline is valid? [True, True] Translation: X:154.74, Y:-58.99, Z:-19.75 [[ 7.45496734e-01 6.58416270e-01 1.03550154e-01 1.54740171e+02] [-6.52131414e-01 7.52653970e-01 -9.07558286e-02 -5.89871345e+01] [-1.37692549e-01 1.29865357e-04 9.90475010e-01 -1.97463104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters 0.03150696133655618 Centerline is valid? [True, True] Translation: X:154.79, Y:-59.03, Z:-19.75 [[ 7.50370439e-01 6.53211058e-01 1.01289281e-01 1.54787423e+02] [-6.47140459e-01 7.57175043e-01 -8.88548252e-02 -5.90271058e+01] [-1.34734670e-01 1.12564230e-03 9.90881073e-01 -1.97530396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters 0.03204891713920119 Centerline is valid? [True, True] Translation: X:154.83, Y:-59.07, Z:-19.76 [[ 7.54564981e-01 6.47998206e-01 1.03585781e-01 1.54831541e+02] [-6.41588428e-01 7.61638790e-01 -9.09430752e-02 -5.90699037e+01] [-1.37825898e-01 2.16302158e-03 9.90454110e-01 -1.97617764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters 0.03271638457739813 Centerline is valid? [True, True] Translation: X:154.88, Y:-59.11, Z:-19.77 [[ 7.57607253e-01 6.44158706e-01 1.05312922e-01 1.54875861e+02] [-6.37491396e-01 7.64886242e-01 -9.24865245e-02 -5.91120699e+01] [-1.40128405e-01 2.93238004e-03 9.90128997e-01 -1.97694935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters 0.03270303936678213 Centerline is valid? [True, True] Translation: X:154.92, Y:-59.15, Z:-19.78 [[ 7.59112464e-01 6.42547118e-01 1.04314279e-01 1.54921183e+02] [-6.35984666e-01 7.66239348e-01 -9.16556951e-02 -5.91545261e+01] [-1.38822808e-01 3.23469870e-03 9.90311953e-01 -1.97756268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters 0.03317310322549241 Centerline is valid? [True, True] Translation: X:154.96, Y:-59.20, Z:-19.78 [[ 7.60856030e-01 6.40176356e-01 1.06171254e-01 1.54963396e+02] [-6.33343861e-01 7.68218639e-01 -9.33577827e-02 -5.91997557e+01] [-1.41328181e-01 3.78892017e-03 9.89955549e-01 -1.97837917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters 0.033715413139801136 Centerline is valid? [True, True] Translation: X:155.00, Y:-59.25, Z:-19.79 [[ 7.63788692e-01 6.36420441e-01 1.07684055e-01 1.55003680e+02] [-6.29348644e-01 7.71328774e-01 -9.47217355e-02 -5.92462993e+01] [-1.43342659e-01 4.57657614e-03 9.89662537e-01 -1.97897708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters 0.03427069070662432 Centerline is valid? [True, True] Translation: X:155.05, Y:-59.29, Z:-19.80 [[ 7.65771305e-01 6.34131037e-01 1.07108057e-01 1.55045226e+02] [-6.27102358e-01 7.73209206e-01 -9.42876276e-02 -5.92923720e+01] [-1.42607647e-01 5.03504478e-03 9.89766491e-01 -1.97966159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters 0.03391016401682564 Centerline is valid? [True, True] Translation: X:155.08, Y:-59.34, Z:-19.81 [[ 7.64589853e-01 6.35604317e-01 1.06815303e-01 1.55084192e+02] [-6.28616980e-01 7.72000013e-01 -9.41098900e-02 -5.93409392e+01] [-1.42278067e-01 4.80955405e-03 9.89815043e-01 -1.98061664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters 0.03355733313376959 Centerline is valid? [True, True] Translation: X:155.13, Y:-59.39, Z:-19.81 [[ 7.62612852e-01 6.37824653e-01 1.07709562e-01 1.55125462e+02] [-6.30729401e-01 7.70168485e-01 -9.49785611e-02 -5.93879245e+01] [-1.43534178e-01 4.49628373e-03 9.89635146e-01 -1.98138022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters 0.03289617700549721 Centerline is valid? [True, True] Translation: X:155.17, Y:-59.43, Z:-19.82 [[ 7.60529857e-01 6.40269978e-01 1.07929107e-01 1.55166609e+02] [-6.33158215e-01 7.68138978e-01 -9.52532649e-02 -5.94340175e+01] [-1.43892360e-01 4.10675086e-03 9.89584824e-01 -1.98215210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters 0.032656759914516345 Centerline is valid? [True, True] Translation: X:155.21, Y:-59.48, Z:-19.83 [[ 7.59681623e-01 6.41386272e-01 1.07272933e-01 1.55209234e+02] [-6.34360520e-01 7.67208038e-01 -9.47552495e-02 -5.94787947e+01] [-1.43075373e-01 3.93410819e-03 9.89703976e-01 -1.98286576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters 0.031858663834743964 Centerline is valid? [True, True] Translation: X:155.25, Y:-59.52, Z:-19.84 [[ 7.57140161e-01 6.44623030e-01 1.05829699e-01 1.55250564e+02] [-6.37807720e-01 7.64493336e-01 -9.35481257e-02 -5.95246202e+01] [-1.41209376e-01 3.33004409e-03 9.89974153e-01 -1.98362463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters 0.03176489945655451 Centerline is valid? [True, True] Translation: X:155.29, Y:-59.57, Z:-19.84 [[ 7.54805216e-01 6.46857347e-01 1.08833170e-01 1.55294539e+02] [-6.39665681e-01 7.62605033e-01 -9.62360659e-02 -5.95682307e+01] [-1.45247729e-01 3.02264096e-03 9.89390702e-01 -1.98423297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters 0.03137566127084994 Centerline is valid? [True, True] Translation: X:155.34, Y:-59.61, Z:-19.85 [[ 7.52604978e-01 6.49434195e-01 1.08724299e-01 1.55338308e+02] [-6.42271196e-01 7.60413391e-01 -9.62246574e-02 -5.96124962e+01] [-1.45166996e-01 2.58867029e-03 9.89403781e-01 -1.98481878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters 0.03138908872861126 Centerline is valid? [True, True] Translation: X:155.38, Y:-59.65, Z:-19.86 [[ 7.52026030e-01 6.50088246e-01 1.08821516e-01 1.55384940e+02] [-6.42906188e-01 7.59854498e-01 -9.63990361e-02 -5.96538478e+01] [-1.45356398e-01 2.53255861e-03 9.89376118e-01 -1.98555726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters 0.031872873325299235 Centerline is valid? [True, True] Translation: X:155.43, Y:-59.70, Z:-19.86 [[ 7.53023824e-01 6.48726959e-01 1.10038417e-01 1.55430942e+02] [-6.41353438e-01 7.61015708e-01 -9.75748980e-02 -5.96954849e+01] [-1.47040431e-01 2.90270585e-03 9.89126224e-01 -1.98635801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters 0.031585579162391554 Centerline is valid? [True, True] Translation: X:155.48, Y:-59.73, Z:-19.87 [[ 7.53298112e-01 6.48623761e-01 1.08761994e-01 1.55478428e+02] [-6.41407678e-01 7.61103470e-01 -9.65282323e-02 -5.97349548e+01] [-1.45389636e-01 2.95375708e-03 9.89370067e-01 -1.98687605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters 0.031879543561496373 Centerline is valid? [True, True] Translation: X:155.53, Y:-59.78, Z:-19.88 [[ 7.54802090e-01 6.47086966e-01 1.07481460e-01 1.55525329e+02] [-6.40012694e-01 7.62409154e-01 -9.54779232e-02 -5.97767737e+01] [-1.43727368e-01 3.27743715e-03 9.89611895e-01 -1.98759156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters 0.03246460857136868 Centerline is valid? [True, True] Translation: X:155.57, Y:-59.82, Z:-19.88 [[ 7.57892012e-01 6.43594715e-01 1.06703051e-01 1.55570153e+02] [-6.36575261e-01 7.65356111e-01 -9.48786593e-02 -5.98183984e+01] [-1.42729236e-01 3.98325566e-03 9.89753757e-01 -1.98839630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters 0.03310539881107191 Centerline is valid? [True, True] Translation: X:155.61, Y:-59.86, Z:-19.89 [[ 7.60104023e-01 6.41119505e-01 1.05866215e-01 1.55612278e+02] [-6.34175240e-01 7.67428021e-01 -9.42125086e-02 -5.98637946e+01] [-1.41646177e-01 4.47357464e-03 9.89907242e-01 -1.98926690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters 0.03255275880330997 Centerline is valid? [True, True] Translation: X:155.65, Y:-59.91, Z:-19.90 [[ 7.58220186e-01 6.43123047e-01 1.07214250e-01 1.55653036e+02] [-6.36007167e-01 7.65751226e-01 -9.54984015e-02 -5.99115837e+01] [-1.43516667e-01 4.21978414e-03 9.89638904e-01 -1.98992615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters 0.0322203164058366 Centerline is valid? [True, True] Translation: X:155.69, Y:-59.96, Z:-19.91 [[ 7.55650675e-01 6.46420686e-01 1.05509973e-01 1.55694520e+02] [-6.39549644e-01 7.62972677e-01 -9.40688432e-02 -5.99570127e+01] [-1.41309272e-01 3.60431941e-03 9.89958938e-01 -1.99059814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters 0.03138764053146766 Centerline is valid? [True, True] Translation: X:155.73, Y:-60.01, Z:-19.91 [[ 7.48891256e-01 6.54051496e-01 1.06670183e-01 1.55732891e+02] [-6.47094634e-01 7.56446695e-01 -9.51679196e-02 -6.00067212e+01] [-1.42935027e-01 2.24472003e-03 9.89729528e-01 -1.99130777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters 0.031189709064139034 Centerline is valid? [True, True] Translation: X:155.78, Y:-60.05, Z:-19.92 [[ 7.47698982e-01 6.55619461e-01 1.05400928e-01 1.55778079e+02] [-6.48838433e-01 7.55088952e-01 -9.40710501e-02 -6.00490368e+01] [-1.41261887e-01 1.94865571e-03 9.89970344e-01 -1.99196568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters 0.031215778315797974 Centerline is valid? [True, True] Translation: X:155.82, Y:-60.09, Z:-19.93 [[ 7.45852526e-01 6.57752500e-01 1.05193431e-01 1.55822167e+02] [-6.51007270e-01 7.53232413e-01 -9.39705629e-02 -6.00925901e+01] [-1.41044474e-01 1.60649364e-03 9.90001957e-01 -1.99266700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters 0.031238313520289978 Centerline is valid? [True, True] Translation: X:155.87, Y:-60.13, Z:-19.93 [[ 7.43663109e-01 6.59801479e-01 1.07829444e-01 1.55867726e+02] [-6.52720392e-01 7.51438802e-01 -9.64148190e-02 -6.01339611e+01] [-1.44641868e-01 1.31766718e-03 9.89483195e-01 -1.99341935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters 0.031331331829000074 Centerline is valid? [True, True] Translation: X:155.91, Y:-60.18, Z:-19.94 [[ 7.42924256e-01 6.60698657e-01 1.07428279e-01 1.55911560e+02] [-6.53666959e-01 7.50650272e-01 -9.61440334e-02 -6.01779877e+01] [-1.44163300e-01 1.20541824e-03 9.89553177e-01 -1.99410761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters 0.03170478039259479 Centerline is valid? [True, True] Translation: X:155.96, Y:-60.22, Z:-19.95 [[ 7.44673597e-01 6.58649792e-01 1.07896642e-01 1.55957490e+02] [-6.51521809e-01 7.52447764e-01 -9.66524501e-02 -6.02186849e+01] [-1.44846703e-01 1.67751213e-03 9.89452686e-01 -1.99507614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters 0.03180400228713218 Centerline is valid? [True, True] Translation: X:156.00, Y:-60.26, Z:-19.96 [[ 7.45657642e-01 6.57557728e-01 1.07761381e-01 1.56001365e+02] [-6.50422993e-01 7.53401623e-01 -9.66225926e-02 -6.02633718e+01] [-1.44722532e-01 1.95689447e-03 9.89470343e-01 -1.99592101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters 0.03163055050839612 Centerline is valid? [True, True] Translation: X:156.04, Y:-60.31, Z:-19.97 [[ 7.45733419e-01 6.57696261e-01 1.06382777e-01 1.56044948e+02] [-6.50731415e-01 7.53280636e-01 -9.54825067e-02 -6.03075293e+01] [-1.42934574e-01 1.97788115e-03 9.89730163e-01 -1.99655361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters 0.031786767769050685 Centerline is valid? [True, True] Translation: X:156.09, Y:-60.35, Z:-19.97 [[ 7.45008263e-01 6.58237864e-01 1.08099963e-01 1.56085850e+02] [-6.51037852e-01 7.52807430e-01 -9.71117340e-02 -6.03539550e+01] [-1.45301076e-01 1.97187628e-03 9.89385521e-01 -1.99716654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters 0.031495432809370935 Centerline is valid? [True, True] Translation: X:156.13, Y:-60.40, Z:-19.98 [[ 7.42608942e-01 6.61005953e-01 1.07717638e-01 1.56129361e+02] [-6.53873734e-01 7.50379179e-01 -9.68515760e-02 -6.03978347e+01] [-1.44848541e-01 1.48911219e-03 9.89452719e-01 -1.99786836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters 0.031200416379955825 Centerline is valid? [True, True] Translation: X:156.17, Y:-60.44, Z:-19.98 [[ 7.40329878e-01 6.64027866e-01 1.04779123e-01 1.56173285e+02] [-6.57300956e-01 7.47707248e-01 -9.42832149e-02 -6.04421727e+01] [-1.40950792e-01 9.29263115e-04 9.90016167e-01 -1.99842292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters 0.031136615944427286 Centerline is valid? [True, True] Translation: X:156.22, Y:-60.48, Z:-19.99 [[ 7.37807332e-01 6.67005278e-01 1.03654716e-01 1.56219927e+02] [-6.60446055e-01 7.45052889e-01 -9.33123782e-02 -6.04829129e+01] [-1.39468094e-01 3.88208474e-04 9.90226489e-01 -1.99909014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters 0.030984247947766278 Centerline is valid? [True, True] Translation: X:156.27, Y:-60.52, Z:-20.00 [[ 7.33920948e-01 6.71521026e-01 1.02076216e-01 1.56266497e+02] [-6.65192472e-01 7.40985394e-01 -9.19762026e-02 -6.05239729e+01] [-1.37400939e-01 -3.97068903e-04 9.90515434e-01 -1.99979747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters 0.031351264446133266 Centerline is valid? [True, True] Translation: X:156.32, Y:-60.56, Z:-20.00 [[ 7.29114316e-01 6.76951280e-01 1.00644314e-01 1.56318112e+02] [-6.70839138e-01 7.36026622e-01 -9.07725877e-02 -6.05613553e+01] [-1.35525514e-01 -1.33255124e-03 9.90772961e-01 -2.00024560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters 0.03161579508239591 Centerline is valid? [True, True] Translation: X:156.37, Y:-60.60, Z:-20.01 [[ 7.25293161e-01 6.81239292e-01 9.93119216e-02 1.56367384e+02] [-6.75315675e-01 7.32057984e-01 -8.96651933e-02 -6.05985393e+01] [-1.33785538e-01 -2.03334590e-03 9.91008222e-01 -2.00109600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters 0.031698721958734216 Centerline is valid? [True, True] Translation: X:156.42, Y:-60.63, Z:-20.02 [[ 7.24164370e-01 6.82378048e-01 9.97304590e-02 1.56419894e+02] [-6.76403321e-01 7.30996171e-01 -9.01284887e-02 -6.06331915e+01] [-1.34404286e-01 -2.19017340e-03 9.90924160e-01 -2.00182317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters 0.03186158680219962 Centerline is valid? [True, True] Translation: X:156.47, Y:-60.67, Z:-20.03 [[ 7.23862982e-01 6.82495200e-01 1.01107295e-01 1.56469569e+02] [-6.76342842e-01 7.30886826e-01 -9.14593210e-02 -6.06695473e+01] [-1.36318538e-01 -2.17917864e-03 9.90662661e-01 -2.00257972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters 0.0320083585051049 Centerline is valid? [True, True] Translation: X:156.52, Y:-60.71, Z:-20.03 [[ 7.25002765e-01 6.81179712e-01 1.01809586e-01 1.56519681e+02] [-6.74916486e-01 7.32113828e-01 -9.21796057e-02 -6.07071339e+01] [-1.37327083e-01 -1.88249890e-03 9.90523967e-01 -2.00339974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters 0.03155055791811875 Centerline is valid? [True, True] Translation: X:156.57, Y:-60.74, Z:-20.04 [[ 7.30988215e-01 6.74665030e-01 1.02388121e-01 1.56570404e+02] [-6.68252137e-01 7.38123809e-01 -9.28026054e-02 -6.07434174e+01] [-1.38185782e-01 -5.83469573e-04 9.90406154e-01 -2.00422645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters 0.031368284370364354 Centerline is valid? [True, True] Translation: X:156.62, Y:-60.78, Z:-20.05 [[ 7.33898366e-01 6.71720582e-01 1.00919018e-01 1.56618153e+02] [-6.65452940e-01 7.40804602e-01 -9.15473973e-02 -6.07835535e+01] [-1.36255544e-01 2.96282398e-05 9.90673723e-01 -2.00483282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters 0.031443492380992845 Centerline is valid? [True, True] Translation: X:156.67, Y:-60.82, Z:-20.06 [[ 7.36583649e-01 6.68769375e-01 1.00955693e-01 1.56669205e+02] [-6.62463699e-01 7.43469672e-01 -9.16225583e-02 -6.08211505e+01] [-1.36331857e-01 6.08196533e-04 9.90663038e-01 -2.00557443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters 0.031244644652725848 Centerline is valid? [True, True] Translation: X:156.72, Y:-60.86, Z:-20.06 [[ 7.36306090e-01 6.69065924e-01 1.01015500e-01 1.56716407e+02] [-6.62742011e-01 7.43202796e-01 -9.17748917e-02 -6.08628859e+01] [-1.36478455e-01 6.27196171e-04 9.90642841e-01 -2.00641008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters 0.03138561329025074 Centerline is valid? [True, True] Translation: X:156.77, Y:-60.90, Z:-20.07 [[ 7.37045999e-01 6.68344624e-01 1.00392525e-01 1.56765443e+02] [-6.62078870e-01 7.43851314e-01 -9.13060388e-02 -6.09020949e+01] [-1.35701012e-01 8.28981090e-04 9.90749488e-01 -2.00719866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters 0.03145369683974307 Centerline is valid? [True, True] Translation: X:156.81, Y:-60.94, Z:-20.08 [[ 7.38696800e-01 6.66491966e-01 1.00575831e-01 1.56812725e+02] [-6.60173025e-01 7.45511176e-01 -9.15678044e-02 -6.09416904e+01] [-1.36009612e-01 1.24339343e-03 9.90706737e-01 -2.00783538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters 0.031329095862608784 Centerline is valid? [True, True] Translation: X:156.86, Y:-60.98, Z:-20.08 [[ 7.39905530e-01 6.65090547e-01 1.00967177e-01 1.56860103e+02] [-6.58697405e-01 7.46761070e-01 -9.20088777e-02 -6.09813062e+01] [-1.36592592e-01 1.57105979e-03 9.90626062e-01 -2.00849128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters 0.03176237405709417 Centerline is valid? [True, True] Translation: X:156.91, Y:-61.02, Z:-20.09 [[ 7.40257771e-01 6.64333973e-01 1.03338299e-01 1.56905006e+02] [-6.57615895e-01 7.47433656e-01 -9.42563760e-02 -6.10226918e+01] [-1.39856235e-01 1.81710711e-03 9.90170153e-01 -2.00939942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters 0.031371250496390224 Centerline is valid? [True, True] Translation: X:156.95, Y:-61.06, Z:-20.10 [[ 7.37463837e-01 6.67626336e-01 1.02089007e-01 1.56951345e+02] [-6.61090724e-01 7.44495495e-01 -9.31961003e-02 -6.10639933e+01] [-1.38224976e-01 1.23865846e-03 9.90400082e-01 -2.00986660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters 0.031231586084088887 Centerline is valid? [True, True] Translation: X:157.00, Y:-61.11, Z:-20.10 [[ 7.33790686e-01 6.71725589e-01 1.01665928e-01 1.56997726e+02] [-6.65271554e-01 7.40799873e-01 -9.28940636e-02 -6.11054490e+01] [-1.37713426e-01 5.29349001e-04 9.90471974e-01 -2.01042335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters 0.031311298026065665 Centerline is valid? [True, True] Translation: X:157.04, Y:-61.15, Z:-20.11 [[ 7.32525976e-01 6.72981055e-01 1.02480214e-01 1.57043545e+02] [-6.66422697e-01 7.39659630e-01 -9.37252349e-02 -6.11471625e+01] [-1.38875785e-01 3.61028373e-04 9.90309742e-01 -2.01116861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters 0.03156796141760421 Centerline is valid? [True, True] Translation: X:157.09, Y:-61.19, Z:-20.12 [[ 7.35534236e-01 6.69927071e-01 1.00931206e-01 1.57091783e+02] [-6.63525963e-01 7.42426255e-01 -9.23934677e-02 -6.11861097e+01] [-1.36830862e-01 9.88083135e-04 9.90593932e-01 -2.01200194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters 0.03141824050485467 Centerline is valid? [True, True] Translation: X:157.14, Y:-61.23, Z:-20.13 [[ 7.34906286e-01 6.70629840e-01 1.00838327e-01 1.57137953e+02] [-6.64235124e-01 7.41791593e-01 -9.23955235e-02 -6.12289915e+01] [-1.36764219e-01 9.21692356e-04 9.90603200e-01 -2.01261363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters 0.031454657560488604 Centerline is valid? [True, True] Translation: X:157.18, Y:-61.27, Z:-20.13 [[ 7.33828940e-01 6.71923615e-01 1.00068686e-01 1.57181457e+02] [-6.65625720e-01 7.40620078e-01 -9.17839929e-02 -6.12723306e+01] [-1.35784710e-01 7.45459130e-04 9.90738087e-01 -2.01337370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters 0.03168739486724396 Centerline is valid? [True, True] Translation: X:157.23, Y:-61.32, Z:-20.14 [[ 7.33077499e-01 6.72646813e-01 1.00715664e-01 1.57227263e+02] [-6.66261466e-01 7.39963378e-01 -9.24654483e-02 -6.13155256e+01] [-1.36722492e-01 6.81373955e-04 9.90609154e-01 -2.01419046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters 0.031402342107696275 Centerline is valid? [True, True] Translation: X:157.27, Y:-61.36, Z:-20.15 [[ 7.32150394e-01 6.73693499e-01 1.00463276e-01 1.57272603e+02] [-6.67336614e-01 7.39010662e-01 -9.23313826e-02 -6.13581235e+01] [-1.36446485e-01 5.57635445e-04 9.90647286e-01 -2.01487380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters 0.03142522726682024 Centerline is valid? [True, True] Translation: X:157.32, Y:-61.40, Z:-20.15 [[ 7.32632090e-01 6.73221255e-01 1.00116742e-01 1.57317907e+02] [-6.66890656e-01 7.39440754e-01 -9.21098453e-02 -6.14015241e+01] [-1.36040705e-01 7.15708369e-04 9.90702990e-01 -2.01545157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters 0.03142423613716023 Centerline is valid? [True, True] Translation: X:157.36, Y:-61.44, Z:-20.16 [[ 7.31459833e-01 6.74254958e-01 1.01719046e-01 1.57363355e+02] [-6.67715304e-01 7.38498399e-01 -9.36823753e-02 -6.14435783e+01] [-1.38285159e-01 6.05530998e-04 9.90392270e-01 -2.01619337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters 0.03132490097295686 Centerline is valid? [True, True] Translation: X:157.41, Y:-61.49, Z:-20.17 [[ 7.29990117e-01 6.75922652e-01 1.01207698e-01 1.57408852e+02] [-6.69452817e-01 7.36972485e-01 -9.32978109e-02 -6.14859001e+01] [-1.37649393e-01 3.52701072e-04 9.90480954e-01 -2.01682696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters 0.031069630610402337 Centerline is valid? [True, True] Translation: X:157.46, Y:-61.53, Z:-20.18 [[ 7.30089278e-01 6.75890431e-01 1.00706365e-01 1.57457130e+02] [-6.69472382e-01 7.37001999e-01 -9.29235306e-02 -6.15264196e+01] [-1.37026918e-01 4.22343205e-04 9.90567234e-01 -2.01750170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters 0.031189316416540144 Centerline is valid? [True, True] Translation: X:157.50, Y:-61.57, Z:-20.18 [[ 7.30065375e-01 6.75844329e-01 1.01187901e-01 1.57503029e+02] [-6.69350073e-01 7.37044222e-01 -9.34681502e-02 -6.15690670e+01] [-1.37749877e-01 5.07731355e-04 9.90466917e-01 -2.01824024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters 0.030995916574116954 Centerline is valid? [True, True] Translation: X:157.55, Y:-61.61, Z:-20.19 [[ 7.30034460e-01 6.76042707e-01 1.00079693e-01 1.57552362e+02] [-6.69680531e-01 7.36862251e-01 -9.25311261e-02 -6.16074626e+01] [-1.36299941e-01 5.29488538e-04 9.90667475e-01 -2.01891331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters 0.030954783582985784 Centerline is valid? [True, True] Translation: X:157.60, Y:-61.65, Z:-20.20 [[ 7.28810293e-01 6.77370288e-01 1.00025240e-01 1.57599155e+02] [-6.71021764e-01 7.35642165e-01 -9.25224146e-02 -6.16493340e+01] [-1.36254719e-01 3.12174904e-04 9.90673788e-01 -2.01964229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters 0.030779351591695155 Centerline is valid? [True, True] Translation: X:157.65, Y:-61.69, Z:-20.20 [[ 7.27226175e-01 6.79059428e-01 1.00101868e-01 1.57647967e+02] [-6.72703514e-01 7.34083299e-01 -9.26913886e-02 -6.16893805e+01] [-1.36426071e-01 6.87257654e-05 9.90650252e-01 -2.02020607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters 0.030690809514711672 Centerline is valid? [True, True] Translation: X:157.70, Y:-61.73, Z:-20.21 [[ 7.28384266e-01 6.77737875e-01 1.00636647e-01 1.57696296e+02] [-6.71287117e-01 7.35303488e-01 -9.32865875e-02 -6.17288773e+01] [-1.37222331e-01 3.92397986e-04 9.90540195e-01 -2.02091305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters 0.030812074949187175 Centerline is valid? [True, True] Translation: X:157.74, Y:-61.77, Z:-20.22 [[ 7.29874632e-01 6.76315493e-01 9.94000776e-02 1.57743731e+02] [-6.69996931e-01 7.36611725e-01 -9.22349176e-02 -6.17692122e+01] [-1.35599166e-01 7.22179695e-04 9.90763516e-01 -2.02159722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters 0.030779394839773745 Centerline is valid? [True, True] Translation: X:157.79, Y:-61.81, Z:-20.22 [[ 7.32090494e-01 6.73871842e-01 9.97007968e-02 1.57790309e+02] [-6.67480470e-01 7.38847207e-01 -9.25992815e-02 -6.18099942e+01] [-1.36063704e-01 1.24271905e-03 9.90699311e-01 -2.02216000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters 0.030508568906480713 Centerline is valid? [True, True] Translation: X:157.84, Y:-61.85, Z:-20.23 [[ 7.30204170e-01 6.76080730e-01 9.85734024e-02 1.57835718e+02] [-6.69842462e-01 7.36827025e-01 -9.16352040e-02 -6.18522895e+01] [-1.34584343e-01 8.83757499e-04 9.90901748e-01 -2.02277226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters 0.030430368456924803 Centerline is valid? [True, True] Translation: X:157.88, Y:-61.90, Z:-20.24 [[ 7.27779305e-01 6.78759922e-01 9.80930812e-02 1.57878763e+02] [-6.72595499e-01 7.34360108e-01 -9.12717217e-02 -6.18957965e+01] [-1.33987232e-01 4.48705275e-04 9.90982957e-01 -2.02372634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters 0.030433444302188438 Centerline is valid? [True, True] Translation: X:157.92, Y:-61.94, Z:-20.24 [[ 7.27087750e-01 6.79240191e-01 9.98807634e-02 1.57924606e+02] [-6.72840453e-01 7.33915919e-01 -9.30222988e-02 -6.19374731e+01] [-1.36488566e-01 4.31555851e-04 9.90641552e-01 -2.02427387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters 0.030301137723111 Centerline is valid? [True, True] Translation: X:157.97, Y:-61.98, Z:-20.25 [[ 7.24695879e-01 6.81926772e-01 9.89533247e-02 1.57973031e+02] [-6.75659170e-01 7.31420452e-01 -9.22431976e-02 -6.19758484e+01] [-1.35279591e-01 -1.04560725e-05 9.90807465e-01 -2.02492533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters 0.03033052928580592 Centerline is valid? [True, True] Translation: X:158.02, Y:-62.02, Z:-20.26 [[ 7.22941243e-01 6.83815511e-01 9.87537618e-02 1.58021602e+02] [-6.77578925e-01 7.29654889e-01 -9.21441389e-02 -6.20156307e+01] [-1.35065757e-01 -2.98669437e-04 9.90836592e-01 -2.02574380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters 0.030775657850710028 Centerline is valid? [True, True] Translation: X:158.07, Y:-62.05, Z:-20.26 [[ 7.20040157e-01 6.86755420e-01 9.95447930e-02 1.58072855e+02] [-6.80432483e-01 7.26888147e-01 -9.29798777e-02 -6.20515870e+01] [-1.36212365e-01 -7.84265057e-04 9.90679351e-01 -2.02636616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters 0.030438143468957454 Centerline is valid? [True, True] Translation: X:158.12, Y:-62.09, Z:-20.27 [[ 7.21353230e-01 6.85463360e-01 9.89419019e-02 1.58121486e+02] [-6.79193273e-01 7.28106969e-01 -9.25026485e-02 -6.20897879e+01] [-1.35447465e-01 -4.73589929e-04 9.90784417e-01 -2.02711247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters 0.030548329977599865 Centerline is valid? [True, True] Translation: X:158.17, Y:-62.13, Z:-20.28 [[ 7.25226557e-01 6.81340594e-01 9.91031622e-02 1.58171580e+02] [-6.74999294e-01 7.31966435e-01 -9.27420653e-02 -6.21285273e+01] [-1.35729122e-01 3.64444179e-04 9.90745917e-01 -2.02783777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters 0.030903397300326926 Centerline is valid? [True, True] Translation: X:158.22, Y:-62.17, Z:-20.28 [[ 7.30381258e-01 6.75799504e-01 9.91879399e-02 1.58219671e+02] [-6.69382737e-01 7.37084029e-01 -9.29187097e-02 -6.21674410e+01] [-1.35904264e-01 1.47138947e-03 9.90720882e-01 -2.02847630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters 0.031393658042304144 Centerline is valid? [True, True] Translation: X:158.26, Y:-62.21, Z:-20.29 [[ 7.33475930e-01 6.72017058e-01 1.02010457e-01 1.58264839e+02] [-6.65179052e-01 7.40532088e-01 -9.56506963e-02 -6.22085467e+01] [-1.39820916e-01 2.30226420e-03 9.90174132e-01 -2.02947187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters 0.0319324426013078 Centerline is valid? [True, True] Translation: X:158.31, Y:-62.25, Z:-20.30 [[ 7.36141086e-01 6.68933614e-01 1.03073379e-01 1.58308415e+02] [-6.61909733e-01 7.43316172e-01 -9.67293815e-02 -6.22527811e+01] [-1.41321644e-01 2.98119937e-03 9.89959244e-01 -2.03021614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters 0.032466686865056535 Centerline is valid? [True, True] Translation: X:158.35, Y:-62.30, Z:-20.31 [[ 7.39361107e-01 6.65568003e-01 1.01805628e-01 1.58349284e+02] [-6.58673192e-01 7.46328320e-01 -9.56225090e-02 -6.22993050e+01] [-1.39623706e-01 3.64292618e-03 9.90197935e-01 -2.03085407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters 0.03295214669093302 Centerline is valid? [True, True] Translation: X:158.39, Y:-62.34, Z:-20.32 [[ 7.39610884e-01 6.65108657e-01 1.02986479e-01 1.58392351e+02] [-6.58035524e-01 7.46736730e-01 -9.68168627e-02 -6.23443638e+01] [-1.41297520e-01 3.83804388e-03 9.89959737e-01 -2.03150673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters 0.03201258109401673 Centerline is valid? [True, True] Translation: X:158.43, Y:-62.39, Z:-20.32 [[ 7.36413021e-01 6.68753422e-01 1.02297228e-01 1.58431712e+02] [-6.61799142e-01 7.43477487e-01 -9.62451117e-02 -6.23932280e+01] [-1.40419934e-01 3.17593570e-03 9.90086943e-01 -2.03232499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters 0.03105887369274978 Centerline is valid? [True, True] Translation: X:158.47, Y:-62.44, Z:-20.33 [[ 7.30573356e-01 6.75124677e-01 1.02319314e-01 1.58472819e+02] [-6.68221440e-01 7.37700945e-01 -9.63193757e-02 -6.24397396e+01] [-1.40508642e-01 1.99640997e-03 9.90077439e-01 -2.03295674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters 0.030816909690962586 Centerline is valid? [True, True] Translation: X:158.52, Y:-62.48, Z:-20.34 [[ 7.27748409e-01 6.78388636e-01 1.00851930e-01 1.58516060e+02] [-6.71702318e-01 7.34701893e-01 -9.50217045e-02 -6.24845513e+01] [-1.38557749e-01 1.40941895e-03 9.90353353e-01 -2.03358669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters 0.03089753365074946 Centerline is valid? [True, True] Translation: X:158.56, Y:-62.53, Z:-20.34 [[ 7.27967262e-01 6.78128644e-01 1.01020830e-01 1.58562516e+02] [-6.71404907e-01 7.34941638e-01 -9.52693053e-02 -6.25270542e+01] [-1.38849259e-01 1.52705423e-03 9.90312350e-01 -2.03435358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters 0.0311708672614633 Centerline is valid? [True, True] Translation: X:158.61, Y:-62.57, Z:-20.35 [[ 7.27660270e-01 6.78241036e-01 1.02467692e-01 1.58607841e+02] [-6.71309353e-01 7.34837760e-01 -9.67327188e-02 -6.25682206e+01] [-1.40905229e-01 1.60103635e-03 9.90021794e-01 -2.03529818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters 0.03135819664149268 Centerline is valid? [True, True] Translation: X:158.66, Y:-62.61, Z:-20.36 [[ 7.29078415e-01 6.76787070e-01 1.01999644e-01 1.58656537e+02] [-6.69892074e-01 7.36176269e-01 -9.63800309e-02 -6.26078747e+01] [-1.40318476e-01 1.93984709e-03 9.90104521e-01 -2.03604883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters 0.03151645813086333 Centerline is valid? [True, True] Translation: X:158.70, Y:-62.65, Z:-20.37 [[ 7.29729854e-01 6.76110346e-01 1.01828979e-01 1.58701401e+02] [-6.69217926e-01 7.36797271e-01 -9.63179556e-02 -6.26520834e+01] [-1.40148880e-01 2.14030947e-03 9.90128128e-01 -2.03670918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters 0.031776126519711935 Centerline is valid? [True, True] Translation: X:158.75, Y:-62.69, Z:-20.37 [[ 7.30340962e-01 6.75291799e-01 1.02874026e-01 1.58746318e+02] [-6.68234359e-01 7.37546781e-01 -9.74042522e-02 -6.26940513e+01] [-1.41650700e-01 2.39435629e-03 9.89913808e-01 -2.03741730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters 0.032419792279600367 Centerline is valid? [True, True] Translation: X:158.79, Y:-62.74, Z:-20.38 [[ 7.35183371e-01 6.70299455e-01 1.01015102e-01 1.58789370e+02] [-6.63437079e-01 7.42083113e-01 -9.57282385e-02 -6.27379016e+01] [-1.39128188e-01 3.36064458e-03 9.90268677e-01 -2.03833915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters 0.032594169312355634 Centerline is valid? [True, True] Translation: X:158.83, Y:-62.78, Z:-20.39 [[ 7.35005630e-01 6.70238505e-01 1.02698926e-01 1.58832087e+02] [-6.63131264e-01 7.42137545e-01 -9.74104228e-02 -6.27830014e+01] [-1.41504945e-01 3.49434049e-03 9.89931382e-01 -2.03893313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters 0.032190743704091036 Centerline is valid? [True, True] Translation: X:158.87, Y:-62.83, Z:-20.40 [[ 7.33925419e-01 6.71471705e-01 1.02368101e-01 1.58872832e+02] [-6.64410313e-01 7.41022806e-01 -9.71809467e-02 -6.28303428e+01] [-1.41111353e-01 3.30914524e-03 9.89988200e-01 -2.03950259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters 0.03185834774325395 Centerline is valid? [True, True] Translation: X:158.91, Y:-62.88, Z:-20.40 [[ 7.32067904e-01 6.73596507e-01 1.01707079e-01 1.58912606e+02] [-6.66634904e-01 7.39093418e-01 -9.66375923e-02 -6.28778053e+01] [-1.40265777e-01 2.94379098e-03 9.90109512e-01 -2.04030742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters 0.031220219521736002 Centerline is valid? [True, True] Translation: X:158.95, Y:-62.93, Z:-20.41 [[ 7.27576937e-01 6.78460101e-01 1.01605573e-01 1.58952640e+02] [-6.71548289e-01 7.34634350e-01 -9.66191841e-02 -6.29262546e+01] [-1.40195205e-01 2.06484137e-03 9.90121730e-01 -2.04096832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters 0.031000862468709887 Centerline is valid? [True, True] Translation: X:159.00, Y:-62.97, Z:-20.42 [[ 7.23008844e-01 6.83539608e-01 1.00158953e-01 1.58995876e+02] [-6.76866310e-01 7.29912595e-01 -9.52869494e-02 -6.29710154e+01] [-1.38239685e-01 1.09908629e-03 9.90398193e-01 -2.04169652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters 0.031016816995278272 Centerline is valid? [True, True] Translation: X:159.04, Y:-63.02, Z:-20.42 [[ 7.16327980e-01 6.90436818e-01 1.00852491e-01 1.59039075e+02] [-6.83731525e-01 7.23392675e-01 -9.59908306e-02 -6.30169312e+01] [-1.39231557e-01 -1.95109835e-04 9.90259832e-01 -2.04243181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters 0.031056205388990198 Centerline is valid? [True, True] Translation: X:159.09, Y:-63.05, Z:-20.43 [[ 7.10790000e-01 6.96186120e-01 1.00511002e-01 1.59089220e+02] [-6.89569375e-01 7.17860255e-01 -9.57639381e-02 -6.30543628e+01] [-1.38822378e-01 -1.24125908e-03 9.90316518e-01 -2.04296672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters 0.03155726347631447 Centerline is valid? [True, True] Translation: X:159.14, Y:-63.09, Z:-20.44 [[ 7.05968252e-01 7.01144865e-01 1.00023525e-01 1.59138477e+02] [-6.94629226e-01 7.13015643e-01 -9.53883228e-02 -6.30919737e+01] [-1.38199371e-01 -2.13813608e-03 9.90402122e-01 -2.04382452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters 0.03195689049259222 Centerline is valid? [True, True] Translation: X:159.19, Y:-63.12, Z:-20.44 [[ 7.03437804e-01 7.03635139e-01 1.00363576e-01 1.59192570e+02] [-6.97087450e-01 7.10556810e-01 -9.58024349e-02 -6.31248921e+01] [-1.38723982e-01 -2.57113507e-03 9.90327747e-01 -2.04449461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters 0.03222335837515665 Centerline is valid? [True, True] Translation: X:159.25, Y:-63.16, Z:-20.45 [[ 7.04027143e-01 7.02867189e-01 1.01604615e-01 1.59247143e+02] [-6.96134498e-01 7.11317114e-01 -9.70810155e-02 -6.31582844e+01] [-1.40508162e-01 -2.38280741e-03 9.90076653e-01 -2.04533029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters 0.031837148701272355 Centerline is valid? [True, True] Translation: X:159.30, Y:-63.19, Z:-20.46 [[ 7.09065840e-01 6.98039401e-01 9.98330102e-02 1.59301146e+02] [-6.91478940e-01 7.16058123e-01 -9.54863290e-02 -6.31906131e+01] [-1.38139458e-01 -1.32633002e-03 9.90411900e-01 -2.04613875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters 0.0317342924024951 Centerline is valid? [True, True] Translation: X:159.35, Y:-63.22, Z:-20.47 [[ 7.13822926e-01 6.93164183e-01 9.99011790e-02 1.59354245e+02] [-6.86534417e-01 7.20779658e-01 -9.56408783e-02 -6.32249632e+01] [-1.38301569e-01 -3.14946120e-04 9.90390113e-01 -2.04696938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters 0.03180340814035178 Centerline is valid? [True, True] Translation: X:159.41, Y:-63.26, Z:-20.48 [[ 7.18286559e-01 6.88541488e-01 9.98751155e-02 1.59407937e+02] [-6.81857686e-01 7.25196666e-01 -9.57073221e-02 -6.32601426e+01] [-1.38327563e-01 6.44667845e-04 9.90386324e-01 -2.04766776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters 0.03200265551870491 Centerline is valid? [True, True] Translation: X:159.46, Y:-63.30, Z:-20.48 [[ 7.22026576e-01 6.84548792e-01 1.00352252e-01 1.59455969e+02] [-6.77748248e-01 7.28965520e-01 -9.62630968e-02 -6.32999609e+01] [-1.39050118e-01 1.49095097e-03 9.90284223e-01 -2.04840656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters 0.03292255329273685 Centerline is valid? [True, True] Translation: X:159.51, Y:-63.34, Z:-20.49 [[ 7.30035053e-01 6.76121147e-01 9.95440397e-02 1.59505654e+02] [-6.69341018e-01 7.36783798e-01 -9.55627421e-02 -6.33373110e+01] [-1.37954426e-01 3.13524261e-03 9.90433615e-01 -2.04909249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters 0.03399140843009812 Centerline is valid? [True, True] Translation: X:159.55, Y:-63.38, Z:-20.50 [[ 7.35207417e-01 6.70567257e-01 9.90434646e-02 1.59550033e+02] [-6.63801729e-01 7.41836978e-01 -9.51060553e-02 -6.33803611e+01] [-1.37249111e-01 4.17745417e-03 9.90527753e-01 -2.04977072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters 0.03500577465611102 Centerline is valid? [True, True] Translation: X:159.59, Y:-63.43, Z:-20.50 [[ 7.39821942e-01 6.65313098e-01 1.00109817e-01 1.59591873e+02] [-6.58349110e-01 7.46546143e-01 -9.61525123e-02 -6.34253826e+01] [-1.38708123e-01 5.22852971e-03 9.90319503e-01 -2.05048556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters 0.034733914930442755 Centerline is valid? [True, True] Translation: X:159.63, Y:-63.48, Z:-20.51 [[ 7.39357651e-01 6.66005347e-01 9.89299871e-02 1.59629145e+02] [-6.59207837e-01 7.45929822e-01 -9.50459291e-02 -6.34763998e+01] [-1.37095925e-01 5.05751207e-03 9.90544865e-01 -2.05109991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters 0.03425481534125625 Centerline is valid? [True, True] Translation: X:159.66, Y:-63.53, Z:-20.52 [[ 7.36849743e-01 6.68601116e-01 1.00124940e-01 1.59664507e+02] [-6.61649810e-01 7.43606430e-01 -9.62756773e-02 -6.35285989e+01] [-1.38823575e-01 4.69306028e-03 9.90306008e-01 -2.05198697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters 0.033481521281899684 Centerline is valid? [True, True] Translation: X:159.70, Y:-63.58, Z:-20.53 [[ 7.33652300e-01 6.71964827e-01 1.01082018e-01 1.59700143e+02] [-6.64899124e-01 7.40571380e-01 -9.72789062e-02 -6.35807829e+01] [-1.40226453e-01 4.15954832e-03 9.90110721e-01 -2.05261447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters 0.032776331531395524 Centerline is valid? [True, True] Translation: X:159.73, Y:-63.63, Z:-20.53 [[ 7.31025220e-01 6.74960842e-01 1.00149840e-01 1.59734923e+02] [-6.68041901e-01 7.37844705e-01 -9.64635141e-02 -6.36338150e+01] [-1.39004124e-01 3.61297208e-03 9.90285211e-01 -2.05323904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters 0.03258365172765906 Centerline is valid? [True, True] Translation: X:159.77, Y:-63.68, Z:-20.54 [[ 7.25683755e-01 6.80512104e-01 1.01421713e-01 1.59774090e+02] [-6.73456703e-01 7.32732047e-01 -9.77743154e-02 -6.36819255e+01] [-1.40851545e-01 2.65009983e-03 9.90027181e-01 -2.05407177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters 0.03220577609789234 Centerline is valid? [True, True] Translation: X:159.81, Y:-63.73, Z:-20.55 [[ 7.20271434e-01 6.86138542e-01 1.02092913e-01 1.59814462e+02] [-6.79032085e-01 7.27469069e-01 -9.85098013e-02 -6.37294426e+01] [-1.41860808e-01 1.62943232e-03 9.89885274e-01 -2.05463604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters 0.032032237171998476 Centerline is valid? [True, True] Translation: X:159.86, Y:-63.77, Z:-20.55 [[ 7.14882484e-01 6.91836724e-01 1.01513454e-01 1.59858013e+02] [-6.84855366e-01 7.22053758e-01 -9.80382473e-02 -6.37729830e+01] [-1.41124631e-01 5.63791726e-04 9.89991677e-01 -2.05545810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters 0.032064278859078615 Centerline is valid? [True, True] Translation: X:159.90, Y:-63.82, Z:-20.56 [[ 7.11415108e-01 6.95583000e-01 1.00263824e-01 1.59901158e+02] [-6.88797770e-01 7.18445738e-01 -9.69193172e-02 -6.38169985e+01] [-1.39449547e-01 -1.11632156e-04 9.90229171e-01 -2.05617522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters 0.032273226113277466 Centerline is valid? [True, True] Translation: X:159.95, Y:-63.86, Z:-20.57 [[ 7.08406270e-01 6.98785547e-01 9.92940878e-02 1.59950726e+02] [-6.92150369e-01 7.15330910e-01 -9.60705771e-02 -6.38554080e+01] [-1.38160861e-01 -6.69440330e-04 9.90409576e-01 -2.05668257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters 0.03251302620108186 Centerline is valid? [True, True] Translation: X:160.00, Y:-63.90, Z:-20.57 [[ 7.06134936e-01 7.00959909e-01 1.00143191e-01 1.59997494e+02] [-6.94219094e-01 7.13199922e-01 -9.69831006e-02 -6.38956648e+01] [-1.39403381e-01 -1.03815990e-03 9.90235133e-01 -2.05744032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters 0.032388014260894916 Centerline is valid? [True, True] Translation: X:160.05, Y:-63.93, Z:-20.58 [[ 7.07909934e-01 6.99432875e-01 9.82709484e-02 1.60048492e+02] [-6.92916189e-01 7.14697991e-01 -9.52572140e-02 -6.39319756e+01] [-1.36860076e-01 -6.60002945e-04 9.90590169e-01 -2.05819650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters 0.03229437912001981 Centerline is valid? [True, True] Translation: X:160.10, Y:-63.97, Z:-20.59 [[ 7.09429744e-01 6.97842413e-01 9.86174639e-02 1.60097338e+02] [-6.91251405e-01 7.16251271e-01 -9.56849589e-02 -6.39714517e+01] [-1.37407906e-01 -2.87704554e-04 9.90514505e-01 -2.05883193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters 0.03249192847117655 Centerline is valid? [True, True] Translation: X:160.15, Y:-64.01, Z:-20.60 [[ 7.10597643e-01 6.96552652e-01 9.93246862e-02 1.60146499e+02] [-6.89839658e-01 7.17505681e-01 -9.64719903e-02 -6.40097809e+01] [-1.38463847e-01 3.46613554e-05 9.90367488e-01 -2.05957536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters 0.03226343088917447 Centerline is valid? [True, True] Translation: X:160.20, Y:-64.05, Z:-20.60 [[ 7.12478044e-01 6.94749200e-01 9.84814032e-02 1.60195136e+02] [-6.88120758e-01 7.19251938e-01 -9.57416986e-02 -6.40493647e+01] [-1.37349409e-01 4.46760335e-04 9.90522559e-01 -2.06011881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters 0.03237904312275096 Centerline is valid? [True, True] Translation: X:160.24, Y:-64.09, Z:-20.61 [[ 7.14848568e-01 6.92324285e-01 9.83799176e-02 1.60243791e+02] [-6.85674194e-01 7.21585842e-01 -9.57328125e-02 -6.40892348e+01] [-1.37267707e-01 9.77893224e-04 9.90533503e-01 -2.06071316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters 0.03263904476224244 Centerline is valid? [True, True] Translation: X:160.29, Y:-64.13, Z:-20.61 [[ 7.17566641e-01 6.89368669e-01 9.93426030e-02 1.60292898e+02] [-6.82544790e-01 7.24408842e-01 -9.67700316e-02 -6.41274345e+01] [-1.38674888e-01 1.63317048e-03 9.90336614e-01 -2.06143185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters 0.03261962363626846 Centerline is valid? [True, True] Translation: X:160.34, Y:-64.17, Z:-20.62 [[ 7.19356781e-01 6.87768005e-01 9.74730362e-02 1.60341197e+02] [-6.81174701e-01 7.25927908e-01 -9.50247299e-02 -6.41671280e+01] [-1.36113366e-01 1.96051759e-03 9.90691328e-01 -2.06213451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters 0.0331031557985231 Centerline is valid? [True, True] Translation: X:160.39, Y:-64.20, Z:-20.63 [[ 7.21370967e-01 6.85465453e-01 9.87979785e-02 1.60391522e+02] [-6.78663558e-01 7.28101001e-01 -9.63571881e-02 -6.42044643e+01] [-1.37984431e-01 2.45869037e-03 9.90431346e-01 -2.06286999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters 0.03370907376945939 Centerline is valid? [True, True] Translation: X:160.44, Y:-64.24, Z:-20.64 [[ 7.24228925e-01 6.82519683e-01 9.82819773e-02 1.60439705e+02] [-6.75750151e-01 7.30860775e-01 -9.59388358e-02 -6.42434277e+01] [-1.37310586e-01 3.06761888e-03 9.90523292e-01 -2.06357100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters 0.03475114204025861 Centerline is valid? [True, True] Translation: X:160.49, Y:-64.28, Z:-20.64 [[ 7.29174009e-01 6.77547311e-01 9.60984178e-02 1.60491902e+02] [-6.71022453e-01 7.35468440e-01 -9.38884526e-02 -6.42781323e+01] [-1.34291222e-01 3.97682342e-03 9.90933929e-01 -2.06434285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters 0.0350381272395691 Centerline is valid? [True, True] Translation: X:160.54, Y:-64.32, Z:-20.65 [[ 7.31096470e-01 6.75471053e-01 9.61083116e-02 1.60541048e+02] [-6.68915981e-01 7.37373260e-01 -9.39791780e-02 -6.43167885e+01] [-1.34347913e-01 4.41945983e-03 9.90924370e-01 -2.06480383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters 0.03616057060043593 Centerline is valid? [True, True] Translation: X:160.59, Y:-64.36, Z:-20.65 [[ 7.34910529e-01 6.71442164e-01 9.52467067e-02 1.60587024e+02] [-6.64961435e-01 7.41038974e-01 -9.32069154e-02 -6.43582596e+01] [-1.33164575e-01 5.16335674e-03 9.91080489e-01 -2.06546677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters 0.037718682768710626 Centerline is valid? [True, True] Translation: X:160.63, Y:-64.40, Z:-20.66 [[ 7.38510752e-01 6.67314355e-01 9.64023945e-02 1.60631927e+02] [-6.60636629e-01 7.44752020e-01 -9.43592741e-02 -6.43992187e+01] [-1.34763176e-01 5.99838555e-03 9.90859680e-01 -2.06627958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters 0.03939169749835819 Centerline is valid? [True, True] Translation: X:160.67, Y:-64.44, Z:-20.67 [[ 7.43916003e-01 6.61489874e-01 9.49743485e-02 1.60672564e+02] [-6.54960669e-01 7.49921809e-01 -9.29720482e-02 -6.44447750e+01] [-1.32723404e-01 6.95893159e-03 9.91128686e-01 -2.06697942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters 0.04106248626098554 Centerline is valid? [True, True] Translation: X:160.71, Y:-64.49, Z:-20.68 [[ 7.47526170e-01 6.57258274e-01 9.60009721e-02 1.60712490e+02] [-6.50550692e-01 7.53625028e-01 -9.39846493e-02 -6.44909926e+01] [-1.34120924e-01 7.80248616e-03 9.90934256e-01 -2.06756736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters 0.04158677067117469 Centerline is valid? [True, True] Translation: X:160.75, Y:-64.54, Z:-20.68 [[ 7.48369119e-01 6.56294790e-01 9.60250531e-02 1.60748293e+02] [-6.49573532e-01 7.54462254e-01 -9.40262370e-02 -6.45423156e+01] [-1.34156207e-01 7.99099924e-03 9.90927977e-01 -2.06836555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters 0.041063699899031116 Centerline is valid? [True, True] Translation: X:160.78, Y:-64.59, Z:-20.69 [[ 7.48299635e-01 6.56134583e-01 9.76476603e-02 1.60783684e+02] [-6.49171000e-01 7.54599159e-01 -9.56928535e-02 -6.45944045e+01] [-1.36472233e-01 8.21689802e-03 9.90609818e-01 -2.06901654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters 0.0414146395421087 Centerline is valid? [True, True] Translation: X:160.82, Y:-64.65, Z:-20.70 [[ 7.47854057e-01 6.56720402e-01 9.71216895e-02 1.60817969e+02] [-6.49826500e-01 7.54090395e-01 -9.52533218e-02 -6.46471132e+01] [-1.35793333e-01 8.12333553e-03 9.90703882e-01 -2.06975993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters 0.03976880011066767 Centerline is valid? [True, True] Translation: X:160.85, Y:-64.70, Z:-20.71 [[ 7.44114381e-01 6.61010895e-01 9.67387469e-02 1.60852034e+02] [-6.54198116e-01 7.50340176e-01 -9.49444283e-02 -6.47000710e+01] [-1.35346270e-01 7.36320846e-03 9.90770998e-01 -2.07052724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters 0.03689124171217579 Centerline is valid? [True, True] Translation: X:160.89, Y:-64.75, Z:-20.71 [[ 7.36131622e-01 6.69668974e-01 9.82532456e-02 1.60887793e+02] [-6.62712206e-01 7.42636361e-01 -9.64560318e-02 -6.47516966e+01] [-1.37560045e-01 5.89070996e-03 9.90475913e-01 -2.07106732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters 0.03450964591852691 Centerline is valid? [True, True] Translation: X:160.92, Y:-64.80, Z:-20.72 [[ 7.28088224e-01 6.78629947e-01 9.66898812e-02 1.60923674e+02] [-6.71962959e-01 7.34468437e-01 -9.49836663e-02 -6.48018498e+01] [-1.35474426e-01 4.18447032e-03 9.90772007e-01 -2.07187941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters 0.0330856300298198 Centerline is valid? [True, True] Translation: X:160.96, Y:-64.85, Z:-20.73 [[ 7.19803313e-01 6.87300906e-01 9.74713093e-02 1.60964470e+02] [-6.80598002e-01 7.26368121e-01 -9.57899415e-02 -6.48473667e+01] [-1.36636565e-01 2.61113890e-03 9.90617803e-01 -2.07262012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters 0.032493849173649454 Centerline is valid? [True, True] Translation: X:161.01, Y:-64.89, Z:-20.73 [[ 7.13486960e-01 6.93797630e-01 9.78836378e-02 1.61009372e+02] [-6.87087515e-01 7.20168588e-01 -9.62701978e-02 -6.48900331e+01] [-1.37284756e-01 1.43290530e-03 9.90530586e-01 -2.07334388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters 0.03259037891418524 Centerline is valid? [True, True] Translation: X:161.05, Y:-64.93, Z:-20.74 [[ 7.11059270e-01 6.96083809e-01 9.93078290e-02 1.61053364e+02] [-6.89185676e-01 7.17959736e-01 -9.77595072e-02 -6.49337613e+01] [-1.39347833e-01 1.07127062e-03 9.90242917e-01 -2.07410077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters 0.03278406067103743 Centerline is valid? [True, True] Translation: X:161.10, Y:-64.98, Z:-20.75 [[ 7.13089765e-01 6.94103999e-01 9.86033727e-02 1.61099758e+02] [-6.87272582e-01 7.19873149e-01 -9.71547621e-02 -6.49752087e+01] [-1.38417429e-01 1.51267198e-03 9.90372822e-01 -2.07481631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters 0.03323163674540319 Centerline is valid? [True, True] Translation: X:161.14, Y:-65.02, Z:-20.75 [[ 7.16214233e-01 6.90851042e-01 9.88028887e-02 1.61144609e+02] [-6.83947600e-01 7.22993724e-01 -9.74461663e-02 -6.50176551e+01] [-1.38754654e-01 2.21633269e-03 9.90324307e-01 -2.07549081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters 0.03324255712369046 Centerline is valid? [True, True] Translation: X:161.19, Y:-65.06, Z:-20.76 [[ 7.16957216e-01 6.90240757e-01 9.76731664e-02 1.61188343e+02] [-6.83477134e-01 7.23575892e-01 -9.64206263e-02 -6.50624815e+01] [-1.37227395e-01 2.37208806e-03 9.90536731e-01 -2.07615943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters 0.03336033943637387 Centerline is valid? [True, True] Translation: X:161.23, Y:-65.11, Z:-20.77 [[ 7.19541825e-01 6.87662585e-01 9.68490083e-02 1.61230625e+02] [-6.80976713e-01 7.26024586e-01 -9.57027532e-02 -6.51074721e+01] [-1.36125964e-01 2.91021437e-03 9.90687263e-01 -2.07672202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters 0.033490431772739776 Centerline is valid? [True, True] Translation: X:161.27, Y:-65.15, Z:-20.78 [[ 7.19043827e-01 6.88036311e-01 9.78877408e-02 1.61270428e+02] [-6.81196944e-01 7.25670329e-01 -9.68157910e-02 -6.51543740e+01] [-1.37647009e-01 2.93396698e-03 9.90477003e-01 -2.07755401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters 0.03301074355073125 Centerline is valid? [True, True] Translation: X:161.31, Y:-65.20, Z:-20.78 [[ 7.18623164e-01 6.88680665e-01 9.64348985e-02 1.61311503e+02] [-6.82038157e-01 7.25059266e-01 -9.54621083e-02 -6.52010241e+01] [-1.35663925e-01 2.82900195e-03 9.90750875e-01 -2.07815748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters 0.03280150142508845 Centerline is valid? [True, True] Translation: X:161.35, Y:-65.25, Z:-20.79 [[ 7.16928870e-01 6.90288703e-01 9.75423146e-02 1.61353822e+02] [-6.83494541e-01 7.23529300e-01 -9.66465974e-02 -6.52478400e+01] [-1.37288777e-01 2.61909621e-03 9.90527603e-01 -2.07889884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters 0.03246965218277516 Centerline is valid? [True, True] Translation: X:161.40, Y:-65.29, Z:-20.79 [[ 7.15043901e-01 6.92448083e-01 9.60618169e-02 1.61396125e+02] [-6.85866045e-01 7.21464231e-01 -9.52739788e-02 -6.52928941e+01] [-1.35277449e-01 2.23953902e-03 9.90805226e-01 -2.07944798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters 0.032373335237064524 Centerline is valid? [True, True] Translation: X:161.44, Y:-65.34, Z:-20.80 [[ 7.13948938e-01 6.93683046e-01 9.52929511e-02 1.61439329e+02] [-6.87205926e-01 7.20277465e-01 -9.45959229e-02 -6.53372622e+01] [-1.34256953e-01 2.05077794e-03 9.90944431e-01 -2.08009338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters 0.0321416358083932 Centerline is valid? [True, True] Translation: X:161.48, Y:-65.38, Z:-20.81 [[ 7.13127483e-01 6.94617275e-01 9.46363268e-02 1.61483705e+02] [-6.88226298e-01 7.19376912e-01 -9.40288310e-02 -6.53799208e+01] [-1.33393239e-01 1.92333471e-03 9.91061322e-01 -2.08091389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters 0.03213916209361998 Centerline is valid? [True, True] Translation: X:161.53, Y:-65.42, Z:-20.82 [[ 7.12429117e-01 6.95395947e-01 9.41765885e-02 1.61528878e+02] [-6.89062575e-01 7.18624468e-01 -9.36570418e-02 -6.54227421e+01] [-1.32806328e-01 1.83044112e-03 9.91140317e-01 -2.08152046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters 0.032325827767393976 Centerline is valid? [True, True] Translation: X:161.58, Y:-65.46, Z:-20.82 [[ 7.11094743e-01 6.96566482e-01 9.56002290e-02 1.61576118e+02] [-6.90037924e-01 7.17490242e-01 -9.51599520e-02 -6.54630248e+01] [-1.34877464e-01 1.69995797e-03 9.90860828e-01 -2.08232382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters 0.032739733014338815 Centerline is valid? [True, True] Translation: X:161.62, Y:-65.50, Z:-20.83 [[ 7.13269140e-01 6.94297944e-01 9.59035939e-02 1.61624678e+02] [-6.87695314e-01 7.19684324e-01 -9.55490914e-02 -6.55021204e+01] [-1.35359851e-01 2.19976606e-03 9.90794061e-01 -2.08319483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters 0.033229442852083714 Centerline is valid? [True, True] Translation: X:161.67, Y:-65.54, Z:-20.84 [[ 7.15796457e-01 6.91823774e-01 9.49489233e-02 1.61672263e+02] [-6.85319353e-01 7.22061326e-01 -9.46827668e-02 -6.55417668e+01] [-1.34062735e-01 2.70325423e-03 9.90969160e-01 -2.08407925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters 0.03389757159011106 Centerline is valid? [True, True] Translation: X:161.72, Y:-65.58, Z:-20.85 [[ 7.18824374e-01 6.88687053e-01 9.48770874e-02 1.61719911e+02] [-6.82153757e-01 7.25050982e-01 -9.46959646e-02 -6.55820430e+01] [-1.34006610e-01 3.34900590e-03 9.90974779e-01 -2.08471767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters 0.034616168153941265 Centerline is valid? [True, True] Translation: X:161.77, Y:-65.62, Z:-20.86 [[ 7.21550954e-01 6.85731463e-01 9.55854634e-02 1.61765512e+02] [-6.79063319e-01 7.27843717e-01 -9.54805391e-02 -6.56235086e+01] [-1.35045289e-01 3.98549209e-03 9.90831411e-01 -2.08551788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters 0.035398819570734694 Centerline is valid? [True, True] Translation: X:161.81, Y:-65.66, Z:-20.86 [[ 7.24654526e-01 6.82581282e-01 9.46499433e-02 1.61813161e+02] [-6.76011361e-01 7.30795469e-01 -9.45865853e-02 -6.56631876e+01] [-1.33732782e-01 4.55816011e-03 9.91006946e-01 -2.08629300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters 0.03634863145817724 Centerline is valid? [True, True] Translation: X:161.93, Y:-65.97, Z:-18.89 [[ 7.26912811e-01 -6.83602647e-01 -6.54613341e-02 1.61926281e+02] [-6.80270423e-01 -7.29839973e-01 6.75704487e-02 -6.59667823e+01] [-9.39676358e-02 -4.58641534e-03 -9.95564688e-01 -1.88882317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters 0.03781287830405315 Centerline is valid? [True, True] Translation: X:161.89, Y:-65.76, Z:-20.88 [[ 7.83104487e-01 6.13515429e-01 1.01716176e-01 1.61885330e+02] [-6.07297852e-01 7.89654703e-01 -8.73771626e-02 -6.57627421e+01] [-1.33927894e-01 6.65343299e-03 9.90968744e-01 -2.08759830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters 0.03975067384837292 Centerline is valid? [True, True] Translation: X:161.93, Y:-65.81, Z:-20.88 [[ 7.86198188e-01 6.09354361e-01 1.02857534e-01 1.61926507e+02] [-6.02950183e-01 7.92862479e-01 -8.84317090e-02 -6.58087644e+01] [-1.35438127e-01 7.50688058e-03 9.90757367e-01 -2.08841608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters 0.03968062418537522 Centerline is valid? [True, True] Translation: X:161.97, Y:-65.86, Z:-20.89 [[ 7.86716260e-01 6.08479763e-01 1.04066820e-01 1.61966613e+02] [-6.01906112e-01 7.93531009e-01 -8.95408826e-02 -6.58569785e+01] [-1.37064064e-01 7.80481295e-03 9.90531437e-01 -2.08917340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters 0.0393176831533588 Centerline is valid? [True, True] Translation: X:162.00, Y:-65.91, Z:-20.90 [[ 7.86810287e-01 6.08729373e-01 1.01873076e-01 1.61999348e+02] [-6.02424055e-01 7.93341053e-01 -8.77224698e-02 -6.59138765e+01] [-1.34219337e-01 7.65015022e-03 9.90922118e-01 -2.08960341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters 0.03947156212272289 Centerline is valid? [True, True] Translation: X:162.04, Y:-65.96, Z:-20.90 [[ 7.85666979e-01 6.10042433e-01 1.02837877e-01 1.62038170e+02] [-6.03617444e-01 7.92332709e-01 -8.86276464e-02 -6.59625555e+01] [-1.35548439e-01 7.55707839e-03 9.90741899e-01 -2.09048726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters 0.03663113854945157 Centerline is valid? [True, True] Translation: X:162.07, Y:-66.02, Z:-20.91 [[ 7.79105327e-01 6.18379497e-01 1.02964495e-01 1.62068913e+02] [-6.11999977e-01 7.85855342e-01 -8.88110873e-02 -6.60206992e+01] [-1.35834154e-01 6.17892257e-03 9.90712321e-01 -2.09119810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters 0.03571415191660755 Centerline is valid? [True, True] Translation: X:162.11, Y:-66.07, Z:-20.92 [[ 7.75353468e-01 6.23365422e-01 1.01205490e-01 1.62108571e+02] [-6.17235489e-01 7.81912891e-01 -8.73646532e-02 -6.60697936e+01] [-1.33593981e-01 5.27086664e-03 9.91022132e-01 -2.09182951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters 0.034056247433343866 Centerline is valid? [True, True] Translation: X:162.15, Y:-66.12, Z:-20.93 [[ 7.68276446e-01 6.31990811e-01 1.01680468e-01 1.62148081e+02] [-6.25866956e-01 7.74966290e-01 -8.78510271e-02 -6.61190136e+01] [-1.34319977e-01 3.85543008e-03 9.90930512e-01 -2.09250516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters 0.03258693211166077 Centerline is valid? [True, True] Translation: X:162.19, Y:-66.16, Z:-20.93 [[ 7.58764881e-01 6.43582615e-01 1.00385621e-01 1.62190296e+02] [-6.37703520e-01 7.65374407e-01 -8.68115029e-02 -6.61647524e+01] [-1.32702959e-01 1.85325555e-03 9.91154120e-01 -2.09317875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters 0.0324034386958222 Centerline is valid? [True, True] Translation: X:162.24, Y:-66.21, Z:-20.94 [[ 7.50635483e-01 6.52941280e-01 1.01064611e-01 1.62235139e+02] [-6.47054259e-01 7.57408483e-01 -8.74824318e-02 -6.62069759e+01] [-1.33668085e-01 2.73130639e-04 9.91026119e-01 -2.09395779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters 0.03234662739884698 Centerline is valid? [True, True] Translation: X:162.28, Y:-66.25, Z:-20.94 [[ 7.45792031e-01 6.58533967e-01 1.00634296e-01 1.62283977e+02] [-6.52736278e-01 7.52550716e-01 -8.71938718e-02 -6.62459630e+01] [-1.33152538e-01 -6.59161082e-04 9.91095337e-01 -2.09443752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters 0.032428738539425975 Centerline is valid? [True, True] Translation: X:162.34, Y:-66.28, Z:-20.95 [[ 7.42107481e-01 6.62935794e-01 9.89576666e-02 1.62335876e+02] [-6.57356915e-01 7.48675033e-01 -8.58346125e-02 -6.62809516e+01] [-1.30989971e-01 -1.35199837e-03 9.91382771e-01 -2.09514494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters 0.03278839083676747 Centerline is valid? [True, True] Translation: X:162.39, Y:-66.32, Z:-20.96 [[ 7.40723734e-01 6.64134008e-01 1.01263859e-01 1.62387940e+02] [-6.58288938e-01 7.47611988e-01 -8.79317317e-02 -6.63156293e+01] [-1.34104528e-01 -1.52775730e-03 9.90966014e-01 -2.09596124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters 0.032501108435624385 Centerline is valid? [True, True] Translation: X:162.44, Y:-66.35, Z:-20.97 [[ 7.40666002e-01 6.64360119e-01 1.00197330e-01 1.62443139e+02] [-6.58629051e-01 7.47411141e-01 -8.70882319e-02 -6.63464300e+01] [-1.32746549e-01 -1.48957967e-03 9.91148896e-01 -2.09660924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters 0.03232084599804892 Centerline is valid? [True, True] Translation: X:162.50, Y:-66.38, Z:-20.97 [[ 7.43068382e-01 6.61545657e-01 1.01028329e-01 1.62499896e+02] [-6.55681106e-01 7.49904314e-01 -8.78965682e-02 -6.63772802e+01] [-1.33909172e-01 -9.29205441e-04 9.90993174e-01 -2.09725239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters 0.03234587215321168 Centerline is valid? [True, True] Translation: X:162.55, Y:-66.41, Z:-20.98 [[ 7.46900501e-01 6.56921624e-01 1.02925317e-01 1.62554126e+02] [-6.50776328e-01 7.53958871e-01 -8.96448128e-02 -6.64084449e+01] [-1.36491072e-01 -2.56039332e-05 9.90641301e-01 -2.09812465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters 0.0321995852986884 Centerline is valid? [True, True] Translation: X:162.61, Y:-66.44, Z:-20.99 [[ 7.50782242e-01 6.52509876e-01 1.02746707e-01 1.62610890e+02] [-6.46332567e-01 7.57779749e-01 -8.95771440e-02 -6.64387549e+01] [-1.36309345e-01 8.44386475e-04 9.90665963e-01 -2.09874385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters 0.0324191097331258 Centerline is valid? [True, True] Translation: X:162.66, Y:-66.47, Z:-20.99 [[ 7.53561379e-01 6.49168604e-01 1.03563375e-01 1.62664175e+02] [-6.42847426e-01 7.60642996e-01 -9.03848411e-02 -6.64721182e+01] [-1.37449757e-01 1.53507646e-03 9.90507551e-01 -2.09937074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters 0.033111287266575 Centerline is valid? [True, True] Translation: X:162.71, Y:-66.51, Z:-21.00 [[ 7.57837524e-01 6.44160653e-01 1.03630788e-01 1.62714324e+02] [-6.37772765e-01 7.64886098e-01 -9.05271081e-02 -6.65090980e+01] [-1.37579751e-01 2.51194498e-03 9.90487507e-01 -2.10009835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters 0.03361694585956461 Centerline is valid? [True, True] Translation: X:162.77, Y:-66.54, Z:-21.01 [[ 7.60584446e-01 6.40438954e-01 1.06532846e-01 1.62765319e+02] [-6.33637741e-01 7.68001803e-01 -9.31474300e-02 -6.65439130e+01] [-1.41472660e-01 3.34325455e-03 9.89936518e-01 -2.10080104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters 0.034257962550334704 Centerline is valid? [True, True] Translation: X:162.81, Y:-66.58, Z:-21.02 [[ 7.64023009e-01 6.36347300e-01 1.06446964e-01 1.62811535e+02] [-6.29506454e-01 7.71391480e-01 -9.31493921e-02 -6.65843936e+01] [-1.41387645e-01 4.15922771e-03 9.89945572e-01 -2.10153614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters 0.03475858724094227 Centerline is valid? [True, True] Translation: X:162.86, Y:-66.63, Z:-21.02 [[ 7.66746028e-01 6.33250653e-01 1.05328718e-01 1.62856475e+02] [-6.26513671e-01 7.73932260e-01 -9.22468256e-02 -6.66267776e+01] [-1.39932656e-01 4.74000517e-03 9.90149678e-01 -2.10221649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters 0.034566049697201374 Centerline is valid? [True, True] Translation: X:162.90, Y:-66.67, Z:-21.03 [[ 7.66253622e-01 6.33820368e-01 1.05485203e-01 1.62901767e+02] [-6.27056824e-01 7.73465950e-01 -9.24670965e-02 -6.66701680e+01] [-1.40196742e-01 4.70803140e-03 9.90112472e-01 -2.10285702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters 0.0343593064948505 Centerline is valid? [True, True] Translation: X:162.95, Y:-66.71, Z:-21.04 [[ 7.64919426e-01 6.35300422e-01 1.06262157e-01 1.62946947e+02] [-6.28437456e-01 7.72251738e-01 -9.32395657e-02 -6.67116911e+01] [-1.41296271e-01 4.54163565e-03 9.89956937e-01 -2.10366413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters 0.03337311204121991 Centerline is valid? [True, True] Translation: X:162.99, Y:-66.76, Z:-21.04 [[ 7.59481137e-01 6.41429726e-01 1.08426518e-01 1.62988599e+02] [-6.34332028e-01 7.67173619e-01 -9.52235117e-02 -6.67581231e+01] [-1.44261155e-01 3.54204799e-03 9.89533311e-01 -2.10441797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters 0.032820734137614695 Centerline is valid? [True, True] Translation: X:163.03, Y:-66.80, Z:-21.05 [[ 7.56195417e-01 6.45545862e-01 1.06953408e-01 1.63033686e+02] [-6.38671526e-01 7.63716471e-01 -9.39991185e-02 -6.68000320e+01] [-1.42362821e-01 2.77360654e-03 9.89810656e-01 -2.10512081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters 0.03257685977871751 Centerline is valid? [True, True] Translation: X:163.08, Y:-66.84, Z:-21.06 [[ 7.53723923e-01 6.48076494e-01 1.09073852e-01 1.63077883e+02] [-6.40946350e-01 7.61571558e-01 -9.58985842e-02 -6.68428840e+01] [-1.45217162e-01 2.37056950e-03 9.89396966e-01 -2.10580093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters 0.032340410446127156 Centerline is valid? [True, True] Translation: X:163.12, Y:-66.88, Z:-21.07 [[ 7.49952614e-01 6.52053620e-01 1.11342508e-01 1.63123451e+02] [-6.44651972e-01 7.58170936e-01 -9.79829910e-02 -6.68849573e+01] [-1.48306817e-01 1.70543292e-03 9.88939927e-01 -2.10662148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters 0.0321054660345846 Centerline is valid? [True, True] Translation: X:163.17, Y:-66.92, Z:-21.07 [[ 7.45234722e-01 6.57360357e-01 1.11814890e-01 1.63170740e+02] [-6.49940909e-01 7.53576032e-01 -9.84884681e-02 -6.69245788e+01] [-1.49003436e-01 7.23955043e-04 9.88836413e-01 -2.10729364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters 0.03208139625143522 Centerline is valid? [True, True] Translation: X:163.22, Y:-66.96, Z:-21.08 [[ 7.41075371e-01 6.61869920e-01 1.12851688e-01 1.63219847e+02] [-6.54349135e-01 7.49618701e-01 -9.94937838e-02 -6.69620797e+01] [-1.50447679e-01 -1.12011945e-04 9.88617966e-01 -2.10803128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters 0.031871301746724 Centerline is valid? [True, True] Translation: X:163.27, Y:-67.00, Z:-21.09 [[ 7.39881587e-01 6.63363104e-01 1.11913494e-01 1.63270514e+02] [-6.55970667e-01 7.48297585e-01 -9.87583309e-02 -6.69977632e+01] [-1.49257230e-01 -3.42498641e-04 9.88798342e-01 -2.10868919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters 0.03183118397429337 Centerline is valid? [True, True] Translation: X:163.32, Y:-67.03, Z:-21.09 [[ 7.39219232e-01 6.64021340e-01 1.12385889e-01 1.63324214e+02] [-6.56559399e-01 7.47713511e-01 -9.92686280e-02 -6.70308231e+01] [-1.49948935e-01 -4.06732940e-04 9.88693659e-01 -2.10941164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters 0.03185330751936755 Centerline is valid? [True, True] Translation: X:163.38, Y:-67.06, Z:-21.10 [[ 7.41412629e-01 6.61688364e-01 1.11695220e-01 1.63377091e+02] [-6.54278153e-01 7.49778961e-01 -9.87502268e-02 -6.70640233e+01] [-1.49088602e-01 1.34923161e-04 9.88823832e-01 -2.11030130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters 0.031734863428146 Centerline is valid? [True, True] Translation: X:163.43, Y:-67.10, Z:-21.11 [[ 7.44435403e-01 6.58748441e-01 1.08933112e-01 1.63429152e+02] [-6.51657816e-01 7.52362873e-01 -9.63960455e-02 -6.70985091e+01] [-1.45457974e-01 7.73514804e-04 9.89364129e-01 -2.11103558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters 0.03191646442496517 Centerline is valid? [True, True] Translation: X:163.48, Y:-67.13, Z:-21.12 [[ 7.46975661e-01 6.55883962e-01 1.08828257e-01 1.63481506e+02] [-6.48763753e-01 7.54860433e-01 -9.63914909e-02 -6.71326843e+01] [-1.45371778e-01 1.39826936e-03 9.89376112e-01 -2.11168411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters 0.03209879414951007 Centerline is valid? [True, True] Translation: X:163.53, Y:-67.17, Z:-21.12 [[ 7.48671995e-01 6.54100625e-01 1.07900951e-01 1.63532050e+02] [-6.47070493e-01 7.56405407e-01 -9.56589614e-02 -6.71693074e+01] [-1.44187449e-01 1.79766375e-03 9.89548760e-01 -2.11243576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters 0.03211162660083555 Centerline is valid? [True, True] Translation: X:163.58, Y:-67.21, Z:-21.13 [[ 7.49188585e-01 6.53644638e-01 1.07075450e-01 1.63582308e+02] [-6.46703442e-01 7.56799116e-01 -9.50250316e-02 -6.72066842e+01] [-1.43147208e-01 1.94560691e-03 9.89699495e-01 -2.11336169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters 0.03219009838543449 Centerline is valid? [True, True] Translation: X:163.63, Y:-67.25, Z:-21.14 [[ 7.48309236e-01 6.54789082e-01 1.06228739e-01 1.63630942e+02] [-6.47955660e-01 7.55809547e-01 -9.43683859e-02 -6.72454644e+01] [-1.42080084e-01 1.78522184e-03 9.89853556e-01 -2.11403946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters 0.03192293320118416 Centerline is valid? [True, True] Translation: X:163.68, Y:-67.28, Z:-21.15 [[ 7.44492670e-01 6.59195164e-01 1.05794138e-01 1.63681231e+02] [-6.52451297e-01 7.51971235e-01 -9.40561862e-02 -6.72828283e+01] [-1.41555532e-01 9.98618703e-04 9.89929813e-01 -2.11460854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters 0.03194084626097772 Centerline is valid? [True, True] Translation: X:163.73, Y:-67.32, Z:-21.15 [[ 7.40437147e-01 6.63567180e-01 1.06917861e-01 1.63730427e+02] [-6.56717090e-01 7.48116673e-01 -9.51005136e-02 -6.73214906e+01] [-1.43092614e-01 2.01166473e-04 9.89709282e-01 -2.11543472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters 0.031945666942402216 Centerline is valid? [True, True] Translation: X:163.78, Y:-67.36, Z:-21.16 [[ 7.39332936e-01 6.65084959e-01 1.05113310e-01 1.63781387e+02] [-6.58467128e-01 7.46767700e-01 -9.35897658e-02 -6.73570603e+01] [-1.40740370e-01 -1.96632582e-05 9.90046538e-01 -2.11613541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters 0.032149594999681876 Centerline is valid? [True, True] Translation: X:163.83, Y:-67.39, Z:-21.17 [[ 7.39761860e-01 6.64515886e-01 1.05693086e-01 1.63832329e+02] [-6.57806260e-01 7.47274122e-01 -9.41929443e-02 -6.73927584e+01] [-1.41574416e-01 1.54774128e-04 9.89927604e-01 -2.11686041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters 0.032257235117737176 Centerline is valid? [True, True] Translation: X:163.88, Y:-67.43, Z:-21.18 [[ 7.41932451e-01 6.62286687e-01 1.04463305e-01 1.63881559e+02] [-6.55698959e-01 7.49250249e-01 -9.31822878e-02 -6.74301090e+01] [-1.39982546e-01 6.38482577e-04 9.90153765e-01 -2.11767205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters 0.03224455611209222 Centerline is valid? [True, True] Translation: X:163.93, Y:-67.47, Z:-21.18 [[ 7.43719829e-01 6.60716520e-01 1.01658724e-01 1.63931518e+02] [-6.54453666e-01 7.50634890e-01 -9.07615552e-02 -6.74671657e+01] [-1.36276244e-01 9.70243533e-04 9.90670401e-01 -2.11838057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters 0.03231887723933037 Centerline is valid? [True, True] Translation: X:163.98, Y:-67.51, Z:-21.19 [[ 7.41704556e-01 6.62985878e-01 1.01607464e-01 1.63978140e+02] [-6.56738916e-01 7.48631648e-01 -9.08000625e-02 -6.75091379e+01] [-1.36265722e-01 6.17244458e-04 9.90672131e-01 -2.11908548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters 0.03233751598381274 Centerline is valid? [True, True] Translation: X:164.03, Y:-67.55, Z:-21.20 [[ 7.36701042e-01 6.68329935e-01 1.02988704e-01 1.64027580e+02] [-6.61949528e-01 7.43864912e-01 -9.21293437e-02 -6.75470896e+01] [-1.38182481e-01 -3.01540184e-04 9.90406740e-01 -2.11977150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters 0.03232922174850961 Centerline is valid? [True, True] Translation: X:164.08, Y:-67.59, Z:-21.21 [[ 7.33630593e-01 6.71749424e-01 1.02658970e-01 1.64075523e+02] [-6.65431149e-01 7.40777931e-01 -9.19208514e-02 -6.75876226e+01] [-1.37795279e-01 -8.76527926e-04 9.90460344e-01 -2.12050837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters 0.03212148549894554 Centerline is valid? [True, True] Translation: X:164.13, Y:-67.62, Z:-21.21 [[ 7.32823142e-01 6.73044769e-01 9.99048622e-02 1.64125684e+02] [-6.67062235e-01 7.39601037e-01 -8.95448489e-02 -6.76239484e+01] [-1.34157432e-01 -1.02222320e-03 9.90959504e-01 -2.12112620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters 0.032172019721243776 Centerline is valid? [True, True] Translation: X:164.17, Y:-67.66, Z:-21.22 [[ 7.35042991e-01 6.70377495e-01 1.01517564e-01 1.64174297e+02] [-6.64162073e-01 7.42020070e-01 -9.10766478e-02 -6.76627411e+01] [-1.36383805e-01 -4.78864352e-04 9.90655959e-01 -2.12178398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters 0.03223711807598158 Centerline is valid? [True, True] Translation: X:164.22, Y:-67.70, Z:-21.23 [[ 7.37071217e-01 6.68367431e-01 1.00054974e-01 1.64224951e+02] [-6.62301050e-01 7.43831281e-01 -8.98462271e-02 -6.76988230e+01] [-1.34474312e-01 -4.34464810e-05 9.90917079e-01 -2.12251206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters 0.03239901069355745 Centerline is valid? [True, True] Translation: X:164.27, Y:-67.74, Z:-21.23 [[ 7.37671924e-01 6.67565663e-01 1.00976331e-01 1.64272888e+02] [-6.61367728e-01 7.44550911e-01 -9.07561017e-02 -6.77372444e+01] [-1.35767676e-01 1.65741426e-04 9.90740688e-01 -2.12319847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters 0.03244688472865193 Centerline is valid? [True, True] Translation: X:164.32, Y:-67.78, Z:-21.24 [[ 7.39379540e-01 6.65984502e-01 9.89067203e-02 1.64321879e+02] [-6.60014962e-01 7.45965408e-01 -8.89711196e-02 -6.77758299e+01] [-1.33034379e-01 5.03510250e-04 9.91111296e-01 -2.12385626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters 0.03276238581374676 Centerline is valid? [True, True] Translation: X:164.37, Y:-67.82, Z:-21.25 [[ 7.41208505e-01 6.63920555e-01 9.90931348e-02 1.64368788e+02] [-6.57898972e-01 7.47802526e-01 -8.92206563e-02 -6.78159276e+01] [-1.33337524e-01 9.37837769e-04 9.91070242e-01 -2.12454499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters 0.03282317958784167 Centerline is valid? [True, True] Translation: X:164.42, Y:-67.86, Z:-21.25 [[ 7.41973197e-01 6.63215147e-01 9.80889593e-02 1.64416289e+02] [-6.57298579e-01 7.48427969e-01 -8.83977003e-02 -6.78570330e+01] [-1.32039214e-01 1.11499073e-03 9.91243866e-01 -2.12533707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters 0.03307182976088508 Centerline is valid? [True, True] Translation: X:164.46, Y:-67.90, Z:-21.26 [[ 7.42634040e-01 6.62451507e-01 9.82480667e-02 1.64460618e+02] [-6.56496818e-01 7.49103633e-01 -8.86322400e-02 -6.79014710e+01] [-1.32312545e-01 1.32177534e-03 9.91207165e-01 -2.12618681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters 0.03323049900696963 Centerline is valid? [True, True] Translation: X:164.51, Y:-67.94, Z:-21.27 [[ 7.43216595e-01 6.61675467e-01 9.90690154e-02 1.64505639e+02] [-6.55601354e-01 7.49788772e-01 -8.94631831e-02 -6.79441465e+01] [-1.33476429e-01 1.54074169e-03 9.91050790e-01 -2.12687418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters 0.033206401873816266 Centerline is valid? [True, True] Translation: X:164.55, Y:-67.99, Z:-21.28 [[ 7.43306179e-01 6.61453432e-01 9.98763281e-02 1.64549751e+02] [-6.55266414e-01 7.49984411e-01 -9.02735256e-02 -6.79876849e+01] [-1.34617422e-01 1.65526598e-03 9.90896266e-01 -2.12763116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters 0.033710868370276474 Centerline is valid? [True, True] Translation: X:164.59, Y:-68.03, Z:-21.28 [[ 7.43887444e-01 6.60657180e-01 1.00814488e-01 1.64591248e+02] [-6.54334346e-01 7.50685395e-01 -9.12030848e-02 -6.80342721e+01] [-1.35933937e-01 1.87844730e-03 9.90716123e-01 -2.12825078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters 0.0336199374490084 Centerline is valid? [True, True] Translation: X:164.63, Y:-68.08, Z:-21.29 [[ 7.42887643e-01 6.61708533e-01 1.01290507e-01 1.64633479e+02] [-6.55323664e-01 7.49759113e-01 -9.17178739e-02 -6.80810243e+01] [-1.36633980e-01 1.75800898e-03 9.90620041e-01 -2.12909954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters 0.0333119981075785 Centerline is valid? [True, True] Translation: X:164.68, Y:-68.12, Z:-21.30 [[ 7.40876458e-01 6.63913260e-01 1.01593586e-01 1.64677353e+02] [-6.57497831e-01 7.47808232e-01 -9.20839335e-02 -6.81243004e+01] [-1.37108264e-01 1.42525628e-03 9.90555043e-01 -2.12970447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters 0.03324552781329462 Centerline is valid? [True, True] Translation: X:164.72, Y:-68.17, Z:-21.30 [[ 7.37557092e-01 6.67655545e-01 1.01220599e-01 1.64722109e+02] [-6.61311051e-01 7.44469912e-01 -9.18272508e-02 -6.81675096e+01] [-1.36664664e-01 7.89539240e-04 9.90617053e-01 -2.13047882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters 0.03287062839245745 Centerline is valid? [True, True] Translation: X:164.77, Y:-68.21, Z:-21.31 [[ 7.34214542e-01 6.71466799e-01 1.00306252e-01 1.64768132e+02] [-6.65261055e-01 7.41034626e-01 -9.10791481e-02 -6.82091797e+01] [-1.35487030e-01 1.41791793e-04 9.90779110e-01 -2.13107020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters 0.033170929020456215 Centerline is valid? [True, True] Translation: X:164.82, Y:-68.25, Z:-21.32 [[ 7.30826764e-01 6.75013352e-01 1.01238412e-01 1.64815666e+02] [-6.68713326e-01 7.37805371e-01 -9.20093569e-02 -6.82491773e+01] [-1.36801789e-01 -4.56574847e-04 9.90598335e-01 -2.13183388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters 0.032827743563345335 Centerline is valid? [True, True] Translation: X:164.86, Y:-68.29, Z:-21.32 [[ 7.29730600e-01 6.76604396e-01 9.84872727e-02 1.64863038e+02] [-6.70647256e-01 7.36346411e-01 -8.95891801e-02 -6.82890260e+01] [-1.33137183e-01 -6.74253042e-04 9.91097390e-01 -2.13233329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters 0.03300729983017817 Centerline is valid? [True, True] Translation: X:164.91, Y:-68.33, Z:-21.33 [[ 7.28619621e-01 6.77782383e-01 9.86128248e-02 1.64910669e+02] [-6.71809353e-01 7.35262101e-01 -8.97877302e-02 -6.83292247e+01] [-1.33362814e-01 -8.27916097e-04 9.91066937e-01 -2.13304446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters 0.03289538304059184 Centerline is valid? [True, True] Translation: X:164.96, Y:-68.37, Z:-21.34 [[ 7.28843861e-01 6.77650559e-01 9.78588039e-02 1.64961710e+02] [-6.71755484e-01 7.35383701e-01 -8.91929505e-02 -6.83652079e+01] [-1.32405422e-01 -7.29453719e-04 9.91195375e-01 -2.13362968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters 0.033008886646864306 Centerline is valid? [True, True] Translation: X:165.01, Y:-68.41, Z:-21.34 [[ 7.28257650e-01 6.78220926e-01 9.82709050e-02 1.65010866e+02] [-6.72269630e-01 7.34857657e-01 -8.96536006e-02 -6.84050512e+01] [-1.33020075e-01 -7.73624515e-04 9.91113042e-01 -2.13434059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters 0.03267448590535448 Centerline is valid? [True, True] Translation: X:165.06, Y:-68.44, Z:-21.35 [[ 7.31918507e-01 6.74629388e-01 9.57626615e-02 1.65062525e+02] [-6.68936945e-01 7.38156613e-01 -8.74538620e-02 -6.84409381e+01] [-1.29686787e-01 -5.00820917e-05 9.91555008e-01 -2.13481971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters 0.0327492867084931 Centerline is valid? [True, True] Translation: X:165.11, Y:-68.48, Z:-21.36 [[ 7.34650207e-01 6.71445839e-01 9.72088428e-02 1.65110970e+02] [-6.65540554e-01 7.41053403e-01 -8.88573287e-02 -6.84789375e+01] [-1.31699827e-01 5.82627850e-04 9.91289471e-01 -2.13561260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters 0.03260448973238761 Centerline is valid? [True, True] Translation: X:165.16, Y:-68.52, Z:-21.36 [[ 7.37596350e-01 6.68397785e-01 9.58959112e-02 1.65160321e+02] [-6.62615288e-01 7.43803082e-01 -8.77379951e-02 -6.85177695e+01] [-1.29971556e-01 1.17312812e-03 9.91517029e-01 -2.13628860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters 0.03316813251407535 Centerline is valid? [True, True] Translation: X:165.21, Y:-68.56, Z:-21.37 [[ 7.40966290e-01 6.64418541e-01 9.75549045e-02 1.65206438e+02] [-6.58386553e-01 7.47358082e-01 -8.93478834e-02 -6.85588145e+01] [-1.32272837e-01 1.97493243e-03 9.91211378e-01 -2.13700489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters 0.033847851100166026 Centerline is valid? [True, True] Translation: X:165.25, Y:-68.60, Z:-21.38 [[ 7.43873221e-01 6.61046451e-01 9.83372818e-02 1.65252617e+02] [-6.54876485e-01 7.50340272e-01 -9.01458085e-02 -6.85996778e+01] [-1.33376990e-01 2.65827947e-03 9.91061810e-01 -2.13788970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters 0.034572291593221297 Centerline is valid? [True, True] Translation: X:165.30, Y:-68.64, Z:-21.39 [[ 7.48408111e-01 6.55978604e-01 9.78640432e-02 1.65299701e+02] [-6.49815337e-01 7.54770897e-01 -8.97826294e-02 -6.86398918e+01] [-1.32760416e-01 3.60049187e-03 9.91141619e-01 -2.13859067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters 0.035095750624479276 Centerline is valid? [True, True] Translation: X:165.34, Y:-68.68, Z:-21.39 [[ 7.49786857e-01 6.54213732e-01 9.91164026e-02 1.65343499e+02] [-6.47871285e-01 7.56299204e-01 -9.09632505e-02 -6.86830195e+01] [-1.34471064e-01 3.98837859e-03 9.90909494e-01 -2.13943760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters 0.035432771295525176 Centerline is valid? [True, True] Translation: X:165.39, Y:-68.72, Z:-21.40 [[ 7.50721979e-01 6.53029523e-01 9.98446385e-02 1.65388959e+02] [-6.46571908e-01 7.57320289e-01 -9.17101327e-02 -6.87241865e+01] [-1.35503795e-01 4.29207394e-03 9.90767531e-01 -2.14015986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters 0.03598226989637138 Centerline is valid? [True, True] Translation: X:165.43, Y:-68.77, Z:-21.41 [[ 7.53418992e-01 6.49912977e-01 9.98646350e-02 1.65433079e+02] [-6.43416645e-01 7.59992811e-01 -9.17929599e-02 -6.87675638e+01] [-1.35553841e-01 4.90399089e-03 9.90757845e-01 -2.14080330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters 0.0363777434049418 Centerline is valid? [True, True] Translation: X:165.48, Y:-68.81, Z:-21.42 [[ 7.55065668e-01 6.48202068e-01 9.85389065e-02 1.65479241e+02] [-6.41859355e-01 7.61450859e-01 -9.06044008e-02 -6.88085063e+01] [-1.33762495e-01 5.16415341e-03 9.90999963e-01 -2.14160988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters 0.036016301493022866 Centerline is valid? [True, True] Translation: X:165.52, Y:-68.85, Z:-21.42 [[ 7.54579556e-01 6.48689043e-01 9.90566424e-02 1.65522238e+02] [-6.42272673e-01 7.61036034e-01 -9.11590342e-02 -6.88538333e+01] [-1.34519541e-01 5.16536911e-03 9.90897478e-01 -2.14220670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters 0.036067501960447085 Centerline is valid? [True, True] Translation: X:165.57, Y:-68.90, Z:-21.43 [[ 7.53355991e-01 6.49906948e-01 1.00377830e-01 1.65566101e+02] [-6.43315813e-01 7.59996784e-01 -9.24643324e-02 -6.88984012e+01] [-1.36380040e-01 5.08391335e-03 9.90643548e-01 -2.14300433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters 0.03558157019389726 Centerline is valid? [True, True] Translation: X:165.61, Y:-68.94, Z:-21.44 [[ 7.51944736e-01 6.51404172e-01 1.01250772e-01 1.65609549e+02] [-6.44698502e-01 7.58714947e-01 -9.33566879e-02 -6.89418692e+01] [-1.37633410e-01 4.92284868e-03 9.90471004e-01 -2.14374440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters 0.034368823668838866 Centerline is valid? [True, True] Translation: X:165.65, Y:-68.98, Z:-21.44 [[ 7.48988837e-01 6.54918536e-01 1.00485983e-01 1.65653206e+02] [-6.48336549e-01 7.55687277e-01 -9.27170871e-02 -6.89844270e+01] [-1.36658118e-01 4.29532756e-03 9.90608959e-01 -2.14434240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters 0.033439380007528566 Centerline is valid? [True, True] Translation: X:165.70, Y:-69.03, Z:-21.45 [[ 7.45571269e-01 6.58764496e-01 1.00761213e-01 1.65696433e+02] [-6.52177764e-01 7.52340506e-01 -9.29942285e-02 -6.90285788e+01] [-1.37068038e-01 3.61960235e-03 9.90555022e-01 -2.14508133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters 0.03289593021357012 Centerline is valid? [True, True] Translation: X:165.74, Y:-69.07, Z:-21.46 [[ 7.42014397e-01 6.62643226e-01 1.01580461e-01 1.65742484e+02] [-6.55973056e-01 7.48929245e-01 -9.38314202e-02 -6.90700497e+01] [-1.38253333e-01 2.99021926e-03 9.90392384e-01 -2.14582235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters 0.03196109885681275 Centerline is valid? [True, True] Translation: X:165.79, Y:-69.11, Z:-21.47 [[ 7.36046703e-01 6.69482310e-01 1.00143333e-01 1.65788587e+02] [-6.63053408e-01 7.42825967e-01 -9.25730060e-02 -6.91105386e+01] [-1.36365058e-01 1.73767782e-03 9.90657131e-01 -2.14656999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters 0.03143958510187632 Centerline is valid? [True, True] Translation: X:165.83, Y:-69.15, Z:-21.47 [[ 7.32931211e-01 6.72961276e-01 9.96742723e-02 1.65834581e+02] [-6.66621974e-01 7.39676895e-01 -9.21587469e-02 -6.91526112e+01] [-1.35746024e-01 1.10096178e-03 9.90743057e-01 -2.14724290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters 0.031444878217156955 Centerline is valid? [True, True] Translation: X:165.88, Y:-69.19, Z:-21.48 [[ 7.31384210e-01 6.74616453e-01 9.98487821e-02 1.65883258e+02] [-6.68264620e-01 7.38167976e-01 -9.23603633e-02 -6.91917493e+01] [-1.36012994e-01 8.25502834e-04 9.90706709e-01 -2.14790673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters 0.03165796001633621 Centerline is valid? [True, True] Translation: X:165.93, Y:-69.23, Z:-21.49 [[ 7.29446850e-01 6.76588015e-01 1.00677460e-01 1.65931874e+02] [-6.70135021e-01 7.36361577e-01 -9.32238243e-02 -6.92314228e+01] [-1.37209135e-01 5.34333368e-04 9.90541957e-01 -2.14864656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters 0.03164162821254417 Centerline is valid? [True, True] Translation: X:165.98, Y:-69.27, Z:-21.49 [[ 7.28810267e-01 6.77300732e-01 1.00495339e-01 1.65978705e+02] [-6.70866179e-01 7.35706127e-01 -9.31400284e-02 -6.92725400e+01] [-1.37018846e-01 4.62485166e-04 9.90568333e-01 -2.14934406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters 0.031633056447193095 Centerline is valid? [True, True] Translation: X:166.03, Y:-69.31, Z:-21.50 [[ 7.29714855e-01 6.76371909e-01 1.00186182e-01 1.66032031e+02] [-6.69962663e-01 7.36559976e-01 -9.28947366e-02 -6.93067634e+01] [-1.36624522e-01 6.65667636e-04 9.90622681e-01 -2.15008061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters 0.03155130416574039 Centerline is valid? [True, True] Translation: X:166.09, Y:-69.34, Z:-21.51 [[ 7.31804681e-01 6.74134561e-01 1.00022509e-01 1.66085669e+02] [-6.67712284e-01 7.38607652e-01 -9.28387977e-02 -6.93404741e+01] [-1.36463232e-01 1.15360894e-03 9.90644465e-01 -2.15081682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters 0.03170447049286743 Centerline is valid? [True, True] Translation: X:166.14, Y:-69.38, Z:-21.51 [[ 7.36328532e-01 6.69280804e-01 9.94157866e-02 1.66136897e+02] [-6.62879629e-01 7.43006556e-01 -9.23680371e-02 -6.93759928e+01] [-1.35686735e-01 2.11252136e-03 9.90749538e-01 -2.15147866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters 0.03238408632760776 Centerline is valid? [True, True] Translation: X:166.19, Y:-69.41, Z:-21.52 [[ 7.39252097e-01 6.66140020e-01 9.88120013e-02 1.66187776e+02] [-6.59777722e-01 7.45821693e-01 -9.18877585e-02 -6.94124989e+01] [-1.34906247e-01 2.73426108e-03 9.90854595e-01 -2.15216661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters 0.03284409055993408 Centerline is valid? [True, True] Translation: X:166.24, Y:-69.45, Z:-21.53 [[ 7.40895708e-01 6.64160542e-01 9.98214647e-02 1.66235695e+02] [-6.57637822e-01 7.47583177e-01 -9.29079520e-02 -6.94514640e+01] [-1.36330643e-01 3.18873219e-03 9.90658260e-01 -2.15306435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters 0.033743174180206816 Centerline is valid? [True, True] Translation: X:166.28, Y:-69.49, Z:-21.54 [[ 7.43656950e-01 6.61061554e-01 9.98597160e-02 1.66281630e+02] [-6.54494960e-01 7.50321952e-01 -9.30232015e-02 -6.94925529e+01] [-1.36420999e-01 3.81966953e-03 9.90643589e-01 -2.15386577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters 0.03417397763438276 Centerline is valid? [True, True] Translation: X:166.33, Y:-69.54, Z:-21.54 [[ 7.45395487e-01 6.59333668e-01 9.83091108e-02 1.66326852e+02] [-6.52945010e-01 7.51839120e-01 -9.16556104e-02 -6.95352241e+01] [-1.34344265e-01 4.12923499e-03 9.90926116e-01 -2.15448908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters 0.03390654377212046 Centerline is valid? [True, True] Translation: X:166.37, Y:-69.58, Z:-21.55 [[ 7.43665612e-01 6.60974027e-01 1.00373265e-01 1.66371084e+02] [-6.54316283e-01 7.50398236e-01 -9.36626336e-02 -6.95792028e+01] [-1.37228489e-01 3.97781804e-03 9.90531432e-01 -2.15514840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters 0.03327423206688985 Centerline is valid? [True, True] Translation: X:166.41, Y:-69.62, Z:-21.56 [[ 7.41149091e-01 6.63968753e-01 9.92145146e-02 1.66412222e+02] [-6.57480690e-01 7.47752399e-01 -9.26579346e-02 -6.96248569e+01] [-1.35709865e-01 3.44171652e-03 9.90742644e-01 -2.15593849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters 0.032726370487024814 Centerline is valid? [True, True] Translation: X:166.45, Y:-69.67, Z:-21.56 [[ 7.39679839e-01 6.65666400e-01 9.88027290e-02 1.66454058e+02] [-6.59244816e-01 7.46242881e-01 -9.22921160e-02 -6.96718068e+01] [-1.35166594e-01 3.13143062e-03 9.90817938e-01 -2.15638169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters 0.03254402866876488 Centerline is valid? [True, True] Translation: X:166.50, Y:-69.72, Z:-21.57 [[ 7.37847009e-01 6.67557900e-01 9.97408689e-02 1.66496285e+02] [-6.61024882e-01 7.44552464e-01 -9.32080099e-02 -6.97180404e+01] [-1.36484053e-01 2.84205524e-03 9.90638191e-01 -2.15718292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters 0.0324383770983393 Centerline is valid? [True, True] Translation: X:166.54, Y:-69.76, Z:-21.58 [[ 7.35562660e-01 6.70011671e-01 1.00159540e-01 1.66540739e+02] [-6.63433401e-01 7.42346470e-01 -9.36901330e-02 -6.97615617e+01] [-1.37126564e-01 2.46577895e-03 9.90550466e-01 -2.15797386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters 0.0315124898577828 Centerline is valid? [True, True] Translation: X:166.58, Y:-69.81, Z:-21.59 [[ 7.31281849e-01 6.74777425e-01 9.95102222e-02 1.66584199e+02] [-6.68317229e-01 7.38019505e-01 -9.31627152e-02 -6.98060827e+01] [-1.36304582e-01 1.62380671e-03 9.90665647e-01 -2.15852840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters 0.03132407598595957 Centerline is valid? [True, True] Translation: X:166.63, Y:-69.85, Z:-21.59 [[ 7.29011262e-01 6.77320636e-01 9.88905243e-02 1.66628771e+02] [-6.70953293e-01 7.35686967e-01 -9.26626452e-02 -6.98490702e+01] [-1.35514792e-01 1.20118906e-03 9.90774595e-01 -2.15916455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters 0.03151037067942438 Centerline is valid? [True, True] Translation: X:166.68, Y:-69.89, Z:-21.60 [[ 7.29007207e-01 6.77189610e-01 9.98134438e-02 1.66675311e+02] [-6.70689495e-01 7.35807409e-01 -9.36112051e-02 -6.98899758e+01] [-1.36836007e-01 1.29941494e-03 9.90592862e-01 -2.15996990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters 0.031452646705279086 Centerline is valid? [True, True] Translation: X:166.72, Y:-69.93, Z:-21.61 [[ 7.28998758e-01 6.77179036e-01 9.99468047e-02 1.66722543e+02] [-6.70649469e-01 7.35817018e-01 -9.38221980e-02 -6.99309679e+01] [-1.37076985e-01 1.36699424e-03 9.90559454e-01 -2.16067244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters 0.031608502868924394 Centerline is valid? [True, True] Translation: X:166.77, Y:-69.98, Z:-21.61 [[ 7.28113507e-01 6.77951887e-01 1.01153146e-01 1.66765154e+02] [-6.71257012e-01 7.35105114e-01 -9.50499594e-02 -6.99756626e+01] [-1.38797494e-01 1.30740064e-03 9.90319921e-01 -2.16143189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters 0.03143433745035833 Centerline is valid? [True, True] Translation: X:166.81, Y:-70.02, Z:-21.62 [[ 7.28921716e-01 6.77352096e-01 9.93341327e-02 1.66808563e+02] [-6.70880261e-01 7.35657542e-01 -9.34219262e-02 -7.00196190e+01] [-1.36355441e-01 1.45596182e-03 9.90658909e-01 -2.16206118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters 0.031369250686183875 Centerline is valid? [True, True] Translation: X:166.85, Y:-70.07, Z:-21.63 [[ 7.30210649e-01 6.75914075e-01 9.96622885e-02 1.66849832e+02] [-6.69374551e-01 7.36978259e-01 -9.38123477e-02 -7.00651491e+01] [-1.36858026e-01 1.79137571e-03 9.90589053e-01 -2.16287100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters 0.03132488259406753 Centerline is valid? [True, True] Translation: X:166.89, Y:-70.11, Z:-21.64 [[ 7.30994136e-01 6.75236342e-01 9.85061219e-02 1.66892381e+02] [-6.68831625e-01 7.37598852e-01 -9.28018926e-02 -7.01114821e+01] [-1.35321213e-01 1.95362970e-03 9.90799855e-01 -2.16352140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters 0.031329536811162476 Centerline is valid? [True, True] Translation: X:166.93, Y:-70.16, Z:-21.64 [[ 7.29422056e-01 6.76871240e-01 9.89383019e-02 1.66934362e+02] [-6.70411914e-01 7.36099407e-01 -9.33034203e-02 -7.01582776e+01] [-1.35982827e-01 1.72815640e-03 9.90709687e-01 -2.16423955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters 0.031292169281838964 Centerline is valid? [True, True] Translation: X:166.98, Y:-70.20, Z:-21.65 [[ 7.28173547e-01 6.78437223e-01 9.73972225e-02 1.66979337e+02] [-6.72181288e-01 7.34656900e-01 -9.19323398e-02 -7.02013190e+01] [-1.33923863e-01 1.47410751e-03 9.90990528e-01 -2.16495572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters 0.031061866273140806 Centerline is valid? [True, True] Translation: X:167.02, Y:-70.24, Z:-21.66 [[ 7.25750855e-01 6.81013288e-01 9.75017899e-02 1.67024160e+02] [-6.74761872e-01 7.32270336e-01 -9.20682973e-02 -7.02443120e+01] [-1.34097402e-01 1.02815521e-03 9.90967623e-01 -2.16566283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters 0.03099745588321799 Centerline is valid? [True, True] Translation: X:167.07, Y:-70.28, Z:-21.66 [[ 7.20987111e-01 6.86077277e-01 9.73424678e-02 1.67072245e+02] [-6.79880941e-01 7.27528658e-01 -9.19997769e-02 -7.02836912e+01] [-1.33938391e-01 1.49364727e-04 9.90989649e-01 -2.16634622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters 0.031010514517905395 Centerline is valid? [True, True] Translation: X:167.12, Y:-70.32, Z:-21.67 [[ 7.19209660e-01 6.87920189e-01 9.74847538e-02 1.67121415e+02] [-6.81710899e-01 7.25786329e-01 -9.22196015e-02 -7.03235281e+01] [-1.34192827e-01 -1.31190819e-04 9.90955230e-01 -2.16700822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters 0.03102227290011839 Centerline is valid? [True, True] Translation: X:167.17, Y:-70.36, Z:-21.68 [[ 7.20404290e-01 6.86673420e-01 9.74539518e-02 1.67172553e+02] [-6.80443570e-01 7.26966013e-01 -9.22873960e-02 -7.03607072e+01] [-1.34217013e-01 1.72321069e-04 9.90951948e-01 -2.16779146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters 0.030908937004983088 Centerline is valid? [True, True] Translation: X:167.22, Y:-70.40, Z:-21.68 [[ 7.21768151e-01 6.85423882e-01 9.61500829e-02 1.67220740e+02] [-6.79336917e-01 7.28144137e-01 -9.11453250e-02 -7.03996125e+01] [-1.32484302e-01 4.67491863e-04 9.91184993e-01 -2.16844661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters 0.031167115393964908 Centerline is valid? [True, True] Translation: X:167.27, Y:-70.43, Z:-21.69 [[ 7.24851868e-01 6.81943285e-01 9.76889188e-02 1.67272807e+02] [-6.75615931e-01 7.31404096e-01 -9.26885244e-02 -7.04348451e+01] [-1.34658392e-01 1.18526023e-03 9.90891373e-01 -2.16922537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters 0.03183830710743315 Centerline is valid? [True, True] Translation: X:167.32, Y:-70.47, Z:-21.70 [[ 7.29412534e-01 6.76986923e-01 9.82143657e-02 1.67321748e+02] [-6.70534579e-01 7.35991826e-01 -9.32706278e-02 -7.04725786e+01] [-1.35427966e-01 2.17663656e-03 9.90784804e-01 -2.17005004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters 0.032928572333223 Centerline is valid? [True, True] Translation: X:167.37, Y:-70.51, Z:-21.71 [[ 7.34468462e-01 6.71434582e-01 9.86492796e-02 1.67367751e+02] [-6.64863357e-01 7.41056577e-01 -9.37649545e-02 -7.05130893e+01] [-1.36061730e-01 3.27911076e-03 9.90694934e-01 -2.17087849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters 0.033475980106906326 Centerline is valid? [True, True] Translation: X:167.41, Y:-70.56, Z:-21.72 [[ 7.37902088e-01 6.68024117e-01 9.61472199e-02 1.67413534e+02] [-6.61744941e-01 7.44129596e-01 -9.14591547e-02 -7.05550187e+01] [-1.32642913e-01 3.86296487e-03 9.91156363e-01 -2.17152779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters 0.033907014312729064 Centerline is valid? [True, True] Translation: X:167.46, Y:-70.60, Z:-21.72 [[ 7.38409657e-01 6.67312112e-01 9.71891128e-02 1.67457665e+02] [-6.60879344e-01 7.44766954e-01 -9.25239247e-02 -7.05974743e+01] [-1.34125575e-01 4.09028239e-03 9.90955902e-01 -2.17227037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters 0.03345116658903837 Centerline is valid? [True, True] Translation: X:167.50, Y:-70.64, Z:-21.73 [[ 7.36341366e-01 6.69567054e-01 9.73722386e-02 1.67502581e+02] [-6.63122941e-01 7.42742282e-01 -9.27462486e-02 -7.06397153e+01] [-1.34422311e-01 3.72313413e-03 9.90917141e-01 -2.17302870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters 0.0333858453574904 Centerline is valid? [True, True] Translation: X:167.55, Y:-70.68, Z:-21.74 [[ 7.35628263e-01 6.70424421e-01 9.68615227e-02 1.67546420e+02] [-6.64045684e-01 7.41969086e-01 -9.23320326e-02 -7.06837298e+01] [-1.33769905e-01 3.60157659e-03 9.91005873e-01 -2.17392902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters 0.032860573524322624 Centerline is valid? [True, True] Translation: X:167.59, Y:-70.73, Z:-21.74 [[ 7.32215399e-01 6.74145591e-01 9.68934021e-02 1.67591961e+02] [-6.67789075e-01 7.38592568e-01 -9.24054625e-02 -7.07267155e+01] [-1.33859482e-01 2.95634726e-03 9.90995913e-01 -2.17440757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters 0.03274313239712203 Centerline is valid? [True, True] Translation: X:167.64, Y:-70.77, Z:-21.75 [[ 7.28792921e-01 6.77660884e-01 9.81662123e-02 1.67637138e+02] [-6.71160085e-01 7.35370695e-01 -9.36700665e-02 -7.07691351e+01] [-1.35665096e-01 2.38083791e-03 9.90751893e-01 -2.17530108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters 0.03297575824443983 Centerline is valid? [True, True] Translation: X:167.68, Y:-70.81, Z:-21.76 [[ 7.28286581e-01 6.78004209e-01 9.95437013e-02 1.67682328e+02] [-6.71310378e-01 7.35054063e-01 -9.50678816e-02 -7.08112039e+01] [-1.37626426e-01 2.41194273e-03 9.90481272e-01 -2.17603893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters 0.03306908293136148 Centerline is valid? [True, True] Translation: X:167.73, Y:-70.85, Z:-21.77 [[ 7.29626022e-01 6.76615270e-01 9.91849046e-02 1.67727166e+02] [-6.69945788e-01 7.36331686e-01 -9.48065877e-02 -7.08542767e+01] [-1.37180573e-01 2.72484435e-03 9.90542309e-01 -2.17666652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters 0.03297573003215658 Centerline is valid? [True, True] Translation: X:167.77, Y:-70.90, Z:-21.77 [[ 7.28940555e-01 6.77267513e-01 9.97716579e-02 1.67773539e+02] [-6.70512786e-01 7.35731969e-01 -9.54519465e-02 -7.08967679e+01] [-1.38051701e-01 2.68062256e-03 9.90421396e-01 -2.17743473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters 0.03280158751872288 Centerline is valid? [True, True] Translation: X:167.82, Y:-70.94, Z:-21.78 [[ 7.27921460e-01 6.78567116e-01 9.83718313e-02 1.67817935e+02] [-6.72001711e-01 7.34534279e-01 -9.41970950e-02 -7.09406993e+01] [-1.36176533e-01 2.46204791e-03 9.90681528e-01 -2.17806183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters 0.03260466360221068 Centerline is valid? [True, True] Translation: X:167.86, Y:-70.99, Z:-21.79 [[ 7.26196966e-01 6.80465035e-01 9.80066498e-02 1.67860799e+02] [-6.73958760e-01 7.32777438e-01 -9.38978971e-02 -7.09855379e+01] [-1.35711298e-01 2.13592775e-03 9.90746124e-01 -2.17890555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters 0.032600844238706364 Centerline is valid? [True, True] Translation: X:167.91, Y:-71.03, Z:-21.79 [[ 7.26062872e-01 6.80550632e-01 9.84050009e-02 1.67907032e+02] [-6.73980338e-01 7.32697781e-01 -9.43634807e-02 -7.10288808e+01] [-1.36320252e-01 2.19078405e-03 9.90662399e-01 -2.17941477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters 0.03282444467941887 Centerline is valid? [True, True] Translation: X:167.95, Y:-71.08, Z:-21.80 [[ 7.25478971e-01 6.80964866e-01 9.98354361e-02 1.67948260e+02] [-6.74191919e-01 7.32312740e-01 -9.58295726e-02 -7.10751561e+01] [-1.38367334e-01 2.21409550e-03 9.90378503e-01 -2.18027592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters 0.032778620883853506 Centerline is valid? [True, True] Translation: X:167.99, Y:-71.12, Z:-21.81 [[ 7.24775882e-01 6.81786009e-01 9.93365935e-02 1.67991576e+02] [-6.75077062e-01 7.31548627e-01 -9.54335681e-02 -7.11200672e+01] [-1.37734820e-01 2.10809275e-03 9.90466898e-01 -2.18091569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters 0.03280264213332919 Centerline is valid? [True, True] Translation: X:168.04, Y:-71.16, Z:-21.81 [[ 7.26662781e-01 6.79993083e-01 9.78294941e-02 1.68036322e+02] [-6.73459578e-01 7.33214360e-01 -9.40685892e-02 -7.11635394e+01] [-1.35695980e-01 2.47193286e-03 9.90747440e-01 -2.18149994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters 0.03348042188845403 Centerline is valid? [True, True] Translation: X:168.08, Y:-71.21, Z:-21.82 [[ 7.29173549e-01 6.77280224e-01 9.79664934e-02 1.68080339e+02] [-6.70691332e-01 7.35718830e-01 -9.42917826e-02 -7.12064142e+01] [-1.35937754e-01 3.04979588e-03 9.90712686e-01 -2.18223236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters 0.03362689013122226 Centerline is valid? [True, True] Translation: X:168.12, Y:-71.25, Z:-21.83 [[ 7.30916324e-01 6.75422407e-01 9.78054126e-02 1.68121945e+02] [-6.68827612e-01 7.37422991e-01 -9.42176054e-02 -7.12518826e+01] [-1.35760642e-01 3.45022521e-03 9.90735658e-01 -2.18293504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters 0.034281384533265596 Centerline is valid? [True, True] Translation: X:168.16, Y:-71.30, Z:-21.84 [[ 7.32666871e-01 6.73673397e-01 9.67647147e-02 1.68164359e+02] [-6.67193026e-01 7.39019467e-01 -9.32935900e-02 -7.12965683e+01] [-1.34360418e-01 3.79237988e-03 9.90925273e-01 -2.18351987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters 0.0345210195636558 Centerline is valid? [True, True] Translation: X:168.20, Y:-71.34, Z:-21.84 [[ 7.34297558e-01 6.71861107e-01 9.70038626e-02 1.68203249e+02] [-6.65322732e-01 7.40665308e-01 -9.35978865e-02 -7.13445705e+01] [-1.34732175e-01 4.18982463e-03 9.90873194e-01 -2.18417424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters 0.03498593249393825 Centerline is valid? [True, True] Translation: X:168.24, Y:-71.39, Z:-21.85 [[ 7.33840477e-01 6.72138684e-01 9.85278796e-02 1.68242770e+02] [-6.65387824e-01 7.40413123e-01 -9.51180933e-02 -7.13921621e+01] [-1.36883885e-01 4.24225560e-03 9.90578016e-01 -2.18496284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters 0.034443639410797054 Centerline is valid? [True, True] Translation: X:168.28, Y:-71.44, Z:-21.86 [[ 7.32841340e-01 6.73602161e-01 9.59359173e-02 1.68283642e+02] [-6.67206541e-01 7.39083760e-01 -9.26856421e-02 -7.14398844e+01] [-1.33337927e-01 3.91479857e-03 9.91062900e-01 -2.18553711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters 0.03436789418753102 Centerline is valid? [True, True] Translation: X:168.33, Y:-71.49, Z:-21.86 [[ 7.30331612e-01 6.76130670e-01 9.72782275e-02 1.68325399e+02] [-6.69571078e-01 7.36773269e-01 -9.40198012e-02 -7.14855635e+01] [-1.35241669e-01 3.53094535e-03 9.90806350e-01 -2.18602569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters 0.03411451985112352 Centerline is valid? [True, True] Translation: X:168.37, Y:-71.53, Z:-21.87 [[ 7.29085753e-01 6.77539454e-01 9.68207223e-02 1.68367495e+02] [-6.71043232e-01 7.35478967e-01 -9.36571949e-02 -7.15309399e+01] [-1.34666050e-01 3.31323607e-03 9.90885502e-01 -2.18674769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters 0.033966785916102055 Centerline is valid? [True, True] Translation: X:168.41, Y:-71.58, Z:-21.87 [[ 7.28230217e-01 6.78536874e-01 9.62728478e-02 1.68410361e+02] [-6.72112244e-01 7.34559503e-01 -9.32065930e-02 -7.15751522e+01] [-1.33962246e-01 3.16969768e-03 9.90981367e-01 -2.18746646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters 0.033810228422080445 Centerline is valid? [True, True] Translation: X:168.45, Y:-71.62, Z:-21.88 [[ 7.26400223e-01 6.80476909e-01 9.64048321e-02 1.68451594e+02] [-6.74040571e-01 7.32763880e-01 -9.34152277e-02 -7.16207359e+01] [-1.34208884e-01 2.87607419e-03 9.90948890e-01 -2.18824298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters 0.033397989388639755 Centerline is valid? [True, True] Translation: X:168.49, Y:-71.67, Z:-21.89 [[ 7.22862618e-01 6.84238222e-01 9.63726621e-02 1.68492822e+02] [-6.77829332e-01 7.29255147e-01 -9.34576186e-02 -7.16677416e+01] [-1.34227535e-01 2.23280165e-03 9.90948023e-01 -2.18886472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters 0.032876383208315374 Centerline is valid? [True, True] Translation: X:168.54, Y:-71.71, Z:-21.89 [[ 7.17931119e-01 6.89435426e-01 9.61961656e-02 1.68536268e+02] [-6.83091143e-01 7.24346002e-01 -9.33239477e-02 -7.17121630e+01] [-1.34020144e-01 1.28941750e-03 9.90977769e-01 -2.18948046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters 0.03252984828986666 Centerline is valid? [True, True] Translation: X:168.58, Y:-71.76, Z:-21.90 [[ 7.10353340e-01 6.97291959e-01 9.58230492e-02 1.68581058e+02] [-6.91057443e-01 7.16787212e-01 -9.30360304e-02 -7.17557366e+01] [-1.33558012e-01 -1.30776463e-04 9.91040988e-01 -2.18999545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters 0.032407691486919014 Centerline is valid? [True, True] Translation: X:168.63, Y:-71.80, Z:-21.91 [[ 7.05894915e-01 7.01897283e-01 9.51450084e-02 1.68629350e+02] [-6.95787157e-01 7.12277526e-01 -9.24172987e-02 -7.17965213e+01] [-1.32637102e-01 -9.63773694e-04 9.91164199e-01 -2.19073567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters 0.03287349777166711 Centerline is valid? [True, True] Translation: X:168.68, Y:-71.83, Z:-21.91 [[ 7.01659704e-01 7.05964134e-01 9.63758367e-02 1.68680644e+02] [-6.99718857e-01 7.08245586e-01 -9.37107902e-02 -7.18325327e+01] [-1.34414218e-01 -1.68290501e-03 9.90923804e-01 -2.19134483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters 0.0326847823180059 Centerline is valid? [True, True] Translation: X:168.73, Y:-71.87, Z:-21.92 [[ 7.00201046e-01 7.07543631e-01 9.53965665e-02 1.68734559e+02] [-7.01428163e-01 7.06667096e-01 -9.28447456e-02 -7.18665533e+01] [-1.33105323e-01 -1.90385037e-03 9.91100070e-01 -2.19209267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters 0.03283609955095989 Centerline is valid? [True, True] Translation: X:168.79, Y:-71.90, Z:-21.93 [[ 6.98045172e-01 7.09820667e-01 9.42738529e-02 1.68787403e+02] [-7.03856797e-01 7.04378873e-01 -9.18477700e-02 -7.19026015e+01] [-1.31599956e-01 -2.24139973e-03 9.91300372e-01 -2.19281453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters 0.0328314847632908 Centerline is valid? [True, True] Translation: X:168.84, Y:-71.94, Z:-21.94 [[ 6.96913241e-01 7.10790624e-01 9.53342689e-02 1.68835454e+02] [-7.04687241e-01 7.03399608e-01 -9.29778705e-02 -7.19416566e+01] [-1.33145886e-01 -2.38333385e-03 9.91093584e-01 -2.19359003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters 0.032622695886926935 Centerline is valid? [True, True] Translation: X:168.89, Y:-71.98, Z:-21.94 [[ 6.99510699e-01 7.08172836e-01 9.57915312e-02 1.68887863e+02] [-7.01975022e-01 7.06036731e-01 -9.35050948e-02 -7.19770532e+01] [-1.33850108e-01 -1.83544804e-03 9.90999889e-01 -2.19440450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters 0.0323997321949854 Centerline is valid? [True, True] Translation: X:168.94, Y:-72.01, Z:-21.95 [[ 7.03480158e-01 7.04186639e-01 9.61085047e-02 1.68940506e+02] [-6.97903040e-01 7.10014152e-01 -9.38682687e-02 -7.20119935e+01] [-1.34339179e-01 -1.03995309e-03 9.90934863e-01 -2.19525161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters 0.03210970104006569 Centerline is valid? [True, True] Translation: X:168.99, Y:-72.05, Z:-21.96 [[ 7.07220690e-01 7.00573068e-01 9.50593077e-02 1.68991544e+02] [-6.94382473e-01 7.13580615e-01 -9.29283999e-02 -7.20481310e+01] [-1.32935613e-01 -2.86629996e-04 9.91124634e-01 -2.19593709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters 0.032116486033073204 Centerline is valid? [True, True] Translation: X:169.04, Y:-72.08, Z:-21.97 [[ 7.07402893e-01 7.00343555e-01 9.53941891e-02 1.69044044e+02] [-6.94095189e-01 7.13805906e-01 -9.33434306e-02 -7.20844723e+01] [-1.33465406e-01 -1.81234870e-04 9.91053456e-01 -2.19671251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters 0.031997293960684695 Centerline is valid? [True, True] Translation: X:169.09, Y:-72.12, Z:-21.97 [[ 7.07550030e-01 7.00427556e-01 9.36706646e-02 1.69091882e+02] [-6.94392358e-01 7.13723492e-01 -9.17498254e-02 -7.21243009e+01] [-1.31119060e-01 -1.26601955e-04 9.91366620e-01 -2.19733454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters 0.03208508003079333 Centerline is valid? [True, True] Translation: X:169.14, Y:-72.16, Z:-21.98 [[ 7.08801596e-01 6.99124866e-01 9.39399738e-02 1.69143360e+02] [-6.93032096e-01 7.14999574e-01 -9.20984430e-02 -7.21621315e+01] [-1.31555353e-01 1.76106481e-04 9.91308811e-01 -2.19800820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters 0.031914897272992425 Centerline is valid? [True, True] Translation: X:169.19, Y:-72.20, Z:-21.99 [[ 7.11210232e-01 6.96618765e-01 9.43520101e-02 1.69191286e+02] [-6.90437550e-01 7.17441140e-01 -9.25969727e-02 -7.22008738e+01] [-1.32196802e-01 7.11743766e-04 9.91223234e-01 -2.19882690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters 0.03222279482870126 Centerline is valid? [True, True] Translation: X:169.24, Y:-72.24, Z:-22.00 [[ 7.13455619e-01 6.94068388e-01 9.61777183e-02 1.69238138e+02] [-6.87609790e-01 7.19907952e-01 -9.44738954e-02 -7.22411904e+01] [-1.34810448e-01 1.27019082e-03 9.90870592e-01 -2.19959590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters 0.03216175959815647 Centerline is valid? [True, True] Translation: X:169.29, Y:-72.28, Z:-22.00 [[ 7.13932502e-01 6.93635950e-01 9.57577703e-02 1.69285742e+02] [-6.87218553e-01 7.20324363e-01 -9.41460193e-02 -7.22821260e+01] [-1.34279719e-01 1.40738683e-03 9.90942469e-01 -2.20033817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters 0.03178709767012298 Centerline is valid? [True, True] Translation: X:169.33, Y:-72.32, Z:-22.01 [[ 7.12220284e-01 6.95496918e-01 9.50068698e-02 1.69332258e+02] [-6.89184300e-01 7.18528214e-01 -9.34997669e-02 -7.23232549e+01] [-1.33293916e-01 1.11518737e-03 9.91075925e-01 -2.20080716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters 0.03164660174250847 Centerline is valid? [True, True] Translation: X:169.38, Y:-72.36, Z:-22.02 [[ 7.12215105e-01 6.95622925e-01 9.41190232e-02 1.69379280e+02] [-6.89418559e-01 7.18406185e-01 -9.27070861e-02 -7.23633294e+01] [-1.32104863e-01 1.13998569e-03 9.91235091e-01 -2.20150960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters 0.03172867839831254 Centerline is valid? [True, True] Translation: X:169.43, Y:-72.40, Z:-22.02 [[ 7.14923037e-01 6.92722051e-01 9.49800581e-02 1.69427646e+02] [-6.86366404e-01 7.21202529e-01 -9.36379838e-02 -7.24031290e+01] [-1.33364954e-01 1.75283074e-03 9.91065445e-01 -2.20203905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters 0.03202641466877684 Centerline is valid? [True, True] Translation: X:169.47, Y:-72.44, Z:-22.03 [[ 7.17082772e-01 6.90524180e-01 9.47029844e-02 1.69474379e+02] [-6.84175696e-01 7.23305918e-01 -9.34460627e-02 -7.24436487e+01] [-1.33025995e-01 2.21508143e-03 9.91110074e-01 -2.20262221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters 0.032518684141318685 Centerline is valid? [True, True] Translation: X:169.52, Y:-72.49, Z:-22.03 [[ 7.18804499e-01 6.88399975e-01 9.70853584e-02 1.69519234e+02] [-6.81696855e-01 7.25326148e-01 -9.58716746e-02 -7.24861241e+01] [-1.36416607e-01 2.73020761e-03 9.90647796e-01 -2.20343387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters 0.03273310022464835 Centerline is valid? [True, True] Translation: X:169.56, Y:-72.53, Z:-22.04 [[ 7.20519127e-01 6.86756500e-01 9.60088417e-02 1.69561817e+02] [-6.80182949e-01 7.26881229e-01 -9.48411034e-02 -7.25317178e+01] [-1.34919769e-01 3.03125196e-03 9.90851890e-01 -2.20392469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters 0.03334129008050248 Centerline is valid? [True, True] Translation: X:169.61, Y:-72.58, Z:-22.05 [[ 7.23219141e-01 6.83970327e-01 9.55963719e-02 1.69605015e+02] [-6.77418165e-01 7.29500967e-01 -9.45143806e-02 -7.25765339e+01] [-1.34382678e-01 3.59589026e-03 9.90922987e-01 -2.20460134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters 0.03404334661546342 Centerline is valid? [True, True] Translation: X:169.64, Y:-72.63, Z:-22.05 [[ 7.25004231e-01 6.82017668e-01 9.60248177e-02 1.69643256e+02] [-6.75378269e-01 7.31324560e-01 -9.50188502e-02 -7.26258367e+01] [-1.35029842e-01 4.03599332e-03 9.90833312e-01 -2.20528490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters 0.03381382075434047 Centerline is valid? [True, True] Translation: X:169.68, Y:-72.67, Z:-22.06 [[ 7.25051986e-01 6.82084811e-01 9.51836573e-02 1.69683503e+02] [-6.75551550e-01 7.31261879e-01 -9.42664731e-02 -7.26748807e+01] [-1.33901910e-01 4.04662632e-03 9.90986329e-01 -2.20598650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters 0.03386087356565714 Centerline is valid? [True, True] Translation: X:169.73, Y:-72.72, Z:-22.07 [[ 7.24123749e-01 6.83138034e-01 9.46954168e-02 1.69725781e+02] [-6.76670147e-01 7.30278912e-01 -9.38627913e-02 -7.27204672e+01] [-1.33275309e-01 3.89071481e-03 9.91071417e-01 -2.20681161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters 0.032498347821915984 Centerline is valid? [True, True] Translation: X:169.76, Y:-72.77, Z:-22.07 [[ 7.19093903e-01 6.88561899e-01 9.37361713e-02 1.69764237e+02] [-6.82266976e-01 7.25171859e-01 -9.29384101e-02 -7.27689721e+01] [-1.31968682e-01 2.87834990e-03 9.91249707e-01 -2.20738105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters 0.03169770632304542 Centerline is valid? [True, True] Translation: X:169.81, Y:-72.81, Z:-22.08 [[ 7.14151566e-01 6.93596889e-01 9.43975411e-02 1.69808192e+02] [-6.87252324e-01 7.20360616e-01 -9.36206469e-02 -7.28121877e+01] [-1.32935260e-01 1.98440208e-03 9.91122736e-01 -2.20813820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters 0.03133759101943217 Centerline is valid? [True, True] Translation: X:169.85, Y:-72.86, Z:-22.09 [[ 7.11880978e-01 6.96057216e-01 9.34335328e-02 1.69852679e+02] [-6.89852673e-01 7.17984607e-01 -9.27436987e-02 -7.28551193e+01] [-1.31638759e-01 1.56710263e-03 9.91296515e-01 -2.20870493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters 0.031590755538664424 Centerline is valid? [True, True] Translation: X:169.90, Y:-72.90, Z:-22.09 [[ 7.12404725e-01 6.95476281e-01 9.37670019e-02 1.69897547e+02] [-6.89211204e-01 7.18546947e-01 -9.31568622e-02 -7.28973687e+01] [-1.32164381e-01 1.74012044e-03 9.91226285e-01 -2.20944053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters 0.03219711268939064 Centerline is valid? [True, True] Translation: X:169.95, Y:-72.94, Z:-22.10 [[ 7.16056458e-01 6.91583950e-01 9.47353660e-02 1.69945879e+02] [-6.85142948e-01 7.22291600e-01 -9.42018327e-02 -7.29363433e+01] [-1.33575035e-01 2.54656276e-03 9.91035431e-01 -2.21011874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters 0.032251658281213694 Centerline is valid? [True, True] Translation: X:169.99, Y:-72.98, Z:-22.11 [[ 7.16751916e-01 6.90803315e-01 9.51707462e-02 1.69990911e+02] [-6.84284735e-01 7.23037439e-01 -9.47167596e-02 -7.29784491e+01] [-1.34242664e-01 2.76453010e-03 9.90944632e-01 -2.21086224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters 0.032901816932301334 Centerline is valid? [True, True] Translation: X:170.03, Y:-73.02, Z:-22.12 [[ 7.19666244e-01 6.87580508e-01 9.65066895e-02 1.70034827e+02] [-6.80836565e-01 7.26099835e-01 -9.61280465e-02 -7.30212641e+01] [-1.36169262e-01 3.47482724e-03 9.90679493e-01 -2.21154279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters 0.0338131830651789 Centerline is valid? [True, True] Translation: X:170.08, Y:-73.07, Z:-22.12 [[ 7.22821762e-01 6.84181303e-01 9.70806118e-02 1.70078042e+02] [-6.77316563e-01 7.29299924e-01 -9.67672117e-02 -7.30651445e+01] [-1.37007200e-01 4.19114009e-03 9.90561185e-01 -2.21236806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters 0.03430334050975535 Centerline is valid? [True, True] Translation: X:170.12, Y:-73.11, Z:-22.13 [[ 7.25018259e-01 6.82169879e-01 9.48302739e-02 1.70121443e+02] [-6.75599861e-01 7.31179953e-01 -9.45552976e-02 -7.31096412e+01] [-1.33840771e-01 4.48699741e-03 9.90992692e-01 -2.21298474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters 0.03553507401890145 Centerline is valid? [True, True] Translation: X:170.17, Y:-73.15, Z:-22.14 [[ 7.28840304e-01 6.77861951e-01 9.64105077e-02 1.70165039e+02] [-6.71022803e-01 7.35169220e-01 -9.62009129e-02 -7.31524441e+01] [-1.36088976e-01 5.42145352e-03 9.90681785e-01 -2.21362471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters 0.037451324553195504 Centerline is valid? [True, True] Translation: X:170.20, Y:-73.20, Z:-22.14 [[ 7.34542612e-01 6.71709500e-01 9.61951065e-02 1.70203918e+02] [-6.64846756e-01 7.40785615e-01 -9.59972130e-02 -7.32000698e+01] [-1.35742191e-01 6.55903917e-03 9.90722482e-01 -2.21419803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters 0.03872086078137809 Centerline is valid? [True, True] Translation: X:170.24, Y:-73.25, Z:-22.15 [[ 7.37874250e-01 6.68036945e-01 9.62716528e-02 1.70241812e+02] [-6.61130723e-01 7.44092793e-01 -9.60837321e-02 -7.32475293e+01] [-1.35822526e-01 7.24956436e-03 9.90706660e-01 -2.21498494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters 0.038641503087910686 Centerline is valid? [True, True] Translation: X:170.28, Y:-73.30, Z:-22.16 [[ 7.37684038e-01 6.68263587e-01 9.61563246e-02 1.70281924e+02] [-6.61373263e-01 7.43889605e-01 -9.59878220e-02 -7.32960606e+01] [-1.35674857e-01 7.21346202e-03 9.90727157e-01 -2.21558002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters 0.038057852590105745 Centerline is valid? [True, True] Translation: X:170.32, Y:-73.34, Z:-22.16 [[ 7.36380554e-01 6.69708217e-01 9.60967384e-02 1.70323413e+02] [-6.62826840e-01 7.42591271e-01 -9.60144990e-02 -7.33420821e+01] [-1.35662298e-01 7.00771248e-03 9.90730353e-01 -2.21631435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters 0.03769172069758782 Centerline is valid? [True, True] Translation: X:170.36, Y:-73.39, Z:-22.17 [[ 7.34531685e-01 6.71577559e-01 9.71945724e-02 1.70364162e+02] [-6.64542474e-01 7.40903064e-01 -9.71902834e-02 -7.33890280e+01] [-1.37282570e-01 6.79942113e-03 9.90508589e-01 -2.21711775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters 0.03665290689593431 Centerline is valid? [True, True] Translation: X:170.26, Y:-73.84, Z:-20.20 [[ 7.21640443e-01 -6.89480883e-01 -6.20579099e-02 1.70264044e+02] [-6.86466298e-01 -7.24293034e-01 6.45261343e-02 -7.38354768e+01] [-8.94376479e-02 -3.96400443e-03 -9.95984535e-01 -2.02034570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters 0.036522663244628634 Centerline is valid? [True, True] Translation: X:170.39, Y:-73.45, Z:-22.18 [[ 7.77411765e-01 6.20599220e-01 1.02408762e-01 1.70385676e+02] [-6.14256666e-01 7.84104541e-01 -8.87063552e-02 -7.34470767e+01] [-1.35350271e-01 6.05609926e-03 9.90779303e-01 -2.21797782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters 0.0362424507411812 Centerline is valid? [True, True] Translation: X:170.43, Y:-73.49, Z:-22.19 [[ 7.76067269e-01 6.21877398e-01 1.04824119e-01 1.70429952e+02] [-6.15231319e-01 7.83091367e-01 -9.08753832e-02 -7.34905839e+01] [-1.38600209e-01 6.03432954e-03 9.90330030e-01 -2.21871939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters 0.03494101348579481 Centerline is valid? [True, True] Translation: X:170.47, Y:-73.54, Z:-22.19 [[ 7.71894190e-01 6.27043229e-01 1.04862522e-01 1.70471655e+02] [-6.20430287e-01 7.78967358e-01 -9.09731541e-02 -7.35363742e+01] [-1.38728582e-01 5.16176428e-03 9.90316988e-01 -2.21944623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters 0.03291538614294196 Centerline is valid? [True, True] Translation: X:170.52, Y:-73.58, Z:-22.20 [[ 7.65645191e-01 6.34726439e-01 1.04449938e-01 1.70515717e+02] [-6.28234080e-01 7.72727716e-01 -9.06301119e-02 -7.35781693e+01] [-1.38236690e-01 3.77149844e-03 9.90392040e-01 -2.22004109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters 0.03170396559933811 Centerline is valid? [True, True] Translation: X:170.56, Y:-73.62, Z:-22.21 [[ 7.60227414e-01 6.41583879e-01 1.02099975e-01 1.70562617e+02] [-6.35441399e-01 7.67048878e-01 -8.86016175e-02 -7.36174569e+01] [-1.35161041e-01 2.47882752e-03 9.90820543e-01 -2.22076609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters 0.031636912219238665 Centerline is valid? [True, True] Translation: X:170.61, Y:-73.66, Z:-22.21 [[ 7.58773979e-01 6.43303290e-01 1.02092732e-01 1.70610904e+02] [-6.37174630e-01 7.65608317e-01 -8.86137467e-02 -7.36568077e+01] [-1.35168559e-01 2.18690662e-03 9.90820205e-01 -2.22148620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters 0.031702018658527516 Centerline is valid? [True, True] Translation: X:170.66, Y:-73.69, Z:-22.22 [[ 7.58066554e-01 6.43952893e-01 1.03246171e-01 1.70660297e+02] [-6.37685142e-01 7.65062194e-01 -8.96520940e-02 -7.36948012e+01] [-1.36721468e-01 2.12370455e-03 9.90607253e-01 -2.22209364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters 0.031579093022739986 Centerline is valid? [True, True] Translation: X:170.71, Y:-73.74, Z:-22.23 [[ 7.59125337e-01 6.43102660e-01 1.00735755e-01 1.70707601e+02] [-6.37119822e-01 7.65776584e-01 -8.75474483e-02 -7.37352299e+01] [-1.33443080e-01 2.27873960e-03 9.91053859e-01 -2.22267348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters 0.03218818457645899 Centerline is valid? [True, True] Translation: X:170.75, Y:-73.78, Z:-22.24 [[ 7.59675594e-01 6.41968649e-01 1.03774978e-01 1.70752889e+02] [-6.35595763e-01 7.66726422e-01 -9.02697066e-02 -7.37771560e+01] [-1.37517339e-01 2.61675647e-03 9.90495903e-01 -2.22355956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters 0.03205657013542798 Centerline is valid? [True, True] Translation: X:170.80, Y:-73.82, Z:-22.24 [[ 7.59246237e-01 6.42499157e-01 1.03633897e-01 1.70799602e+02] [-6.36137489e-01 7.66282051e-01 -9.02270136e-02 -7.38186920e+01] [-1.37383576e-01 2.57911329e-03 9.90514564e-01 -2.22401859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters 0.031780708302345154 Centerline is valid? [True, True] Translation: X:170.84, Y:-73.86, Z:-22.25 [[ 7.55467948e-01 6.46835665e-01 1.04267934e-01 1.70843986e+02] [-6.40424008e-01 7.62627116e-01 -9.08678804e-02 -7.38624297e+01] [-1.38294140e-01 1.87208298e-03 9.90389432e-01 -2.22472461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters 0.031226119950010338 Centerline is valid? [True, True] Translation: X:170.89, Y:-73.90, Z:-22.25 [[ 7.49855515e-01 6.53420746e-01 1.03720951e-01 1.70891041e+02] [-6.47127675e-01 7.56994591e-01 -9.04707776e-02 -7.39034033e+01] [-1.37631682e-01 7.19313378e-04 9.90483217e-01 -2.22529090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters 0.031110356583180777 Centerline is valid? [True, True] Translation: X:170.94, Y:-73.94, Z:-22.26 [[ 7.43947588e-01 6.60322488e-01 1.02548515e-01 1.70938516e+02] [-6.54225427e-01 7.50982008e-01 -8.95271711e-02 -7.39425932e+01] [-1.36128894e-01 -4.86322822e-04 9.90691015e-01 -2.22596029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters 0.031198148426413615 Centerline is valid? [True, True] Translation: X:170.99, Y:-73.98, Z:-22.27 [[ 7.41109077e-01 6.63475326e-01 1.02751290e-01 1.70989101e+02] [-6.57372937e-01 7.48197488e-01 -8.97849745e-02 -7.39784138e+01] [-1.36448372e-01 -1.00545756e-03 9.90646673e-01 -2.22654031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters 0.031195487616254382 Centerline is valid? [True, True] Translation: X:171.04, Y:-74.02, Z:-22.27 [[ 7.38889784e-01 6.66103444e-01 1.01725556e-01 1.71039778e+02] [-6.60136359e-01 7.45858032e-01 -8.89706851e-02 -7.40154399e+01] [-1.35136502e-01 -1.41320753e-03 9.90825983e-01 -2.22736577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters 0.03142372580800277 Centerline is valid? [True, True] Translation: X:171.09, Y:-74.05, Z:-22.28 [[ 7.38070149e-01 6.67057487e-01 1.01423685e-01 1.71094854e+02] [-6.61122227e-01 7.45004711e-01 -8.87996691e-02 -7.40482205e+01] [-1.34795607e-01 -1.51306737e-03 9.90872270e-01 -2.22795172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters 0.03129128464293866 Centerline is valid? [True, True] Translation: X:171.15, Y:-74.08, Z:-22.29 [[ 7.39266816e-01 6.65585642e-01 1.02373471e-01 1.71149763e+02] [-6.59511120e-01 7.46320540e-01 -8.97258799e-02 -7.40793960e+01] [-1.36123682e-01 -1.18507704e-03 9.90691142e-01 -2.22899975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters 0.03128434485962345 Centerline is valid? [True, True] Translation: X:171.21, Y:-74.11, Z:-22.30 [[ 7.44125119e-01 6.59807259e-01 1.04557109e-01 1.71205243e+02] [-6.53399051e-01 7.51434879e-01 -9.17349533e-02 -7.41099065e+01] [-1.39095247e-01 -5.52327348e-05 9.90279006e-01 -2.22980340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters 0.03169843554582667 Centerline is valid? [True, True] Translation: X:171.26, Y:-74.14, Z:-22.31 [[ 7.50769754e-01 6.52051967e-01 1.05702455e-01 1.71257746e+02] [-6.45412552e-01 7.58172853e-01 -9.28254387e-02 -7.41432048e+01] [-1.40667741e-01 1.46884087e-03 9.90055771e-01 -2.23062752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters 0.032711861126261725 Centerline is valid? [True, True] Translation: X:171.31, Y:-74.18, Z:-22.31 [[ 7.57293352e-01 6.44423720e-01 1.05947384e-01 1.71310386e+02] [-6.37668175e-01 7.64662894e-01 -9.31126042e-02 -7.41768395e+01] [-1.41018004e-01 2.95428087e-03 9.90002624e-01 -2.23147971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters 0.033824788254631824 Centerline is valid? [True, True] Translation: X:171.36, Y:-74.22, Z:-22.32 [[ 7.62694446e-01 6.38087019e-01 1.05556328e-01 1.71356443e+02] [-6.31316109e-01 7.69953126e-01 -9.28016894e-02 -7.42176082e+01] [-1.40488978e-01 4.13992269e-03 9.90073587e-01 -2.23218299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters 0.035144060896300414 Centerline is valid? [True, True] Translation: X:171.40, Y:-74.26, Z:-22.33 [[ 7.66198184e-01 6.33609569e-01 1.07141291e-01 1.71401931e+02] [-6.26580302e-01 7.73636252e-01 -9.42553716e-02 -7.42574871e+01] [-1.42609492e-01 5.08567198e-03 9.89765967e-01 -2.23280178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters 0.03554122421419402 Centerline is valid? [True, True] Translation: X:171.45, Y:-74.30, Z:-22.34 [[ 7.67818365e-01 6.32004431e-01 1.05001699e-01 1.71446782e+02] [-6.25236816e-01 7.74946715e-01 -9.23932491e-02 -7.43007153e+01] [-1.39763665e-01 5.29030552e-03 9.90170758e-01 -2.23350549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters 0.03509295099697128 Centerline is valid? [True, True] Translation: X:171.49, Y:-74.34, Z:-22.34 [[ 7.67355148e-01 6.32630004e-01 1.04620052e-01 1.71493244e+02] [-6.25907497e-01 7.74436636e-01 -9.21287234e-02 -7.43425557e+01] [-1.39304996e-01 5.21297551e-03 9.90235802e-01 -2.23401849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters 0.035014407604559254 Centerline is valid? [True, True] Translation: X:171.54, Y:-74.38, Z:-22.35 [[ 7.66028198e-01 6.34264204e-01 1.04449600e-01 1.71541181e+02] [-6.27573657e-01 7.73100610e-01 -9.20149533e-02 -7.43819025e+01] [-1.39111840e-01 4.93623156e-03 9.90264374e-01 -2.23479585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters 0.034679343612299046 Centerline is valid? [True, True] Translation: X:171.59, Y:-74.42, Z:-22.36 [[ 7.64517303e-01 6.35772626e-01 1.06331845e-01 1.71588234e+02] [-6.28840258e-01 7.71861400e-01 -9.37545192e-02 -7.44229509e+01] [-1.41680004e-01 4.81120742e-03 9.89900818e-01 -2.23560540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters 0.03434943743843358 Centerline is valid? [True, True] Translation: X:171.63, Y:-74.46, Z:-22.36 [[ 7.64087365e-01 6.36461915e-01 1.05293540e-01 1.71634640e+02] [-6.29659319e-01 7.71293787e-01 -9.29248953e-02 -7.44636623e+01] [-1.40355410e-01 4.70367991e-03 9.90090013e-01 -2.23628205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters 0.03450642486361674 Centerline is valid? [True, True] Translation: X:171.68, Y:-74.51, Z:-22.37 [[ 7.63205168e-01 6.37595409e-01 1.04833039e-01 1.71677264e+02] [-6.30852158e-01 7.70358048e-01 -9.25960692e-02 -7.45085018e+01] [-1.39797804e-01 4.53564975e-03 9.90169683e-01 -2.23699196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters 0.0342543366283046 Centerline is valid? [True, True] Translation: X:171.72, Y:-74.55, Z:-22.38 [[ 7.63002695e-01 6.37955395e-01 1.04114366e-01 1.71723131e+02] [-6.31297308e-01 7.70060179e-01 -9.20381923e-02 -7.45502515e+01] [-1.38890589e-01 4.49826985e-03 9.90297516e-01 -2.23768879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters 0.034022132142590145 Centerline is valid? [True, True] Translation: X:171.76, Y:-74.60, Z:-22.38 [[ 7.62212771e-01 6.39033032e-01 1.03288315e-01 1.71764338e+02] [-6.32479977e-01 7.69167126e-01 -9.13838634e-02 -7.45971660e+01] [-1.37843284e-01 4.32615645e-03 9.90444604e-01 -2.23835519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters 0.03372582053717966 Centerline is valid? [True, True] Translation: X:171.81, Y:-74.64, Z:-22.39 [[ 7.61419651e-01 6.40256365e-01 1.01547540e-01 1.71806486e+02] [-6.33924064e-01 7.68150405e-01 -8.99179489e-02 -7.46425733e+01] [-1.35574323e-01 4.09186408e-03 9.90758729e-01 -2.23890259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters 0.03352127637491019 Centerline is valid? [True, True] Translation: X:171.85, Y:-74.69, Z:-22.40 [[ 7.59019006e-01 6.42830314e-01 1.03244057e-01 1.71849385e+02] [-6.36296268e-01 7.65999403e-01 -9.14984915e-02 -7.46871934e+01] [-1.37902890e-01 3.75528569e-03 9.90438635e-01 -2.23982103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters 0.03230060584665786 Centerline is valid? [True, True] Translation: X:171.89, Y:-74.73, Z:-22.40 [[ 7.54250682e-01 6.48611561e-01 1.02024270e-01 1.71893640e+02] [-6.42275106e-01 7.61114743e-01 -9.04822414e-02 -7.47293781e+01] [-1.36340004e-01 2.71864366e-03 9.90658373e-01 -2.24023928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters 0.03196280928812791 Centerline is valid? [True, True] Translation: X:171.94, Y:-74.77, Z:-22.41 [[ 7.49737466e-01 6.53497051e-01 1.04092923e-01 1.71938996e+02] [-6.46942841e-01 7.56926703e-01 -9.23413617e-02 -7.47710810e+01] [-1.39135521e-01 1.88960704e-03 9.90271547e-01 -2.24103411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters 0.03175456439707946 Centerline is valid? [True, True] Translation: X:171.98, Y:-74.81, Z:-22.42 [[ 7.47176184e-01 6.56420103e-01 1.04117230e-01 1.71983759e+02] [-6.49879655e-01 7.54394238e-01 -9.24433233e-02 -7.48132975e+01] [-1.39227095e-01 1.40777977e-03 9.90259478e-01 -2.24168523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters 0.03193534810109419 Centerline is valid? [True, True] Translation: X:172.03, Y:-74.85, Z:-22.42 [[ 7.47771842e-01 6.55674838e-01 1.04536021e-01 1.72031386e+02] [-6.49062694e-01 7.55041654e-01 -9.28962898e-02 -7.48520026e+01] [-1.39838810e-01 1.61479845e-03 9.90172965e-01 -2.24241003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters 0.03194969495347733 Centerline is valid? [True, True] Translation: X:172.08, Y:-74.89, Z:-22.43 [[ 7.49230726e-01 6.53995066e-01 1.04612488e-01 1.72078747e+02] [-6.47345864e-01 7.56496197e-01 -9.30421207e-02 -7.48918729e+01] [-1.39988037e-01 1.98955421e-03 9.90151196e-01 -2.24324351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters 0.032170635734061204 Centerline is valid? [True, True] Translation: X:172.12, Y:-74.93, Z:-22.44 [[ 7.50529098e-01 6.52434139e-01 1.05051256e-01 1.72124237e+02] [-6.45702042e-01 7.57841777e-01 -9.35131726e-02 -7.49330517e+01] [-1.40623417e-01 2.35254640e-03 9.90060362e-01 -2.24391037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters 0.03234630601544324 Centerline is valid? [True, True] Translation: X:172.17, Y:-74.97, Z:-22.45 [[ 7.51873556e-01 6.50999567e-01 1.04334651e-01 1.72171411e+02] [-6.44334640e-01 7.59073430e-01 -9.29537540e-02 -7.49747784e+01] [-1.39710515e-01 2.66303974e-03 9.90188810e-01 -2.24463460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters 0.032602960764228826 Centerline is valid? [True, True] Translation: X:172.22, Y:-75.02, Z:-22.45 [[ 7.52737358e-01 6.50057897e-01 1.03976923e-01 1.72218499e+02] [-6.43417241e-01 7.59879160e-01 -9.27249497e-02 -7.50152326e+01] [-1.39286483e-01 2.89698885e-03 9.90247890e-01 -2.24535517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters 0.03261052071339754 Centerline is valid? [True, True] Translation: X:172.26, Y:-75.06, Z:-22.46 [[ 7.53003840e-01 6.49761160e-01 1.03902127e-01 1.72263474e+02] [-6.43115726e-01 7.60132461e-01 -9.27405269e-02 -7.50585860e+01] [-1.39238572e-01 3.01288118e-03 9.90254282e-01 -2.24605244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters 0.03291149254478334 Centerline is valid? [True, True] Translation: X:172.31, Y:-75.10, Z:-22.47 [[ 7.54673713e-01 6.47992849e-01 1.02824391e-01 1.72309850e+02] [-6.41456704e-01 7.61638957e-01 -9.18661897e-02 -7.51000598e+01] [-1.37843696e-01 3.37160357e-03 9.90448256e-01 -2.24671478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters 0.03314354677389814 Centerline is valid? [True, True] Translation: X:172.35, Y:-75.14, Z:-22.47 [[ 7.56028907e-01 6.46469585e-01 1.02456661e-01 1.72354788e+02] [-6.39955537e-01 7.62930803e-01 -9.16160471e-02 -7.51429356e+01] [-1.37394331e-01 3.69667218e-03 9.90509532e-01 -2.24734810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters 0.03346277486705419 Centerline is valid? [True, True] Translation: X:172.40, Y:-75.19, Z:-22.48 [[ 7.56475525e-01 6.45818272e-01 1.03264421e-01 1.72399616e+02] [-6.39183393e-01 7.63481168e-01 -9.24180501e-02 -7.51859043e+01] [-1.38525706e-01 3.90709005e-03 9.90351131e-01 -2.24814963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters 0.0333338319378154 Centerline is valid? [True, True] Translation: X:172.44, Y:-75.23, Z:-22.49 [[ 7.55246334e-01 6.47158298e-01 1.03870656e-01 1.72442289e+02] [-6.40445941e-01 7.62346445e-01 -9.30424353e-02 -7.52316057e+01] [-1.39398609e-01 3.74641813e-03 9.90229262e-01 -2.24889105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters 0.03263907139645448 Centerline is valid? [True, True] Translation: X:172.49, Y:-75.27, Z:-22.50 [[ 7.51532290e-01 6.51357710e-01 1.04557882e-01 1.72486705e+02] [-6.44583238e-01 7.58764641e-01 -9.37478986e-02 -7.52749260e+01] [-1.40398241e-01 3.05831442e-03 9.90090390e-01 -2.24960338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters 0.03185108194898621 Centerline is valid? [True, True] Translation: X:172.53, Y:-75.32, Z:-22.50 [[ 7.47699723e-01 6.55964422e-01 1.03226940e-01 1.72531357e+02] [-6.49396410e-01 7.54788554e-01 -9.26204120e-02 -7.53164778e+01] [-1.38670208e-01 2.21705208e-03 9.90336134e-01 -2.25015776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters 0.032087148762879714 Centerline is valid? [True, True] Translation: X:172.58, Y:-75.36, Z:-22.51 [[ 7.46013673e-01 6.57593398e-01 1.05045336e-01 1.72577521e+02] [-6.50803214e-01 7.53370460e-01 -9.42768682e-02 -7.53565293e+01] [-1.41133899e-01 1.96799060e-03 9.89988560e-01 -2.25104759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters 0.031688920599340635 Centerline is valid? [True, True] Translation: X:172.63, Y:-75.40, Z:-22.52 [[ 7.44017678e-01 6.59993805e-01 1.04143520e-01 1.72625060e+02] [-6.53332815e-01 7.51269426e-01 -9.35440117e-02 -7.53964967e+01] [-1.39978310e-01 1.55801958e-03 9.90153344e-01 -2.25156235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters 0.03152820822180797 Centerline is valid? [True, True] Translation: X:172.67, Y:-75.44, Z:-22.52 [[ 7.42202607e-01 6.61976725e-01 1.04508877e-01 1.72673089e+02] [-6.55276105e-01 7.49523345e-01 -9.39573375e-02 -7.54362975e+01] [-1.40529414e-01 1.25321089e-03 9.90075711e-01 -2.25228624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters 0.03147960841709498 Centerline is valid? [True, True] Translation: X:172.72, Y:-75.48, Z:-22.53 [[ 7.40696117e-01 6.63701909e-01 1.04254683e-01 1.72719419e+02] [-6.57037801e-01 7.47996516e-01 -9.38218548e-02 -7.54769732e+01] [-1.40251884e-01 9.94215926e-04 9.90115357e-01 -2.25325760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters 0.031191037811318174 Centerline is valid? [True, True] Translation: X:172.77, Y:-75.52, Z:-22.54 [[ 7.37540389e-01 6.67470738e-01 1.02552369e-01 1.72766801e+02] [-6.61048298e-01 7.44635952e-01 -9.23712437e-02 -7.55170828e+01] [-1.38019283e-01 3.35453794e-04 9.90429485e-01 -2.25384452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters 0.03129490890345775 Centerline is valid? [True, True] Translation: X:172.81, Y:-75.56, Z:-22.54 [[ 7.33556635e-01 6.71934018e-01 1.01977152e-01 1.72814884e+02] [-6.65616384e-01 7.40610882e-01 -9.19257955e-02 -7.55570589e+01] [-1.37293458e-01 -4.44885999e-04 9.90530317e-01 -2.25439448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters 0.03131579945873808 Centerline is valid? [True, True] Translation: X:172.87, Y:-75.59, Z:-22.55 [[ 7.31418722e-01 6.74283627e-01 1.01824574e-01 1.72865584e+02] [-6.68001881e-01 7.38471978e-01 -9.18293225e-02 -7.55940229e+01] [-1.37113603e-01 -8.53321515e-04 9.90554961e-01 -2.25518882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters 0.03137973291041231 Centerline is valid? [True, True] Translation: X:172.92, Y:-75.63, Z:-22.56 [[ 7.31706573e-01 6.74001829e-01 1.01621969e-01 1.72915832e+02] [-6.67729354e-01 7.38729317e-01 -9.17415172e-02 -7.56315782e+01] [-1.36905078e-01 -7.28100468e-04 9.90583903e-01 -2.25595871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters 0.03101096062183826 Centerline is valid? [True, True] Translation: X:172.97, Y:-75.67, Z:-22.57 [[ 7.33884959e-01 6.71684240e-01 1.01257833e-01 1.72966000e+02] [-6.65422007e-01 7.40837520e-01 -9.15058518e-02 -7.56683146e+01] [-1.36478640e-01 -2.24422178e-04 9.90642988e-01 -2.25680413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters 0.03103296444493958 Centerline is valid? [True, True] Translation: X:173.02, Y:-75.71, Z:-22.57 [[ 7.34217399e-01 6.71542784e-01 9.97752524e-02 1.73016508e+02] [-6.65452254e-01 7.40965768e-01 -9.02387256e-02 -7.57055391e+01] [-1.34529212e-01 -1.40824253e-04 9.90909618e-01 -2.25740590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters 0.031066152804221637 Centerline is valid? [True, True] Translation: X:173.07, Y:-75.74, Z:-22.58 [[ 7.33875874e-01 6.71726603e-01 1.01042429e-01 1.73065552e+02] [-6.65476066e-01 7.40799128e-01 -9.14235009e-02 -7.57438280e+01] [-1.36263741e-01 -1.47816519e-04 9.90672585e-01 -2.25813952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters 0.030896777063366358 Centerline is valid? [True, True] Translation: X:173.12, Y:-75.78, Z:-22.59 [[ 7.35783388e-01 6.69477184e-01 1.02093613e-01 1.73115685e+02] [-6.63062006e-01 7.42832543e-01 -9.24585801e-02 -7.57808580e+01] [-1.37737368e-01 3.35091512e-04 9.90468730e-01 -2.25879940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters 0.031171050711147046 Centerline is valid? [True, True] Translation: X:173.17, Y:-75.82, Z:-22.60 [[ 7.40841385e-01 6.63791516e-01 1.02639491e-01 1.73165541e+02] [-6.57240801e-01 7.47916220e-01 -9.30368599e-02 -7.58185006e+01] [-1.38522819e-01 1.46669477e-03 9.90358156e-01 -2.25952926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters 0.03185551697097643 Centerline is valid? [True, True] Translation: X:173.21, Y:-75.86, Z:-22.60 [[ 7.43942377e-01 6.60078725e-01 1.04143254e-01 1.73212314e+02] [-6.53285445e-01 7.51193046e-01 -9.44835186e-02 -7.58578684e+01] [-1.40598249e-01 2.25502110e-03 9.90064163e-01 -2.26041306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters 0.031790261435985394 Centerline is valid? [True, True] Translation: X:173.26, Y:-75.90, Z:-22.61 [[ 7.45706681e-01 6.58388970e-01 1.02203278e-01 1.73257779e+02] [-6.51821402e-01 7.52673433e-01 -9.27985150e-02 -7.58997322e+01] [-1.38023211e-01 2.58218900e-03 9.90425629e-01 -2.26092995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters 0.03168213614373205 Centerline is valid? [True, True] Translation: X:173.30, Y:-75.94, Z:-22.62 [[ 7.45809464e-01 6.58433792e-01 1.01159205e-01 1.73304367e+02] [-6.51989982e-01 7.52634139e-01 -9.19288676e-02 -7.59410488e+01] [-1.36664944e-01 2.60663143e-03 9.90613900e-01 -2.26165778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters 0.03175809425533591 Centerline is valid? [True, True] Translation: X:173.35, Y:-75.98, Z:-22.63 [[ 7.46412209e-01 6.57417793e-01 1.03298883e-01 1.73348065e+02] [-6.50675856e-01 7.53520635e-01 -9.39552226e-02 -7.59842783e+01] [-1.39605675e-01 2.91523631e-03 9.90202887e-01 -2.26253971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters 0.03168876837312885 Centerline is valid? [True, True] Translation: X:173.40, Y:-76.02, Z:-22.63 [[ 7.46855097e-01 6.57220980e-01 1.01331374e-01 1.73395081e+02] [-6.50722187e-01 7.53692151e-01 -9.22430288e-02 -7.60241427e+01] [-1.36996715e-01 2.95360255e-03 9.90567098e-01 -2.26314357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters 0.03133762689479365 Centerline is valid? [True, True] Translation: X:173.44, Y:-76.06, Z:-22.64 [[ 7.46492949e-01 6.57599633e-01 1.01543091e-01 1.73443487e+02] [-6.51065743e-01 7.53361804e-01 -9.25169723e-02 -7.60645073e+01] [-1.37337814e-01 2.95203919e-03 9.90519869e-01 -2.26369261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters 0.03186597421043563 Centerline is valid? [True, True] Translation: X:173.49, Y:-76.10, Z:-22.64 [[ 7.48355549e-01 6.55402356e-01 1.02037855e-01 1.73490725e+02] [-6.48771505e-01 7.55272080e-01 -9.30570735e-02 -7.61040460e+01] [-1.38056168e-01 3.44052461e-03 9.90418425e-01 -2.26439189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters 0.03209755497567658 Centerline is valid? [True, True] Translation: X:173.54, Y:-76.15, Z:-22.65 [[ 7.49765148e-01 6.53925544e-01 1.01161285e-01 1.73537027e+02] [-6.47384530e-01 7.56549666e-01 -9.23356576e-02 -7.61451001e+01] [-1.36914182e-01 3.73980682e-03 9.90575853e-01 -2.26507525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters 0.03282609560440862 Centerline is valid? [True, True] Translation: X:173.58, Y:-76.19, Z:-22.66 [[ 7.52098469e-01 6.51321560e-01 1.00638556e-01 1.73580068e+02] [-6.44814446e-01 7.58789925e-01 -9.19357412e-02 -7.61900599e+01] [-1.36243253e-01 4.25153549e-03 9.90666291e-01 -2.26561032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters 0.03237794864319649 Centerline is valid? [True, True] Translation: X:173.62, Y:-76.23, Z:-22.66 [[ 7.51012816e-01 6.52622090e-01 1.00320281e-01 1.73623568e+02] [-6.46157276e-01 7.57672695e-01 -9.17216572e-02 -7.62343690e+01] [-1.35869517e-01 4.06146037e-03 9.90718415e-01 -2.26631229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters 0.03161760818069207 Centerline is valid? [True, True] Translation: X:173.66, Y:-76.28, Z:-22.67 [[ 7.49245789e-01 6.54883244e-01 9.87860559e-02 1.73664650e+02] [-6.48625026e-01 7.55721246e-01 -9.03934429e-02 -7.62813483e+01] [-1.33851872e-01 3.65179828e-03 9.90994622e-01 -2.26696859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters 0.03131302536163951 Centerline is valid? [True, True] Translation: X:173.71, Y:-76.33, Z:-22.68 [[ 7.47120540e-01 6.57036536e-01 1.00567831e-01 1.73709417e+02] [-6.50557631e-01 7.53851120e-01 -9.21046013e-02 -7.63254343e+01] [-1.36329260e-01 3.38806951e-03 9.90657788e-01 -2.26779631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters 0.0303527066374533 Centerline is valid? [True, True] Translation: X:173.75, Y:-76.37, Z:-22.68 [[ 7.44102426e-01 6.60527906e-01 1.00072300e-01 1.73752433e+02] [-6.54133431e-01 7.50796290e-01 -9.17299619e-02 -7.63710174e+01] [-1.35724111e-01 2.79585002e-03 9.90742726e-01 -2.26841547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters 0.030415807954131083 Centerline is valid? [True, True] Translation: X:173.80, Y:-76.41, Z:-22.69 [[ 7.42530777e-01 6.62139374e-01 1.01091518e-01 1.73798236e+02] [-6.55622654e-01 7.49376346e-01 -9.27039814e-02 -7.64141733e+01] [-1.37138549e-01 2.55766981e-03 9.90548574e-01 -2.26903704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters 0.03030226234725477 Centerline is valid? [True, True] Translation: X:173.84, Y:-76.46, Z:-22.70 [[ 7.41554986e-01 6.63217395e-01 1.01187403e-01 1.73842489e+02] [-6.56685504e-01 7.48422863e-01 -9.28836197e-02 -7.64590061e+01] [-1.37332998e-01 2.43001049e-03 9.90521955e-01 -2.26990544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters 0.030465601676657947 Centerline is valid? [True, True] Translation: X:173.89, Y:-76.50, Z:-22.71 [[ 7.40958124e-01 6.63728699e-01 1.02202118e-01 1.73886431e+02] [-6.57056554e-01 7.47969464e-01 -9.39061525e-02 -7.65024720e+01] [-1.38772272e-01 2.42795531e-03 9.90321343e-01 -2.27078314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters 0.030519530696411907 Centerline is valid? [True, True] Translation: X:173.93, Y:-76.55, Z:-22.71 [[ 7.40608062e-01 6.64134136e-01 1.02105570e-01 1.73930272e+02] [-6.57466955e-01 7.47609545e-01 -9.38997936e-02 -7.65473559e+01] [-1.38697157e-01 2.41190580e-03 9.90331905e-01 -2.27137426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters 0.030444079648740865 Centerline is valid? [True, True] Translation: X:173.97, Y:-76.59, Z:-22.72 [[ 7.39443000e-01 6.65253849e-01 1.03253892e-01 1.73972696e+02] [-6.58432876e-01 7.46613716e-01 -9.50479195e-02 -7.65920664e+01] [-1.40321766e-01 2.29676153e-03 9.90103291e-01 -2.27202528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters 0.029955170605725303 Centerline is valid? [True, True] Translation: X:174.02, Y:-76.64, Z:-22.73 [[ 7.36066258e-01 6.69199734e-01 1.01873358e-01 1.74016641e+02] [-6.62586989e-01 7.43080886e-01 -9.38577602e-02 -7.66360746e+01] [-1.38509733e-01 1.58556889e-03 9.90359803e-01 -2.27277672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters 0.029590007325214825 Centerline is valid? [True, True] Translation: X:174.06, Y:-76.68, Z:-22.74 [[ 7.31344867e-01 6.74462427e-01 1.01168765e-01 1.74061565e+02] [-6.67979791e-01 7.38308888e-01 -9.32897921e-02 -7.66780987e+01] [-1.37614258e-01 6.48319947e-04 9.90485687e-01 -2.27363779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters 0.02986789984946457 Centerline is valid? [True, True] Translation: X:174.11, Y:-76.72, Z:-22.74 [[ 7.29000765e-01 6.76825436e-01 1.02299632e-01 1.74108149e+02] [-6.70207554e-01 7.36143503e-01 -9.44170355e-02 -7.67191462e+01] [-1.39211060e-01 2.68105133e-04 9.90262697e-01 -2.27433714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters 0.03006743478757208 Centerline is valid? [True, True] Translation: X:174.16, Y:-76.76, Z:-22.75 [[ 7.26493941e-01 6.79462029e-01 1.02654297e-01 1.74158786e+02] [-6.72811637e-01 7.33710653e-01 -9.48323782e-02 -7.67564111e+01] [-1.39753551e-01 -1.71857394e-04 9.90186303e-01 -2.27506013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters 0.030002601812539758 Centerline is valid? [True, True] Translation: X:174.21, Y:-76.79, Z:-22.76 [[ 7.24133908e-01 6.82182665e-01 1.01276331e-01 1.74208171e+02] [-6.75723895e-01 7.31181530e-01 -9.36524834e-02 -7.67937454e+01] [-1.37939483e-01 -6.17897791e-04 9.90440466e-01 -2.27579349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters 0.030072146985487814 Centerline is valid? [True, True] Translation: X:174.26, Y:-76.83, Z:-22.77 [[ 7.23918563e-01 6.82205691e-01 1.02651396e-01 1.74258750e+02] [-6.75557454e-01 7.31160088e-01 -9.50108029e-02 -7.68294133e+01] [-1.39871514e-01 -5.66831732e-04 9.90169500e-01 -2.27659075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters 0.029823838515223924 Centerline is valid? [True, True] Translation: X:174.31, Y:-76.87, Z:-22.77 [[ 7.25032393e-01 6.81083017e-01 1.02244577e-01 1.74308529e+02] [-6.74464619e-01 7.32206147e-01 -9.47187218e-02 -7.68668759e+01] [-1.39375420e-01 -2.86208011e-04 9.90239572e-01 -2.27698626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters 0.030331251802778784 Centerline is valid? [True, True] Translation: X:174.36, Y:-76.90, Z:-22.78 [[ 7.26343999e-01 6.79360737e-01 1.04371373e-01 1.74357932e+02] [-6.72432307e-01 7.33804454e-01 -9.67771475e-02 -7.69039958e+01] [-1.42334773e-01 1.10816997e-04 9.89818569e-01 -2.27787912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters 0.030265031652812798 Centerline is valid? [True, True] Translation: X:174.41, Y:-76.94, Z:-22.79 [[ 7.27341874e-01 6.78474971e-01 1.03177090e-01 1.74405945e+02] [-6.71684005e-01 7.34623437e-01 -9.57549111e-02 -7.69424662e+01] [-1.40763619e-01 3.44155314e-04 9.90043173e-01 -2.27870254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters 0.030246732509925434 Centerline is valid? [True, True] Translation: X:174.45, Y:-76.98, Z:-22.79 [[ 7.28210433e-01 6.77521721e-01 1.03314484e-01 1.74454783e+02] [-6.70690503e-01 7.35502525e-01 -9.59702322e-02 -7.69821590e+01] [-1.41009981e-01 5.94481094e-04 9.90007996e-01 -2.27944173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters 0.030657133870944975 Centerline is valid? [True, True] Translation: X:174.51, Y:-77.02, Z:-22.80 [[ 7.31561504e-01 6.73827386e-01 1.03799901e-01 1.74506488e+02] [-6.66880599e-01 7.38887497e-01 -9.65170109e-02 -7.70178913e+01] [-1.41732254e-01 1.38598935e-03 9.89904060e-01 -2.28007637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters 0.030878293189272755 Centerline is valid? [True, True] Translation: X:174.55, Y:-77.06, Z:-22.81 [[ 7.32853237e-01 6.72581807e-01 1.02761107e-01 1.74554021e+02] [-6.65749681e-01 7.40020883e-01 -9.56371015e-02 -7.70588762e+01] [-1.40369140e-01 1.67478529e-03 9.90097823e-01 -2.28091206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters 0.030883693600707366 Centerline is valid? [True, True] Translation: X:174.60, Y:-77.10, Z:-22.82 [[ 7.35510206e-01 6.69994133e-01 1.00660816e-01 1.74603972e+02] [-6.63403179e-01 7.42363159e-01 -9.37718642e-02 -7.70957418e+01] [-1.37553480e-01 2.19145793e-03 9.90491917e-01 -2.28153154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters 0.031154242528861925 Centerline is valid? [True, True] Translation: X:174.65, Y:-77.14, Z:-22.82 [[ 7.36480585e-01 6.68941044e-01 1.00569516e-01 1.74650761e+02] [-6.62341114e-01 7.43311438e-01 -9.37675579e-02 -7.71369076e+01] [-1.37479440e-01 2.44666078e-03 9.90501599e-01 -2.28225525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters 0.031370273354577226 Centerline is valid? [True, True] Translation: X:174.70, Y:-77.18, Z:-22.83 [[ 7.37010767e-01 6.68471273e-01 9.98062471e-02 1.74700051e+02] [-6.61956091e-01 7.43733502e-01 -9.31375952e-02 -7.71757295e+01] [-1.36489056e-01 2.57605732e-03 9.90638229e-01 -2.28283578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters 0.031184812486111862 Centerline is valid? [True, True] Translation: X:174.75, Y:-77.22, Z:-22.84 [[ 7.36928537e-01 6.68658786e-01 9.91552308e-02 1.74747368e+02] [-6.62218086e-01 7.43564866e-01 -9.26201738e-02 -7.72163468e+01] [-1.35659639e-01 2.59206201e-03 9.90752110e-01 -2.28352713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters 0.031418213239255706 Centerline is valid? [True, True] Translation: X:174.79, Y:-77.26, Z:-22.84 [[ 7.37756203e-01 6.67708024e-01 9.94071383e-02 1.74794609e+02] [-6.61214964e-01 7.44417871e-01 -9.29344130e-02 -7.72565404e+01] [-1.36053503e-01 2.83345228e-03 9.90697439e-01 -2.28412330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters 0.03151625251028397 Centerline is valid? [True, True] Translation: X:174.84, Y:-77.30, Z:-22.85 [[ 7.38313918e-01 6.67197952e-01 9.86886534e-02 1.74842470e+02] [-6.60791021e-01 7.44874715e-01 -9.22869745e-02 -7.72976145e+01] [-1.35084363e-01 2.92418177e-03 9.90829786e-01 -2.28484065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters 0.03159857893646081 Centerline is valid? [True, True] Translation: X:174.89, Y:-77.34, Z:-22.85 [[ 7.39251992e-01 6.66220250e-01 9.82703995e-02 1.74888405e+02] [-6.59854828e-01 7.45748540e-01 -9.19278097e-02 -7.73395762e+01] [-1.34529175e-01 3.11361890e-03 9.90904741e-01 -2.28546437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters 0.031341150487637096 Centerline is valid? [True, True] Translation: X:174.93, Y:-77.38, Z:-22.86 [[ 7.38102138e-01 6.67427695e-01 9.87193293e-02 1.74934931e+02] [-6.61011348e-01 7.44668867e-01 -9.23703257e-02 -7.73806171e+01] [-1.35163725e-01 2.92413792e-03 9.90818963e-01 -2.28605615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters 0.03081966719109445 Centerline is valid? [True, True] Translation: X:174.98, Y:-77.42, Z:-22.87 [[ 7.37112296e-01 6.68714557e-01 9.73976627e-02 1.74979478e+02] [-6.62477849e-01 7.43514440e-01 -9.11557838e-02 -7.74228731e+01] [-1.33373768e-01 2.66825494e-03 9.91062217e-01 -2.28685959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters 0.030526934847529757 Centerline is valid? [True, True] Translation: X:175.03, Y:-77.46, Z:-22.88 [[ 7.35080680e-01 6.70913022e-01 9.76325306e-02 1.75028680e+02] [-6.64662150e-01 7.41532507e-01 -9.13989408e-02 -7.74614450e+01] [-1.33718435e-01 2.29294779e-03 9.91016712e-01 -2.28757158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters 0.030435197247009344 Centerline is valid? [True, True] Translation: X:175.08, Y:-77.50, Z:-22.88 [[ 7.33507915e-01 6.72529891e-01 9.83345516e-02 1.75076378e+02] [-6.66199021e-01 7.40067165e-01 -9.20839657e-02 -7.75013367e+01] [-1.34703392e-01 2.03393569e-03 9.90883878e-01 -2.28830905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters 0.030368669330775415 Centerline is valid? [True, True] Translation: X:175.13, Y:-77.54, Z:-22.89 [[ 7.32977728e-01 6.72936167e-01 9.95015815e-02 1.75125153e+02] [-6.66453919e-01 7.39697853e-01 -9.32001126e-02 -7.75393211e+01] [-1.36318833e-01 2.00038787e-03 9.90662997e-01 -2.28897613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters 0.02999580121186522 Centerline is valid? [True, True] Translation: X:175.17, Y:-77.58, Z:-22.90 [[ 7.31407110e-01 6.74783063e-01 9.85467248e-02 1.75174186e+02] [-6.68438654e-01 7.38014275e-01 -9.23292852e-02 -7.75783053e+01] [-1.35031128e-01 1.65785562e-03 9.90839970e-01 -2.28958398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters 0.03016619691472009 Centerline is valid? [True, True] Translation: X:175.22, Y:-77.62, Z:-22.90 [[ 7.31412028e-01 6.74606089e-01 9.97149473e-02 1.75222369e+02] [-6.68104406e-01 7.38175881e-01 -9.34498328e-02 -7.76163605e+01] [-1.36648995e-01 1.73033602e-03 9.90618018e-01 -2.29031493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters 0.030465292083886434 Centerline is valid? [True, True] Translation: X:175.27, Y:-77.65, Z:-22.91 [[ 7.32655333e-01 6.73121744e-01 1.00614518e-01 1.75273005e+02] [-6.66486638e-01 7.39528898e-01 -9.43004267e-02 -7.76495977e+01] [-1.37883012e-01 2.03147838e-03 9.90446439e-01 -2.29100645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters 0.030998752768626348 Centerline is valid? [True, True] Translation: X:175.32, Y:-77.68, Z:-22.92 [[ 7.36505798e-01 6.68968471e-01 1.00201768e-01 1.75321400e+02] [-6.62352800e-01 7.43285576e-01 -9.38899389e-02 -7.76830366e+01] [-1.37287938e-01 2.78156267e-03 9.90527276e-01 -2.29167915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters 0.0313316291128843 Centerline is valid? [True, True] Translation: X:175.37, Y:-77.72, Z:-22.92 [[ 7.37582483e-01 6.67644766e-01 1.01106611e-01 1.75367911e+02] [-6.60907475e-01 7.44473974e-01 -9.46562767e-02 -7.77186095e+01] [-1.38468008e-01 2.99469636e-03 9.90362379e-01 -2.29232842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters 0.03112711411349828 Centerline is valid? [True, True] Translation: X:175.41, Y:-77.76, Z:-22.93 [[ 7.36823381e-01 6.68567883e-01 1.00539994e-01 1.75413854e+02] [-6.61925908e-01 7.43646051e-01 -9.40459638e-02 -7.77551157e+01] [-1.37642281e-01 2.74523825e-03 9.90478201e-01 -2.29310072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters 0.030505674663458923 Centerline is valid? [True, True] Translation: X:175.46, Y:-77.79, Z:-22.94 [[ 7.34543074e-01 6.71026999e-01 1.00842649e-01 1.75462273e+02] [-6.64378918e-01 7.41429554e-01 -9.42489767e-02 -7.77889526e+01] [-1.38011328e-01 2.23220302e-03 9.90428135e-01 -2.29383616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters 0.030608113255278464 Centerline is valid? [True, True] Translation: X:175.51, Y:-77.82, Z:-22.94 [[ 7.34478833e-01 6.71009750e-01 1.01423663e-01 1.75508505e+02] [-6.64295809e-01 7.41445300e-01 -9.47097978e-02 -7.78230837e+01] [-1.38751296e-01 2.18702779e-03 9.90324843e-01 -2.29444979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters 0.03087740482182879 Centerline is valid? [True, True] Translation: X:175.56, Y:-77.86, Z:-22.95 [[ 7.37217081e-01 6.68018875e-01 1.01300330e-01 1.75556456e+02] [-6.61304277e-01 7.44139475e-01 -9.45150509e-02 -7.78567459e+01] [-1.38519413e-01 2.68776827e-03 9.90356071e-01 -2.29499268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters 0.031765372857187404 Centerline is valid? [True, True] Translation: X:175.60, Y:-77.89, Z:-22.96 [[ 7.40654207e-01 6.64394679e-01 1.00055269e-01 1.75604023e+02] [-6.57816952e-01 7.47374630e-01 -9.33167729e-02 -7.78910107e+01] [-1.36777937e-01 3.29740814e-03 9.90596246e-01 -2.29571328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters 0.03291836483254285 Centerline is valid? [True, True] Translation: X:175.65, Y:-77.93, Z:-22.96 [[ 7.42570549e-01 6.61935207e-01 1.02131101e-01 1.75651499e+02] [-6.55066779e-01 7.49551538e-01 -9.51840720e-02 -7.79269380e+01] [-1.39558212e-01 3.77819745e-03 9.90206661e-01 -2.29634055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters 0.03289085329306838 Centerline is valid? [True, True] Translation: X:175.70, Y:-77.96, Z:-22.97 [[ 7.45411887e-01 6.59136051e-01 9.95026834e-02 1.75696056e+02] [-6.52596667e-01 7.52012137e-01 -9.27110397e-02 -7.79637365e+01] [-1.35936414e-01 4.17279155e-03 9.90708776e-01 -2.29675798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters 0.03436003351122114 Centerline is valid? [True, True] Translation: X:175.74, Y:-78.00, Z:-22.98 [[ 7.48851856e-01 6.55301384e-01 9.89999697e-02 1.75742006e+02] [-6.48804742e-01 7.55352338e-01 -9.21696952e-02 -7.80008930e+01] [-1.35178787e-01 4.78979756e-03 9.90809645e-01 -2.29751821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters 0.035902418933241705 Centerline is valid? [True, True] Translation: X:175.79, Y:-78.04, Z:-22.98 [[ 7.51216119e-01 6.52267606e-01 1.01100506e-01 1.75786250e+02] [-6.45465411e-01 7.57969235e-01 -9.41118619e-02 -7.80398285e+01] [-1.38017192e-01 5.44146795e-03 9.90414885e-01 -2.29819158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters 0.03574983755345975 Centerline is valid? [True, True] Translation: X:175.83, Y:-78.08, Z:-22.99 [[ 7.53287764e-01 6.50258153e-01 9.85995937e-02 1.75825998e+02] [-6.43777183e-01 7.59692393e-01 -9.17518717e-02 -7.80807333e+01] [-1.34567764e-01 5.63939353e-03 9.90888346e-01 -2.29891657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters 0.036272713949683795 Centerline is valid? [True, True] Translation: X:175.86, Y:-78.12, Z:-23.00 [[ 7.53885533e-01 6.49309078e-01 1.00271256e-01 1.75864695e+02] [-6.42608617e-01 7.60502178e-01 -9.32234032e-02 -7.81249136e+01] [-1.36787311e-01 5.84460159e-03 9.90583198e-01 -2.29974745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters 0.03511808640762343 Centerline is valid? [True, True] Translation: X:175.90, Y:-78.17, Z:-23.00 [[ 7.52615388e-01 6.50562069e-01 1.01681228e-01 1.75903375e+02] [-6.43692879e-01 7.59432154e-01 -9.44578291e-02 -7.81685568e+01] [-1.38670675e-01 5.63893314e-03 9.90322496e-01 -2.30025874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters 0.034633657249234694 Centerline is valid? [True, True] Translation: X:175.94, Y:-78.21, Z:-23.01 [[ 7.50234710e-01 6.53260677e-01 1.01972390e-01 1.75942154e+02] [-6.46385745e-01 7.57115855e-01 -9.46628257e-02 -7.82126335e+01] [-1.39044415e-01 5.10583805e-03 9.90272983e-01 -2.30111205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters 0.033228123062695694 Centerline is valid? [True, True] Translation: X:175.98, Y:-78.26, Z:-23.02 [[ 7.45728771e-01 6.58202216e-01 1.03239737e-01 1.75981975e+02] [-6.51205773e-01 7.52829377e-01 -9.58069457e-02 -7.82558765e+01] [-1.40782251e-01 4.21568326e-03 9.90031609e-01 -2.30180864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters 0.03232852689009432 Centerline is valid? [True, True] Translation: X:176.02, Y:-78.30, Z:-23.02 [[ 7.42800165e-01 6.61516494e-01 1.03169006e-01 1.76023021e+02] [-6.54570175e-01 7.49922265e-01 -9.56790567e-02 -7.82975815e+01] [-1.40662009e-01 3.53906477e-03 9.90051349e-01 -2.30246868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters 0.0314938410289385 Centerline is valid? [True, True] Translation: X:176.06, Y:-78.34, Z:-23.03 [[ 7.36749799e-01 6.67921762e-01 1.05262787e-01 1.76063875e+02] [-6.60758744e-01 7.44227810e-01 -9.75850886e-02 -7.83394408e+01] [-1.43518697e-01 2.34248778e-03 9.89644833e-01 -2.30329724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters 0.03147284015118146 Centerline is valid? [True, True] Translation: X:176.11, Y:-78.38, Z:-23.04 [[ 7.36309214e-01 6.68380761e-01 1.05431967e-01 1.76105246e+02] [-6.61211521e-01 7.43816071e-01 -9.76574439e-02 -7.83791256e+01] [-1.43694348e-01 2.19324461e-03 9.89619687e-01 -2.30397451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters 0.03128582531074521 Centerline is valid? [True, True] Translation: X:176.15, Y:-78.42, Z:-23.05 [[ 7.36105793e-01 6.68497069e-01 1.06112819e-01 1.76148176e+02] [-6.61249101e-01 7.43711768e-01 -9.81958909e-02 -7.84185388e+01] [-1.44561017e-01 2.11555807e-03 9.89493626e-01 -2.30464169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters 0.03127329017786368 Centerline is valid? [True, True] Translation: X:176.19, Y:-78.46, Z:-23.05 [[ 7.36824049e-01 6.67993292e-01 1.04284620e-01 1.76192707e+02] [-6.61000521e-01 7.44164285e-01 -9.64252424e-02 -7.84569705e+01] [-1.42016305e-01 2.11624935e-03 9.89862056e-01 -2.30533866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters 0.03174952036802035 Centerline is valid? [True, True] Translation: X:176.24, Y:-78.50, Z:-23.06 [[ 7.37760987e-01 6.66718261e-01 1.05808724e-01 1.76236841e+02] [-6.59516941e-01 7.45306177e-01 -9.77553482e-02 -7.84952794e+01] [-1.44035171e-01 2.33743640e-03 9.89569808e-01 -2.30612700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters 0.03232074728588169 Centerline is valid? [True, True] Translation: X:176.28, Y:-78.53, Z:-23.07 [[ 7.41522283e-01 6.62627869e-01 1.05209369e-01 1.76281888e+02] [-6.55479002e-01 7.48942575e-01 -9.71200144e-02 -7.85327656e+01] [-1.43150204e-01 3.05412282e-03 9.89696262e-01 -2.30668676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters 0.03346467491061143 Centerline is valid? [True, True] Translation: X:176.32, Y:-78.57, Z:-23.07 [[ 7.46807118e-01 6.56896796e-01 1.03758024e-01 1.76324689e+02] [-6.49899283e-01 7.53969649e-01 -9.57114952e-02 -7.85720127e+01] [-1.41102975e-01 4.04576077e-03 9.89986658e-01 -2.30733176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters 0.03415706252241147 Centerline is valid? [True, True] Translation: X:176.37, Y:-78.61, Z:-23.08 [[ 7.49343113e-01 6.54101475e-01 1.03131761e-01 1.76366687e+02] [-6.47167541e-01 7.56393327e-01 -9.50963139e-02 -7.86132500e+01] [-1.40210815e-01 4.51623973e-03 9.90111373e-01 -2.30789705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters 0.033144425545458975 Centerline is valid? [True, True] Translation: X:176.41, Y:-78.66, Z:-23.08 [[ 7.48044721e-01 6.55880328e-01 1.01242728e-01 1.76407543e+02] [-6.49225857e-01 7.54854030e-01 -9.32801206e-02 -7.86562573e+01] [-1.37604078e-01 4.04830468e-03 9.90479040e-01 -2.30823046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters 0.03253256306950045 Centerline is valid? [True, True] Translation: X:176.45, Y:-78.70, Z:-23.09 [[ 7.47138689e-01 6.57097826e-01 1.00031126e-01 1.76447137e+02] [-6.50622758e-01 7.53796107e-01 -9.20948215e-02 -7.87003703e+01] [-1.35918380e-01 3.72507729e-03 9.90713035e-01 -2.30879880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters 0.03227861781677549 Centerline is valid? [True, True] Translation: X:176.49, Y:-78.74, Z:-23.09 [[ 7.46368788e-01 6.57829882e-01 1.00962763e-01 1.76487267e+02] [-6.51249992e-01 7.53158089e-01 -9.28781002e-02 -7.87411820e+01] [-1.37138912e-01 3.56931626e-03 9.90545395e-01 -2.30933475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters 0.03221993839903726 Centerline is valid? [True, True] Translation: X:176.53, Y:-78.79, Z:-23.10 [[ 7.46637851e-01 6.57709445e-01 9.97507141e-02 1.76526264e+02] [-6.51297775e-01 7.53263666e-01 -9.16791046e-02 -7.87854436e+01] [-1.35436802e-01 3.48367153e-03 9.90779863e-01 -2.30993532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters 0.03213768716214116 Centerline is valid? [True, True] Translation: X:176.57, Y:-78.83, Z:-23.11 [[ 7.46633354e-01 6.57824055e-01 9.90259874e-02 1.76566703e+02] [-6.51516804e-01 7.53164049e-01 -9.09382701e-02 -7.88271437e+01] [-1.34404195e-01 3.38045080e-03 9.90920827e-01 -2.31051801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters 0.03192255667131519 Centerline is valid? [True, True] Translation: X:176.61, Y:-78.87, Z:-23.11 [[ 7.45985201e-01 6.58508459e-01 9.93614069e-02 1.76606331e+02] [-6.52174563e-01 7.52566476e-01 -9.11703846e-02 -7.88706257e+01] [-1.34812533e-01 3.21077549e-03 9.90865920e-01 -2.31101491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters 0.032225029537093844 Centerline is valid? [True, True] Translation: X:176.64, Y:-78.91, Z:-23.12 [[ 7.46785512e-01 6.57716247e-01 9.85938051e-02 1.76644575e+02] [-6.51483762e-01 7.53258688e-01 -9.03894745e-02 -7.89142612e+01] [-1.33717266e-01 3.26928693e-03 9.91014129e-01 -2.31171480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters 0.03274365153393263 Centerline is valid? [True, True] Translation: X:176.68, Y:-78.96, Z:-23.12 [[ 7.49297972e-01 6.54888344e-01 9.83555080e-02 1.76681900e+02] [-6.48673076e-01 7.55716584e-01 -9.00870968e-02 -7.89593327e+01] [-1.33325878e-01 3.70150904e-03 9.91065340e-01 -2.31239595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters 0.03245743313791541 Centerline is valid? [True, True] Translation: X:176.72, Y:-79.01, Z:-23.13 [[ 7.49815863e-01 6.54264395e-01 9.85610128e-02 1.76721109e+02] [-6.48026167e-01 7.56256485e-01 -9.02120598e-02 -7.90063492e+01] [-1.33559944e-01 3.77231812e-03 9.91033557e-01 -2.31291889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters 0.03189180028005757 Centerline is valid? [True, True] Translation: X:176.76, Y:-79.05, Z:-23.14 [[ 7.49069428e-01 6.54960107e-01 9.96104946e-02 1.76761159e+02] [-6.48593539e-01 7.55654450e-01 -9.11744144e-02 -7.90536889e+01] [-1.34986718e-01 3.68924316e-03 9.90840540e-01 -2.31354092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters 0.031042611879963516 Centerline is valid? [True, True] Translation: X:176.80, Y:-79.10, Z:-23.14 [[ 7.46284273e-01 6.57906103e-01 1.01090771e-01 1.76799748e+02] [-6.51372905e-01 7.53093104e-01 -9.25425072e-02 -7.91026336e+01] [-1.37015043e-01 3.21522838e-03 9.90563749e-01 -2.31425473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters 0.030646594398903958 Centerline is valid? [True, True] Translation: X:176.84, Y:-79.15, Z:-23.15 [[ 7.44623252e-01 6.59680574e-01 1.01773042e-01 1.76840880e+02] [-6.53071730e-01 7.51540403e-01 -9.31897928e-02 -7.91493181e+01] [-1.37962049e-01 2.92619011e-03 9.90433193e-01 -2.31499318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters 0.030719607373807155 Centerline is valid? [True, True] Translation: X:176.88, Y:-79.19, Z:-23.16 [[ 7.43643007e-01 6.60741975e-01 1.02054500e-01 1.76883396e+02] [-6.54103099e-01 7.50608058e-01 -9.34702101e-02 -7.91946416e+01] [-1.38362621e-01 2.75430355e-03 9.90377806e-01 -2.31554266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters 0.03031840874960032 Centerline is valid? [True, True] Translation: X:176.93, Y:-79.24, Z:-23.16 [[ 7.42085048e-01 6.62264170e-01 1.03517872e-01 1.76926328e+02] [-6.55443901e-01 7.49266170e-01 -9.48340569e-02 -7.92397264e+01] [-1.40367638e-01 2.52477777e-03 9.90096234e-01 -2.31627312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters 0.0300265164749391 Centerline is valid? [True, True] Translation: X:176.97, Y:-79.28, Z:-23.17 [[ 7.41830283e-01 6.62608345e-01 1.03140743e-01 1.76970793e+02] [-6.55838001e-01 7.48962009e-01 -9.45115134e-02 -7.92824057e+01] [-1.39872616e-01 2.46788389e-03 9.90166431e-01 -2.31683009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters 0.030437019561115414 Centerline is valid? [True, True] Translation: X:177.02, Y:-79.33, Z:-23.18 [[ 7.42620273e-01 6.61831214e-01 1.02443025e-01 1.77016855e+02] [-6.55141735e-01 7.49648320e-01 -9.38973017e-02 -7.93254704e+01] [-1.38940407e-01 2.61533862e-03 9.90297290e-01 -2.31751727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters 0.030205582559999895 Centerline is valid? [True, True] Translation: X:177.06, Y:-79.37, Z:-23.18 [[ 7.42788112e-01 6.61571563e-01 1.02902324e-01 1.77064199e+02] [-6.54814543e-01 7.49877171e-01 -9.43511648e-02 -7.93655037e+01] [-1.39584151e-01 2.70098550e-03 9.90206529e-01 -2.31820676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters 0.030741822018138194 Centerline is valid? [True, True] Translation: X:177.11, Y:-79.41, Z:-23.19 [[ 7.42922267e-01 6.61173141e-01 1.04482453e-01 1.77110942e+02] [-6.54197087e-01 7.50227953e-01 -9.58341760e-02 -7.94053068e+01] [-1.41748640e-01 2.84522687e-03 9.89898595e-01 -2.31901503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters 0.03085005199584591 Centerline is valid? [True, True] Translation: X:177.16, Y:-79.45, Z:-23.20 [[ 7.42747067e-01 6.61253008e-01 1.05220027e-01 1.77157146e+02] [-6.54167311e-01 7.50157317e-01 -9.65874130e-02 -7.94458860e+01] [-1.42800290e-01 2.90851566e-03 9.89747249e-01 -2.31965125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters 0.030604226923496826 Centerline is valid? [True, True] Translation: X:177.20, Y:-79.49, Z:-23.20 [[ 7.42783719e-01 6.61359477e-01 1.04288007e-01 1.77204105e+02] [-6.54391295e-01 7.50063445e-01 -9.57959356e-02 -7.94864836e+01] [-1.41578172e-01 2.91049710e-03 9.89922800e-01 -2.32045883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters 0.030967527418534882 Centerline is valid? [True, True] Translation: X:177.25, Y:-79.53, Z:-23.21 [[ 7.43218969e-01 6.60617174e-01 1.05879711e-01 1.77250424e+02] [-6.53420920e-01 7.50716443e-01 -9.72929798e-02 -7.95267845e+01] [-1.43759053e-01 3.12597002e-03 9.89607782e-01 -2.32127276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters 0.03223988952941194 Centerline is valid? [True, True] Translation: X:177.29, Y:-79.57, Z:-23.22 [[ 7.46294738e-01 6.56851986e-01 1.07655160e-01 1.77293838e+02] [-6.49362512e-01 7.54009106e-01 -9.89878522e-02 -7.95693978e+01] [-1.46193338e-01 3.96688832e-03 9.89248084e-01 -2.32212150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters 0.03275829655636305 Centerline is valid? [True, True] Translation: X:177.34, Y:-79.61, Z:-23.23 [[ 7.48466866e-01 6.54420696e-01 1.07382044e-01 1.77338469e+02] [-6.46940430e-01 7.56117540e-01 -9.87640948e-02 -7.96123794e+01] [-1.45826714e-01 4.45186716e-03 9.89300132e-01 -2.32287637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters 0.032701284257800174 Centerline is valid? [True, True] Translation: X:177.38, Y:-79.66, Z:-23.23 [[ 7.49557799e-01 6.53473228e-01 1.05526519e-01 1.77378714e+02] [-6.46229925e-01 7.56935561e-01 -9.71361924e-02 -7.96601100e+01] [-1.43352676e-01 4.61479594e-03 9.89660909e-01 -2.32335127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters 0.03273228197628674 Centerline is valid? [True, True] Translation: X:177.42, Y:-79.71, Z:-23.24 [[ 7.49122477e-01 6.54063775e-01 1.04957576e-01 1.77420979e+02] [-6.46893080e-01 7.56425796e-01 -9.66920795e-02 -7.97053844e+01] [-1.42635404e-01 4.53788080e-03 9.89764896e-01 -2.32416837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters 0.03222068376264427 Centerline is valid? [True, True] Translation: X:177.46, Y:-79.75, Z:-23.25 [[ 7.46459355e-01 6.56839155e-01 1.06586847e-01 1.77462172e+02] [-6.49458706e-01 7.54019379e-01 -9.82759669e-02 -7.97518287e+01] [-1.44920051e-01 4.13525947e-03 9.89434727e-01 -2.32496327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters 0.031151398854999963 Centerline is valid? [True, True] Translation: X:177.50, Y:-79.80, Z:-23.26 [[ 7.42792638e-01 6.61165810e-01 1.05446046e-01 1.77501533e+02] [-6.53977034e-01 7.50232524e-01 -9.72892539e-02 -7.97986212e+01] [-1.43433381e-01 3.30644932e-03 9.89654451e-01 -2.32569091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters 0.0305160907084805 Centerline is valid? [True, True] Translation: X:177.54, Y:-79.84, Z:-23.26 [[ 7.40223581e-01 6.64118771e-01 1.04953837e-01 1.77544725e+02] [-6.57024502e-01 7.47622087e-01 -9.68505005e-02 -7.98437679e+01] [-1.42786042e-01 2.73378201e-03 9.89749803e-01 -2.32640305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters 0.03001593313751365 Centerline is valid? [True, True] Translation: X:177.59, Y:-79.89, Z:-23.27 [[ 7.36473054e-01 6.68161366e-01 1.05677952e-01 1.77588439e+02] [-6.61003518e-01 7.44013711e-01 -9.75599685e-02 -7.98876228e+01] [-1.43811647e-01 1.99679006e-03 9.89603063e-01 -2.32713788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters 0.02968364606382162 Centerline is valid? [True, True] Translation: X:177.63, Y:-79.93, Z:-23.28 [[ 7.35045327e-01 6.69780191e-01 1.05370127e-01 1.77633495e+02] [-6.62668699e-01 7.42557390e-01 -9.73587131e-02 -7.99306475e+01] [-1.43452304e-01 1.73758187e-03 9.89655706e-01 -2.32788762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters 0.02978886693401573 Centerline is valid? [True, True] Translation: X:177.68, Y:-79.97, Z:-23.29 [[ 7.35140669e-01 6.69862188e-01 1.04176993e-01 1.77679853e+02] [-6.62900716e-01 7.42483360e-01 -9.63384671e-02 -7.99721345e+01] [-1.41883180e-01 1.76332163e-03 9.89881838e-01 -2.32852658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters 0.029610883368355084 Centerline is valid? [True, True] Translation: X:177.73, Y:-80.01, Z:-23.29 [[ 7.36009497e-01 6.69170962e-01 1.02470704e-01 1.77726966e+02] [-6.62418701e-01 7.43105992e-01 -9.48417085e-02 -8.00122086e+01] [-1.39611911e-01 1.92588783e-03 9.90204426e-01 -2.32910118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters 0.029895951210293033 Centerline is valid? [True, True] Translation: X:177.78, Y:-80.05, Z:-23.30 [[ 7.36859835e-01 6.68404514e-01 1.01355754e-01 1.77775202e+02] [-6.61780404e-01 7.43794967e-01 -9.38921946e-02 -8.00529529e+01] [-1.38145866e-01 2.11013508e-03 9.90409646e-01 -2.32969002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters 0.03035405971468935 Centerline is valid? [True, True] Translation: X:177.82, Y:-80.09, Z:-23.30 [[ 7.39195173e-01 6.65894960e-01 1.00868225e-01 1.77821273e+02] [-6.59298917e-01 7.46040856e-01 -9.35306309e-02 -8.00939336e+01] [-1.37533393e-01 2.63507902e-03 9.90493626e-01 -2.33048415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters 0.03090709018827617 Centerline is valid? [True, True] Translation: X:177.87, Y:-80.14, Z:-23.31 [[ 7.40342034e-01 6.64397936e-01 1.02318402e-01 1.77866501e+02] [-6.57583943e-01 7.47372913e-01 -9.49583455e-02 -8.01361267e+01] [-1.39560131e-01 3.01871618e-03 9.90208997e-01 -2.33131339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters 0.03126657581673786 Centerline is valid? [True, True] Translation: X:177.91, Y:-80.18, Z:-23.32 [[ 7.41085409e-01 6.63537341e-01 1.02521285e-01 1.77912889e+02] [-6.56676489e-01 7.48136113e-01 -9.52278549e-02 -8.01766837e+01] [-1.39887113e-01 3.24865630e-03 9.90162129e-01 -2.33194291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters 0.031317852494331416 Centerline is valid? [True, True] Translation: X:177.96, Y:-80.22, Z:-23.33 [[ 7.40932753e-01 6.63780754e-01 1.02047859e-01 1.77958049e+02] [-6.56974166e-01 7.47920149e-01 -9.48704147e-02 -8.02197647e+01] [-1.39296805e-01 3.24979051e-03 9.90245343e-01 -2.33280595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters 0.0311822914823272 Centerline is valid? [True, True] Translation: X:178.00, Y:-80.26, Z:-23.33 [[ 7.41053401e-01 6.63608477e-01 1.02291963e-01 1.78002771e+02] [-6.56754740e-01 7.48072530e-01 -9.51877196e-02 -8.02630656e+01] [-1.39689186e-01 3.35845153e-03 9.90189705e-01 -2.33338785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters 0.03142127434634569 Centerline is valid? [True, True] Translation: X:178.05, Y:-80.31, Z:-23.34 [[ 7.40295682e-01 6.64357901e-01 1.02912015e-01 1.78049061e+02] [-6.57415738e-01 7.47407312e-01 -9.58480978e-02 -8.03055111e+01] [-1.40594634e-01 3.29995448e-03 9.90061745e-01 -2.33410974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters 0.031212238395854068 Centerline is valid? [True, True] Translation: X:178.09, Y:-80.35, Z:-23.35 [[ 7.39399004e-01 6.65560700e-01 1.01577894e-01 1.78094080e+02] [-6.58797126e-01 7.46337297e-01 -9.46941758e-02 -8.03482380e+01] [-1.38836092e-01 3.09755484e-03 9.90310529e-01 -2.33484721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters 0.030846357460530105 Centerline is valid? [True, True] Translation: X:178.14, Y:-80.39, Z:-23.36 [[ 7.36734369e-01 6.68266240e-01 1.03163475e-01 1.78140092e+02] [-6.61302984e-01 7.43917319e-01 -9.62568686e-02 -8.03907734e+01] [-1.41070312e-01 2.69342915e-03 9.89995915e-01 -2.33560349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters 0.030660162462533426 Centerline is valid? [True, True] Translation: X:178.18, Y:-80.43, Z:-23.36 [[ 7.34757358e-01 6.70183156e-01 1.04814894e-01 1.78184620e+02] [-6.62999671e-01 7.42191761e-01 -9.78919142e-02 -8.04328768e+01] [-1.43398263e-01 2.43456412e-03 9.89662069e-01 -2.33649946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters 0.030071748790297365 Centerline is valid? [True, True] Translation: X:178.23, Y:-80.47, Z:-23.37 [[ 7.30719531e-01 6.74523337e-01 1.05200928e-01 1.78230620e+02] [-6.67318648e-01 7.38251671e-01 -9.83376485e-02 -8.04741559e+01] [-1.43995800e-01 1.65469911e-03 9.89576915e-01 -2.33713011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters 0.029410732549244676 Centerline is valid? [True, True] Translation: X:178.28, Y:-80.51, Z:-23.38 [[ 7.27466872e-01 6.78176660e-01 1.04251462e-01 1.78277737e+02] [-6.71127272e-01 7.34898255e-01 -9.75332740e-02 -8.05149700e+01] [-1.42759008e-01 9.86226300e-04 9.89756987e-01 -2.33769208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters 0.02975823662269691 Centerline is valid? [True, True] Translation: X:178.33, Y:-80.55, Z:-23.39 [[ 7.27190993e-01 6.78074165e-01 1.06811452e-01 1.78325716e+02] [-6.70658253e-01 7.34992669e-01 -1.00016425e-01 -8.05538312e+01] [-1.46324188e-01 1.09706144e-03 9.89236083e-01 -2.33854837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters 0.02971026125267714 Centerline is valid? [True, True] Translation: X:178.37, Y:-80.59, Z:-23.39 [[ 7.30449604e-01 6.74962074e-01 1.04257251e-01 1.78373464e+02] [-6.67854717e-01 7.37850366e-01 -9.77083115e-02 -8.05940315e+01] [-1.42875655e-01 1.74230055e-03 9.89739113e-01 -2.33911733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters 0.03065008329092217 Centerline is valid? [True, True] Translation: X:178.42, Y:-80.64, Z:-23.40 [[ 7.34842543e-01 6.70196564e-01 1.04129737e-01 1.78418696e+02] [-6.63046833e-01 7.42178624e-01 -9.76718375e-02 -8.06351642e+01] [-1.42742195e-01 2.73052912e-03 9.89756137e-01 -2.33996366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters 0.03203217135408782 Centerline is valid? [True, True] Translation: X:178.46, Y:-80.68, Z:-23.41 [[ 7.40267271e-01 6.64051442e-01 1.05071642e-01 1.78463071e+02] [-6.56699675e-01 7.47676164e-01 -9.86199338e-02 -8.06768833e+01] [-1.44048271e-01 4.00459635e-03 9.89562559e-01 -2.34074136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters 0.03285611225247423 Centerline is valid? [True, True] Translation: X:178.51, Y:-80.72, Z:-23.41 [[ 7.42570748e-01 6.61555045e-01 1.04563888e-01 1.78505964e+02] [-6.54246215e-01 7.49883186e-01 -9.81687199e-02 -8.07209964e+01] [-1.43354713e-01 4.48669204e-03 9.89661203e-01 -2.34141481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters 0.03445262889184772 Centerline is valid? [True, True] Translation: X:178.55, Y:-80.76, Z:-23.42 [[ 7.47338690e-01 6.56122691e-01 1.04823172e-01 1.78548287e+02] [-6.48715074e-01 7.54633512e-01 -9.84734224e-02 -8.07640001e+01] [-1.43713725e-01 5.59262670e-03 9.89603500e-01 -2.34208539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters 0.03581686316000894 Centerline is valid? [True, True] Translation: X:178.59, Y:-80.81, Z:-23.43 [[ 7.52008248e-01 6.51052973e-01 1.03022430e-01 1.78587696e+02] [-6.43850630e-01 7.59004851e-01 -9.67884404e-02 -8.08108137e+01] [-1.41208926e-01 6.45464932e-03 9.89958775e-01 -2.34277223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters 0.03712724289372527 Centerline is valid? [True, True] Translation: X:178.63, Y:-80.86, Z:-23.43 [[ 7.55496365e-01 6.47097924e-01 1.02418351e-01 1.78626301e+02] [-6.39942513e-01 7.62373266e-01 -9.62319271e-02 -8.08585376e+01] [-1.40352493e-01 7.16101441e-03 9.90075703e-01 -2.34343646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters 0.03722610683973695 Centerline is valid? [True, True] Translation: X:178.66, Y:-80.91, Z:-23.44 [[ 7.55594701e-01 6.46945953e-01 1.02652721e-01 1.78664021e+02] [-6.39752751e-01 7.62501632e-01 -9.64763164e-02 -8.09084155e+01] [-1.40687830e-01 7.22463310e-03 9.90027646e-01 -2.34409263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters 0.03697560060063754 Centerline is valid? [True, True] Translation: X:178.70, Y:-80.96, Z:-23.45 [[ 7.54581798e-01 6.48172868e-01 1.02363293e-01 1.78701667e+02] [-6.41022018e-01 7.61460797e-01 -9.62716333e-02 -8.09595002e+01] [-1.40346295e-01 7.02769764e-03 9.90077537e-01 -2.34474891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters 0.036254132762268555 Centerline is valid? [True, True] Translation: X:178.74, Y:-81.01, Z:-23.45 [[ 7.53367384e-01 6.49586823e-01 1.02345222e-01 1.78741672e+02] [-6.42446138e-01 7.60257081e-01 -9.62919040e-02 -8.10076023e+01] [-1.40358632e-01 6.79188712e-03 9.90077434e-01 -2.34549320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters 0.035177015637820136 Centerline is valid? [True, True] Translation: X:178.78, Y:-81.06, Z:-23.46 [[ 7.50354766e-01 6.53150435e-01 1.01795060e-01 1.78777373e+02] [-6.46109963e-01 7.57203261e-01 -9.58391179e-02 -8.10597985e+01] [-1.39676913e-01 6.14253621e-03 9.90178080e-01 -2.34608195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters 0.03454861845865095 Centerline is valid? [True, True] Translation: X:178.82, Y:-81.11, Z:-23.47 [[ 7.49170473e-01 6.54526177e-01 1.01681295e-01 1.78818737e+02] [-6.47510060e-01 7.56016309e-01 -9.57604441e-02 -8.11063907e+01] [-1.39550435e-01 5.90123591e-03 9.90197380e-01 -2.34669605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters 0.03363385698570856 Centerline is valid? [True, True] Translation: X:178.86, Y:-81.15, Z:-23.47 [[ 7.47484414e-01 6.56624421e-01 1.00555562e-01 1.78859375e+02] [-6.49773395e-01 7.54197689e-01 -9.47648721e-02 -8.11521819e+01] [-1.38063702e-01 5.49693605e-03 9.90408097e-01 -2.34731870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters 0.032984712231312156 Centerline is valid? [True, True] Translation: X:178.90, Y:-81.20, Z:-23.48 [[ 7.44768914e-01 6.59666880e-01 1.00791229e-01 1.78897939e+02] [-6.52807758e-01 7.51541727e-01 -9.50108601e-02 -8.12013280e+01] [-1.38424332e-01 4.96383911e-03 9.90360573e-01 -2.34809626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters 0.03203951828683867 Centerline is valid? [True, True] Translation: X:178.94, Y:-81.25, Z:-23.49 [[ 7.42732570e-01 6.62103641e-01 9.98353523e-02 1.78940170e+02] [-6.55385666e-01 7.49398616e-01 -9.41878078e-02 -8.12465377e+01] [-1.37178565e-01 4.52569369e-03 9.90535996e-01 -2.34872273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters 0.031025395687214085 Centerline is valid? [True, True] Translation: X:178.98, Y:-81.29, Z:-23.49 [[ 7.39007977e-01 6.66220713e-01 1.00085821e-01 1.78980780e+02] [-6.59496810e-01 7.45744823e-01 -9.44913550e-02 -8.12929006e+01] [-1.37590581e-01 3.82358524e-03 9.90481808e-01 -2.34926489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters 0.03023437693438231 Centerline is valid? [True, True] Translation: X:179.02, Y:-81.34, Z:-23.50 [[ 7.35864121e-01 6.69721525e-01 9.98853070e-02 1.79023044e+02] [-6.63053287e-01 7.42605518e-01 -9.43259422e-02 -8.13383970e+01] [-1.37347494e-01 3.18179546e-03 9.90517815e-01 -2.34989748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters 0.030267741113084782 Centerline is valid? [True, True] Translation: X:179.07, Y:-81.38, Z:-23.51 [[ 7.35809712e-01 6.69827333e-01 9.95761633e-02 1.79066136e+02] [-6.63190022e-01 7.42509941e-01 -9.41168513e-02 -8.13845865e+01] [-1.36978331e-01 3.21417521e-03 9.90568830e-01 -2.35053601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters 0.030515465563402133 Centerline is valid? [True, True] Translation: X:179.11, Y:-81.43, Z:-23.51 [[ 7.36809986e-01 6.68851922e-01 9.87327190e-02 1.79110810e+02] [-6.62305708e-01 7.43387719e-01 -9.34122471e-02 -8.14289425e+01] [-1.35875652e-01 3.43583316e-03 9.90719941e-01 -2.35124204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters 0.030805264605710796 Centerline is valid? [True, True] Translation: X:179.15, Y:-81.47, Z:-23.52 [[ 7.38109182e-01 6.67379947e-01 9.89890964e-02 1.79154087e+02] [-6.60773819e-01 7.44707780e-01 -9.37458402e-02 -8.14732945e+01] [-1.36282044e-01 3.78526211e-03 9.90662847e-01 -2.35196972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters 0.030702888040766672 Centerline is valid? [True, True] Translation: X:179.20, Y:-81.52, Z:-23.53 [[ 7.38071204e-01 6.67594133e-01 9.78211133e-02 1.79196319e+02] [-6.61134873e-01 7.44515907e-01 -9.27186333e-02 -8.15188646e+01] [-1.34727791e-01 3.76000408e-03 9.90875514e-01 -2.35270657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters 0.030878357887854823 Centerline is valid? [True, True] Translation: X:179.24, Y:-81.56, Z:-23.54 [[ 7.37310843e-01 6.68169937e-01 9.96075083e-02 1.79237319e+02] [-6.61465210e-01 7.43999066e-01 -9.44942612e-02 -8.15649036e+01] [-1.37246118e-01 3.78474202e-03 9.90529747e-01 -2.35353161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters 0.031034286302366453 Centerline is valid? [True, True] Translation: X:179.28, Y:-81.61, Z:-23.54 [[ 7.38179315e-01 6.67188420e-01 9.97542563e-02 1.79279397e+02] [-6.60443592e-01 7.44878067e-01 -9.47149803e-02 -8.16101596e+01] [-1.37497496e-01 4.03457998e-03 9.90493897e-01 -2.35427546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters 0.031204022691773636 Centerline is valid? [True, True] Translation: X:179.32, Y:-81.66, Z:-23.55 [[ 7.38279986e-01 6.66932809e-01 1.00713910e-01 1.79321487e+02] [-6.60043033e-01 7.45106115e-01 -9.57082646e-02 -8.16556939e+01] [-1.38873532e-01 4.18398150e-03 9.90301286e-01 -2.35498317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters 0.03111821338881106 Centerline is valid? [True, True] Translation: X:179.36, Y:-81.70, Z:-23.56 [[ 7.37410609e-01 6.67896596e-01 1.00696236e-01 1.79363544e+02] [-6.61006708e-01 7.44242989e-01 -9.57731938e-02 -8.17016242e+01] [-1.38909058e-01 4.06328184e-03 9.90296806e-01 -2.35567322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters 0.03124390377705618 Centerline is valid? [True, True] Translation: X:179.41, Y:-81.75, Z:-23.56 [[ 7.37992740e-01 6.67345383e-01 1.00084244e-01 1.79407786e+02] [-6.60522778e-01 7.44736509e-01 -9.52742991e-02 -8.17463259e+01] [-1.38117254e-01 4.20381816e-03 9.90406963e-01 -2.35643531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters 0.03203212269601817 Centerline is valid? [True, True] Translation: X:179.45, Y:-81.79, Z:-23.57 [[ 7.38379807e-01 6.66494715e-01 1.02859401e-01 1.79450604e+02] [-6.59266216e-01 7.45495874e-01 -9.79997821e-02 -8.17908481e+01] [-1.41997596e-01 4.54933191e-03 9.89856548e-01 -2.35726957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters 0.03279674681175927 Centerline is valid? [True, True] Translation: X:179.49, Y:-81.83, Z:-23.58 [[ 7.39913080e-01 6.64837070e-01 1.02568534e-01 1.79494219e+02] [-6.57629707e-01 7.46972491e-01 -9.77510379e-02 -8.18337576e+01] [-1.41604387e-01 4.87515630e-03 9.89911324e-01 -2.35802625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters 0.03250574951101004 Centerline is valid? [True, True] Translation: X:179.54, Y:-81.88, Z:-23.59 [[ 7.39838818e-01 6.64930933e-01 1.02495747e-01 1.79537663e+02] [-6.57726916e-01 7.46888809e-01 -9.77364349e-02 -8.18795556e+01] [-1.41540905e-01 4.89499693e-03 9.89920305e-01 -2.35870762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters 0.032940427481785196 Centerline is valid? [True, True] Translation: X:179.58, Y:-81.93, Z:-23.59 [[ 7.40464673e-01 6.63864056e-01 1.04864594e-01 1.79578731e+02] [-6.56298578e-01 7.47834621e-01 -1.00077750e-01 -8.19260507e+01] [-1.44859395e-01 5.28155463e-03 9.89438154e-01 -2.35947000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters 0.03245548687076435 Centerline is valid? [True, True] Translation: X:179.62, Y:-81.97, Z:-23.60 [[ 7.40366917e-01 6.64136201e-01 1.03826466e-01 1.79621198e+02] [-6.56717951e-01 7.47593495e-01 -9.91236550e-02 -8.19711512e+01] [-1.43451598e-01 5.20317093e-03 9.89643656e-01 -2.36008408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters 0.03237744493480207 Centerline is valid? [True, True] Translation: X:179.66, Y:-82.02, Z:-23.61 [[ 7.38154202e-01 6.66490783e-01 1.04491196e-01 1.79662703e+02] [-6.58987600e-01 7.45497549e-01 -9.98436177e-02 -8.20174553e+01] [-1.44442781e-01 4.84158354e-03 9.89501310e-01 -2.36089619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters 0.031732309974986564 Centerline is valid? [True, True] Translation: X:179.70, Y:-82.06, Z:-23.62 [[ 7.35536587e-01 6.69261291e-01 1.05239031e-01 1.79702921e+02] [-6.61664923e-01 7.43014135e-01 -1.00645539e-01 -8.20645815e+01] [-1.45552251e-01 4.39550075e-03 9.89340802e-01 -2.36151467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters 0.03150952512748896 Centerline is valid? [True, True] Translation: X:179.74, Y:-82.11, Z:-23.62 [[ 7.34600470e-01 6.70411608e-01 1.04452983e-01 1.79744979e+02] [-6.62927986e-01 7.41977517e-01 -9.99792459e-02 -8.21104474e+01] [-1.44529012e-01 4.19999510e-03 9.89491650e-01 -2.36213291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters 0.03139207232933391 Centerline is valid? [True, True] Translation: X:179.79, Y:-82.16, Z:-23.63 [[ 7.34595117e-01 6.70673769e-01 1.02794499e-01 1.79785750e+02] [-6.63417672e-01 7.41740872e-01 -9.84757390e-02 -8.21569223e+01] [-1.42291977e-01 4.14410967e-03 9.89816054e-01 -2.36295763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters 0.031189692823524056 Centerline is valid? [True, True] Translation: X:179.83, Y:-82.20, Z:-23.64 [[ 7.34047652e-01 6.71376415e-01 1.02116374e-01 1.79827635e+02] [-6.64211008e-01 7.41105496e-01 -9.79100633e-02 -8.22027981e+01] [-1.41413513e-01 4.04383238e-03 9.89942355e-01 -2.36353306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters 0.031019301689627406 Centerline is valid? [True, True] Translation: X:179.87, Y:-82.25, Z:-23.64 [[ 7.33485456e-01 6.71993256e-01 1.02098725e-01 1.79869955e+02] [-6.64823707e-01 7.40546516e-01 -9.79811012e-02 -8.22486096e+01] [-1.41451494e-01 3.99006007e-03 9.89937147e-01 -2.36422332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters 0.030866948552446337 Centerline is valid? [True, True] Translation: X:179.91, Y:-82.30, Z:-23.65 [[ 7.32542215e-01 6.73124457e-01 1.01416803e-01 1.79910319e+02] [-6.66048192e-01 7.39519369e-01 -9.74212928e-02 -8.22957764e+01] [-1.40576345e-01 3.81673147e-03 9.90062485e-01 -2.36502001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters 0.03079851561400045 Centerline is valid? [True, True] Translation: X:179.95, Y:-82.34, Z:-23.66 [[ 7.32152966e-01 6.73774886e-01 9.98971322e-02 1.79952301e+02] [-6.66904588e-01 7.38927420e-01 -9.60444577e-02 -8.23420177e+01] [-1.38529074e-01 3.69737872e-03 9.90351465e-01 -2.36553316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters 0.03055458893709902 Centerline is valid? [True, True] Translation: X:179.99, Y:-82.39, Z:-23.66 [[ 7.30781526e-01 6.75228772e-01 1.00122257e-01 1.79991891e+02] [-6.68329022e-01 7.37600099e-01 -9.63452767e-02 -8.23896101e+01] [-1.38905289e-01 3.49273833e-03 9.90299511e-01 -2.36615973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters 0.030157467496099308 Centerline is valid? [True, True] Translation: X:180.03, Y:-82.44, Z:-23.67 [[ 7.26522009e-01 6.79770198e-01 1.00390475e-01 1.80031996e+02] [-6.72864118e-01 7.33420209e-01 -9.66885550e-02 -8.24374053e+01] [-1.39354401e-01 2.69721484e-03 9.90238898e-01 -2.36689806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters 0.029721701887288617 Centerline is valid? [True, True] Translation: X:180.07, Y:-82.48, Z:-23.68 [[ 7.22402428e-01 6.84255325e-01 9.96462851e-02 1.80073927e+02] [-6.77483540e-01 7.29240107e-01 -9.60464499e-02 -8.24833560e+01] [-1.38386362e-01 1.87547068e-03 9.90376543e-01 -2.36764757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters 0.029540520347589368 Centerline is valid? [True, True] Translation: X:180.12, Y:-82.53, Z:-23.68 [[ 7.16690378e-01 6.90009192e-01 1.01203837e-01 1.80118222e+02] [-6.83073100e-01 7.23800146e-01 -9.75934898e-02 -8.25279380e+01] [-1.40591757e-01 8.14696706e-04 9.90067318e-01 -2.36839937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters 0.029383703960807413 Centerline is valid? [True, True] Translation: X:180.16, Y:-82.57, Z:-23.69 [[ 7.13989014e-01 6.92810028e-01 1.01162999e-01 1.80164785e+02] [-6.85892899e-01 7.21120066e-01 -9.76564447e-02 -8.25696608e+01] [-1.40608032e-01 3.38646319e-04 9.90065284e-01 -2.36910568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters 0.02960270133131119 Centerline is valid? [True, True] Translation: X:180.21, Y:-82.61, Z:-23.70 [[ 7.11718007e-01 6.94893247e-01 1.02863281e-01 1.80209250e+02] [-6.87746999e-01 7.19112909e-01 -9.94016607e-02 -8.26123317e+01] [-1.43043856e-01 2.03869025e-06 9.89716351e-01 -2.36985973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters 0.02975851130815871 Centerline is valid? [True, True] Translation: X:180.26, Y:-82.65, Z:-23.71 [[ 7.10616968e-01 6.96111337e-01 1.02237624e-01 1.80257627e+02] [-6.89051598e-01 7.17933824e-01 -9.88884161e-02 -8.26518092e+01] [-1.42237196e-01 -1.75211984e-04 9.89832587e-01 -2.37051378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters 0.029919696335083353 Centerline is valid? [True, True] Translation: X:180.31, Y:-82.69, Z:-23.71 [[ 7.10570242e-01 6.96221156e-01 1.01813714e-01 1.80305478e+02] [-6.89207824e-01 7.17827337e-01 -9.85722589e-02 -8.26923037e+01] [-1.41712759e-01 -1.28294592e-04 9.89907813e-01 -2.37137670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters 0.030132443649847265 Centerline is valid? [True, True] Translation: X:180.35, Y:-82.73, Z:-23.72 [[ 7.11487740e-01 6.94995745e-01 1.03759863e-01 1.80352721e+02] [-6.87681891e-01 7.19013822e-01 -1.00562126e-01 -8.27323060e+01] [-1.44495025e-01 1.94941017e-04 9.89505508e-01 -2.37206639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters 0.03031548754862983 Centerline is valid? [True, True] Translation: X:180.40, Y:-82.78, Z:-23.73 [[ 7.12533629e-01 6.93902903e-01 1.03897015e-01 1.80397716e+02] [-6.86543870e-01 7.20068416e-01 -1.00791816e-01 -8.27753455e+01] [-1.44752693e-01 4.87699880e-04 9.89467746e-01 -2.37283594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters 0.030345823390933363 Centerline is valid? [True, True] Translation: X:180.44, Y:-82.82, Z:-23.74 [[ 7.14244436e-01 6.92091899e-01 1.04229022e-01 1.80443295e+02] [-6.84650914e-01 7.21808791e-01 -1.01218553e-01 -8.28173855e+01] [-1.45285965e-01 9.34292641e-04 9.89389264e-01 -2.37365006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters 0.030630597717638375 Centerline is valid? [True, True] Translation: X:180.49, Y:-82.86, Z:-23.75 [[ 7.14666373e-01 6.91694666e-01 1.03973380e-01 1.80487531e+02] [-6.84272151e-01 7.22189253e-01 -1.01065847e-01 -8.28620458e+01] [-1.44995165e-01 1.08227430e-03 9.89431772e-01 -2.37451155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters 0.0302873783149931 Centerline is valid? [True, True] Translation: X:180.53, Y:-82.91, Z:-23.75 [[ 7.13296527e-01 6.93189555e-01 1.03422945e-01 1.80532004e+02] [-6.85846469e-01 7.20754827e-01 -1.00633499e-01 -8.29056482e+01] [-1.44300678e-01 8.49263823e-04 9.89533523e-01 -2.37514523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters 0.030275724855895206 Centerline is valid? [True, True] Translation: X:180.58, Y:-82.95, Z:-23.76 [[ 7.11914224e-01 6.94503715e-01 1.04128416e-01 1.80575481e+02] [-6.87059896e-01 7.19488819e-01 -1.01412712e-01 -8.29501635e+01] [-1.45350736e-01 6.54693695e-04 9.89379975e-01 -2.37580250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters 0.030191227563835667 Centerline is valid? [True, True] Translation: X:180.62, Y:-82.99, Z:-23.77 [[ 7.11769459e-01 6.94932351e-01 1.02241210e-01 1.80621748e+02] [-6.87749937e-01 7.19074856e-01 -9.96562903e-02 -8.29918246e+01] [-1.42773464e-01 6.15917755e-04 9.89755201e-01 -2.37652475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters 0.03049247695680776 Centerline is valid? [True, True] Translation: X:180.67, Y:-83.03, Z:-23.77 [[ 7.12061298e-01 6.94522643e-01 1.02990324e-01 1.80667538e+02] [-6.87221074e-01 7.19470459e-01 -1.00446279e-01 -8.30340483e+01] [-1.43860711e-01 7.46786759e-04 9.89597665e-01 -2.37722507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters 0.030478135771355715 Centerline is valid? [True, True] Translation: X:180.71, Y:-83.08, Z:-23.78 [[ 7.14736832e-01 6.91994842e-01 1.01461322e-01 1.80712432e+02] [-6.84871362e-01 7.21901268e-01 -9.90443132e-02 -8.30760477e+01] [-1.41783211e-01 1.30266473e-03 9.89896876e-01 -2.37800401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters 0.030716901995664327 Centerline is valid? [True, True] Translation: X:180.76, Y:-83.12, Z:-23.79 [[ 7.16456139e-01 6.90174712e-01 1.01732336e-01 1.80756991e+02] [-6.82981602e-01 7.23640698e-01 -9.93995531e-02 -8.31194663e+01] [-1.42220717e-01 1.73410615e-03 9.89833451e-01 -2.37863064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters 0.030745505094461157 Centerline is valid? [True, True] Translation: X:180.80, Y:-83.16, Z:-23.79 [[ 7.17873804e-01 6.88898882e-01 1.00376948e-01 1.80799111e+02] [-6.81872274e-01 7.24854628e-01 -9.81629787e-02 -8.31641094e+01] [-1.40383062e-01 2.02437310e-03 9.90095196e-01 -2.37933373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters 0.030977516140141506 Centerline is valid? [True, True] Translation: X:180.84, Y:-83.21, Z:-23.80 [[ 7.17349590e-01 6.89400011e-01 1.00683615e-01 1.80842884e+02] [-6.82322090e-01 7.24378098e-01 -9.85542334e-02 -8.32094058e+01] [-1.40876295e-01 1.99918415e-03 9.90025188e-01 -2.38008902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters 0.030742757124055244 Centerline is valid? [True, True] Translation: X:180.89, Y:-83.26, Z:-23.81 [[ 7.17142775e-01 6.89760267e-01 9.96845681e-02 1.80885572e+02] [-6.82814061e-01 7.24035140e-01 -9.76630704e-02 -8.32550254e+01] [-1.39539236e-01 1.97234065e-03 9.90214579e-01 -2.38066270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters 0.030782391668125315 Centerline is valid? [True, True] Translation: X:180.93, Y:-83.30, Z:-23.81 [[ 7.15134462e-01 6.91821160e-01 9.98307803e-02 1.80926772e+02] [-6.84868374e-01 7.22067109e-01 -9.78488644e-02 -8.33008228e+01] [-1.39778438e-01 1.60415074e-03 9.90181506e-01 -2.38141625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters 0.030173951613505497 Centerline is valid? [True, True] Translation: X:180.97, Y:-83.35, Z:-23.82 [[ 7.11283372e-01 6.95889632e-01 9.90635397e-02 1.80969067e+02] [-6.89071628e-01 7.18148232e-01 -9.71772074e-02 -8.33468244e+01] [-1.38766917e-01 8.58657152e-04 9.90324697e-01 -2.38206253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters 0.03019057998753826 Centerline is valid? [True, True] Translation: X:181.01, Y:-83.39, Z:-23.83 [[ 7.06443388e-01 7.00871571e-01 9.85737319e-02 1.81013260e+02] [-6.94161278e-01 7.13287484e-01 -9.67526999e-02 -8.33903074e+01] [-1.38122626e-01 -7.57626076e-05 9.90415132e-01 -2.38264930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters 0.029767165130391002 Centerline is valid? [True, True] Translation: X:181.06, Y:-83.43, Z:-23.83 [[ 7.03366857e-01 7.04099450e-01 9.75655055e-02 1.81059174e+02] [-6.97544918e-01 7.10101090e-01 -9.58515990e-02 -8.34315300e+01] [-1.36770430e-01 -6.37484552e-04 9.90602566e-01 -2.38342581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters 0.029974723304145863 Centerline is valid? [True, True] Translation: X:181.11, Y:-83.47, Z:-23.84 [[ 7.01248394e-01 7.06148780e-01 9.80030168e-02 1.81105229e+02] [-6.99542416e-01 7.08062813e-01 -9.63714806e-02 -8.34723832e+01] [-1.37444895e-01 -9.76921146e-04 9.90508933e-01 -2.38409726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters 0.02983873225043246 Centerline is valid? [True, True] Translation: X:181.15, Y:-83.51, Z:-23.85 [[ 6.99329315e-01 7.08307857e-01 9.61170550e-02 1.81154789e+02] [-7.01962788e-01 7.05902444e-01 -9.46043486e-02 -8.35106670e+01] [-1.34858268e-01 -1.31100160e-03 9.90864032e-01 -2.38473567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters 0.02977506582039636 Centerline is valid? [True, True] Translation: X:181.20, Y:-83.55, Z:-23.85 [[ 6.99615206e-01 7.07944592e-01 9.67110022e-02 1.81203896e+02] [-7.01504500e-01 7.06266985e-01 -9.52805426e-02 -8.35496132e+01] [-1.35757133e-01 -1.18348680e-03 9.90741440e-01 -2.38547326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters 0.02952748108114422 Centerline is valid? [True, True] Translation: X:181.25, Y:-83.59, Z:-23.86 [[ 7.00455912e-01 7.07147226e-01 9.64588808e-02 1.81252314e+02] [-7.00719629e-01 7.07065689e-01 -9.51320779e-02 -8.35886497e+01] [-1.35475150e-01 -9.54804781e-04 9.90780284e-01 -2.38599588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters 0.029095089007089854 Centerline is valid? [True, True] Translation: X:181.30, Y:-83.63, Z:-23.87 [[ 7.05068711e-01 7.02433387e-01 9.72905404e-02 1.81304554e+02] [-6.95836208e-01 7.11749490e-01 -9.60449613e-02 -8.36251800e+01] [-1.36711680e-01 2.00163751e-05 9.90610880e-01 -2.38694037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters 0.02890352310866104 Centerline is valid? [True, True] Translation: X:181.35, Y:-83.67, Z:-23.87 [[ 7.06819507e-01 7.00777735e-01 9.65233147e-02 1.81351974e+02] [-6.94255353e-01 7.13379560e-01 -9.53892469e-02 -8.36670347e+01] [-1.35704420e-01 4.11152576e-04 9.90749283e-01 -2.38748917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters 0.0289631629382374 Centerline is valid? [True, True] Translation: X:181.40, Y:-83.71, Z:-23.88 [[ 7.07053030e-01 7.00354674e-01 9.78741200e-02 1.81398846e+02] [-6.93629427e-01 7.13794790e-01 -9.68256934e-02 -8.37081140e+01] [-1.37674364e-01 5.72530003e-04 9.90477381e-01 -2.38814772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters 0.028969448107447247 Centerline is valid? [True, True] Translation: X:181.45, Y:-83.75, Z:-23.89 [[ 7.07211683e-01 7.00283392e-01 9.72358285e-02 1.81445528e+02] [-6.93632852e-01 7.13864659e-01 -9.62845510e-02 -8.37495124e+01] [-1.36839694e-01 6.47594381e-04 9.90592994e-01 -2.38884932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters 0.028925755864351 Centerline is valid? [True, True] Translation: X:181.49, Y:-83.79, Z:-23.90 [[ 7.07372039e-01 7.00186741e-01 9.67642787e-02 1.81492035e+02] [-6.93586028e-01 7.13959373e-01 -9.59189065e-02 -8.37916600e+01] [-1.36246910e-01 7.36000775e-04 9.90674638e-01 -2.38952734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters 0.0288542871360242 Centerline is valid? [True, True] Translation: X:181.54, Y:-83.83, Z:-23.90 [[ 7.08179959e-01 6.99545921e-01 9.54811445e-02 1.81540430e+02] [-6.93101067e-01 7.14587058e-01 -9.47430605e-02 -8.38310411e+01] [-1.34506712e-01 9.17053526e-04 9.90912258e-01 -2.39022500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters 0.029079421934892307 Centerline is valid? [True, True] Translation: X:181.59, Y:-83.87, Z:-23.91 [[ 7.08958276e-01 6.98576193e-01 9.67959972e-02 1.81586615e+02] [-6.91930549e-01 7.15534701e-01 -9.61364015e-02 -8.38717413e+01] [-1.36419496e-01 1.18059000e-03 9.90650457e-01 -2.39102372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters 0.029221813581573542 Centerline is valid? [True, True] Translation: X:181.63, Y:-83.92, Z:-23.92 [[ 7.08300639e-01 6.99158817e-01 9.74020188e-02 1.81632155e+02] [-6.92422188e-01 7.14965486e-01 -9.68290615e-02 -8.39154683e+01] [-1.37337974e-01 1.14076717e-03 9.90523589e-01 -2.39175363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters 0.02948715838963422 Centerline is valid? [True, True] Translation: X:181.68, Y:-83.96, Z:-23.93 [[ 7.08491571e-01 6.98830422e-01 9.83653126e-02 1.81679885e+02] [-6.91942063e-01 7.15286222e-01 -9.78866787e-02 -8.39556412e+01] [-1.38765542e-01 1.28878947e-03 9.90324423e-01 -2.39250745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters 0.029244319504026783 Centerline is valid? [True, True] Translation: X:181.73, Y:-83.99, Z:-23.93 [[ 7.07733569e-01 6.99728997e-01 9.74295919e-02 1.81728352e+02] [-6.92967993e-01 7.14407428e-01 -9.70432252e-02 -8.39947109e+01] [-1.37508383e-01 1.16515934e-03 9.90499918e-01 -2.39317136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters 0.029350681593949376 Centerline is valid? [True, True] Translation: X:181.78, Y:-84.04, Z:-23.94 [[ 7.07388782e-01 7.00073080e-01 9.74617505e-02 1.81776352e+02] [-6.93298280e-01 7.14070254e-01 -9.71656718e-02 -8.40351713e+01] [-1.37617608e-01 1.16384232e-03 9.90484750e-01 -2.39386696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters 0.02983794424558717 Centerline is valid? [True, True] Translation: X:181.83, Y:-84.07, Z:-23.95 [[ 7.10183523e-01 6.97025835e-01 9.89664043e-02 1.81825464e+02] [-6.89995314e-01 7.17043611e-01 -9.87670324e-02 -8.40736776e+01] [-1.39806401e-01 1.85636378e-03 9.90177118e-01 -2.39466152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters 0.030352843920440225 Centerline is valid? [True, True] Translation: X:181.87, Y:-84.12, Z:-23.95 [[ 7.14250705e-01 6.93033114e-01 9.77293852e-02 1.81870602e+02] [-6.86128632e-01 7.20900808e-01 -9.76192853e-02 -8.41156062e+01] [-1.38106590e-01 2.66971399e-03 9.90413773e-01 -2.39527154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters 0.031052959582367843 Centerline is valid? [True, True] Translation: X:181.92, Y:-84.16, Z:-23.96 [[ 7.16988291e-01 6.90021258e-01 9.89871449e-02 1.81915499e+02] [-6.82896029e-01 7.23781316e-01 -9.89627181e-02 -8.41574281e+01] [-1.39931425e-01 3.35718193e-03 9.90155506e-01 -2.39588544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters 0.0316094988389817 Centerline is valid? [True, True] Translation: X:181.94, Y:-84.52, Z:-22.01 [[ 7.37297225e-01 -6.72844678e-01 -6.06039744e-02 1.81936675e+02] [-6.69886696e-01 -7.39758759e-01 6.33150295e-02 -8.45194626e+01] [-8.74335015e-02 -6.08419934e-03 -9.96151778e-01 -2.20130001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters 0.031250705432059295 Centerline is valid? [True, True] Translation: X:181.97, Y:-84.23, Z:-23.97 [[ 7.66233230e-01 6.34288385e-01 1.02785614e-01 1.81972258e+02] [-6.28087559e-01 7.73089570e-01 -8.85355030e-02 -8.42344257e+01] [-1.35619527e-01 3.28047920e-03 9.90755561e-01 -2.39700643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters 0.031089026324723646 Centerline is valid? [True, True] Translation: X:182.02, Y:-84.27, Z:-23.98 [[ 7.64200292e-01 6.36614212e-01 1.03538687e-01 1.82019219e+02] [-6.30337773e-01 7.71176910e-01 -8.92214406e-02 -8.42741835e+01] [-1.36646282e-01 2.91870529e-03 9.90615604e-01 -2.39763503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters 0.03074100789267273 Centerline is valid? [True, True] Translation: X:182.07, Y:-84.31, Z:-23.98 [[ 7.60475273e-01 6.41000282e-01 1.03903791e-01 1.82067639e+02] [-6.34708752e-01 7.67537484e-01 -8.96159001e-02 -8.43127312e+01] [-1.37193872e-01 2.20203038e-03 9.90541767e-01 -2.39824755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters 0.03023332196518441 Centerline is valid? [True, True] Translation: X:182.12, Y:-84.35, Z:-23.99 [[ 7.56621139e-01 6.45696304e-01 1.02959871e-01 1.82115463e+02] [-6.39551314e-01 7.63593034e-01 -8.88807967e-02 -8.43517609e+01] [-1.36009442e-01 1.40096909e-03 9.90706550e-01 -2.39894379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters 0.030177393546080785 Centerline is valid? [True, True] Translation: X:182.17, Y:-84.39, Z:-23.99 [[ 7.54897192e-01 6.47810765e-01 1.02330067e-01 1.82166710e+02] [-6.41749558e-01 7.61800537e-01 -8.84163267e-02 -8.43879825e+01] [-1.35232148e-01 1.07496161e-03 9.90813358e-01 -2.39945905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters 0.03015727928754873 Centerline is valid? [True, True] Translation: X:182.22, Y:-84.42, Z:-24.00 [[ 7.53422399e-01 6.49547065e-01 1.02192465e-01 1.82217416e+02] [-6.43506842e-01 7.60320938e-01 -8.83799486e-02 -8.44247551e+01] [-1.35106007e-01 8.25882733e-04 9.90830805e-01 -2.40031334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters 0.03017646173097246 Centerline is valid? [True, True] Translation: X:182.27, Y:-84.46, Z:-24.01 [[ 7.53289126e-01 6.49589355e-01 1.02903655e-01 1.82266501e+02] [-6.43452095e-01 7.60284729e-01 -8.90872157e-02 -8.44630895e+01] [-1.36106184e-01 8.94858634e-04 9.90693851e-01 -2.40098039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters 0.030153819813492768 Centerline is valid? [True, True] Translation: X:182.32, Y:-84.50, Z:-24.02 [[ 7.53128436e-01 6.49896351e-01 1.02138595e-01 1.82318169e+02] [-6.43842328e-01 7.60022324e-01 -8.85049365e-02 -8.44987737e+01] [-1.35146647e-01 8.94433763e-04 9.90825203e-01 -2.40152390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters 0.030318379360753583 Centerline is valid? [True, True] Translation: X:182.37, Y:-84.54, Z:-24.02 [[ 7.53354619e-01 6.49768413e-01 1.01280935e-01 1.82367486e+02] [-6.43804203e-01 7.60131612e-01 -8.78412207e-02 -8.45361987e+01] [-1.34063291e-01 9.70497392e-04 9.90972296e-01 -2.40237972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters 0.03065173358575659 Centerline is valid? [True, True] Translation: X:182.42, Y:-84.57, Z:-24.03 [[ 7.54640510e-01 6.48278684e-01 1.01254378e-01 1.82418945e+02] [-6.42293176e-01 7.61402038e-01 -8.79000123e-02 -8.45731080e+01] [-1.34078994e-01 1.29791419e-03 9.90969797e-01 -2.40296932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters 0.03102503658417233 Centerline is valid? [True, True] Translation: X:182.47, Y:-84.61, Z:-24.04 [[ 7.55233590e-01 6.47446358e-01 1.02153989e-01 1.82467650e+02] [-6.41333510e-01 7.62109491e-01 -8.87719135e-02 -8.46107882e+01] [-1.35327577e-01 1.52875431e-03 9.90799732e-01 -2.40374895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters 0.03151240045947325 Centerline is valid? [True, True] Translation: X:182.52, Y:-84.65, Z:-24.05 [[ 7.57029035e-01 6.45118517e-01 1.03581563e-01 1.82516383e+02] [-6.38799555e-01 7.64079806e-01 -9.00953831e-02 -8.46488886e+01] [-1.37266780e-01 2.03696452e-03 9.90532020e-01 -2.40464098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters 0.03170082432007088 Centerline is valid? [True, True] Translation: X:182.56, Y:-84.69, Z:-24.05 [[ 7.56845365e-01 6.45568934e-01 1.02107031e-01 1.82563102e+02] [-6.39422809e-01 7.63699419e-01 -8.88913369e-02 -8.46900194e+01] [-1.35364566e-01 1.98743185e-03 9.90793866e-01 -2.40533698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters 0.03149875871893467 Centerline is valid? [True, True] Translation: X:182.61, Y:-84.73, Z:-24.06 [[ 7.54889951e-01 6.47706043e-01 1.03043895e-01 1.82611612e+02] [-6.41454365e-01 7.61888475e-01 -8.97900314e-02 -8.47298809e+01] [-1.36665502e-01 1.68363627e-03 9.90615822e-01 -2.40594984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters 0.03165929749194868 Centerline is valid? [True, True] Translation: X:182.66, Y:-84.77, Z:-24.07 [[ 7.55227111e-01 6.47466238e-01 1.02075861e-01 1.82657986e+02] [-6.41317807e-01 7.62092061e-01 -8.90346072e-02 -8.47705662e+01] [-1.35438105e-01 1.77828195e-03 9.90784213e-01 -2.40671101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters 0.031931998128147523 Centerline is valid? [True, True] Translation: X:182.71, Y:-84.81, Z:-24.07 [[ 7.56024928e-01 6.46429634e-01 1.02737703e-01 1.82705407e+02] [-6.40180308e-01 7.62970886e-01 -8.96916968e-02 -8.48104626e+01] [-1.36365247e-01 2.03850412e-03 9.90656532e-01 -2.40748820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters 0.032151754125109885 Centerline is valid? [True, True] Translation: X:182.75, Y:-84.85, Z:-24.08 [[ 7.56150256e-01 6.46275791e-01 1.02783230e-01 1.82753341e+02] [-6.40008207e-01 7.63100953e-01 -8.98133076e-02 -8.48507441e+01] [-1.36478147e-01 2.13024502e-03 9.90640791e-01 -2.40814686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters 0.032110228557987966 Centerline is valid? [True, True] Translation: X:182.80, Y:-84.89, Z:-24.09 [[ 7.55336706e-01 6.47008108e-01 1.04148783e-01 1.82800496e+02] [-6.40566164e-01 7.62480240e-01 -9.10981511e-02 -8.48907929e+01] [-1.38352632e-01 2.09559074e-03 9.90380815e-01 -2.40887939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters 0.0321683012975561 Centerline is valid? [True, True] Translation: X:182.85, Y:-84.93, Z:-24.10 [[ 7.55983439e-01 6.46458941e-01 1.02858536e-01 1.82847393e+02] [-6.40160442e-01 7.62945521e-01 -9.00485419e-02 -8.49306291e+01] [-1.36688144e-01 2.22924075e-03 9.90611620e-01 -2.40954143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters 0.03204651370907996 Centerline is valid? [True, True] Translation: X:182.89, Y:-84.97, Z:-24.10 [[ 7.56727400e-01 6.45585623e-01 1.02872961e-01 1.82894701e+02] [-6.39267144e-01 7.63683985e-01 -9.01348423e-02 -8.49698297e+01] [-1.36752191e-01 2.44420121e-03 9.90602273e-01 -2.41015529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters 0.03179708330946411 Centerline is valid? [True, True] Translation: X:182.94, Y:-85.01, Z:-24.11 [[ 7.55524115e-01 6.46827272e-01 1.03912424e-01 1.82942215e+02] [-6.40383977e-01 7.62633112e-01 -9.10993844e-02 -8.50112839e+01] [-1.38172622e-01 2.28393027e-03 9.90405528e-01 -2.41085962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters 0.031753940933464724 Centerline is valid? [True, True] Translation: X:182.99, Y:-85.05, Z:-24.12 [[ 7.54472329e-01 6.48074009e-01 1.03786238e-01 1.82990100e+02] [-6.41645602e-01 7.61574405e-01 -9.10787981e-02 -8.50507137e+01] [-1.38066744e-01 2.12244964e-03 9.90420653e-01 -2.41153624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters 0.031568228819874596 Centerline is valid? [True, True] Translation: X:183.04, Y:-85.09, Z:-24.12 [[ 7.51580681e-01 6.51191808e-01 1.05241197e-01 1.83037527e+02] [-6.44599234e-01 7.58911421e-01 -9.24406974e-02 -8.50922308e+01] [-1.40065371e-01 1.63824762e-03 9.90140903e-01 -2.41226627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters 0.03134705009491912 Centerline is valid? [True, True] Translation: X:183.08, Y:-85.13, Z:-24.13 [[ 7.50195082e-01 6.53039581e-01 1.03666023e-01 1.83084153e+02] [-6.46648919e-01 7.57322589e-01 -9.11464266e-02 -8.51326366e+01] [-1.38030845e-01 1.34207923e-03 9.90427021e-01 -2.41299309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters 0.03134694370947949 Centerline is valid? [True, True] Translation: X:183.13, Y:-85.17, Z:-24.14 [[ 7.50455977e-01 6.52841494e-01 1.03023348e-01 1.83131102e+02] [-6.46516866e-01 7.57493188e-01 -9.06642884e-02 -8.51740214e+01] [-1.37228894e-01 1.43322505e-03 9.90538327e-01 -2.41361516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters 0.03148073368843308 Centerline is valid? [True, True] Translation: X:183.18, Y:-85.22, Z:-24.14 [[ 7.50021067e-01 6.53346343e-01 1.02990069e-01 1.83177483e+02] [-6.47017740e-01 7.57057834e-01 -9.07275037e-02 -8.52155427e+01] [-1.37245921e-01 1.41113761e-03 9.90535999e-01 -2.41438840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters 0.031735482034146154 Centerline is valid? [True, True] Translation: X:183.22, Y:-85.26, Z:-24.15 [[ 7.49458814e-01 6.54010093e-01 1.02870230e-01 1.83223927e+02] [-6.47689710e-01 7.56484602e-01 -9.07143162e-02 -8.52572196e+01] [-1.37147823e-01 1.35865436e-03 9.90549660e-01 -2.41508983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters 0.031347561339910374 Centerline is valid? [True, True] Translation: X:183.27, Y:-85.30, Z:-24.16 [[ 7.48403485e-01 6.55496651e-01 1.01076033e-01 1.83270187e+02] [-6.49397307e-01 7.55197229e-01 -8.92204254e-02 -8.52982433e+01] [-1.34816030e-01 1.13437388e-03 9.90869997e-01 -2.41562447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters 0.03146231522365371 Centerline is valid? [True, True] Translation: X:183.32, Y:-85.34, Z:-24.16 [[ 7.48025790e-01 6.55974673e-01 1.00770261e-01 1.83317234e+02] [-6.49905679e-01 7.54782090e-01 -8.90314826e-02 -8.53390852e+01] [-1.34461986e-01 1.10668006e-03 9.90918135e-01 -2.41637877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters 0.03137477248895877 Centerline is valid? [True, True] Translation: X:183.36, Y:-85.38, Z:-24.17 [[ 7.49019613e-01 6.54981644e-01 9.98432042e-02 1.83364612e+02] [-6.49003469e-01 7.55643597e-01 -8.83020410e-02 -8.53803498e+01] [-1.33282094e-01 1.34137464e-03 9.91077234e-01 -2.41694775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters 0.03144519015064125 Centerline is valid? [True, True] Translation: X:183.41, Y:-85.42, Z:-24.18 [[ 7.51408984e-01 6.52117461e-01 1.00634766e-01 1.83412210e+02] [-6.46005799e-01 7.58115477e-01 -8.90922621e-02 -8.54200419e+01] [-1.34391393e-01 1.93408366e-03 9.90926442e-01 -2.41782157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters 0.031327007925322725 Centerline is valid? [True, True] Translation: X:183.46, Y:-85.46, Z:-24.18 [[ 7.51737339e-01 6.51951497e-01 9.92482702e-02 1.83458970e+02] [-6.45996042e-01 7.58258046e-01 -8.79423147e-02 -8.54608788e+01] [-1.32589923e-01 1.99553198e-03 9.91168972e-01 -2.41849783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters 0.030984212136152767 Centerline is valid? [True, True] Translation: X:183.51, Y:-85.50, Z:-24.19 [[ 7.50888319e-01 6.52784590e-01 1.00194869e-01 1.83506248e+02] [-6.46710876e-01 7.57541128e-01 -8.88621564e-02 -8.55024740e+01] [-1.33909581e-01 1.92844349e-03 9.90991678e-01 -2.41921078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters 0.031021033299693763 Centerline is valid? [True, True] Translation: X:183.55, Y:-85.54, Z:-24.20 [[ 7.49939879e-01 6.53934652e-01 9.97980375e-02 1.83553574e+02] [-6.47907495e-01 7.56548935e-01 -8.85978952e-02 -8.55428444e+01] [-1.33439333e-01 1.78319828e-03 9.91055379e-01 -2.41997583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters 0.03078445434666504 Centerline is valid? [True, True] Translation: X:183.60, Y:-85.58, Z:-24.21 [[ 7.50661388e-01 6.53266339e-01 9.87449824e-02 1.83602355e+02] [-6.47350064e-01 7.57125697e-01 -8.77415175e-02 -8.55820972e+01] [-1.32080943e-01 1.94159866e-03 9.91237032e-01 -2.42058189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters 0.030996096038100277 Centerline is valid? [True, True] Translation: X:183.65, Y:-85.62, Z:-24.21 [[ 7.52002109e-01 6.51625729e-01 9.93817746e-02 1.83651261e+02] [-6.45606442e-01 7.58537121e-01 -8.83954675e-02 -8.56199199e+01] [-1.32985526e-01 2.31206415e-03 9.91115283e-01 -2.42126781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters 0.03137901265942142 Centerline is valid? [True, True] Translation: X:183.70, Y:-85.66, Z:-24.22 [[ 7.53410744e-01 6.49999943e-01 9.93595731e-02 1.83697643e+02] [-6.43958789e-01 7.59929606e-01 -8.84537811e-02 -8.56610457e+01] [-1.33001234e-01 2.65855862e-03 9.91112306e-01 -2.42210687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters 0.031655942267943236 Centerline is valid? [True, True] Translation: X:183.75, Y:-85.70, Z:-24.23 [[ 7.53884595e-01 6.49475408e-01 9.91953256e-02 1.83745299e+02] [-6.43439247e-01 7.60377417e-01 -8.83861946e-02 -8.57021855e+01] [-1.32830545e-01 2.80682496e-03 9.91134788e-01 -2.42276508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters 0.03194572592407585 Centerline is valid? [True, True] Translation: X:183.79, Y:-85.74, Z:-24.24 [[ 7.55043905e-01 6.47921659e-01 1.00529729e-01 1.83789873e+02] [-6.41695484e-01 7.61700299e-01 -8.96636009e-02 -8.57446534e+01] [-1.34668514e-01 3.19048218e-03 9.90885570e-01 -2.42356615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters 0.03214437011757451 Centerline is valid? [True, True] Translation: X:183.84, Y:-85.79, Z:-24.24 [[ 7.56811682e-01 6.46159474e-01 9.85596843e-02 1.83836284e+02] [-6.40151009e-01 7.63194425e-01 -8.79826958e-02 -8.57868607e+01] [-1.32071054e-01 3.49325073e-03 9.91234096e-01 -2.42424054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters 0.03308326690552492 Centerline is valid? [True, True] Translation: X:183.88, Y:-85.83, Z:-24.25 [[ 7.60028108e-01 6.42061932e-01 1.00567143e-01 1.83879598e+02] [-6.35758703e-01 7.66640413e-01 -8.98518207e-02 -8.58297865e+01] [-1.34789269e-01 4.35347313e-03 9.90864723e-01 -2.42483132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters 0.0329983446092613 Centerline is valid? [True, True] Translation: X:183.93, Y:-85.87, Z:-24.26 [[ 7.60271276e-01 6.41789208e-01 1.00469892e-01 1.83925049e+02] [-6.35493039e-01 7.66868394e-01 -8.97856529e-02 -8.58710494e+01] [-1.34670648e-01 4.41353586e-03 9.90880587e-01 -2.42550278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters 0.03298775361056481 Centerline is valid? [True, True] Translation: X:183.97, Y:-85.91, Z:-24.26 [[ 7.60085498e-01 6.41811676e-01 1.01724178e-01 1.83969291e+02] [-6.35346625e-01 7.66848955e-01 -9.09799230e-02 -8.59147492e+01] [-1.36399056e-01 4.52240704e-03 9.90643652e-01 -2.42625647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters 0.0334383103825774 Centerline is valid? [True, True] Translation: X:184.01, Y:-85.96, Z:-24.27 [[ 7.60208547e-01 6.41327121e-01 1.03838760e-01 1.84013833e+02] [-6.34573419e-01 7.67252752e-01 -9.29504743e-02 -8.59571892e+01] [-1.39282234e-01 4.76842829e-03 9.90241244e-01 -2.42694614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters 0.03369443123981982 Centerline is valid? [True, True] Translation: X:184.06, Y:-86.00, Z:-24.28 [[ 7.61618164e-01 6.39958831e-01 1.01933642e-01 1.84059501e+02] [-6.33429523e-01 7.68393044e-01 -9.13190527e-02 -8.59995437e+01] [-1.36765536e-01 4.98247085e-03 9.90590916e-01 -2.42761766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters 0.0346409770443432 Centerline is valid? [True, True] Translation: X:184.10, Y:-86.04, Z:-24.28 [[ 7.64069846e-01 6.36752884e-01 1.03648613e-01 1.84101097e+02] [-6.29960810e-01 7.71046785e-01 -9.29313383e-02 -8.60444528e+01] [-1.39092227e-01 5.71146919e-03 9.90262961e-01 -2.42849605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters 0.035218949771135336 Centerline is valid? [True, True] Translation: X:184.14, Y:-86.09, Z:-24.29 [[ 7.65447598e-01 6.35141030e-01 1.03372374e-01 1.84143216e+02] [-6.28367381e-01 7.72372832e-01 -9.27072975e-02 -8.60899872e+01] [-1.38724222e-01 6.00675008e-03 9.90312834e-01 -2.42921494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters 0.035083054569128344 Centerline is valid? [True, True] Translation: X:184.18, Y:-86.14, Z:-24.30 [[ 7.65511478e-01 6.35166659e-01 1.02739927e-01 1.84184514e+02] [-6.28465329e-01 7.72351605e-01 -9.22189228e-02 -8.61369974e+01] [-1.37925733e-01 6.02616194e-03 9.90424241e-01 -2.42999876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters 0.03525273389829741 Centerline is valid? [True, True] Translation: X:184.23, Y:-86.18, Z:-24.31 [[ 7.63742513e-01 6.37002647e-01 1.04522730e-01 1.84228691e+02] [-6.30069630e-01 7.70839292e-01 -9.39097824e-02 -8.61814874e+01] [-1.40391007e-01 5.86629554e-03 9.90078760e-01 -2.43092887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters 0.03386999776792026 Centerline is valid? [True, True] Translation: X:184.27, Y:-86.23, Z:-24.31 [[ 7.60583080e-01 6.40838202e-01 1.04114252e-01 1.84267134e+02] [-6.33984596e-01 7.67658383e-01 -9.36169794e-02 -8.62303566e+01] [-1.39917515e-01 5.19665865e-03 9.90149526e-01 -2.43146169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters 0.03344922352838305 Centerline is valid? [True, True] Translation: X:184.31, Y:-86.27, Z:-24.32 [[ 7.58549965e-01 6.43404489e-01 1.03114575e-01 1.84310275e+02] [-6.36704420e-01 7.65512051e-01 -9.27296148e-02 -8.62733815e+01] [-1.38598100e-01 4.68654064e-03 9.90337621e-01 -2.43220414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters 0.032306921223213186 Centerline is valid? [True, True] Translation: X:184.35, Y:-86.32, Z:-24.33 [[ 7.56161277e-01 6.46563772e-01 1.00873248e-01 1.84352053e+02] [-6.40179352e-01 7.62849312e-01 -9.07266486e-02 -8.63186729e+01] [-1.35611652e-01 4.02700794e-03 9.90753886e-01 -2.43265907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters 0.03209976972123847 Centerline is valid? [True, True] Translation: X:184.40, Y:-86.36, Z:-24.33 [[ 7.54141757e-01 6.48820288e-01 1.01500962e-01 1.84396948e+02] [-6.42372841e-01 7.60932862e-01 -9.13143644e-02 -8.63613213e+01] [-1.36482030e-01 3.66251395e-03 9.90635776e-01 -2.43339226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters 0.03173416430657638 Centerline is valid? [True, True] Translation: X:184.44, Y:-86.40, Z:-24.34 [[ 7.51273939e-01 6.52030640e-01 1.02193512e-01 1.84442804e+02] [-6.45512727e-01 7.58186018e-01 -9.20178307e-02 -8.64026291e+01] [-1.37480137e-01 3.16338521e-03 9.90499472e-01 -2.43414729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters 0.031967527008711666 Centerline is valid? [True, True] Translation: X:184.49, Y:-86.44, Z:-24.35 [[ 7.51895864e-01 6.51330251e-01 1.02085814e-01 1.84489487e+02] [-6.44808569e-01 7.58786982e-01 -9.20012186e-02 -8.64437307e+01] [-1.37384564e-01 3.34952795e-03 9.90512121e-01 -2.43487579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters 0.032406312080644345 Centerline is valid? [True, True] Translation: X:184.54, Y:-86.48, Z:-24.35 [[ 7.53704790e-01 6.49332751e-01 1.01469541e-01 1.84536064e+02] [-6.42860863e-01 7.60495164e-01 -9.15260380e-02 -8.64841540e+01] [-1.36597949e-01 3.75281680e-03 9.90619461e-01 -2.43545081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters 0.033298557829231204 Centerline is valid? [True, True] Translation: X:184.58, Y:-86.53, Z:-24.36 [[ 7.56677422e-01 6.45778172e-01 1.02028581e-01 1.84580934e+02] [-6.39192359e-01 7.63511969e-01 -9.21010371e-02 -8.65262477e+01] [-1.37376882e-01 4.47488586e-03 9.90508742e-01 -2.43624260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters 0.034151778096267064 Centerline is valid? [True, True] Translation: X:184.62, Y:-86.57, Z:-24.37 [[ 7.59223221e-01 6.42664623e-01 1.02772968e-01 1.84624705e+02] [-6.35948868e-01 7.66130637e-01 -9.28056225e-02 -8.65690796e+01] [-1.38380410e-01 5.10183090e-03 9.90366010e-01 -2.43694292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters 0.034550091622209865 Centerline is valid? [True, True] Translation: X:184.67, Y:-86.61, Z:-24.38 [[ 7.61170654e-01 6.40293137e-01 1.03169443e-01 1.84666697e+02] [-6.33494415e-01 7.68110198e-01 -9.32284839e-02 -8.66145183e+01] [-1.38939060e-01 5.60552013e-03 9.90285068e-01 -2.43753693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters 0.0338750316592516 Centerline is valid? [True, True] Translation: X:184.71, Y:-86.66, Z:-24.38 [[ 7.58756985e-01 6.43280352e-01 1.02363208e-01 1.84706662e+02] [-6.36610933e-01 7.65614117e-01 -9.25286132e-02 -8.66616494e+01] [-1.37892556e-01 5.04119431e-03 9.90434364e-01 -2.43824414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters 0.03223029643075582 Centerline is valid? [True, True] Translation: X:184.75, Y:-86.71, Z:-24.39 [[ 7.53250618e-01 6.49901791e-01 1.01198661e-01 1.84747951e+02] [-6.43436213e-01 7.60008566e-01 -9.15249607e-02 -8.67075027e+01] [-1.36394085e-01 3.82635002e-03 9.90647270e-01 -2.43896833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters 0.031022430435864674 Centerline is valid? [True, True] Translation: X:184.79, Y:-86.75, Z:-24.40 [[ 7.47529990e-01 6.56473689e-01 1.01198863e-01 1.84790350e+02] [-6.50065433e-01 7.54344291e-01 -9.15402828e-02 -8.67522406e+01] [-1.36432571e-01 2.64322407e-03 9.90645833e-01 -2.43957299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters 0.03056732016279604 Centerline is valid? [True, True] Translation: X:184.84, Y:-86.79, Z:-24.40 [[ 7.42817927e-01 6.62026343e-01 9.97128295e-02 1.84835857e+02] [-6.55851554e-01 7.49478811e-01 -9.02233423e-02 -8.67939791e+01] [-1.34462882e-01 1.62270197e-03 9.90917302e-01 -2.44027834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters 0.030489160677689125 Centerline is valid? [True, True] Translation: X:184.88, Y:-86.84, Z:-24.41 [[ 7.39383026e-01 6.65768278e-01 1.00326179e-01 1.84881645e+02] [-6.59539759e-01 7.46157876e-01 -9.08610454e-02 -8.68352619e+01] [-1.35351570e-01 1.01201071e-03 9.90797118e-01 -2.44100340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters 0.030239149744475027 Centerline is valid? [True, True] Translation: X:184.93, Y:-86.88, Z:-24.42 [[ 7.36611168e-01 6.68905274e-01 9.98484958e-02 1.84928753e+02] [-6.62753548e-01 7.43347488e-01 -9.05110287e-02 -8.68758948e+01] [-1.34765433e-01 4.96489588e-04 9.90877405e-01 -2.44153308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters 0.03031628930276775 Centerline is valid? [True, True] Translation: X:184.98, Y:-86.92, Z:-24.42 [[ 7.33407120e-01 6.72330510e-01 1.00427489e-01 1.84977900e+02] [-6.66126879e-01 7.40251093e-01 -9.11224469e-02 -8.69154116e+01] [-1.35605960e-01 -6.75985316e-05 9.90762847e-01 -2.44225281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters 0.03028703108112106 Centerline is valid? [True, True] Translation: X:185.03, Y:-86.95, Z:-24.43 [[ 7.31223254e-01 6.74709307e-01 1.00398723e-01 1.85028927e+02] [-6.68518219e-01 7.38083438e-01 -9.11933628e-02 -8.69522841e+01] [-1.35631645e-01 -4.35667951e-04 9.90759238e-01 -2.44283685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters 0.030272658163594268 Centerline is valid? [True, True] Translation: X:185.08, Y:-86.99, Z:-24.44 [[ 7.30196798e-01 6.75784586e-01 1.00637122e-01 1.85081522e+02] [-6.69560673e-01 7.37098959e-01 -9.15075418e-02 -8.69869808e+01] [-1.36018904e-01 -5.64144998e-04 9.90706081e-01 -2.44355065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters 0.030238511280453496 Centerline is valid? [True, True] Translation: X:185.14, Y:-87.02, Z:-24.44 [[ 7.30911920e-01 6.74920522e-01 1.01242551e-01 1.85137063e+02] [-6.68599232e-01 7.37890357e-01 -9.21568684e-02 -8.70195244e+01] [-1.36904464e-01 -3.32138073e-04 9.90584200e-01 -2.44410783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters 0.029966796965707664 Centerline is valid? [True, True] Translation: X:185.19, Y:-87.05, Z:-24.45 [[ 7.32596298e-01 6.73273516e-01 1.00027183e-01 1.85192977e+02] [-6.67075510e-01 7.39393515e-01 -9.11454547e-02 -8.70496587e+01] [-1.35325271e-01 4.71384560e-05 9.90801226e-01 -2.44483928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters 0.030142351667470677 Centerline is valid? [True, True] Translation: X:185.25, Y:-87.08, Z:-24.46 [[ 7.35692778e-01 6.69633878e-01 1.01718261e-01 1.85248832e+02] [-6.63176573e-01 7.42690942e-01 -9.27739024e-02 -8.70796986e+01] [-1.37669779e-01 7.95922021e-04 9.90477864e-01 -2.44553458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters 0.03056303054228075 Centerline is valid? [True, True] Translation: X:185.30, Y:-87.11, Z:-24.46 [[ 7.40492796e-01 6.64367565e-01 1.01420698e-01 1.85301666e+02] [-6.57887028e-01 7.47403750e-01 -9.25866716e-02 -8.71131794e+01] [-1.37313792e-01 1.83640171e-03 9.90525896e-01 -2.44622685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters 0.031135540407061766 Centerline is valid? [True, True] Translation: X:185.35, Y:-87.15, Z:-24.47 [[ 7.44273237e-01 6.60102098e-01 1.01600048e-01 1.85351355e+02] [-6.53547258e-01 7.51171065e-01 -9.28332536e-02 -8.71509692e+01] [-1.37598442e-01 2.69287357e-03 9.90484436e-01 -2.44693638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters 0.031781803608872346 Centerline is valid? [True, True] Translation: X:185.40, Y:-87.19, Z:-24.48 [[ 7.48206867e-01 6.55728765e-01 1.01026090e-01 1.85401285e+02] [-6.49197164e-01 7.54988246e-01 -9.23893467e-02 -8.71879770e+01] [-1.36855863e-01 3.54049232e-03 9.90584644e-01 -2.44759913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters 0.0322542088306886 Centerline is valid? [True, True] Translation: X:185.45, Y:-87.23, Z:-24.49 [[ 7.49790175e-01 6.53871827e-01 1.01322883e-01 1.85446665e+02] [-6.47273533e-01 7.56595009e-01 -9.27413954e-02 -8.72299667e+01] [-1.37301373e-01 3.95296699e-03 9.90521432e-01 -2.44850350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters 0.033306701093988214 Centerline is valid? [True, True] Translation: X:185.49, Y:-87.27, Z:-24.49 [[ 7.52847921e-01 6.50369242e-01 1.01192173e-01 1.85489612e+02] [-6.43746834e-01 7.59604052e-01 -9.26914140e-02 -8.72743942e+01] [-1.37149629e-01 4.64039736e-03 9.90539472e-01 -2.44925713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters 0.032907130348104864 Centerline is valid? [True, True] Translation: X:185.53, Y:-87.32, Z:-24.50 [[ 7.51441057e-01 6.51961524e-01 1.01402703e-01 1.85530091e+02] [-6.45321219e-01 7.58239374e-01 -9.29170346e-02 -8.73214498e+01] [-1.37465854e-01 4.38435864e-03 9.90496803e-01 -2.44996760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters 0.03181200854143215 Centerline is valid? [True, True] Translation: X:185.57, Y:-87.37, Z:-24.51 [[ 7.46944486e-01 6.57161795e-01 1.01055978e-01 1.85568780e+02] [-6.50604929e-01 7.53741564e-01 -9.26654233e-02 -8.73695600e+01] [-1.37066267e-01 3.46840955e-03 9.90555808e-01 -2.45053998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters 0.030494169950963 Centerline is valid? [True, True] Translation: X:185.61, Y:-87.42, Z:-24.51 [[ 7.40403836e-01 6.64508430e-01 1.01146955e-01 1.85608537e+02] [-6.58005692e-01 7.47277747e-01 -9.27603271e-02 -8.74164882e+01] [-1.37224888e-01 2.12483018e-03 9.90537640e-01 -2.45114356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters 0.03009302910102907 Centerline is valid? [True, True] Translation: X:185.65, Y:-87.46, Z:-24.52 [[ 7.34318202e-01 6.71223576e-01 1.01171584e-01 1.85652258e+02] [-6.64777190e-01 7.41254418e-01 -9.28071922e-02 -8.74607561e+01] [-1.37288259e-01 8.93449478e-04 9.90530734e-01 -2.45183206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters 0.030008853626333584 Centerline is valid? [True, True] Translation: X:185.70, Y:-87.50, Z:-24.53 [[ 7.28863145e-01 6.77287840e-01 1.00198289e-01 1.85697416e+02] [-6.71010898e-01 7.35718117e-01 -9.19957954e-02 -8.75033576e+01] [-1.36025330e-01 -1.81798898e-04 9.90705343e-01 -2.45256062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters 0.030098267234616415 Centerline is valid? [True, True] Translation: X:185.75, Y:-87.54, Z:-24.53 [[ 7.26778967e-01 6.79398980e-01 1.01041370e-01 1.85745365e+02] [-6.73023901e-01 7.33768872e-01 -9.28551099e-02 -8.75423781e+01] [-1.37226679e-01 -5.18116422e-04 9.90539535e-01 -2.45322847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters 0.030147468910360214 Centerline is valid? [True, True] Translation: X:185.79, Y:-87.58, Z:-24.54 [[ 7.25939523e-01 6.80399904e-01 1.00338327e-01 1.85793346e+02] [-6.74111559e-01 7.32840748e-01 -9.22932555e-02 -8.75808912e+01] [-1.36328337e-01 -6.39904017e-04 9.90663502e-01 -2.45397807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters 0.03023449157297092 Centerline is valid? [True, True] Translation: X:185.84, Y:-87.62, Z:-24.55 [[ 7.30448151e-01 6.75759159e-01 9.89699817e-02 1.85843443e+02] [-6.69588073e-01 7.37122430e-01 -9.11171560e-02 -8.76183517e+01] [-1.34526246e-01 2.87238795e-04 9.90909989e-01 -2.45471802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters 0.03043438731897747 Centerline is valid? [True, True] Translation: X:185.89, Y:-87.66, Z:-24.56 [[ 7.35594263e-01 6.70130766e-01 9.91253544e-02 1.85891647e+02] [-6.63877530e-01 7.42241765e-01 -9.13443368e-02 -8.76565054e+01] [-1.34787628e-01 1.38527472e-03 9.90873542e-01 -2.45553798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters 0.030951737605724543 Centerline is valid? [True, True] Translation: X:185.94, Y:-87.70, Z:-24.56 [[ 7.42264459e-01 6.62967279e-01 9.75595193e-02 1.85939027e+02] [-6.56838096e-01 7.48643471e-01 -8.99814960e-02 -8.76969152e+01] [-1.32692085e-01 2.70925760e-03 9.91153606e-01 -2.45603121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters 0.032287537923238845 Centerline is valid? [True, True] Translation: X:185.98, Y:-87.74, Z:-24.57 [[ 7.47525413e-01 6.56797022e-01 9.91132112e-02 1.85981724e+02] [-6.50406221e-01 7.54057212e-01 -9.14848012e-02 -8.77406640e+01] [-1.34823977e-01 3.92336465e-03 9.90861798e-01 -2.45682036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters 0.03304030507224871 Centerline is valid? [True, True] Translation: X:186.03, Y:-87.78, Z:-24.58 [[ 7.49790058e-01 6.54292600e-01 9.85700912e-02 1.86025713e+02] [-6.47947454e-01 7.56228885e-01 -9.10053334e-02 -8.77845793e+01] [-1.34085666e-01 4.36665461e-03 9.90960124e-01 -2.45755807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters 0.032847650121769434 Centerline is valid? [True, True] Translation: X:186.07, Y:-87.83, Z:-24.58 [[ 7.50122354e-01 6.54107241e-01 9.72634136e-02 1.86069309e+02] [-6.47918138e-01 7.56389029e-01 -8.98761559e-02 -8.78291151e+01] [-1.32357623e-01 4.39938376e-03 9.91192264e-01 -2.45823453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters 0.03378568908885226 Centerline is valid? [True, True] Translation: X:186.11, Y:-87.88, Z:-24.59 [[ 7.51840846e-01 6.51906213e-01 9.87604719e-02 1.86109101e+02] [-6.45493459e-01 7.58283585e-01 -9.13465888e-02 -8.78765515e+01] [-1.34437854e-01 4.92885810e-03 9.90909769e-01 -2.45896885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters 0.03405770407870294 Centerline is valid? [True, True] Translation: X:186.15, Y:-87.92, Z:-24.60 [[ 7.52142279e-01 6.51254443e-01 1.00745434e-01 1.86149699e+02] [-6.44563640e-01 7.58841577e-01 -9.32586476e-02 -8.79233661e+01] [-1.37184933e-01 5.20692787e-03 9.90531767e-01 -2.45976225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters 0.03327734751732594 Centerline is valid? [True, True] Translation: X:186.19, Y:-87.97, Z:-24.60 [[ 7.49979265e-01 6.53812797e-01 1.00299199e-01 1.86192142e+02] [-6.47193304e-01 7.56641261e-01 -9.29237775e-02 -8.79686583e+01] [-1.36645267e-01 4.77793638e-03 9.90608521e-01 -2.46034830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters 0.03216097140189931 Centerline is valid? [True, True] Translation: X:186.23, Y:-88.01, Z:-24.61 [[ 7.45128110e-01 6.59276949e-01 1.00687658e-01 1.86233422e+02] [-6.52645781e-01 7.51890365e-01 -9.33507526e-02 -8.80132782e+01] [-1.37250079e-01 3.84489454e-03 9.90528966e-01 -2.46120409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters 0.031587403868767634 Centerline is valid? [True, True] Translation: X:186.28, Y:-88.05, Z:-24.62 [[ 7.40777805e-01 6.64221675e-01 1.00288628e-01 1.86278266e+02] [-6.57686428e-01 7.47529927e-01 -9.29923171e-02 -8.80546736e+01] [-1.36736264e-01 2.92817502e-03 9.90603160e-01 -2.46182524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters 0.030917703371022606 Centerline is valid? [True, True] Translation: X:186.32, Y:-88.10, Z:-24.63 [[ 7.37421191e-01 6.67853435e-01 1.00904788e-01 1.86324576e+02] [-6.61267489e-01 7.44289292e-01 -9.35882364e-02 -8.80960304e+01] [-1.37605579e-01 2.28889266e-03 9.90484460e-01 -2.46251438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters 0.030907504217927775 Centerline is valid? [True, True] Translation: X:186.37, Y:-88.14, Z:-24.63 [[ 7.35502382e-01 6.69887662e-01 1.01423698e-01 1.86371609e+02] [-6.63240719e-01 7.42459823e-01 -9.41549765e-02 -8.81372897e+01] [-1.38376278e-01 1.98288323e-03 9.90377743e-01 -2.46333257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters 0.03087527894774445 Centerline is valid? [True, True] Translation: X:186.42, Y:-88.18, Z:-24.64 [[ 7.36358866e-01 6.69224451e-01 9.95703465e-02 1.86419354e+02] [-6.62800853e-01 7.43057245e-01 -9.25254586e-02 -8.81775763e+01] [-1.35906767e-01 2.13663126e-03 9.90719327e-01 -2.46392633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters 0.03114625028309438 Centerline is valid? [True, True] Translation: X:186.47, Y:-88.22, Z:-24.65 [[ 7.38251288e-01 6.67266101e-01 9.86964325e-02 1.86465030e+02] [-6.60926702e-01 7.44815087e-01 -9.17953209e-02 -8.82195387e+01] [-1.34762498e-01 2.53690633e-03 9.90874681e-01 -2.46481777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters 0.031835293281373876 Centerline is valid? [True, True] Translation: X:186.51, Y:-88.26, Z:-24.65 [[ 7.40712778e-01 6.64310512e-01 1.00180458e-01 1.86510388e+02] [-6.57740820e-01 7.47449958e-01 -9.32500625e-02 -8.82622228e+01] [-1.36826876e-01 3.17873654e-03 9.90589876e-01 -2.46538696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters 0.03217692208448634 Centerline is valid? [True, True] Translation: X:186.55, Y:-88.31, Z:-24.66 [[ 7.42580973e-01 6.62159526e-01 1.00589572e-01 1.86553950e+02] [-6.55511390e-01 7.49354179e-01 -9.36649993e-02 -8.83057366e+01] [-1.37398387e-01 3.61623642e-03 9.90509266e-01 -2.46610713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters 0.03221579458337464 Centerline is valid? [True, True] Translation: X:186.60, Y:-88.35, Z:-24.67 [[ 7.43250825e-01 6.61563318e-01 9.95599707e-02 1.86599932e+02] [-6.55034681e-01 7.49879935e-01 -9.27881981e-02 -8.83480084e+01] [-1.36043293e-01 3.74967113e-03 9.90695797e-01 -2.46680585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters 0.03246622117152162 Centerline is valid? [True, True] Translation: X:186.64, Y:-88.40, Z:-24.67 [[ 7.43393429e-01 6.61215449e-01 1.00798508e-01 1.86640240e+02] [-6.54506562e-01 7.50185760e-01 -9.40344948e-02 -8.83958439e+01] [-1.37794666e-01 3.93134085e-03 9.90453015e-01 -2.46743769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters 0.032533775997984196 Centerline is valid? [True, True] Translation: X:186.69, Y:-88.44, Z:-24.68 [[ 7.42818764e-01 6.62054378e-01 9.95202718e-02 1.86685197e+02] [-6.55512016e-01 7.49446236e-01 -9.29211302e-02 -8.84383900e+01] [-1.36103934e-01 3.78682501e-03 9.90687327e-01 -2.46809436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters 0.03262157048506299 Centerline is valid? [True, True] Translation: X:186.73, Y:-88.49, Z:-24.69 [[ 7.43007707e-01 6.61863377e-01 9.93801641e-02 1.86726398e+02] [-6.55326628e-01 7.49614455e-01 -9.28718503e-02 -8.84853653e+01] [-1.35965284e-01 3.87803274e-03 9.90706012e-01 -2.46880229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters 0.03245211899484914 Centerline is valid? [True, True] Translation: X:186.77, Y:-88.53, Z:-24.70 [[ 7.42091938e-01 6.62800108e-01 9.99778600e-02 1.86769817e+02] [-6.56180341e-01 7.48786757e-01 -9.35187251e-02 -8.85309930e+01] [-1.36846319e-01 3.79598563e-03 9.90585017e-01 -2.46958321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters 0.03227478903541643 Centerline is valid? [True, True] Translation: X:186.81, Y:-88.58, Z:-24.70 [[ 7.40550676e-01 6.64631582e-01 9.92449327e-02 1.86809890e+02] [-6.58113032e-01 7.47163044e-01 -9.29226741e-02 -8.85785974e+01] [-1.35911490e-01 3.49956557e-03 9.90714803e-01 -2.47043259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters 0.031890218990194064 Centerline is valid? [True, True] Translation: X:186.85, Y:-88.62, Z:-24.71 [[ 7.36274246e-01 6.68870633e-01 1.02529563e-01 1.86853511e+02] [-6.61939184e-01 7.43373253e-01 -9.60870635e-02 -8.86240587e+01] [-1.40487550e-01 2.87809462e-03 9.90078262e-01 -2.47115660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters 0.031150292967863247 Centerline is valid? [True, True] Translation: X:186.89, Y:-88.67, Z:-24.72 [[ 7.31304857e-01 6.74530946e-01 1.01001038e-01 1.86894532e+02] [-6.67847784e-01 7.38244313e-01 -9.47347383e-02 -8.86701512e+01] [-1.38464955e-01 1.82665478e-03 9.90365649e-01 -2.47190228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters 0.030889304781307293 Centerline is valid? [True, True] Translation: X:186.94, Y:-88.71, Z:-24.73 [[ 7.26784443e-01 6.79354555e-01 1.01300349e-01 1.86941435e+02] [-6.72673528e-01 7.33809588e-01 -9.50463723e-02 -8.87108997e+01] [-1.38905354e-01 9.36161476e-04 9.90305219e-01 -2.47252577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters 0.031001732043591704 Centerline is valid? [True, True] Translation: X:186.99, Y:-88.75, Z:-24.73 [[ 7.24618571e-01 6.81709811e-01 1.00993361e-01 1.86986049e+02] [-6.75080146e-01 7.31622467e-01 -9.48438855e-02 -8.87539583e+01] [-1.38545019e-01 5.47027755e-04 9.90355986e-01 -2.47322509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters 0.031011542443481806 Centerline is valid? [True, True] Translation: X:187.04, Y:-88.79, Z:-24.74 [[ 7.21644802e-01 6.84936665e-01 1.00451701e-01 1.87035339e+02] [-6.78397227e-01 7.28602611e-01 -9.44215934e-02 -8.87925552e+01] [-1.37862183e-01 -7.30334906e-06 9.90451422e-01 -2.47385518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters 0.031096900213165954 Centerline is valid? [True, True] Translation: X:187.08, Y:-88.83, Z:-24.75 [[ 7.19024019e-01 6.87748641e-01 1.00031331e-01 1.87084568e+02] [-6.81278745e-01 7.25948744e-01 -9.41153136e-02 -8.88321704e+01] [-1.37345298e-01 -4.78048492e-04 9.90523115e-01 -2.47463032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters 0.030985882363671134 Centerline is valid? [True, True] Translation: X:187.14, Y:-88.87, Z:-24.75 [[ 7.15673499e-01 6.91276576e-01 9.97403572e-02 1.87137026e+02] [-6.84864705e-01 7.22589464e-01 -9.39404176e-02 -8.88682042e+01] [-1.37010142e-01 -1.07798293e-03 9.90569058e-01 -2.47527880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters 0.03117012001227374 Centerline is valid? [True, True] Translation: X:187.19, Y:-88.91, Z:-24.76 [[ 7.12770380e-01 6.94565878e-01 9.76556511e-02 1.87186208e+02] [-6.88438320e-01 7.19427318e-01 -9.20706937e-02 -8.89054307e+01] [-1.34205305e-01 -1.60462911e-03 9.90952250e-01 -2.47604810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters 0.03113264563035241 Centerline is valid? [True, True] Translation: X:187.24, Y:-88.94, Z:-24.77 [[ 7.11925476e-01 6.95461350e-01 9.74455117e-02 1.87238464e+02] [-6.89356791e-01 7.18561479e-01 -9.19598585e-02 -8.89407231e+01] [-1.33975118e-01 -1.70615929e-03 9.90983227e-01 -2.47683784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters 0.03125906585591406 Centerline is valid? [True, True] Translation: X:187.29, Y:-88.98, Z:-24.77 [[ 7.12113488e-01 6.95174944e-01 9.81130874e-02 1.87290716e+02] [-6.88969810e-01 7.18838831e-01 -9.26894628e-02 -8.89773405e+01] [-1.34962889e-01 -1.59153853e-03 9.90849376e-01 -2.47749635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters 0.03108382667031103 Centerline is valid? [True, True] Translation: X:187.34, Y:-89.02, Z:-24.78 [[ 7.11778730e-01 6.95593229e-01 9.75761168e-02 1.87341659e+02] [-6.89446745e-01 7.18434082e-01 -9.22803075e-02 -8.90152509e+01] [-1.34291565e-01 -1.59037601e-03 9.90940587e-01 -2.47817577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters 0.0311087154537528 Centerline is valid? [True, True] Translation: X:187.40, Y:-89.05, Z:-24.79 [[ 7.11004908e-01 6.96380259e-01 9.76040811e-02 1.87395936e+02] [-6.90224368e-01 7.17671060e-01 -9.24043861e-02 -8.90497377e+01] [-1.34396215e-01 -1.66874329e-03 9.90926270e-01 -2.47871984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters 0.031032368798324467 Centerline is valid? [True, True] Translation: X:187.45, Y:-89.09, Z:-24.79 [[ 7.11557425e-01 6.95881593e-01 9.71331034e-02 1.87445738e+02] [-6.89767764e-01 7.18154973e-01 -9.20536078e-02 -8.90865578e+01] [-1.33815032e-01 -1.49785536e-03 9.91005193e-01 -2.47945274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters 0.031022319147746346 Centerline is valid? [True, True] Translation: X:187.50, Y:-89.12, Z:-24.80 [[ 7.13334308e-01 6.94045807e-01 9.72346798e-02 1.87495441e+02] [-6.87890617e-01 7.19930013e-01 -9.22348892e-02 -8.91242801e+01] [-1.34017402e-01 -1.09251306e-03 9.90978376e-01 -2.48006766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters 0.030777746609026303 Centerline is valid? [True, True] Translation: X:187.55, Y:-89.16, Z:-24.81 [[ 7.16290313e-01 6.90988484e-01 9.72784803e-02 1.87545772e+02] [-6.84788168e-01 7.22865621e-01 -9.23604850e-02 -8.91611267e+01] [-1.34139301e-01 -4.58231578e-04 9.90962380e-01 -2.48074735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters 0.030640446872987486 Centerline is valid? [True, True] Translation: X:187.60, Y:-89.20, Z:-24.81 [[ 7.18148502e-01 6.89027105e-01 9.74903938e-02 1.87595303e+02] [-6.82769857e-01 7.24735571e-01 -9.26481249e-02 -8.92003675e+01] [-1.34491825e-01 -2.83900581e-05 9.90914703e-01 -2.48145519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters 0.030539763228698166 Centerline is valid? [True, True] Translation: X:187.64, Y:-89.24, Z:-24.82 [[ 7.18968877e-01 6.88112282e-01 9.79042488e-02 1.87644319e+02] [-6.81779868e-01 7.25604191e-01 -9.31384486e-02 -8.92395060e+01] [-1.35129444e-01 2.14499974e-04 9.90827930e-01 -2.48215803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters 0.030585432590969405 Centerline is valid? [True, True] Translation: X:187.69, Y:-89.28, Z:-24.83 [[ 7.19323731e-01 6.87712694e-01 9.81051517e-02 1.87692422e+02] [-6.81337119e-01 7.25982865e-01 -9.34270340e-02 -8.92801470e+01] [-1.35473616e-01 3.61601217e-04 9.90780888e-01 -2.48282135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters 0.03049008954165068 Centerline is valid? [True, True] Translation: X:187.74, Y:-89.32, Z:-24.84 [[ 7.22001609e-01 6.85115941e-01 9.65910100e-02 1.87738286e+02] [-6.78900869e-01 7.28433476e-01 -9.20775809e-02 -8.93209479e+01] [-1.33443944e-01 9.04440905e-04 9.91055950e-01 -2.48361361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters 0.030544149378912044 Centerline is valid? [True, True] Translation: X:187.79, Y:-89.36, Z:-24.84 [[ 7.23838437e-01 6.83063938e-01 9.73733720e-02 1.87786043e+02] [-6.76717501e-01 7.30357324e-01 -9.29064200e-02 -8.93610037e+01] [-1.34578380e-01 1.35497291e-03 9.90902025e-01 -2.48421519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters 0.030433739074495723 Centerline is valid? [True, True] Translation: X:187.83, Y:-89.40, Z:-24.85 [[ 7.22529917e-01 6.84439505e-01 9.74324534e-02 1.87831755e+02] [-6.78086297e-01 7.29068731e-01 -9.30470844e-02 -8.94038824e+01] [-1.34720056e-01 1.16169065e-03 9.90883019e-01 -2.48493958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters 0.03031442763777595 Centerline is valid? [True, True] Translation: X:187.88, Y:-89.44, Z:-24.86 [[ 7.21299205e-01 6.85596109e-01 9.84145975e-02 1.87878512e+02] [-6.79111420e-01 7.27981405e-01 -9.40784388e-02 -8.94445603e+01] [-1.36143809e-01 1.02422601e-03 9.90688556e-01 -2.48557764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters 0.030568264473355124 Centerline is valid? [True, True] Translation: X:187.92, Y:-89.49, Z:-24.86 [[ 7.17803499e-01 6.89092594e-01 9.95466375e-02 1.87924298e+02] [-6.82478325e-01 7.24673175e-01 -9.52476992e-02 -8.94868319e+01] [-1.37773262e-01 4.30709382e-04 9.90463701e-01 -2.48634269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters 0.030202066229995394 Centerline is valid? [True, True] Translation: X:187.97, Y:-89.52, Z:-24.87 [[ 7.14768049e-01 6.92470457e-01 9.79351923e-02 1.87973873e+02] [-6.86088410e-01 7.21446217e-01 -9.37979169e-02 -8.95244997e+01] [-1.35607260e-01 -1.48446327e-04 9.90762660e-01 -2.48703890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters 0.03024051358343127 Centerline is valid? [True, True] Translation: X:188.02, Y:-89.56, Z:-24.88 [[ 7.11802747e-01 6.95443163e-01 9.84665234e-02 1.88023419e+02] [-6.89007918e-01 7.18580807e-01 -9.43912747e-02 -8.95621317e+01] [-1.36399920e-01 -6.56245631e-04 9.90653638e-01 -2.48764515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters 0.030193383043523505 Centerline is valid? [True, True] Translation: X:188.07, Y:-89.60, Z:-24.88 [[ 7.11123892e-01 6.96268319e-01 9.75358312e-02 1.88073556e+02] [-6.89951079e-01 7.17781214e-01 -9.35822486e-02 -8.95991704e+01] [-1.35167742e-01 -7.46379086e-04 9.90822448e-01 -2.48836531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters 0.030309329308074496 Centerline is valid? [True, True] Translation: X:188.13, Y:-89.63, Z:-24.89 [[ 7.12794245e-01 6.94181970e-01 1.00178621e-01 1.88126302e+02] [-6.87483037e-01 7.19799490e-01 -9.62069047e-02 -8.96335126e+01] [-1.38893619e-01 -2.95374458e-04 9.90307263e-01 -2.48927393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters 0.03054968751894942 Centerline is valid? [True, True] Translation: X:188.18, Y:-89.67, Z:-24.90 [[ 7.17465029e-01 6.89342484e-01 1.00254035e-01 1.88179795e+02] [-6.82573573e-01 7.24435253e-01 -9.63684737e-02 -8.96687507e+01] [-1.39058440e-01 7.10254676e-04 9.90283922e-01 -2.49003268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters 0.03105751120408627 Centerline is valid? [True, True] Translation: X:188.23, Y:-89.70, Z:-24.91 [[ 7.23564528e-01 6.83156506e-01 9.87500015e-02 1.88231769e+02] [-6.76519471e-01 7.30269409e-01 -9.50157641e-02 -8.97038181e+01] [-1.37024743e-01 1.94373773e-03 9.90565718e-01 -2.49075775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters 0.03249621030820277 Centerline is valid? [True, True] Translation: X:188.28, Y:-89.74, Z:-24.92 [[ 7.29865943e-01 6.76188172e-01 1.00325773e-01 1.88278948e+02] [-6.69260468e-01 7.36721280e-01 -9.66032211e-02 -8.97427599e+01] [-1.39234087e-01 3.36332755e-03 9.90253784e-01 -2.49159270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters 0.03361534826070215 Centerline is valid? [True, True] Translation: X:188.33, Y:-89.78, Z:-24.92 [[ 7.35173572e-01 6.70621935e-01 9.89244131e-02 1.88326024e+02] [-6.63835066e-01 7.41786449e-01 -9.52673553e-02 -8.97832573e+01] [-1.37269167e-01 4.36854756e-03 9.90524150e-01 -2.49227390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters 0.034895774574272585 Centerline is valid? [True, True] Translation: X:188.37, Y:-89.83, Z:-24.93 [[ 7.38656128e-01 6.66655564e-01 9.97871951e-02 1.88369744e+02] [-6.59710116e-01 7.45348003e-01 -9.61192877e-02 -8.98257044e+01] [-1.38454645e-01 5.16847882e-03 9.90355289e-01 -2.49318891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters 0.03539900985830955 Centerline is valid? [True, True] Translation: X:188.41, Y:-89.87, Z:-24.94 [[ 7.40222961e-01 6.65059581e-01 9.88216688e-02 1.88413026e+02] [-6.58231226e-01 7.46770554e-01 -9.52123573e-02 -8.98699138e+01] [-1.37119003e-01 5.43086475e-03 9.90539694e-01 -2.49370169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters 0.03561791138351038 Centerline is valid? [True, True] Translation: X:188.46, Y:-89.91, Z:-24.94 [[ 7.41027490e-01 6.64417328e-01 9.70972344e-02 1.88457334e+02] [-6.57810361e-01 7.47341460e-01 -9.36283625e-02 -8.99148892e+01] [-1.34773095e-01 5.50962367e-03 9.90861169e-01 -2.49431569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters 0.035365679106804035 Centerline is valid? [True, True] Translation: X:188.50, Y:-89.96, Z:-24.95 [[ 7.40526217e-01 6.65083065e-01 9.63609848e-02 1.88502099e+02] [-6.58570543e-01 7.46749784e-01 -9.30032248e-02 -8.99580932e+01] [-1.33812414e-01 5.41082009e-03 9.90991908e-01 -2.49501879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters 0.03567907279687168 Centerline is valid? [True, True] Translation: X:188.54, Y:-90.00, Z:-24.96 [[ 7.39721904e-01 6.65604424e-01 9.89052848e-02 1.88544992e+02] [-6.58735271e-01 7.46284321e-01 -9.55382411e-02 -9.00026846e+01] [-1.37402139e-01 5.51932997e-03 9.90499969e-01 -2.49585741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters 0.036043169566419044 Centerline is valid? [True, True] Translation: X:188.59, Y:-90.05, Z:-24.97 [[ 7.40665793e-01 6.64687076e-01 9.80065010e-02 1.88588417e+02] [-6.57924318e-01 7.47100168e-01 -9.47466694e-02 -9.00466889e+01] [-1.36197560e-01 5.69475677e-03 9.90665329e-01 -2.49651082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters 0.03576212014383153 Centerline is valid? [True, True] Translation: X:188.63, Y:-90.10, Z:-24.97 [[ 7.41659150e-01 6.63748389e-01 9.68492690e-02 1.88628171e+02] [-6.57127003e-01 7.47933026e-01 -9.37032015e-02 -9.00950816e+01] [-1.34632116e-01 5.85356697e-03 9.90878362e-01 -2.49722089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters 0.03572570761325016 Centerline is valid? [True, True] Translation: X:188.67, Y:-90.14, Z:-24.98 [[ 7.39356703e-01 6.66074498e-01 9.84704439e-02 1.88670853e+02] [-6.59238015e-01 7.45864331e-01 -9.53500826e-02 -9.01391529e+01] [-1.36955850e-01 5.58226272e-03 9.90561423e-01 -2.49807918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters 0.03388259351748975 Centerline is valid? [True, True] Translation: X:188.71, Y:-90.18, Z:-24.99 [[ 7.34771249e-01 6.71387716e-01 9.66940831e-02 1.88711277e+02] [-6.64833484e-01 7.41092270e-01 -9.36946449e-02 -9.01846087e+01] [-1.34564671e-01 4.55866720e-03 9.90894327e-01 -2.49851824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters 0.03302060044056495 Centerline is valid? [True, True] Translation: X:188.75, Y:-90.23, Z:-24.99 [[ 7.30691235e-01 6.75857022e-01 9.64759255e-02 1.88754253e+02] [-6.69369650e-01 7.37023286e-01 -9.34930364e-02 -9.02286185e+01] [-1.34292929e-01 3.73648579e-03 9.90934634e-01 -2.49922372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters 0.03272593633672464 Centerline is valid? [True, True] Translation: X:188.80, Y:-90.27, Z:-25.00 [[ 7.29765306e-01 6.76853845e-01 9.64959646e-02 1.88802293e+02] [-6.70367953e-01 7.36108734e-01 -9.35453866e-02 -9.02685582e+01] [-1.34348077e-01 3.57837540e-03 9.90927742e-01 -2.49982014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters 0.03308684987632149 Centerline is valid? [True, True] Translation: X:188.85, Y:-90.31, Z:-25.01 [[ 7.29829619e-01 6.76774225e-01 9.65679844e-02 1.88850866e+02] [-6.70266959e-01 7.36181556e-01 -9.36958905e-02 -9.03082634e+01] [-1.34502533e-01 3.65570680e-03 9.90906506e-01 -2.50055220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters 0.03294359365177742 Centerline is valid? [True, True] Translation: X:188.90, Y:-90.35, Z:-25.01 [[ 7.30721363e-01 6.75882205e-01 9.60704723e-02 1.88898741e+02] [-6.69422621e-01 7.36999529e-01 -9.33008516e-02 -9.03477594e+01] [-1.33864278e-01 3.86517803e-03 9.90992137e-01 -2.50122911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters 0.033100424286650616 Centerline is valid? [True, True] Translation: X:188.95, Y:-90.39, Z:-25.02 [[ 7.31291015e-01 6.75257487e-01 9.61289606e-02 1.88945375e+02] [-6.68774048e-01 7.37571015e-01 -9.34359149e-02 -9.03882265e+01] [-1.33995236e-01 4.04029089e-03 9.90973740e-01 -2.50203795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters 0.03315720608476313 Centerline is valid? [True, True] Translation: X:188.99, Y:-90.43, Z:-25.03 [[ 7.30800377e-01 6.75585126e-01 9.75476629e-02 1.88990855e+02] [-6.68899817e-01 7.37270594e-01 -9.48952418e-02 -9.04301351e+01] [-1.36028837e-01 4.09986458e-03 9.90696395e-01 -2.50278870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters 0.03347308499747381 Centerline is valid? [True, True] Translation: X:189.04, Y:-90.47, Z:-25.04 [[ 7.30530556e-01 6.75947640e-01 9.70561389e-02 1.89038814e+02] [-6.69321960e-01 7.36938401e-01 -9.44981876e-02 -9.04704660e+01] [-1.35400223e-01 4.07200844e-03 9.90782619e-01 -2.50355466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters 0.033292804480554924 Centerline is valid? [True, True] Translation: X:189.09, Y:-90.51, Z:-25.04 [[ 7.29856844e-01 6.76650846e-01 9.72245845e-02 1.89085151e+02] [-6.69995723e-01 7.36293081e-01 -9.47535252e-02 -9.05128614e+01] [-1.35700842e-01 4.01645304e-03 9.90741717e-01 -2.50424821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters 0.03330302005103106 Centerline is valid? [True, True] Translation: X:189.13, Y:-90.55, Z:-25.05 [[ 7.29282275e-01 6.77257480e-01 9.73122240e-02 1.89132793e+02] [-6.70583287e-01 7.35735354e-01 -9.49291557e-02 -9.05543694e+01] [-1.35887524e-01 3.97419956e-03 9.90716300e-01 -2.50505201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters 0.033814236455871956 Centerline is valid? [True, True] Translation: X:189.18, Y:-90.60, Z:-25.06 [[ 7.30464806e-01 6.75897978e-01 9.78932577e-02 1.89179367e+02] [-6.69118821e-01 7.36982536e-01 -9.55863184e-02 -9.05954191e+01] [-1.36752221e-01 4.32022032e-03 9.90595864e-01 -2.50572438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters 0.03498545333444746 Centerline is valid? [True, True] Translation: X:189.22, Y:-90.64, Z:-25.06 [[ 7.32642640e-01 6.73519465e-01 9.80116913e-02 1.89224311e+02] [-6.66692503e-01 7.39153737e-01 -9.57750420e-02 -9.06372910e+01] [-1.36952063e-01 4.82521981e-03 9.90565924e-01 -2.50645684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters 0.03548187096109811 Centerline is valid? [True, True] Translation: X:189.27, Y:-90.68, Z:-25.07 [[ 7.33630749e-01 6.72366885e-01 9.85327136e-02 1.89265153e+02] [-6.65450733e-01 7.40200498e-01 -9.63252063e-02 -9.06829304e+01] [-1.37699843e-01 5.09846676e-03 9.90460882e-01 -2.50729349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters 0.03557862979315951 Centerline is valid? [True, True] Translation: X:189.31, Y:-90.73, Z:-25.08 [[ 7.33458828e-01 6.72548756e-01 9.85713846e-02 1.89306233e+02] [-6.65621748e-01 7.40035214e-01 -9.64135403e-02 -9.07310632e+01] [-1.37789102e-01 5.10410494e-03 9.90448440e-01 -2.50810055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters 0.03500039334651638 Centerline is valid? [True, True] Translation: X:189.35, Y:-90.78, Z:-25.09 [[ 7.31648445e-01 6.74462789e-01 9.89469497e-02 1.89346407e+02] [-6.67487473e-01 7.38293049e-01 -9.68702654e-02 -9.07781350e+01] [-1.38387235e-01 4.82912966e-03 9.90366424e-01 -2.50875265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters 0.034811466840482336 Centerline is valid? [True, True] Translation: X:189.38, Y:-90.83, Z:-25.10 [[ 7.30483058e-01 6.75880602e-01 9.78770329e-02 1.89384964e+02] [-6.69059139e-01 7.36997016e-01 -9.58919546e-02 -9.08275361e+01] [-1.36946593e-01 4.56192486e-03 9.90567928e-01 -2.50957341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters 0.034712307674913206 Centerline is valid? [True, True] Translation: X:189.42, Y:-90.88, Z:-25.10 [[ 7.28608926e-01 6.77713575e-01 9.91632146e-02 1.89423874e+02] [-6.70722087e-01 7.35313397e-01 -9.71910010e-02 -9.08760641e+01] [-1.38783701e-01 4.30327257e-03 9.90313368e-01 -2.51031401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters 0.03451751177397367 Centerline is valid? [True, True] Translation: X:189.47, Y:-90.92, Z:-25.11 [[ 7.27597434e-01 6.78874463e-01 9.86480490e-02 1.89466722e+02] [-6.71955207e-01 7.34242801e-01 -9.67662619e-02 -9.09205570e+01] [-1.38123764e-01 4.11981369e-03 9.90406408e-01 -2.51095270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters 0.03420062072090985 Centerline is valid? [True, True] Translation: X:189.51, Y:-90.97, Z:-25.12 [[ 7.26562599e-01 6.79962925e-01 9.87785889e-02 1.89506872e+02] [-6.73023910e-01 7.33235701e-01 -9.69753716e-02 -9.09676844e+01] [-1.38367645e-01 3.97832589e-03 9.90372944e-01 -2.51160795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters 0.034326583524569854 Centerline is valid? [True, True] Translation: X:189.55, Y:-91.02, Z:-25.12 [[ 7.26061052e-01 6.80425365e-01 9.92807696e-02 1.89546765e+02] [-6.73407714e-01 7.32806618e-01 -9.75526076e-02 -9.10164780e+01] [-1.39130874e-01 3.97271280e-03 9.90266034e-01 -2.51234171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters 0.034155844539837873 Centerline is valid? [True, True] Translation: X:189.58, Y:-91.07, Z:-25.13 [[ 7.26470132e-01 6.80346667e-01 9.67964934e-02 1.89584303e+02] [-6.73664848e-01 7.32879801e-01 -9.51991041e-02 -9.10663661e+01] [-1.35708588e-01 3.95091069e-03 9.90740919e-01 -2.51284829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters 0.03373832087433741 Centerline is valid? [True, True] Translation: X:189.62, Y:-91.12, Z:-25.14 [[ 7.22962768e-01 6.83912940e-01 9.79179532e-02 1.89622834e+02] [-6.77096979e-01 7.29555823e-01 -9.63741745e-02 -9.11159608e+01] [-1.37348158e-01 3.37498976e-03 9.90517084e-01 -2.51362471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters 0.0325609760268792 Centerline is valid? [True, True] Translation: X:189.66, Y:-91.17, Z:-25.14 [[ 7.16848974e-01 6.90445909e-01 9.70154362e-02 1.89659771e+02] [-6.83811067e-01 7.23380896e-01 -9.55117972e-02 -9.11655173e+01] [-1.36124843e-01 2.12730484e-03 9.90689407e-01 -2.51436698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters 0.032176998122068305 Centerline is valid? [True, True] Translation: X:189.70, Y:-91.21, Z:-25.15 [[ 7.11192718e-01 6.96343220e-01 9.64937160e-02 1.89700076e+02] [-6.89830234e-01 7.17708221e-01 -9.50218862e-02 -9.12123374e+01] [-1.35422179e-01 1.01459090e-03 9.90787467e-01 -2.51504236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters 0.032210801106056494 Centerline is valid? [True, True] Translation: X:189.74, Y:-91.26, Z:-25.16 [[ 7.08541579e-01 6.98958114e-01 9.70895756e-02 1.89743923e+02] [-6.92376434e-01 7.15162371e-01 -9.56956439e-02 -9.12574849e+01] [-1.36322058e-01 5.81808493e-04 9.90664402e-01 -2.51580108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters 0.031853367560783975 Centerline is valid? [True, True] Translation: X:189.79, Y:-91.30, Z:-25.16 [[ 7.09036744e-01 6.98599412e-01 9.60508078e-02 1.89788914e+02] [-6.92142369e-01 7.15512652e-01 -9.47659531e-02 -9.13003557e+01] [-1.34929007e-01 7.11709152e-04 9.90855013e-01 -2.51634472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters 0.0318457987435374 Centerline is valid? [True, True] Translation: X:189.83, Y:-91.34, Z:-25.17 [[ 7.10029937e-01 6.97510896e-01 9.66231765e-02 1.89833895e+02] [-6.90954612e-01 7.16573498e-01 -9.54156504e-02 -9.13429827e+01] [-1.35791063e-01 9.85738883e-04 9.90737006e-01 -2.51701827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters 0.031351843134474845 Centerline is valid? [True, True] Translation: X:189.88, Y:-91.39, Z:-25.18 [[ 7.10251726e-01 6.97584722e-01 9.44353760e-02 1.89878821e+02] [-6.91312988e-01 7.16501597e-01 -9.33370992e-02 -9.13859606e+01] [-1.32773632e-01 1.00843387e-03 9.91145875e-01 -2.51751623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters 0.031505599481903755 Centerline is valid? [True, True] Translation: X:189.92, Y:-91.43, Z:-25.18 [[ 7.09044874e-01 6.98802480e-01 9.45011129e-02 1.89922999e+02] [-6.92521223e-01 7.15314185e-01 -9.34878208e-02 -9.14313106e+01] [-1.32927508e-01 8.43033811e-04 9.91125404e-01 -2.51810824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters 0.031078662507030973 Centerline is valid? [True, True] Translation: X:189.97, Y:-91.48, Z:-25.19 [[ 7.07390041e-01 7.00583650e-01 9.37116819e-02 1.89967440e+02] [-6.94410567e-01 7.13570055e-01 -9.27994645e-02 -9.14750409e+01] [-1.31883638e-01 5.71034835e-04 9.91265040e-01 -2.51872094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters 0.03058991648793519 Centerline is valid? [True, True] Translation: X:190.01, Y:-91.52, Z:-25.19 [[ 7.02942755e-01 7.04841778e-01 9.52341928e-02 1.90011742e+02] [-6.98492595e-01 7.09364533e-01 -9.43930807e-02 -9.15179991e+01] [-1.34087945e-01 -1.67446291e-04 9.90969422e-01 -2.51937390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters 0.030390311506478588 Centerline is valid? [True, True] Translation: X:190.06, Y:-91.56, Z:-25.20 [[ 7.01022304e-01 7.06863194e-01 9.44042063e-02 1.90056360e+02] [-7.00631644e-01 7.07350116e-01 -9.36542203e-02 -9.15606633e+01] [-1.32977548e-01 -4.88876993e-04 9.91118930e-01 -2.52009641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters 0.030265316194231975 Centerline is valid? [True, True] Translation: X:190.10, Y:-91.60, Z:-25.21 [[ 6.98071162e-01 7.09611698e-01 9.56446048e-02 1.90102590e+02] [-7.03228309e-01 7.04592301e-01 -9.49717571e-02 -9.16016510e+01] [-1.34783522e-01 -9.62948858e-04 9.90874601e-01 -2.52079018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters 0.030158782231735612 Centerline is valid? [True, True] Translation: X:190.15, Y:-91.64, Z:-25.21 [[ 6.97826341e-01 7.09771570e-01 9.62430044e-02 1.90149840e+02] [-7.03297013e-01 7.04431288e-01 -9.56549595e-02 -9.16427057e+01] [-1.35689754e-01 -9.36867169e-04 9.90750934e-01 -2.52146792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters 0.029856031446100502 Centerline is valid? [True, True] Translation: X:190.20, Y:-91.68, Z:-25.22 [[ 6.98508803e-01 7.09091877e-01 9.63024462e-02 1.90197727e+02] [-7.02589156e-01 7.05115714e-01 -9.58139243e-02 -9.16840125e+01] [-1.35845244e-01 -7.34184800e-04 9.90729797e-01 -2.52200443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters 0.029612722755410065 Centerline is valid? [True, True] Translation: X:190.24, Y:-91.73, Z:-25.23 [[ 7.03197678e-01 7.04654124e-01 9.47396009e-02 1.90242799e+02] [-6.98308514e-01 7.09550935e-01 -9.43540660e-02 -9.17264266e+01] [-1.33709554e-01 1.92090128e-04 9.91020544e-01 -2.52272325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters 0.029608190798234357 Centerline is valid? [True, True] Translation: X:190.29, Y:-91.77, Z:-25.24 [[ 7.05904053e-01 7.01980478e-01 9.44609842e-02 1.90286649e+02] [-6.95636705e-01 7.12195782e-01 -9.41633847e-02 -9.17715932e+01] [-1.33375572e-01 7.59787049e-04 9.91065275e-01 -2.52350529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters 0.029565550816072168 Centerline is valid? [True, True] Translation: X:190.33, Y:-91.82, Z:-25.24 [[ 7.05980381e-01 7.01758080e-01 9.55369033e-02 1.90328934e+02] [-6.95253135e-01 7.12414783e-01 -9.53323421e-02 -9.18173582e+01] [-1.34962144e-01 8.80431611e-04 9.90850364e-01 -2.52401296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters 0.02941657646760295 Centerline is valid? [True, True] Translation: X:190.37, Y:-91.86, Z:-25.25 [[ 7.05136526e-01 7.02796897e-01 9.41222685e-02 1.90372327e+02] [-6.96482118e-01 7.11390180e-01 -9.40035706e-02 -9.18616698e+01] [-1.33023075e-01 7.30874325e-04 9.91112671e-01 -2.52472395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters 0.029230297370119913 Centerline is valid? [True, True] Translation: X:190.41, Y:-91.91, Z:-25.26 [[ 7.04504670e-01 7.03431457e-01 9.41135248e-02 1.90413495e+02] [-6.97112019e-01 7.10762783e-01 -9.40802833e-02 -9.19094590e+01] [-1.33071422e-01 6.72329699e-04 9.91106223e-01 -2.52550367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters 0.02939104238742783 Centerline is valid? [True, True] Translation: X:190.33, Y:-92.34, Z:-23.33 [[ 7.49913766e-01 -6.58494637e-01 -6.33573685e-02 1.90328713e+02] [-6.55265600e-01 -7.52546389e-01 6.55814450e-02 -9.23380862e+01] [-9.08643888e-02 -7.66452430e-03 -9.95833780e-01 -2.33265809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters 0.02914482739989819 Centerline is valid? [True, True] Translation: X:190.45, Y:-91.96, Z:-25.26 [[ 7.50439275e-01 6.53270563e-01 1.00391565e-01 1.90447033e+02] [-6.47452592e-01 7.57124489e-01 -8.69922399e-02 -9.19627317e+01] [-1.32838382e-01 2.83614286e-04 9.91137671e-01 -2.52626437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters 0.028913744550583275 Centerline is valid? [True, True] Translation: X:190.50, Y:-92.00, Z:-25.27 [[ 7.49458735e-01 6.54770613e-01 9.79134732e-02 1.90495244e+02] [-6.49241280e-01 7.55827652e-01 -8.49136131e-02 -9.20024919e+01] [-1.29604649e-01 6.97804015e-05 9.91565747e-01 -2.52680252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters 0.028877156915624442 Centerline is valid? [True, True] Translation: X:190.54, Y:-92.04, Z:-25.27 [[ 7.48457854e-01 6.55764567e-01 9.89124584e-02 1.90540934e+02] [-6.50125900e-01 7.54965447e-01 -8.58107630e-02 -9.20437041e+01] [-1.30947146e-01 -7.98115338e-05 9.91389348e-01 -2.52733033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters 0.028746440306116262 Centerline is valid? [True, True] Translation: X:190.59, Y:-92.08, Z:-25.28 [[ 7.48570214e-01 6.55798413e-01 9.78318811e-02 1.90590203e+02] [-6.50276912e-01 7.54936050e-01 -8.49205402e-02 -9.20810903e+01] [-1.29547569e-01 -4.88266326e-05 9.91573207e-01 -2.52782326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters 0.028573003594747064 Centerline is valid? [True, True] Translation: X:190.64, Y:-92.12, Z:-25.29 [[ 7.49470229e-01 6.54923513e-01 9.67965304e-02 1.90637261e+02] [-6.49501546e-01 7.55695155e-01 -8.40985986e-02 -9.21209293e+01] [-1.28226819e-01 1.59899811e-04 9.91744855e-01 -2.52852567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters 0.028330340385949657 Centerline is valid? [True, True] Translation: X:190.68, Y:-92.16, Z:-25.29 [[ 7.49328869e-01 6.55304449e-01 9.53012319e-02 1.90684616e+02] [-6.50042832e-01 7.55364850e-01 -8.28749677e-02 -9.21603890e+01] [-1.26295536e-01 1.50723190e-04 9.91992649e-01 -2.52916418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters 0.02815873638536119 Centerline is valid? [True, True] Translation: X:190.73, Y:-92.20, Z:-25.30 [[ 7.49558234e-01 6.54942376e-01 9.59840540e-02 1.90731892e+02] [-6.49591763e-01 7.55678774e-01 -8.35471848e-02 -9.22019279e+01] [-1.27251704e-01 2.73029422e-04 9.91870420e-01 -2.52978598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters 0.02806265837433837 Centerline is valid? [True, True] Translation: X:190.78, Y:-92.24, Z:-25.31 [[ 7.50062094e-01 6.54276224e-01 9.65892212e-02 1.90779860e+02] [-6.48840699e-01 7.56255522e-01 -8.41625421e-02 -9.22423230e+01] [-1.28111682e-01 4.56114751e-04 9.91759643e-01 -2.53051100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters 0.027882982824363328 Centerline is valid? [True, True] Translation: X:190.83, Y:-92.28, Z:-25.31 [[ 7.49336450e-01 6.54973255e-01 9.74931837e-02 1.90826656e+02] [-6.49429364e-01 7.55651950e-01 -8.50389992e-02 -9.22844268e+01] [-1.29369184e-01 4.07885444e-04 9.91596414e-01 -2.53129414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters 0.027726048645868796 Centerline is valid? [True, True] Translation: X:190.87, Y:-92.33, Z:-25.32 [[ 7.49439156e-01 6.54863803e-01 9.74389647e-02 1.90873320e+02] [-6.49313685e-01 7.55746754e-01 -8.50798606e-02 -9.23263632e+01] [-1.29354902e-01 4.93725725e-04 9.91598238e-01 -2.53188152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters 0.02764564914624413 Centerline is valid? [True, True] Translation: X:190.92, Y:-92.37, Z:-25.33 [[ 7.48365213e-01 6.55851109e-01 9.90395435e-02 1.90917721e+02] [-6.50113747e-01 7.54890170e-01 -8.65618102e-02 -9.23688454e+01] [-1.31535637e-01 3.92878853e-04 9.91311365e-01 -2.53255749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters 0.027620954778359415 Centerline is valid? [True, True] Translation: X:190.97, Y:-92.41, Z:-25.33 [[ 7.47120819e-01 6.57144052e-01 9.98607832e-02 1.90965916e+02] [-6.51315343e-01 7.53764985e-01 -8.73308138e-02 -9.24097278e+01] [-1.32660487e-01 2.05808867e-04 9.91161517e-01 -2.53317006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters 0.027440623339017593 Centerline is valid? [True, True] Translation: X:191.01, Y:-92.45, Z:-25.34 [[ 7.46655743e-01 6.57608216e-01 1.00282784e-01 1.91013372e+02] [-6.51721701e-01 7.53360071e-01 -8.77919578e-02 -9.24503952e+01] [-1.33281758e-01 1.93902579e-04 9.91078168e-01 -2.53389171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters 0.027383081609255514 Centerline is valid? [True, True] Translation: X:191.06, Y:-92.49, Z:-25.35 [[ 7.47252813e-01 6.56923212e-01 1.00325103e-01 1.91060515e+02] [-6.51013162e-01 7.53957389e-01 -8.79210931e-02 -9.24913917e+01] [-1.33398259e-01 3.86321778e-04 9.91062438e-01 -2.53485575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters 0.02746939889604745 Centerline is valid? [True, True] Translation: X:191.11, Y:-92.53, Z:-25.36 [[ 7.47396609e-01 6.56808310e-01 1.00005763e-01 1.91108588e+02] [-6.50924030e-01 7.54057442e-01 -8.77227492e-02 -9.25310304e+01] [-1.33027121e-01 4.67530767e-04 9.91112288e-01 -2.53558076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters 0.027341224787283125 Centerline is valid? [True, True] Translation: X:191.15, Y:-92.57, Z:-25.36 [[ 7.45428009e-01 6.58835325e-01 1.01356292e-01 1.91154279e+02] [-6.52803783e-01 7.52287177e-01 -8.89450624e-02 -9.25724658e+01] [-1.34849188e-01 1.36369939e-04 9.90866125e-01 -2.53623298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters 0.027432531766047808 Centerline is valid? [True, True] Translation: X:191.20, Y:-92.61, Z:-25.37 [[ 7.44185382e-01 6.60087627e-01 1.02334952e-01 1.91200572e+02] [-6.53938992e-01 7.51188608e-01 -8.98858707e-02 -9.26134128e+01] [-1.36205401e-01 -2.90640762e-05 9.90680619e-01 -2.53702163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters 0.02736551288876787 Centerline is valid? [True, True] Translation: X:191.24, Y:-92.66, Z:-25.38 [[ 7.41569670e-01 6.62789463e-01 1.03848693e-01 1.91244654e+02] [-6.56471243e-01 7.48805654e-01 -9.12995026e-02 -9.26566515e+01] [-1.38274837e-01 -4.68738296e-04 9.90393785e-01 -2.53768695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters 0.027311412911598307 Centerline is valid? [True, True] Translation: X:191.29, Y:-92.70, Z:-25.38 [[ 7.39171917e-01 6.65727065e-01 1.02138888e-01 1.91291852e+02] [-6.59634129e-01 7.46194733e-01 -8.98678833e-02 -9.26975062e+01] [-1.36042982e-01 -9.46480612e-04 9.90702484e-01 -2.53829599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters 0.02763674768785798 Centerline is valid? [True, True] Translation: X:191.34, Y:-92.74, Z:-25.39 [[ 7.36337416e-01 6.68736408e-01 1.02950600e-01 1.91338181e+02] [-6.62569507e-01 7.43498093e-01 -9.06213784e-02 -9.27383059e+01] [-1.37145390e-01 -1.48401703e-03 9.90549817e-01 -2.53912905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters 0.027928506585941343 Centerline is valid? [True, True] Translation: X:191.39, Y:-92.78, Z:-25.40 [[ 7.34789690e-01 6.70387614e-01 1.03269347e-01 1.91386796e+02] [-6.64186960e-01 7.42009053e-01 -9.09848705e-02 -9.27766836e+01] [-1.37621920e-01 -1.73540854e-03 9.90483314e-01 -2.53983490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters 0.0277236108952003 Centerline is valid? [True, True] Translation: X:191.44, Y:-92.81, Z:-25.41 [[ 7.33255766e-01 6.72085034e-01 1.03139168e-01 1.91437575e+02] [-6.65904986e-01 7.40471306e-01 -9.09548999e-02 -9.28141143e+01] [-1.37501021e-01 -1.98768116e-03 9.90499631e-01 -2.54059338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters 0.0280011672451801 Centerline is valid? [True, True] Translation: X:191.49, Y:-92.85, Z:-25.41 [[ 7.32652753e-01 6.72573321e-01 1.04235653e-01 1.91488179e+02] [-6.66252251e-01 7.40027703e-01 -9.20159608e-02 -9.28507953e+01] [-1.39024751e-01 -2.03149174e-03 9.90286823e-01 -2.54129092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters 0.027778029685600718 Centerline is valid? [True, True] Translation: X:191.54, Y:-92.89, Z:-25.42 [[ 7.34172284e-01 6.71072435e-01 1.03212619e-01 1.91539102e+02] [-6.64850176e-01 7.41389902e-01 -9.11880248e-02 -9.28872800e+01] [-1.37714563e-01 -1.67320754e-03 9.90470544e-01 -2.54201293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters 0.02769322969502714 Centerline is valid? [True, True] Translation: X:191.59, Y:-92.92, Z:-25.43 [[ 7.37368708e-01 6.67227790e-01 1.05330268e-01 1.91590734e+02] [-6.60699348e-01 7.44853145e-01 -9.31137134e-02 -9.29222917e+01] [-1.40583639e-01 -9.32500946e-04 9.90068367e-01 -2.54276954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters 0.02767691536376951 Centerline is valid? [True, True] Translation: X:191.64, Y:-92.96, Z:-25.43 [[ 7.43500180e-01 6.60600218e-01 1.03994397e-01 1.91640370e+02] [-6.54160439e-01 7.50737773e-01 -9.20158490e-02 -9.29591103e+01] [-1.38858212e-01 3.84779781e-04 9.90312198e-01 -2.54348477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters 0.02801416063366858 Centerline is valid? [True, True] Translation: X:191.69, Y:-93.00, Z:-25.44 [[ 7.49213841e-01 6.54565318e-01 1.01108185e-01 1.91688588e+02] [-6.48413794e-01 7.56003914e-01 -8.95412446e-02 -9.29984086e+01] [-1.35048777e-01 1.52559812e-03 9.90837777e-01 -2.54414612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters 0.028533083409655505 Centerline is valid? [True, True] Translation: X:191.73, Y:-93.04, Z:-25.45 [[ 7.51190485e-01 6.52150396e-01 1.02042713e-01 1.91732684e+02] [-6.45850711e-01 7.58086866e-01 -9.04497819e-02 -9.30423107e+01] [-1.36344102e-01 2.04065668e-03 9.90659438e-01 -2.54493376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters 0.028762441018337 Centerline is valid? [True, True] Translation: X:191.78, Y:-93.09, Z:-25.46 [[ 7.52004361e-01 6.51271640e-01 1.01659688e-01 1.91776686e+02] [-6.45000307e-01 7.58841335e-01 -9.01910875e-02 -9.30876450e+01] [-1.35882471e-01 2.25356135e-03 9.90722401e-01 -2.54557563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters 0.02877677341436829 Centerline is valid? [True, True] Translation: X:191.82, Y:-93.13, Z:-25.46 [[ 7.51992118e-01 6.51585765e-01 9.97188302e-02 1.91820296e+02] [-6.45545037e-01 7.58571745e-01 -8.85466771e-02 -9.31322996e+01] [-1.33339641e-01 2.21340734e-03 9.91067930e-01 -2.54626014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters 0.028827996880811734 Centerline is valid? [True, True] Translation: X:191.86, Y:-93.18, Z:-25.47 [[ 7.52341894e-01 6.51256043e-01 9.92332654e-02 1.91864912e+02] [-6.45266487e-01 7.58854616e-01 -8.81523263e-02 -9.31767763e+01] [-1.32713357e-01 2.28878758e-03 9.91151818e-01 -2.54695637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters 0.028904975127684317 Centerline is valid? [True, True] Translation: X:191.91, Y:-93.22, Z:-25.48 [[ 7.51685242e-01 6.51940402e-01 9.97146355e-02 1.91907284e+02] [-6.45886264e-01 7.58266880e-01 -8.86694556e-02 -9.32239239e+01] [-1.33417506e-01 2.24720788e-03 9.91057374e-01 -2.54773569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters 0.028868700454173737 Centerline is valid? [True, True] Translation: X:191.95, Y:-93.27, Z:-25.48 [[ 7.50322458e-01 6.53448618e-01 1.00105504e-01 1.91950728e+02] [-6.47347951e-01 7.56968083e-01 -8.91064042e-02 -9.32689649e+01] [-1.34003128e-01 2.05544341e-03 9.90978777e-01 -2.54841006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters 0.028699292690723972 Centerline is valid? [True, True] Translation: X:191.99, Y:-93.32, Z:-25.49 [[ 7.47063242e-01 6.57099739e-01 1.00580541e-01 1.91991921e+02] [-6.50961517e-01 7.53802198e-01 -8.96177951e-02 -9.33151602e+01] [-1.34705662e-01 1.47609921e-03 9.90884557e-01 -2.54910943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters 0.028398484851073894 Centerline is valid? [True, True] Translation: X:192.03, Y:-93.36, Z:-25.50 [[ 7.44260071e-01 6.60224415e-01 1.00899296e-01 1.92034028e+02] [-6.54064638e-01 7.51067754e-01 -8.99815470e-02 -9.33603371e+01] [-1.35190222e-01 9.75011214e-04 9.90819183e-01 -2.54983765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters 0.02828991583618241 Centerline is valid? [True, True] Translation: X:192.08, Y:-93.40, Z:-25.51 [[ 7.41682167e-01 6.63295555e-01 9.97324927e-02 1.92077574e+02] [-6.57295061e-01 7.48357392e-01 -8.90191893e-02 -9.34046222e+01] [-1.33681581e-01 4.70270314e-04 9.91024225e-01 -2.55063704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters 0.028159897451473015 Centerline is valid? [True, True] Translation: X:192.12, Y:-93.45, Z:-25.51 [[ 7.39218274e-01 6.65859859e-01 1.00930623e-01 1.92120478e+02] [-6.59726160e-01 7.46076834e-01 -9.01706792e-02 -9.34493575e+01] [-1.35343035e-01 6.92416918e-05 9.90798798e-01 -2.55139765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters 0.028164252266761464 Centerline is valid? [True, True] Translation: X:192.17, Y:-93.49, Z:-25.52 [[ 7.37646175e-01 6.67618862e-01 1.00812579e-01 1.92166211e+02] [-6.61504435e-01 7.44503203e-01 -9.01491168e-02 -9.34917870e+01] [-1.35240539e-01 -1.89817155e-04 9.90812778e-01 -2.55198666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters 0.028252287916796733 Centerline is valid? [True, True] Translation: X:192.21, Y:-93.54, Z:-25.53 [[ 7.34140401e-01 6.71573676e-01 1.00133255e-01 1.92210635e+02] [-6.65565553e-01 7.40937306e-01 -8.96348341e-02 -9.35368215e+01] [-1.34388859e-01 -8.40692287e-04 9.90928316e-01 -2.55263088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters 0.028453566112926158 Centerline is valid? [True, True] Translation: X:192.26, Y:-93.58, Z:-25.53 [[ 7.29678681e-01 6.76430367e-01 1.00054891e-01 1.92256484e+02] [-6.70464493e-01 7.36504713e-01 -8.96558528e-02 -9.35777269e+01] [-1.34336840e-01 -1.66328726e-03 9.90934330e-01 -2.55322770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters 0.028619814828669494 Centerline is valid? [True, True] Translation: X:192.30, Y:-93.62, Z:-25.54 [[ 7.26394956e-01 6.80307087e-01 9.76352180e-02 1.92303431e+02] [-6.74652210e-01 7.32923693e-01 -8.75628689e-02 -9.36194278e+01] [-1.31128805e-01 -2.26458938e-03 9.91362753e-01 -2.55365759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters 0.028810016190287783 Centerline is valid? [True, True] Translation: X:192.35, Y:-93.66, Z:-25.55 [[ 7.25442882e-01 6.81045343e-01 9.95483074e-02 1.92350756e+02] [-6.75160125e-01 7.32237386e-01 -8.93712295e-02 -9.36580371e+01] [-1.33758852e-01 -2.37732532e-03 9.91011058e-01 -2.55461950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters 0.028835998684476494 Centerline is valid? [True, True] Translation: X:192.40, Y:-93.70, Z:-25.55 [[ 7.24698561e-01 6.82118932e-01 9.75999911e-02 1.92398186e+02] [-6.76462451e-01 7.31237082e-01 -8.76976745e-02 -9.36980725e+01] [-1.31188977e-01 -2.46835070e-03 9.91354306e-01 -2.55518037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters 0.028626873070812606 Centerline is valid? [True, True] Translation: X:192.45, Y:-93.73, Z:-25.56 [[ 7.26488253e-01 6.80373665e-01 9.64701688e-02 1.92448156e+02] [-6.74822200e-01 7.32862467e-01 -8.67617620e-02 -9.37344085e+01] [-1.29729784e-01 -2.06881064e-03 9.91547227e-01 -2.55585748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters 0.028534777299228806 Centerline is valid? [True, True] Translation: X:192.49, Y:-93.78, Z:-25.57 [[ 7.29774805e-01 6.76898769e-01 9.61082229e-02 1.92494822e+02] [-6.71349446e-01 7.36074809e-01 -8.65089407e-02 -9.37754921e+01] [-1.29300637e-01 -1.39015690e-03 9.91604464e-01 -2.55660361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters 0.028313967571083367 Centerline is valid? [True, True] Translation: X:192.54, Y:-93.81, Z:-25.57 [[ 7.33073497e-01 6.73305030e-01 9.62475194e-02 1.92542525e+02] [-6.67703915e-01 7.39364460e-01 -8.66699288e-02 -9.38144679e+01] [-1.29517294e-01 -7.29417744e-04 9.91576895e-01 -2.55731812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters 0.02830614954684644 Centerline is valid? [True, True] Translation: X:192.59, Y:-93.86, Z:-25.58 [[ 7.35695110e-01 6.70439500e-01 9.62475059e-02 1.92588844e+02] [-6.64803161e-01 7.41964184e-01 -8.67519797e-02 -9.38560642e+01] [-1.29574156e-01 -1.62638906e-04 9.91569721e-01 -2.55801015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters 0.02805391055202398 Centerline is valid? [True, True] Translation: X:192.63, Y:-93.90, Z:-25.59 [[ 7.37018865e-01 6.69069123e-01 9.56540745e-02 1.92633811e+02] [-6.63479084e-01 7.43200167e-01 -8.63076873e-02 -9.38996283e+01] [-1.28835933e-01 1.45915897e-04 9.91665912e-01 -2.55871721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters 0.028297147362871644 Centerline is valid? [True, True] Translation: X:192.68, Y:-93.94, Z:-25.59 [[ 7.38878818e-01 6.66817065e-01 9.70211003e-02 1.92676161e+02] [-6.61034672e-01 7.45221193e-01 -8.76272534e-02 -9.39441232e+01] [-1.30733528e-01 6.11610158e-04 9.91417354e-01 -2.55945934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters 0.027967720798086286 Centerline is valid? [True, True] Translation: X:192.72, Y:-93.99, Z:-25.60 [[ 7.39225649e-01 6.66649180e-01 9.55212604e-02 1.92720719e+02] [-6.61037411e-01 7.45371334e-01 -8.63198407e-02 -9.39871360e+01] [-1.28743860e-01 6.66713496e-04 9.91677656e-01 -2.56027772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters 0.02802382821943097 Centerline is valid? [True, True] Translation: X:192.76, Y:-94.03, Z:-25.61 [[ 7.37491016e-01 6.68272161e-01 9.75670008e-02 1.92763585e+02] [-6.62419480e-01 7.43916738e-01 -8.82514607e-02 -9.40314379e+01] [-1.31557719e-01 4.54377515e-04 9.91308408e-01 -2.56102696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters 0.02790567468978275 Centerline is valid? [True, True] Translation: X:192.81, Y:-94.08, Z:-25.62 [[ 7.37814960e-01 6.68231952e-01 9.53684582e-02 1.92807553e+02] [-6.62630748e-01 7.43952820e-01 -8.63405682e-02 -9.40754982e+01] [-1.28645160e-01 5.09290075e-04 9.91690558e-01 -2.56153447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters 0.027674064182420792 Centerline is valid? [True, True] Translation: X:192.85, Y:-94.12, Z:-25.62 [[ 7.38453912e-01 6.67675112e-01 9.43173643e-02 1.92853556e+02] [-6.62182647e-01 7.44452491e-01 -8.54671342e-02 -9.41184085e+01] [-1.27279075e-01 6.58217603e-04 9.91866727e-01 -2.56217428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters 0.02738559552194533 Centerline is valid? [True, True] Translation: X:192.90, Y:-94.16, Z:-25.63 [[ 7.37479001e-01 6.68751252e-01 9.43211866e-02 1.92898944e+02] [-6.63255572e-01 7.43486026e-01 -8.55603577e-02 -9.41619809e+01] [-1.27345081e-01 5.39914565e-04 9.91858326e-01 -2.56274816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters 0.027312043831965973 Centerline is valid? [True, True] Translation: X:192.94, Y:-94.21, Z:-25.64 [[ 7.36258027e-01 6.69980872e-01 9.51301694e-02 1.92943974e+02] [-6.64388577e-01 7.42378255e-01 -8.63848650e-02 -9.42050558e+01] [-1.28498776e-01 3.98152396e-04 9.91709588e-01 -2.56352334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters 0.027145233804775216 Centerline is valid? [True, True] Translation: X:192.99, Y:-94.25, Z:-25.64 [[ 7.37036189e-01 6.69138103e-01 9.50360735e-02 1.92988627e+02] [-6.63538187e-01 7.43137823e-01 -8.63901069e-02 -9.42485411e+01] [-1.28431813e-01 6.12571240e-04 9.91718153e-01 -2.56431448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters 0.027018199249966502 Centerline is valid? [True, True] Translation: X:193.04, Y:-94.29, Z:-25.65 [[ 7.36031548e-01 6.70196763e-01 9.53617340e-02 1.93035240e+02] [-6.64555161e-01 7.42183300e-01 -8.67777998e-02 -9.42911329e+01] [-1.28934087e-01 4.98065816e-04 9.91653041e-01 -2.56490617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters 0.027232911999713172 Centerline is valid? [True, True] Translation: X:193.08, Y:-94.33, Z:-25.66 [[ 7.34640875e-01 6.71740499e-01 9.52233496e-02 1.93080391e+02] [-6.66116186e-01 7.40786484e-01 -8.67445248e-02 -9.43339998e+01] [-1.28809981e-01 2.96259147e-04 9.91669250e-01 -2.56592521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters 0.027055747872789963 Centerline is valid? [True, True] Translation: X:193.13, Y:-94.38, Z:-25.66 [[ 7.32421616e-01 6.74090234e-01 9.57127627e-02 1.93126905e+02] [-6.68415472e-01 7.38649006e-01 -8.72834618e-02 -9.43769411e+01] [-1.29535066e-01 -4.75973442e-05 9.91574841e-01 -2.56647421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters 0.026942097228919774 Centerline is valid? [True, True] Translation: X:193.17, Y:-94.42, Z:-25.67 [[ 7.30272260e-01 6.76564846e-01 9.46701408e-02 1.93174700e+02] [-6.71022649e-01 7.36382942e-01 -8.64220325e-02 -9.44170249e+01] [-1.28183586e-01 -4.14195742e-04 9.91750370e-01 -2.56713039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters 0.026937133325169872 Centerline is valid? [True, True] Translation: X:193.22, Y:-94.46, Z:-25.68 [[ 7.31661849e-01 6.75180243e-01 9.38220521e-02 1.93222602e+02] [-6.69715737e-01 7.37652782e-01 -8.57275031e-02 -9.44564174e+01] [-1.27089614e-01 -1.10561345e-04 9.91891233e-01 -2.56794256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters 0.026942493013874788 Centerline is valid? [True, True] Translation: X:193.27, Y:-94.50, Z:-25.69 [[ 7.32307528e-01 6.74434977e-01 9.41442792e-02 1.93269981e+02] [-6.68916108e-01 7.38334244e-01 -8.61033406e-02 -9.44974391e+01] [-1.27581050e-01 7.94997072e-05 9.91828145e-01 -2.56860508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters 0.027046240339727762 Centerline is valid? [True, True] Translation: X:193.32, Y:-94.54, Z:-25.69 [[ 7.33593981e-01 6.72945681e-01 9.47838629e-02 1.93317423e+02] [-6.67326893e-01 7.39691789e-01 -8.67806184e-02 -9.45378266e+01] [-1.28509487e-01 4.09918653e-04 9.91708195e-01 -2.56928868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters 0.026883805480458472 Centerline is valid? [True, True] Translation: X:193.37, Y:-94.58, Z:-25.70 [[ 7.32735814e-01 6.73879574e-01 9.47868475e-02 1.93366193e+02] [-6.68256435e-01 7.38841134e-01 -8.68741380e-02 -9.45777512e+01] [-1.28575129e-01 3.13871356e-04 9.91699722e-01 -2.56996384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters 0.02671346956901614 Centerline is valid? [True, True] Translation: X:193.41, Y:-94.62, Z:-25.71 [[ 7.31977595e-01 6.74748931e-01 9.44599419e-02 1.93413482e+02] [-6.69160211e-01 7.38047307e-01 -8.66647796e-02 -9.46186817e+01] [-1.28192873e-01 2.27842199e-04 9.91749230e-01 -2.57070130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters 0.026576057845930097 Centerline is valid? [True, True] Translation: X:193.46, Y:-94.66, Z:-25.72 [[ 7.32120740e-01 6.74559807e-01 9.47010455e-02 1.93464525e+02] [-6.68928967e-01 7.38220128e-01 -8.69774661e-02 -9.46553268e+01] [-1.28581721e-01 3.29734356e-04 9.91698862e-01 -2.57150177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters 0.026540987964871948 Centerline is valid? [True, True] Translation: X:193.51, Y:-94.70, Z:-25.72 [[ 7.31677674e-01 6.74935204e-01 9.54476385e-02 1.93513211e+02] [-6.69205920e-01 7.37876926e-01 -8.77557912e-02 -9.46950591e+01] [-1.29658083e-01 3.34828518e-04 9.91558707e-01 -2.57224016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters 0.026635626643741014 Centerline is valid? [True, True] Translation: X:193.56, Y:-94.73, Z:-25.73 [[ 7.33685003e-01 6.72778463e-01 9.52651891e-02 1.93562713e+02] [-6.67040983e-01 7.39843582e-01 -8.76801110e-02 -9.47341574e+01] [-1.29470629e-01 7.83797045e-04 9.91582948e-01 -2.57286319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters 0.02678323392215108 Centerline is valid? [True, True] Translation: X:193.61, Y:-94.77, Z:-25.74 [[ 7.34562381e-01 6.71639680e-01 9.65310810e-02 1.93610052e+02] [-6.65726075e-01 7.40877185e-01 -8.89370007e-02 -9.47732804e+01] [-1.31251294e-01 1.06651733e-03 9.91348556e-01 -2.57365848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters 0.02670653952912201 Centerline is valid? [True, True] Translation: X:193.66, Y:-94.81, Z:-25.74 [[ 7.35669522e-01 6.70612170e-01 9.52348206e-02 1.93657725e+02] [-6.64837998e-01 7.41807014e-01 -8.78224914e-02 -9.48143447e+01] [-1.29540689e-01 1.29260283e-03 9.91573265e-01 -2.57431808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters 0.02725172063993427 Centerline is valid? [True, True] Translation: X:193.70, Y:-94.86, Z:-25.75 [[ 7.38154436e-01 6.67854765e-01 9.53836579e-02 1.93702712e+02] [-6.62027751e-01 7.44289326e-01 -8.80491687e-02 -9.48560034e+01] [-1.29797095e-01 1.84725591e-03 9.91538855e-01 -2.57520291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters 0.027700360575459316 Centerline is valid? [True, True] Translation: X:193.75, Y:-94.90, Z:-25.76 [[ 7.41134925e-01 6.64558144e-01 9.52968843e-02 1.93748401e+02] [-6.58704396e-01 7.47232436e-01 -8.80466063e-02 -9.48972072e+01] [-1.29721012e-01 2.48193840e-03 9.91547426e-01 -2.57573308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters 0.02797968094291737 Centerline is valid? [True, True] Translation: X:193.79, Y:-94.94, Z:-25.76 [[ 7.41501796e-01 6.63968435e-01 9.65453444e-02 1.93793339e+02] [-6.57944747e-01 7.47755814e-01 -8.92745939e-02 -9.49398998e+01] [-1.31467855e-01 2.67576959e-03 9.91316823e-01 -2.57644189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters 0.027787034594112376 Centerline is valid? [True, True] Translation: X:193.84, Y:-94.98, Z:-25.77 [[ 7.41116374e-01 6.64586088e-01 9.52462717e-02 1.93839327e+02] [-6.58719221e-01 7.47207221e-01 -8.81496294e-02 -9.49817976e+01] [-1.29751719e-01 2.58858386e-03 9.91543136e-01 -2.57705017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters 0.027781741535520894 Centerline is valid? [True, True] Translation: X:193.88, Y:-95.02, Z:-25.78 [[ 7.39991091e-01 6.65800057e-01 9.55168481e-02 1.93884726e+02] [-6.59899368e-01 7.46126209e-01 -8.84788374e-02 -9.50248692e+01] [-1.30176839e-01 2.44204381e-03 9.91487785e-01 -2.57774268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters 0.027594234884038643 Centerline is valid? [True, True] Translation: X:193.93, Y:-95.07, Z:-25.78 [[ 7.37872850e-01 6.67994270e-01 9.65780112e-02 1.93929962e+02] [-6.61967734e-01 7.44163319e-01 -8.95526271e-02 -9.50678878e+01] [-1.31690455e-01 2.14692494e-03 9.91288563e-01 -2.57839849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters 0.027098692282528963 Centerline is valid? [True, True] Translation: X:193.97, Y:-95.11, Z:-25.79 [[ 7.35801209e-01 6.70659913e-01 9.38715182e-02 1.93974542e+02] [-6.64978472e-01 7.41763061e-01 -8.71274536e-02 -9.51115002e+01] [-1.28063315e-01 1.68594705e-03 9.91764561e-01 -2.57890719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters 0.02706447326092846 Centerline is valid? [True, True] Translation: X:194.02, Y:-95.15, Z:-25.80 [[ 7.32846936e-01 6.73590872e-01 9.59724210e-02 1.94019476e+02] [-6.67665089e-01 7.39103335e-01 -8.91604666e-02 -9.51547922e+01] [-1.30991213e-01 1.26353978e-03 9.91382724e-01 -2.57969057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters 0.027049318508122172 Centerline is valid? [True, True] Translation: X:194.06, Y:-95.20, Z:-25.80 [[ 7.32233468e-01 6.74267680e-01 9.59022595e-02 1.94064096e+02] [-6.68344273e-01 7.38486040e-01 -8.91868890e-02 -9.51994993e+01] [-1.30958317e-01 1.20989909e-03 9.91387137e-01 -2.58043639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters 0.026750955774790627 Centerline is valid? [True, True] Translation: X:194.11, Y:-95.24, Z:-25.81 [[ 7.29672851e-01 6.76775167e-01 9.77389557e-02 1.94108182e+02] [-6.70631506e-01 7.36189283e-01 -9.09874854e-02 -9.52420999e+01] [-1.33532442e-01 8.44274783e-04 9.91044083e-01 -2.58121015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters 0.02695604039616482 Centerline is valid? [True, True] Translation: X:194.15, Y:-95.29, Z:-25.82 [[ 7.28644009e-01 6.77876981e-01 9.77788688e-02 1.94151288e+02] [-6.71727519e-01 7.35175018e-01 -9.11034182e-02 -9.52880828e+01] [-1.33641492e-01 7.01202850e-04 9.91029495e-01 -2.58200073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters 0.02674509733154858 Centerline is valid? [True, True] Translation: X:194.20, Y:-95.33, Z:-25.83 [[ 7.28746854e-01 6.77869641e-01 9.70606605e-02 1.94195537e+02] [-6.71798044e-01 7.35181720e-01 -9.05274891e-02 -9.53324175e+01] [-1.32723060e-01 7.66461026e-04 9.91152865e-01 -2.58272194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters 0.026772840511319864 Centerline is valid? [True, True] Translation: X:194.24, Y:-95.38, Z:-25.83 [[ 7.28805434e-01 6.77752205e-01 9.74401799e-02 1.94238944e+02] [-6.71619073e-01 7.35289880e-01 -9.09758920e-02 -9.53770936e+01] [-1.33305890e-01 8.61041106e-04 9.91074568e-01 -2.58344638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters 0.026777312584271497 Centerline is valid? [True, True] Translation: X:194.28, Y:-95.42, Z:-25.84 [[ 7.27865851e-01 6.78743141e-01 9.75656262e-02 1.94282570e+02] [-6.72590221e-01 7.34375370e-01 -9.11877755e-02 -9.54227931e+01] [-1.33542870e-01 7.50781701e-04 9.91042753e-01 -2.58410067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters 0.026944769225942265 Centerline is valid? [True, True] Translation: X:194.33, Y:-95.47, Z:-25.85 [[ 7.28665668e-01 6.77647793e-01 9.91958315e-02 1.94326185e+02] [-6.71263327e-01 7.35385878e-01 -9.28070876e-02 -9.54661665e+01] [-1.35837732e-01 1.03881457e-03 9.90730554e-01 -2.58489420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters 0.02738635365580441 Centerline is valid? [True, True] Translation: X:194.37, Y:-95.51, Z:-25.86 [[ 7.29377078e-01 6.76643462e-01 1.00810235e-01 1.94368326e+02] [-6.70026721e-01 7.36309653e-01 -9.44049160e-02 -9.55119107e+01] [-1.38106019e-01 1.31123041e-03 9.90416583e-01 -2.58569926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters 0.02735223199054376 Centerline is valid? [True, True] Translation: X:194.41, Y:-95.56, Z:-25.86 [[ 7.29604520e-01 6.76712779e-01 9.86765396e-02 1.94411688e+02] [-6.70363701e-01 7.36245910e-01 -9.24903672e-02 -9.55562919e+01] [-1.35239612e-01 1.33221973e-03 9.90812027e-01 -2.58636123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters 0.027173621236024688 Centerline is valid? [True, True] Translation: X:194.45, Y:-95.60, Z:-25.87 [[ 7.26710094e-01 6.79430487e-01 1.01324490e-01 1.94451524e+02] [-6.72748349e-01 7.33739311e-01 -9.50593622e-02 -9.56044584e+01] [-1.38931990e-01 9.14714665e-04 9.90301502e-01 -2.58724381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters 0.027196500735963323 Centerline is valid? [True, True] Translation: X:194.49, Y:-95.65, Z:-25.88 [[ 7.24314867e-01 6.81870112e-01 1.02083908e-01 1.94494834e+02] [-6.75098402e-01 7.31473091e-01 -9.58606511e-02 -9.56495195e+01] [-1.40036145e-01 5.16611733e-04 9.90146258e-01 -2.58793707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters 0.027356752634228088 Centerline is valid? [True, True] Translation: X:194.54, Y:-95.69, Z:-25.89 [[ 7.23884980e-01 6.82447658e-01 1.01270578e-01 1.94537781e+02] [-6.75775997e-01 7.30934313e-01 -9.51936502e-02 -9.56933331e+01] [-1.38986824e-01 4.73027555e-04 9.90294117e-01 -2.58877013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters 0.027788162270918623 Centerline is valid? [True, True] Translation: X:194.58, Y:-95.74, Z:-25.90 [[ 7.20963113e-01 6.85298908e-01 1.02847449e-01 1.94579915e+02] [-6.78432665e-01 7.28261908e-01 -9.67662734e-02 -9.57391821e+01] [-1.41213701e-01 -1.01550642e-05 9.89979136e-01 -2.58961138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters 0.027648635481549808 Centerline is valid? [True, True] Translation: X:194.62, Y:-95.78, Z:-25.90 [[ 7.19096007e-01 6.87446147e-01 1.01581137e-01 1.94624583e+02] [-6.80757861e-01 7.26235268e-01 -9.56612281e-02 -9.57821476e+01] [-1.39533747e-01 -3.62550730e-04 9.90217250e-01 -2.59023305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters 0.027989112057794648 Centerline is valid? [True, True] Translation: X:194.67, Y:-95.82, Z:-25.91 [[ 7.15876958e-01 6.90626997e-01 1.02735255e-01 1.94669513e+02] [-6.83804819e-01 7.23210545e-01 -9.68373749e-02 -9.58248190e+01] [-1.41177725e-01 -9.27217071e-04 9.89983833e-01 -2.59112687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters 0.028542993609022186 Centerline is valid? [True, True] Translation: X:194.71, Y:-95.87, Z:-25.92 [[ 7.12178527e-01 6.94509968e-01 1.02262647e-01 1.94714145e+02] [-6.87777759e-01 7.19481251e-01 -9.64804836e-02 -9.58674717e+01] [-1.40582715e-01 -1.62264569e-03 9.90067607e-01 -2.59185265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters 0.028547362568167284 Centerline is valid? [True, True] Translation: X:194.76, Y:-95.91, Z:-25.93 [[ 7.10786019e-01 6.96054066e-01 1.01449365e-01 1.94762474e+02] [-6.89432021e-01 7.17986995e-01 -9.58027271e-02 -9.59082360e+01] [-1.39523202e-01 -1.84720151e-03 9.90217079e-01 -2.59251362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters 0.028189667533689056 Centerline is valid? [True, True] Translation: X:194.81, Y:-95.95, Z:-25.93 [[ 7.11220841e-01 6.95951742e-01 9.90761769e-02 1.94810722e+02] [-6.89623277e-01 7.18086508e-01 -9.36563060e-02 -9.59480081e+01] [-1.36325535e-01 -1.71492102e-03 9.90662610e-01 -2.59302248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters 0.02845939138163638 Centerline is valid? [True, True] Translation: X:194.86, Y:-95.99, Z:-25.94 [[ 7.10402359e-01 6.96881997e-01 9.84071698e-02 1.94858332e+02] [-6.90635988e-01 7.17183506e-01 -9.31114920e-02 -9.59880757e+01] [-1.35463722e-01 -1.81690941e-03 9.90780641e-01 -2.59379970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters 0.028554931551791257 Centerline is valid? [True, True] Translation: X:194.91, Y:-96.03, Z:-25.94 [[ 7.10318520e-01 6.97033099e-01 9.79411027e-02 1.94906495e+02] [-6.90834413e-01 7.17036779e-01 -9.27689128e-02 -9.60287638e+01] [-1.34890376e-01 -1.76560735e-03 9.90858955e-01 -2.59445315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters 0.028503244074479808 Centerline is valid? [True, True] Translation: X:194.96, Y:-96.07, Z:-25.95 [[ 7.12157234e-01 6.94992971e-01 9.90799912e-02 1.94955945e+02] [-6.88615091e-01 7.19015314e-01 -9.39480387e-02 -9.60677726e+01] [-1.36533258e-01 -1.32220184e-03 9.90634605e-01 -2.59503819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters 0.028257579691448802 Centerline is valid? [True, True] Translation: X:195.00, Y:-96.11, Z:-25.96 [[ 7.15676060e-01 6.91569373e-01 9.76707720e-02 1.95004720e+02] [-6.85327623e-01 7.22309806e-01 -9.27070291e-02 -9.61059921e+01] [-1.34661898e-01 -5.88276740e-04 9.90891431e-01 -2.59567479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters 0.02810557509337455 Centerline is valid? [True, True] Translation: X:195.05, Y:-96.15, Z:-25.96 [[ 7.18745410e-01 6.88484043e-01 9.69265626e-02 1.95051918e+02] [-6.82297904e-01 7.25251487e-01 -9.20861061e-02 -9.61461626e+01] [-1.33695948e-01 5.36756379e-05 9.91022397e-01 -2.59628157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters 0.028115416583374724 Centerline is valid? [True, True] Translation: X:195.10, Y:-96.19, Z:-25.97 [[ 7.21642827e-01 6.85436491e-01 9.69971526e-02 1.95097943e+02] [-6.79201958e-01 7.28132096e-01 -9.22407258e-02 -9.61893923e+01] [-1.33851899e-01 6.84202099e-04 9.91001110e-01 -2.59697636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters 0.028000766011104652 Centerline is valid? [True, True] Translation: X:195.14, Y:-96.23, Z:-25.98 [[ 7.22746517e-01 6.84494127e-01 9.54214963e-02 1.95140690e+02] [-6.78441061e-01 7.29017804e-01 -9.08337388e-02 -9.62348425e+01] [-1.31739130e-01 9.11907094e-04 9.91284001e-01 -2.59755525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters 0.02790820835881225 Centerline is valid? [True, True] Translation: X:195.18, Y:-96.28, Z:-25.98 [[ 7.20945262e-01 6.86521802e-01 9.44761617e-02 1.95183571e+02] [-6.80595278e-01 7.27108974e-01 -9.00144783e-02 -9.62794233e+01] [-1.30491367e-01 5.95482006e-04 9.91449267e-01 -2.59817118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters 0.02762756258436412 Centerline is valid? [True, True] Translation: X:195.23, Y:-96.32, Z:-25.99 [[ 7.17686872e-01 6.90071307e-01 9.34191891e-02 1.95226538e+02] [-6.84296648e-01 7.23741384e-01 -8.90870764e-02 -9.63244894e+01] [-1.29087768e-01 1.01872670e-05 9.91633172e-01 -2.59883975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters 0.027648279218523922 Centerline is valid? [True, True] Translation: X:195.27, Y:-96.37, Z:-25.99 [[ 7.14538709e-01 6.93219857e-01 9.42372659e-02 1.95269948e+02] [-6.87359472e-01 7.20726007e-01 -8.99498701e-02 -9.63684827e+01] [-1.30274285e-01 -5.02213183e-04 9.91477866e-01 -2.59949324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters 0.027897668210788994 Centerline is valid? [True, True] Translation: X:195.31, Y:-96.41, Z:-26.00 [[ 7.11108626e-01 6.96693909e-01 9.45627753e-02 1.95314632e+02] [-6.90812228e-01 7.17367708e-01 -9.03439938e-02 -9.64107507e+01] [-1.30778392e-01 -1.08072809e-03 9.91411037e-01 -2.60013496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters 0.028092873960680147 Centerline is valid? [True, True] Translation: X:195.36, Y:-96.45, Z:-26.01 [[ 7.08373649e-01 6.99595756e-01 9.36618967e-02 1.95360528e+02] [-6.93840293e-01 7.14537198e-01 -8.95669599e-02 -9.64534665e+01] [-1.29585574e-01 -1.53952356e-03 9.91567047e-01 -2.60070462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters 0.028185521287224832 Centerline is valid? [True, True] Translation: X:195.41, Y:-96.50, Z:-26.01 [[ 7.07180911e-01 7.00881425e-01 9.30612017e-02 1.95406025e+02] [-6.95198610e-01 7.13275791e-01 -8.90872514e-02 -9.64966094e+01] [-1.28817902e-01 -1.69521447e-03 9.91666816e-01 -2.60146604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters 0.027861957834141318 Centerline is valid? [True, True] Translation: X:195.45, Y:-96.54, Z:-26.02 [[ 7.08489489e-01 6.99547592e-01 9.31440311e-02 1.95450065e+02] [-6.93831005e-01 7.14584665e-01 -8.92596995e-02 -9.65399160e+01] [-1.29000704e-01 -1.38665786e-03 9.91643532e-01 -2.60219159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters 0.027836513445106854 Centerline is valid? [True, True] Translation: X:195.49, Y:-96.58, Z:-26.03 [[ 7.08404987e-01 6.99789484e-01 9.19622320e-02 1.95493948e+02] [-6.94209187e-01 7.14347846e-01 -8.82086093e-02 -9.65831963e+01] [-1.27420480e-01 -1.35360764e-03 9.91847866e-01 -2.60278614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters 0.027589541133202354 Centerline is valid? [True, True] Translation: X:195.54, Y:-96.63, Z:-26.04 [[ 7.07336416e-01 7.00753504e-01 9.28424567e-02 1.95538125e+02] [-6.95062859e-01 7.13401942e-01 -8.91363622e-02 -9.66267424e+01] [-1.28696607e-01 -1.48194846e-03 9.91682907e-01 -2.60355791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters 0.02739963143015065 Centerline is valid? [True, True] Translation: X:195.58, Y:-96.67, Z:-26.04 [[ 7.05484601e-01 7.02721800e-01 9.20518825e-02 1.95584052e+02] [-6.97133996e-01 7.11462547e-01 -8.84603628e-02 -9.66697697e+01] [-1.27654492e-01 -1.76507290e-03 9.91817128e-01 -2.60404644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters 0.027369879080443835 Centerline is valid? [True, True] Translation: X:195.63, Y:-96.71, Z:-26.05 [[ 7.04163748e-01 7.03991186e-01 9.24652702e-02 1.95629447e+02] [-6.98351652e-01 7.10206067e-01 -8.89511807e-02 -9.67119476e+01] [-1.28290243e-01 -1.93707734e-03 9.91734774e-01 -2.60457773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters 0.0271337329568278 Centerline is valid? [True, True] Translation: X:195.67, Y:-96.75, Z:-26.05 [[ 7.03632688e-01 7.04356020e-01 9.37210637e-02 1.95674205e+02] [-6.98553648e-01 7.09844149e-01 -9.02445868e-02 -9.67544700e+01] [-1.30091667e-01 -1.97014971e-03 9.91500014e-01 -2.60526978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters 0.02733626486350345 Centerline is valid? [True, True] Translation: X:195.72, Y:-96.79, Z:-26.06 [[ 7.02223455e-01 7.05668316e-01 9.44163488e-02 1.95721774e+02] [-6.99779649e-01 7.08539007e-01 -9.09995511e-02 -9.67942410e+01] [-1.31113166e-01 -2.16862018e-03 9.91365036e-01 -2.60597345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters 0.027106183231874557 Centerline is valid? [True, True] Translation: X:195.77, Y:-96.83, Z:-26.07 [[ 7.01654443e-01 7.06410709e-01 9.30857314e-02 1.95769169e+02] [-7.00683209e-01 7.07798703e-01 -8.97999777e-02 -9.68349246e+01] [-1.29321626e-01 -2.21505562e-03 9.91600227e-01 -2.60661170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters 0.0270869046074976 Centerline is valid? [True, True] Translation: X:195.82, Y:-96.87, Z:-26.08 [[ 7.02670817e-01 7.05243044e-01 9.42654318e-02 1.95817019e+02] [-6.99346870e-01 7.08962900e-01 -9.10250625e-02 -9.68747505e+01] [-1.31025486e-01 -1.96357959e-03 9.91377056e-01 -2.60750026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters 0.026933840105601854 Centerline is valid? [True, True] Translation: X:195.86, Y:-96.92, Z:-26.08 [[ 7.03812839e-01 7.04090205e-01 9.43635023e-02 1.95863059e+02] [-6.98158818e-01 7.10108549e-01 -9.12146559e-02 -9.69163827e+01] [-1.31231675e-01 -1.68266526e-03 9.91350299e-01 -2.60821553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters 0.026555730601919708 Centerline is valid? [True, True] Translation: X:195.91, Y:-96.96, Z:-26.09 [[ 7.05593151e-01 7.02609335e-01 9.20783778e-02 1.95910480e+02] [-6.96939891e-01 7.11574588e-01 -8.90864412e-02 -9.69566509e+01] [-1.28113599e-01 -1.31431183e-03 9.91758629e-01 -2.60880807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters 0.026534457843473996 Centerline is valid? [True, True] Translation: X:195.96, Y:-97.00, Z:-26.10 [[ 7.07418765e-01 7.00605018e-01 9.33343436e-02 1.95958035e+02] [-6.94750485e-01 7.13548734e-01 -9.03878758e-02 -9.69969552e+01] [-1.29924802e-01 -9.02000989e-04 9.91523440e-01 -2.60965664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters 0.0264162134722736 Centerline is valid? [True, True] Translation: X:196.00, Y:-97.04, Z:-26.10 [[ 7.08827004e-01 6.99038271e-01 9.43916039e-02 1.96004836e+02] [-6.93022774e-01 7.15084046e-01 -9.15108844e-02 -9.70394377e+01] [-1.31467540e-01 -5.50145135e-04 9.91320323e-01 -2.61026381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters 0.02671818257519055 Centerline is valid? [True, True] Translation: X:196.05, Y:-97.08, Z:-26.11 [[ 7.11614251e-01 6.96375429e-01 9.30936072e-02 1.96050734e+02] [-6.90490078e-01 7.17677687e-01 -9.03448381e-02 -9.70800346e+01] [-1.29725130e-01 1.04621639e-05 9.91549994e-01 -2.61116471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters 0.026263188573907834 Centerline is valid? [True, True] Translation: X:196.09, Y:-97.12, Z:-26.12 [[ 7.11023779e-01 6.97109869e-01 9.21032968e-02 1.96094674e+02] [-6.91345159e-01 7.16964314e-01 -8.94653269e-02 -9.71235386e+01] [-1.28401939e-01 -6.31935912e-05 9.91722208e-01 -2.61182195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters 0.026465871193517117 Centerline is valid? [True, True] Translation: X:196.14, Y:-97.17, Z:-26.13 [[ 7.09650010e-01 6.98487909e-01 9.22578154e-02 1.96138658e+02] [-6.92704466e-01 7.15621812e-01 -8.96991911e-02 -9.71684160e+01] [-1.28675505e-01 -2.52368985e-04 9.91686720e-01 -2.61253972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters 0.0261895609926632 Centerline is valid? [True, True] Translation: X:196.18, Y:-97.21, Z:-26.13 [[ 7.07071989e-01 7.01146772e-01 9.18825747e-02 1.96183469e+02] [-6.95420575e-01 7.13016664e-01 -8.94285234e-02 -9.72125727e+01] [-1.28216327e-01 -6.64629052e-04 9.91746002e-01 -2.61329766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters 0.02650597322055368 Centerline is valid? [True, True] Translation: X:196.23, Y:-97.26, Z:-26.14 [[ 7.05038351e-01 7.03000614e-01 9.33330640e-02 1.96227134e+02] [-6.97095051e-01 7.11188608e-01 -9.09354346e-02 -9.72567580e+01] [-1.30305078e-01 -9.49048171e-04 9.91473492e-01 -2.61408055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters 0.02631825363080572 Centerline is valid? [True, True] Translation: X:196.27, Y:-97.30, Z:-26.15 [[ 7.03877918e-01 7.04202569e-01 9.30301990e-02 1.96271749e+02] [-6.98334746e-01 7.09998251e-01 -9.07252176e-02 -9.73012329e+01] [-1.29940210e-01 -1.10674312e-03 9.91521214e-01 -2.61472059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters 0.02651427203067565 Centerline is valid? [True, True] Translation: X:196.32, Y:-97.34, Z:-26.15 [[ 7.02590084e-01 7.05496992e-01 9.29578816e-02 1.96316703e+02] [-6.99637132e-01 7.08711763e-01 -9.07497675e-02 -9.73449543e+01] [-1.29904032e-01 -1.27689895e-03 9.91525750e-01 -2.61518798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters 0.026544319136028328 Centerline is valid? [True, True] Translation: X:196.36, Y:-97.39, Z:-26.16 [[ 7.00206859e-01 7.07818446e-01 9.32920246e-02 1.96361579e+02] [-7.01924229e-01 7.06392482e-01 -9.11703778e-02 -9.73873185e+01] [-1.30432860e-01 -1.64580852e-03 9.91455778e-01 -2.61586664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters 0.02697064838528494 Centerline is valid? [True, True] Translation: X:196.41, Y:-97.43, Z:-26.17 [[ 6.96019833e-01 7.11893471e-01 9.36166569e-02 1.96408741e+02] [-7.05983395e-01 7.02283514e-01 -9.15713480e-02 -9.74266964e+01] [-1.30934480e-01 -2.35633094e-03 9.91388224e-01 -2.61665827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters 0.027188283757342387 Centerline is valid? [True, True] Translation: X:196.46, Y:-97.47, Z:-26.17 [[ 6.93229250e-01 7.14686379e-01 9.30407777e-02 1.96456477e+02] [-7.08863666e-01 6.99439410e-01 -9.10868513e-02 -9.74663858e+01] [-1.30174919e-01 -2.80915720e-03 9.91487065e-01 -2.61720845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters 0.027103431134541667 Centerline is valid? [True, True] Translation: X:196.51, Y:-97.50, Z:-26.18 [[ 6.94412416e-01 7.13494692e-01 9.33633804e-02 1.96506735e+02] [-7.07609461e-01 7.00656049e-01 -9.14874393e-02 -9.75033543e+01] [-1.30691420e-01 -2.53479748e-03 9.91419854e-01 -2.61798070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters 0.026855814927389733 Centerline is valid? [True, True] Translation: X:196.56, Y:-97.54, Z:-26.19 [[ 6.97461759e-01 7.10433433e-01 9.39757008e-02 1.96556691e+02] [-7.04431094e-01 7.03761809e-01 -9.21745619e-02 -9.75402346e+01] [-1.31620400e-01 -1.91117366e-03 9.91298350e-01 -2.61876990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters 0.026572318341537518 Centerline is valid? [True, True] Translation: X:196.61, Y:-97.58, Z:-26.19 [[ 7.00653254e-01 7.07376964e-01 9.32890621e-02 1.96607354e+02] [-7.01424169e-01 7.06835363e-01 -9.15855078e-02 -9.75769756e+01] [-1.30725486e-01 -1.26551877e-03 9.91417796e-01 -2.61944600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters 0.026424693320129648 Centerline is valid? [True, True] Translation: X:196.66, Y:-97.62, Z:-26.20 [[ 7.03864208e-01 7.04232889e-01 9.29043268e-02 1.96656265e+02] [-6.98290927e-01 7.09968771e-01 -9.12914304e-02 -9.76154137e+01] [-1.30249599e-01 -6.17478102e-04 9.91481044e-01 -2.62011422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters 0.026502354246084475 Centerline is valid? [True, True] Translation: X:196.71, Y:-97.65, Z:-26.21 [[ 7.05389607e-01 7.02437636e-01 9.49045305e-02 1.96706349e+02] [-6.96208013e-01 7.11745260e-01 -9.33439267e-02 -9.76526720e+01] [-1.33116137e-01 -2.29458754e-04 9.91100419e-01 -2.62079261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters 0.026345931037715792 Centerline is valid? [True, True] Translation: X:196.75, Y:-97.69, Z:-26.21 [[ 7.07253506e-01 7.00737968e-01 9.35883407e-02 1.96754096e+02] [-6.94654796e-01 7.13418725e-01 -9.21327141e-02 -9.76930607e+01] [-1.31328566e-01 1.49595401e-04 9.91338885e-01 -2.62141064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters 0.026316682965509482 Centerline is valid? [True, True] Translation: X:196.80, Y:-97.73, Z:-26.22 [[ 7.09768736e-01 6.98478664e-01 9.14105949e-02 1.96802177e+02] [-6.92647369e-01 7.15630617e-01 -9.00690943e-02 -9.77329309e+01] [-1.28327561e-01 6.12919132e-04 9.91731648e-01 -2.62204260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters 0.026758346516799373 Centerline is valid? [True, True] Translation: X:196.85, Y:-97.77, Z:-26.23 [[ 7.12458185e-01 6.95490121e-01 9.32567755e-02 1.96850755e+02] [-6.89383146e-01 7.18534593e-01 -9.19723705e-02 -9.77719125e+01] [-1.30974094e-01 1.23681888e-03 9.91385020e-01 -2.62279523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters 0.026781748775863347 Centerline is valid? [True, True] Translation: X:196.90, Y:-97.81, Z:-26.24 [[ 7.13058000e-01 6.94822320e-01 9.36495222e-02 1.96897237e+02] [-6.88646850e-01 7.19180028e-01 -9.24424328e-02 -9.78126494e+01] [-1.31581932e-01 1.42536772e-03 9.91304274e-01 -2.62353615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters 0.026683047831838773 Centerline is valid? [True, True] Translation: X:196.94, Y:-97.85, Z:-26.24 [[ 7.13741864e-01 6.94426892e-01 9.13446391e-02 1.96943372e+02] [-6.88539609e-01 7.19561664e-01 -9.02453207e-02 -9.78536503e+01] [-1.28396878e-01 1.51746135e-03 9.91721704e-01 -2.62409831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters 0.027045158427119572 Centerline is valid? [True, True] Translation: X:196.99, Y:-97.90, Z:-26.25 [[ 7.15397380e-01 6.92684849e-01 9.16203479e-02 1.96988607e+02] [-6.86737187e-01 7.21237902e-01 -9.05976005e-02 -9.78964953e+01] [-1.28835653e-01 1.89418609e-03 9.91664150e-01 -2.62483528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters 0.027516555424784157 Centerline is valid? [True, True] Translation: X:197.03, Y:-97.94, Z:-26.26 [[ 7.16829189e-01 6.91017484e-01 9.30094053e-02 1.97033104e+02] [-6.84862557e-01 7.22834424e-01 -9.20525586e-02 -9.79394660e+01] [-1.30840327e-01 2.28730184e-03 9.91400816e-01 -2.62563324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters 0.027782345473685983 Centerline is valid? [True, True] Translation: X:197.08, Y:-97.98, Z:-26.26 [[ 7.17938123e-01 6.89932804e-01 9.25071723e-02 1.97075463e+02] [-6.83825056e-01 7.23868999e-01 -9.16349575e-02 -9.79844121e+01] [-1.30185037e-01 2.52950712e-03 9.91486489e-01 -2.62634781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters 0.028184193386377756 Centerline is valid? [True, True] Translation: X:197.12, Y:-98.03, Z:-26.27 [[ 7.18849563e-01 6.88869641e-01 9.33483976e-02 1.97119304e+02] [-6.82630169e-01 7.24879813e-01 -9.25489566e-02 -9.80286271e+01] [-1.31420535e-01 2.80634462e-03 9.91322736e-01 -2.62703162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters 0.028984957163631135 Centerline is valid? [True, True] Translation: X:197.16, Y:-98.07, Z:-26.28 [[ 7.21768418e-01 6.85792937e-01 9.34794003e-02 1.97161919e+02] [-6.79499497e-01 7.27788620e-01 -9.27586066e-02 -9.80730760e+01] [-1.31646441e-01 3.43102723e-03 9.91290796e-01 -2.62791367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters 0.029622962319742284 Centerline is valid? [True, True] Translation: X:197.20, Y:-98.12, Z:-26.29 [[ 7.24493474e-01 6.83089351e-01 9.21853874e-02 1.97204225e+02] [-6.76937759e-01 7.30324266e-01 -9.15518269e-02 -9.81179703e+01] [-1.29863303e-01 3.92493159e-03 9.91524139e-01 -2.62854535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters 0.029802911690199108 Centerline is valid? [True, True] Translation: X:197.25, Y:-98.16, Z:-26.29 [[ 7.24903427e-01 6.82839849e-01 9.08006718e-02 1.97247081e+02] [-6.76860648e-01 7.30557332e-01 -9.02532417e-02 -9.81645981e+01] [-1.27963606e-01 3.96548271e-03 9.91770936e-01 -2.62919325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters 0.03064984129790824 Centerline is valid? [True, True] Translation: X:197.29, Y:-98.21, Z:-26.30 [[ 7.26331591e-01 6.81013859e-01 9.30727890e-02 1.97288850e+02] [-6.74703553e-01 7.32256930e-01 -9.26007760e-02 -9.82095641e+01] [-1.31215607e-01 4.46232750e-03 9.91343811e-01 -2.62998487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters 0.03127684768932797 Centerline is valid? [True, True] Translation: X:197.33, Y:-98.26, Z:-26.31 [[ 7.28072325e-01 6.79134651e-01 9.32030933e-02 1.97330702e+02] [-6.72781532e-01 7.33997604e-01 -9.28037015e-02 -9.82556544e+01] [-1.31437057e-01 4.86248673e-03 9.91312593e-01 -2.63064546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters 0.031767882616807915 Centerline is valid? [True, True] Translation: X:197.37, Y:-98.30, Z:-26.31 [[ 7.30232156e-01 6.77025585e-01 9.16370865e-02 1.97371143e+02] [-6.70858842e-01 7.35941048e-01 -9.13191536e-02 -9.83027311e+01] [-1.29264897e-01 5.20863267e-03 9.91596418e-01 -2.63135580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters 0.03180724697289201 Centerline is valid? [True, True] Translation: X:197.41, Y:-98.35, Z:-26.32 [[ 7.28492577e-01 6.78638929e-01 9.35295091e-02 1.97410822e+02] [-6.72216362e-01 7.34454460e-01 -9.32834829e-02 -9.83507547e+01] [-1.31998968e-01 5.08425852e-03 9.91236815e-01 -2.63214212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters 0.030209215022463817 Centerline is valid? [True, True] Translation: X:197.45, Y:-98.40, Z:-26.33 [[ 7.24623199e-01 6.82834890e-01 9.30469389e-02 1.97448517e+02] [-6.76503905e-01 7.30559784e-01 -9.28701712e-02 -9.83998895e+01] [-1.31391345e-01 4.34926306e-03 9.91321037e-01 -2.63286177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters 0.029496873832337612 Centerline is valid? [True, True] Translation: X:197.49, Y:-98.45, Z:-26.34 [[ 7.21434311e-01 6.86186331e-01 9.31710984e-02 1.97486297e+02] [-6.79862603e-01 7.27416078e-01 -9.30198412e-02 -9.84497556e+01] [-1.31603099e-01 3.76415956e-03 9.91295342e-01 -2.63364875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters 0.02912276137939823 Centerline is valid? [True, True] Translation: X:197.53, Y:-98.50, Z:-26.34 [[ 7.20322223e-01 6.87447698e-01 9.24746320e-02 1.97527109e+02] [-6.81219569e-01 7.26225169e-01 -9.23953585e-02 -9.84969497e+01] [-1.30674382e-01 3.55890104e-03 9.91418953e-01 -2.63436341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters 0.028719989065589997 Centerline is valid? [True, True] Translation: X:197.57, Y:-98.54, Z:-26.35 [[ 7.18546504e-01 6.89406214e-01 9.17060181e-02 1.97567224e+02] [-6.83292949e-01 7.24367879e-01 -9.16619948e-02 -9.85447605e+01] [-1.29621243e-01 3.20133033e-03 9.91558412e-01 -2.63509596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters 0.028288822371627033 Centerline is valid? [True, True] Translation: X:197.51, Y:-98.93, Z:-24.44 [[ 7.38286628e-01 -6.71382016e-01 -6.46455227e-02 1.97510717e+02] [-6.68091752e-01 -7.41086965e-01 6.66597419e-02 -9.89329165e+01] [-9.26621061e-02 -6.02485559e-03 -9.95679384e-01 -2.44379398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters 0.02753522834303649 Centerline is valid? [True, True] Translation: X:197.59, Y:-98.60, Z:-26.36 [[ 7.58379670e-01 6.44043492e-01 1.00340709e-01 1.97590794e+02] [-6.38157483e-01 7.64986602e-01 -8.68937554e-02 -9.86043916e+01] [-1.32722655e-01 1.86528341e-03 9.91151460e-01 -2.63589465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters 0.02759613815575499 Centerline is valid? [True, True] Translation: X:197.64, Y:-98.65, Z:-26.37 [[ 7.56720577e-01 6.46000697e-01 1.00284935e-01 1.97635251e+02] [-6.40128075e-01 7.63335183e-01 -8.69220686e-02 -9.86478889e+01] [-1.32702736e-01 1.58051553e-03 9.91154623e-01 -2.63672055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters 0.02757937996455753 Centerline is valid? [True, True] Translation: X:197.68, Y:-98.69, Z:-26.37 [[ 7.53500194e-01 6.49444148e-01 1.02272951e-01 1.97679444e+02] [-6.43355394e-01 7.60408560e-01 -8.87280066e-02 -9.86925996e+01] [-1.35393112e-01 1.05871566e-03 9.90791393e-01 -2.63748109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters 0.027584599299859538 Centerline is valid? [True, True] Translation: X:197.72, Y:-98.74, Z:-26.38 [[ 7.51711319e-01 6.51618279e-01 1.01605664e-01 1.97723837e+02] [-6.45616797e-01 7.58546692e-01 -8.82375643e-02 -9.87357171e+01] [-1.34569850e-01 7.30852154e-04 9.90903841e-01 -2.63820661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters 0.02773504279292455 Centerline is valid? [True, True] Translation: X:197.77, Y:-98.78, Z:-26.39 [[ 7.49811277e-01 6.53602558e-01 1.02891913e-01 1.97768648e+02] [-6.47454689e-01 7.56837830e-01 -8.94367095e-02 -9.87789383e+01] [-1.36328554e-01 4.42801732e-04 9.90663580e-01 -2.63898518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters 0.027476317759514684 Centerline is valid? [True, True] Translation: X:197.81, Y:-98.82, Z:-26.40 [[ 7.49526808e-01 6.54141538e-01 1.01530351e-01 1.97813741e+02] [-6.48150134e-01 7.56372056e-01 -8.83329853e-02 -9.88207498e+01] [-1.34576995e-01 4.01030180e-04 9.90903059e-01 -2.63961666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters 0.027328480954314373 Centerline is valid? [True, True] Translation: X:197.86, Y:-98.86, Z:-26.40 [[ 7.46877232e-01 6.57092008e-01 1.02002420e-01 1.97860535e+02] [-6.51060265e-01 7.53810380e-01 -8.88281644e-02 -9.88629815e+01] [-1.35258760e-01 -6.59889086e-05 9.90810307e-01 -2.64034815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters 0.027152155493009467 Centerline is valid? [True, True] Translation: X:197.91, Y:-98.90, Z:-26.41 [[ 7.45297277e-01 6.58974088e-01 1.01415583e-01 1.97908532e+02] [-6.53016374e-01 7.52165567e-01 -8.84113998e-02 -9.89040593e+01] [-1.34542131e-01 -3.33260656e-04 9.90907818e-01 -2.64103735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters 0.027140220494932036 Centerline is valid? [True, True] Translation: X:197.96, Y:-98.95, Z:-26.42 [[ 7.43401593e-01 6.61211633e-01 1.00763320e-01 1.97955965e+02] [-6.55338538e-01 7.50199131e-01 -8.79355675e-02 -9.89451100e+01] [-1.33736576e-01 -6.62645914e-04 9.91016695e-01 -2.64175343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters 0.02697586303767078 Centerline is valid? [True, True] Translation: X:198.00, Y:-98.98, Z:-26.42 [[ 7.41856561e-01 6.63084974e-01 9.98356693e-02 1.98004840e+02] [-6.57324538e-01 7.48543565e-01 -8.72180199e-02 -9.89839854e+01] [-1.32564306e-01 -9.21174948e-04 9.91173979e-01 -2.64241025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters 0.027149061269542238 Centerline is valid? [True, True] Translation: X:198.06, Y:-99.02, Z:-26.43 [[ 7.40158977e-01 6.64995410e-01 9.97286019e-02 1.98056488e+02] [-6.59252124e-01 7.46846494e-01 -8.72178342e-02 -9.90203456e+01] [-1.32481416e-01 -1.19122977e-03 9.91184774e-01 -2.64302916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters 0.027081907256846394 Centerline is valid? [True, True] Translation: X:198.11, Y:-99.06, Z:-26.44 [[ 7.39730936e-01 6.65570689e-01 9.90646255e-02 1.98107953e+02] [-6.59896843e-01 7.46333825e-01 -8.67293391e-02 -9.90562831e+01] [-1.31659787e-01 -1.21605843e-03 9.91294216e-01 -2.64379301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters 0.027147089288062105 Centerline is valid? [True, True] Translation: X:198.16, Y:-99.09, Z:-26.44 [[ 7.40217744e-01 6.64845097e-01 1.00293018e-01 1.98160050e+02] [-6.59009620e-01 7.46980547e-01 -8.78998428e-02 -9.90925766e+01] [-1.33356713e-01 -1.02904020e-03 9.91067570e-01 -2.64444149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters 0.026915116772967696 Centerline is valid? [True, True] Translation: X:198.21, Y:-99.13, Z:-26.45 [[ 7.41315173e-01 6.64124528e-01 9.69042052e-02 1.98212172e+02] [-6.58660902e-01 7.47621540e-01 -8.50167633e-02 -9.91272089e+01] [-1.28909389e-01 -8.02794562e-04 9.91656052e-01 -2.64488435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters 0.02696498008160483 Centerline is valid? [True, True] Translation: X:198.27, Y:-99.16, Z:-26.46 [[ 7.42441338e-01 6.62828136e-01 9.71582296e-02 1.98265680e+02] [-6.57314111e-01 7.48771390e-01 -8.53203713e-02 -9.91620297e+01] [-1.29302045e-01 -5.18104612e-04 9.91605119e-01 -2.64554913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters 0.026945034119841203 Centerline is valid? [True, True] Translation: X:198.32, Y:-99.20, Z:-26.46 [[ 7.45451528e-01 6.59372107e-01 9.76239984e-02 1.98319880e+02] [-6.53763251e-01 7.51816734e-01 -8.58207989e-02 -9.91959516e+01] [-1.29983197e-01 1.52263063e-04 9.91516185e-01 -2.64620220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters 0.02717978868799591 Centerline is valid? [True, True] Translation: X:198.37, Y:-99.23, Z:-26.47 [[ 7.48698352e-01 6.55805028e-01 9.68015713e-02 1.98369638e+02] [-6.50249211e-01 7.54929844e-01 -8.51874026e-02 -9.92337016e+01] [-1.28944722e-01 8.34522492e-04 9.91651432e-01 -2.64694074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters 0.028186307438734414 Centerline is valid? [True, True] Translation: X:198.42, Y:-99.27, Z:-26.48 [[ 7.55318765e-01 6.48218723e-01 9.64678786e-02 1.98420283e+02] [-6.42627879e-01 7.61451030e-01 -8.49808104e-02 -9.92688282e+01] [-1.28541718e-01 2.19465252e-03 9.91701674e-01 -2.64780887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters 0.02858967420122381 Centerline is valid? [True, True] Translation: X:198.47, Y:-99.31, Z:-26.48 [[ 7.57659018e-01 6.45662800e-01 9.52489446e-02 1.98467955e+02] [-6.40183825e-01 7.63618053e-01 -8.39770123e-02 -9.93082006e+01] [-1.26954646e-01 2.64910697e-03 9.91904985e-01 -2.64840978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters 0.02914041042849025 Centerline is valid? [True, True] Translation: X:198.51, Y:-99.35, Z:-26.49 [[ 7.59948208e-01 6.42952519e-01 9.53455789e-02 1.98513045e+02] [-6.37431754e-01 7.65899511e-01 -8.41350035e-02 -9.93500122e+01] [-1.27119945e-01 3.16194554e-03 9.91882312e-01 -2.64909332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters 0.029485069421544156 Centerline is valid? [True, True] Translation: X:198.56, Y:-99.39, Z:-26.50 [[ 7.61503600e-01 6.41153154e-01 9.50520923e-02 1.98557410e+02] [-6.35643817e-01 7.67404947e-01 -8.39439447e-02 -9.93924739e+01] [-1.26764371e-01 3.50434136e-03 9.91926668e-01 -2.64982464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters 0.02990603311035149 Centerline is valid? [True, True] Translation: X:198.60, Y:-99.44, Z:-26.51 [[ 7.63276945e-01 6.38956837e-01 9.56162383e-02 1.98599916e+02] [-6.33355634e-01 7.69232468e-01 -8.45106575e-02 -9.94381175e+01] [-1.27549777e-01 3.94595328e-03 9.91824321e-01 -2.65051931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters 0.02931493327954006 Centerline is valid? [True, True] Translation: X:198.64, Y:-99.48, Z:-26.51 [[ 7.62289184e-01 6.40054149e-01 9.61555374e-02 1.98641587e+02] [-6.34388502e-01 7.68320204e-01 -8.50605251e-02 -9.94842806e+01] [-1.28321584e-01 3.84075090e-03 9.91725173e-01 -2.65110943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters 0.028311249479948966 Centerline is valid? [True, True] Translation: X:198.68, Y:-99.53, Z:-26.52 [[ 7.58454195e-01 6.44273286e-01 9.82810666e-02 1.98682121e+02] [-6.38378255e-01 7.64788416e-01 -8.70165641e-02 -9.95320532e+01] [-1.31226669e-01 3.25758228e-03 9.91347038e-01 -2.65192667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters 0.027496152457852734 Centerline is valid? [True, True] Translation: X:198.72, Y:-99.58, Z:-26.53 [[ 7.55405253e-01 6.47939579e-01 9.76586190e-02 1.98722607e+02] [-6.42139848e-01 7.61687084e-01 -8.65401710e-02 -9.95789766e+01] [-1.30458111e-01 2.66240904e-03 9.91450247e-01 -2.65267529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters 0.0270909417036217 Centerline is valid? [True, True] Translation: X:198.77, Y:-99.62, Z:-26.53 [[ 7.52829013e-01 6.50879969e-01 9.79986917e-02 1.98765125e+02] [-6.45054176e-01 7.59177408e-01 -8.69181969e-02 -9.96246858e+01] [-1.30971706e-01 2.22007505e-03 9.91383621e-01 -2.65343803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters 0.0268774520767679 Centerline is valid? [True, True] Translation: X:198.81, Y:-99.67, Z:-26.54 [[ 7.50471150e-01 6.53440762e-01 9.90364811e-02 1.98807473e+02] [-6.47502085e-01 7.56975389e-01 -8.79164991e-02 -9.96702003e+01] [-1.32416403e-01 1.85246818e-03 9.91192446e-01 -2.65419840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters 0.02675467035168755 Centerline is valid? [True, True] Translation: X:198.85, Y:-99.71, Z:-26.55 [[ 7.49753759e-01 6.54406737e-01 9.80873245e-02 1.98851246e+02] [-6.48580604e-01 7.56140770e-01 -8.71454899e-02 -9.97147710e+01] [-1.31196421e-01 1.72012236e-03 9.91354901e-01 -2.65487394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters 0.026766793435202375 Centerline is valid? [True, True] Translation: X:198.89, Y:-99.76, Z:-26.56 [[ 7.48184916e-01 6.56226471e-01 9.79088847e-02 1.98892181e+02] [-6.50430789e-01 7.54562628e-01 -8.70346466e-02 -9.97610051e+01] [-1.30992824e-01 1.43505669e-03 9.91382278e-01 -2.65571616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters 0.026725853737951832 Centerline is valid? [True, True] Translation: X:198.94, Y:-99.81, Z:-26.56 [[ 7.47852667e-01 6.56515582e-01 9.85072492e-02 1.98936065e+02] [-6.50640233e-01 7.54311059e-01 -8.76476649e-02 -9.98055261e+01] [-1.31847165e-01 1.45476044e-03 9.91268989e-01 -2.65637240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters 0.027037104263767327 Centerline is valid? [True, True] Translation: X:198.98, Y:-99.85, Z:-26.57 [[ 7.46840103e-01 6.57551957e-01 9.92737863e-02 1.98980339e+02] [-6.51581174e-01 7.53407988e-01 -8.84215872e-02 -9.98494381e+01] [-1.32935451e-01 1.35185707e-03 9.91123775e-01 -2.65702481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters 0.026774131659953987 Centerline is valid? [True, True] Translation: X:199.02, Y:-99.89, Z:-26.58 [[ 7.45664723e-01 6.58992984e-01 9.85513440e-02 1.99023791e+02] [-6.53109825e-01 7.52148200e-01 -8.78671869e-02 -9.98936606e+01] [-1.32029076e-01 1.15461063e-03 9.91245172e-01 -2.65782411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters 0.026871658445685304 Centerline is valid? [True, True] Translation: X:199.07, Y:-99.94, Z:-26.59 [[ 7.44772846e-01 6.59754150e-01 1.00189168e-01 1.99067925e+02] [-6.53669485e-01 7.51480714e-01 -8.94032465e-02 -9.99361410e+01] [-1.34274390e-01 1.09450877e-03 9.90943586e-01 -2.65860371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters 0.026723571930466344 Centerline is valid? [True, True] Translation: X:199.11, Y:-99.98, Z:-26.59 [[ 7.43821025e-01 6.60794811e-01 1.00401693e-01 1.99110505e+02] [-6.54686359e-01 7.50565998e-01 -8.96462765e-02 -9.99829812e+01] [-1.34595891e-01 9.49166193e-04 9.90900119e-01 -2.65926267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters 0.02676633777643376 Centerline is valid? [True, True] Translation: X:199.15, Y:-100.03, Z:-26.60 [[ 7.42368147e-01 6.62581869e-01 9.93720306e-02 1.99153769e+02] [-6.56602328e-01 7.48989181e-01 -8.88177296e-02 -1.00026796e+02] [-1.33277593e-01 6.87546747e-04 9.91078509e-01 -2.66003739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters 0.02665881994335905 Centerline is valid? [True, True] Translation: X:199.20, Y:-100.07, Z:-26.61 [[ 7.40154742e-01 6.64919931e-01 1.00261873e-01 1.99195814e+02] [-6.58842009e-01 7.46914569e-01 -8.96985736e-02 -1.00074042e+02] [-1.34529423e-01 3.34090722e-04 9.90909543e-01 -2.66059736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters 0.026575330301839933 Centerline is valid? [True, True] Translation: X:199.24, Y:-100.12, Z:-26.61 [[ 7.36043853e-01 6.69513053e-01 9.99585835e-02 1.99240166e+02] [-6.63501143e-01 7.42800165e-01 -8.95217736e-02 -1.00118206e+02] [-1.34185248e-01 -4.30683230e-04 9.90956171e-01 -2.66129910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters 0.026528699544040798 Centerline is valid? [True, True] Translation: X:199.28, Y:-100.16, Z:-26.62 [[ 7.32476895e-01 6.73658535e-01 9.82943391e-02 1.99284975e+02] [-6.67870869e-01 7.39041926e-01 -8.81222670e-02 -1.00160715e+02] [-1.32007955e-01 -1.10040123e-03 9.91248046e-01 -2.66193358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters 0.02684152583808392 Centerline is valid? [True, True] Translation: X:199.33, Y:-100.20, Z:-26.63 [[ 7.29767128e-01 6.76483902e-01 9.90427634e-02 1.99332261e+02] [-6.70622013e-01 7.36455765e-01 -8.88764419e-02 -1.00200958e+02] [-1.33064096e-01 -1.56115162e-03 9.91106205e-01 -2.66270273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters 0.026733113003164024 Centerline is valid? [True, True] Translation: X:199.38, Y:-100.24, Z:-26.63 [[ 7.27851220e-01 6.78552258e-01 9.89920961e-02 1.99379523e+02] [-6.72704198e-01 7.34549735e-01 -8.89142750e-02 -1.00240728e+02] [-1.33047600e-01 -1.87603518e-03 9.91107873e-01 -2.66329127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters 0.026839856062054586 Centerline is valid? [True, True] Translation: X:199.43, Y:-100.28, Z:-26.64 [[ 7.26514721e-01 6.79956506e-01 9.91741466e-02 1.99428474e+02] [-6.74088584e-01 7.33249510e-01 -8.91612935e-02 -1.00279317e+02] [-1.33345196e-01 -2.07516785e-03 9.91067481e-01 -2.66398653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters 0.02674973830092867 Centerline is valid? [True, True] Translation: X:199.48, Y:-100.32, Z:-26.65 [[ 7.27059865e-01 6.79529803e-01 9.80979075e-02 1.99476660e+02] [-6.73774238e-01 7.33645408e-01 -8.82762204e-02 -1.00318575e+02] [-1.31955402e-01 -1.91374597e-03 9.91253807e-01 -2.66461170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters 0.026703838975456327 Centerline is valid? [True, True] Translation: X:199.52, Y:-100.36, Z:-26.65 [[ 7.26860170e-01 6.79716166e-01 9.82864537e-02 1.99524864e+02] [-6.73928758e-01 7.33472812e-01 -8.85305780e-02 -1.00358536e+02] [-1.32266107e-01 -1.88871668e-03 9.91212444e-01 -2.66538517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters 0.026531649851990677 Centerline is valid? [True, True] Translation: X:199.57, Y:-100.40, Z:-26.66 [[ 7.29889791e-01 6.76461223e-01 9.82909265e-02 1.99574544e+02] [-6.70631352e-01 7.36477226e-01 -8.86277893e-02 -1.00396454e+02] [-1.32342292e-01 -1.22845832e-03 9.91203314e-01 -2.66603365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters 0.026197337179734482 Centerline is valid? [True, True] Translation: X:199.62, Y:-100.44, Z:-26.67 [[ 7.34867423e-01 6.71264442e-01 9.68190006e-02 1.99620264e+02] [-6.65552743e-01 7.41217915e-01 -8.73816219e-02 -1.00437798e+02] [-1.30420153e-01 -2.24244119e-04 9.91458791e-01 -2.66676774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters 0.026358158518250716 Centerline is valid? [True, True] Translation: X:199.67, Y:-100.48, Z:-26.67 [[ 7.38768561e-01 6.66743171e-01 9.83593229e-02 1.99667987e+02] [-6.60796021e-01 7.45287275e-01 -8.88566016e-02 -1.00477603e+02] [-1.32550484e-01 6.49014481e-04 9.91176043e-01 -2.66737703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters 0.026714907708749538 Centerline is valid? [True, True] Translation: X:199.71, Y:-100.52, Z:-26.68 [[ 7.42575729e-01 6.62496007e-01 9.83886554e-02 1.99711197e+02] [-6.56496896e-01 7.49063998e-01 -8.89660185e-02 -1.00521246e+02] [-1.32639032e-01 1.47215915e-03 9.91163317e-01 -2.66816104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters 0.02720300722556932 Centerline is valid? [True, True] Translation: X:199.75, Y:-100.57, Z:-26.69 [[ 7.46058028e-01 6.58658630e-01 9.78070957e-02 1.99753858e+02] [-6.52686790e-01 7.52438668e-01 -8.85212099e-02 -1.00566186e+02] [-1.31899100e-01 2.20456001e-03 9.91260696e-01 -2.66895438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters 0.027639621922235878 Centerline is valid? [True, True] Translation: X:199.79, Y:-100.61, Z:-26.70 [[ 7.48005611e-01 6.56187029e-01 9.95298401e-02 1.99794118e+02] [-6.49968795e-01 7.54593275e-01 -9.01640471e-02 -1.00613428e+02] [-1.34269026e-01 2.75192297e-03 9.90941096e-01 -2.66972013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters 0.02766729660527925 Centerline is valid? [True, True] Translation: X:199.83, Y:-100.66, Z:-26.70 [[ 7.48643604e-01 6.55822615e-01 9.71053661e-02 1.99832669e+02] [-6.49891780e-01 7.54909812e-01 -8.80445924e-02 -1.00663062e+02] [-1.31047428e-01 2.80604171e-03 9.91372129e-01 -2.67046152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters 0.027477691225135898 Centerline is valid? [True, True] Translation: X:199.87, Y:-100.71, Z:-26.71 [[ 7.46817167e-01 6.57737189e-01 9.82135914e-02 1.99870399e+02] [-6.51675046e-01 7.53243141e-01 -8.91313939e-02 -1.00714808e+02] [-1.32603747e-01 2.56150835e-03 9.91165821e-01 -2.67116697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters 0.026861419967214913 Centerline is valid? [True, True] Translation: X:199.91, Y:-100.76, Z:-26.72 [[ 7.44944250e-01 6.59927520e-01 9.77431973e-02 1.99910516e+02] [-6.53930444e-01 7.51325962e-01 -8.87934297e-02 -1.00762607e+02] [-1.32034230e-01 2.22890247e-03 9.91242652e-01 -2.67175964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters 0.026518383040706164 Centerline is valid? [True, True] Translation: X:199.95, Y:-100.81, Z:-26.72 [[ 7.41475958e-01 6.63972500e-01 9.67156836e-02 1.99949844e+02] [-6.58125146e-01 7.47755379e-01 -8.79385313e-02 -1.00811452e+02] [-1.30708439e-01 1.55328336e-03 9.91419634e-01 -2.67248073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters 0.02604330065626205 Centerline is valid? [True, True] Translation: X:199.99, Y:-100.86, Z:-26.73 [[ 7.36516761e-01 6.69421967e-01 9.70427280e-02 1.99989310e+02] [-6.63570904e-01 7.42882094e-01 -8.83167616e-02 -1.00860175e+02] [-1.31212485e-01 6.52044472e-04 9.91354053e-01 -2.67312227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters 0.025786936310624696 Centerline is valid? [True, True] Translation: X:200.03, Y:-100.91, Z:-26.74 [[ 7.31653523e-01 6.74802199e-01 9.65666319e-02 2.00030993e+02] [-6.69044378e-01 7.37998598e-01 -8.79641375e-02 -1.00906137e+02] [-1.30624432e-01 -2.48091130e-04 9.91431892e-01 -2.67371694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters 0.025900878243605718 Centerline is valid? [True, True] Translation: X:200.08, Y:-100.95, Z:-26.74 [[ 7.27673146e-01 6.79001611e-01 9.72039355e-02 2.00075595e+02] [-6.73193191e-01 7.34136173e-01 -8.86284811e-02 -1.00949008e+02] [-1.31539807e-01 -9.44461906e-04 9.91310439e-01 -2.67438105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters 0.026024120693650645 Centerline is valid? [True, True] Translation: X:200.12, Y:-100.99, Z:-26.75 [[ 7.24932180e-01 6.82002037e-01 9.66775837e-02 2.00120707e+02] [-6.76271898e-01 7.31348899e-01 -8.82332526e-02 -1.00992454e+02] [-1.30880303e-01 -1.41720886e-03 9.91397165e-01 -2.67526190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters 0.02596652905826615 Centerline is valid? [True, True] Translation: X:200.17, Y:-101.03, Z:-26.76 [[ 7.24460260e-01 6.82347707e-01 9.77698253e-02 2.00167726e+02] [-6.76477076e-01 7.31026384e-01 -8.93263228e-02 -1.01032572e+02] [-1.32423933e-01 -1.42567455e-03 9.91192146e-01 -2.67596577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters 0.025768703043784612 Centerline is valid? [True, True] Translation: X:200.21, Y:-101.07, Z:-26.77 [[ 7.25534935e-01 6.81087043e-01 9.85875110e-02 2.00214666e+02] [-6.75093802e-01 7.32201571e-01 -9.01621756e-02 -1.01074023e+02] [-1.33594220e-01 -1.14000935e-03 9.91035461e-01 -2.67668711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters 0.025757467211182987 Centerline is valid? [True, True] Translation: X:200.26, Y:-101.12, Z:-26.77 [[ 7.29105860e-01 6.77183995e-01 9.91286072e-02 2.00260605e+02] [-6.71074796e-01 7.35813640e-01 -9.07573964e-02 -1.01116514e+02] [-1.34399638e-01 -3.50960248e-04 9.90927149e-01 -2.67748746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters 0.02594349275119544 Centerline is valid? [True, True] Translation: X:200.31, Y:-101.16, Z:-26.78 [[ 7.30528383e-01 6.75533463e-01 9.99140768e-02 2.00305752e+02] [-6.69297370e-01 7.37329329e-01 -9.15777846e-02 -1.01159993e+02] [-1.35533437e-01 2.79419517e-05 9.90772772e-01 -2.67822745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters 0.02607088718547088 Centerline is valid? [True, True] Translation: X:200.35, Y:-101.20, Z:-26.79 [[ 7.30089178e-01 6.75967426e-01 1.00188977e-01 2.00352185e+02] [-6.69687066e-01 7.36931502e-01 -9.19303769e-02 -1.01202506e+02] [-1.35974353e-01 2.21113239e-05 9.90712357e-01 -2.67900234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters 0.02604800191175474 Centerline is valid? [True, True] Translation: X:200.40, Y:-101.25, Z:-26.80 [[ 7.30467716e-01 6.75633665e-01 9.96798222e-02 2.00396283e+02] [-6.69400658e-01 7.37237496e-01 -9.15621837e-02 -1.01247257e+02] [-1.35350196e-01 1.57480616e-04 9.90797810e-01 -2.67980334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters 0.02605812753948073 Centerline is valid? [True, True] Translation: X:200.44, Y:-101.29, Z:-26.80 [[ 7.30007124e-01 6.76320803e-01 9.83858265e-02 2.00439159e+02] [-6.70243552e-01 7.36607197e-01 -9.04622504e-02 -1.01292660e+02] [-1.33653210e-01 9.56213570e-05 9.91028158e-01 -2.68049834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters 0.025919109845877305 Centerline is valid? [True, True] Translation: X:200.48, Y:-101.34, Z:-26.81 [[ 7.27226446e-01 6.79523959e-01 9.68962633e-02 2.00480807e+02] [-6.73651565e-01 7.33653181e-01 -8.91435902e-02 -1.01338716e+02] [-1.31663457e-01 -4.46743109e-04 9.91294373e-01 -2.68119646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters 0.02611058482038371 Centerline is valid? [True, True] Translation: X:200.52, Y:-101.38, Z:-26.82 [[ 7.22325542e-01 6.84754999e-01 9.67285017e-02 2.00524319e+02] [-6.78938218e-01 7.28772129e-01 -8.90734553e-02 -1.01382766e+02] [-1.31486530e-01 -1.33264471e-03 9.91317062e-01 -2.68187582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters 0.026362443385330277 Centerline is valid? [True, True] Translation: X:200.57, Y:-101.43, Z:-26.83 [[ 7.17956276e-01 6.89686053e-01 9.41909442e-02 2.00566927e+02] [-6.84203096e-01 7.24105434e-01 -8.68184583e-02 -1.01429584e+02] [-1.28081654e-01 -2.11387860e-03 9.91761373e-01 -2.68254821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters 0.026502653353543487 Centerline is valid? [True, True] Translation: X:200.61, Y:-101.47, Z:-26.83 [[ 7.15361192e-01 6.92202077e-01 9.54706778e-02 2.00611734e+02] [-6.86578226e-01 7.21699305e-01 -8.80934293e-02 -1.01471691e+02] [-1.29879577e-01 -2.52946812e-03 9.91526549e-01 -2.68328141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters 0.026994774756714923 Centerline is valid? [True, True] Translation: X:200.66, Y:-101.51, Z:-26.84 [[ 7.12088905e-01 6.95182299e-01 9.82393097e-02 2.00658638e+02] [-6.89242356e-01 7.18826800e-01 -9.07359115e-02 -1.01512185e+02] [-1.33695048e-01 -3.09865739e-03 9.91017675e-01 -2.68386286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters 0.02723746950742044 Centerline is valid? [True, True] Translation: X:200.71, Y:-101.55, Z:-26.85 [[ 7.10206036e-01 6.97397243e-01 9.61481794e-02 2.00706514e+02] [-6.91717613e-01 7.16676824e-01 -8.88879808e-02 -1.01553069e+02] [-1.30897405e-01 -3.37860864e-03 9.91390163e-01 -2.68454238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters 0.027403001479387935 Centerline is valid? [True, True] Translation: X:200.75, Y:-101.59, Z:-26.85 [[ 7.09337161e-01 6.98076407e-01 9.76223454e-02 2.00754051e+02] [-6.92214030e-01 7.16014774e-01 -9.03470008e-02 -1.01591925e+02] [-1.32968151e-01 -3.48907206e-03 9.91114170e-01 -2.68537412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters 0.027155432187413803 Centerline is valid? [True, True] Translation: X:200.81, Y:-101.63, Z:-26.86 [[ 7.09264181e-01 6.98096841e-01 9.80057290e-02 2.00805354e+02] [-6.92176698e-01 7.15995067e-01 -9.07881140e-02 -1.01629049e+02] [-1.33550514e-01 -3.44452462e-03 9.91036021e-01 -2.68588135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters 0.02640910068031304 Centerline is valid? [True, True] Translation: X:200.86, Y:-101.67, Z:-26.87 [[ 7.11941389e-01 6.95617589e-01 9.62061756e-02 2.00855216e+02] [-6.89880145e-01 7.18406553e-01 -8.92043129e-02 -1.01666690e+02] [-1.31167236e-01 -2.86248790e-03 9.91356123e-01 -2.68659099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters 0.026022820370671097 Centerline is valid? [True, True] Translation: X:200.91, Y:-101.70, Z:-26.87 [[ 7.16523396e-01 6.90907736e-01 9.61286802e-02 2.00906359e+02] [-6.85133191e-01 7.22940249e-01 -8.91622525e-02 -1.01702997e+02] [-1.31098182e-01 -1.97410946e-03 9.91367424e-01 -2.68734360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters 0.025398274236441875 Centerline is valid? [True, True] Translation: X:200.96, Y:-101.74, Z:-26.88 [[ 7.21256546e-01 6.86054658e-01 9.54882251e-02 2.00955230e+02] [-6.80310568e-01 7.27549231e-01 -8.85982409e-02 -1.01742101e+02] [-1.30255621e-01 -1.05958744e-03 9.91479879e-01 -2.68798761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters 0.02537199333145035 Centerline is valid? [True, True] Translation: X:201.00, Y:-101.78, Z:-26.89 [[ 7.23973892e-01 6.83116369e-01 9.59887021e-02 2.01004904e+02] [-6.77280523e-01 7.30309368e-01 -8.91028561e-02 -1.01780809e+02] [-1.30969068e-01 -5.03136917e-04 9.91386327e-01 -2.68874427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters 0.025371698597106977 Centerline is valid? [True, True] Translation: X:201.05, Y:-101.82, Z:-26.89 [[ 7.27117546e-01 6.79726360e-01 9.62919969e-02 2.01051070e+02] [-6.73810633e-01 7.33465774e-01 -8.94828969e-02 -1.01823245e+02] [-1.31450768e-01 1.82013029e-04 9.91322683e-01 -2.68942370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters 0.02531021340181867 Centerline is valid? [True, True] Translation: X:201.10, Y:-101.86, Z:-26.90 [[ 7.28768721e-01 6.78118739e-01 9.51374110e-02 2.01097250e+02] [-6.72318607e-01 7.34952167e-01 -8.85042549e-02 -1.01864061e+02] [-1.29937840e-01 5.36480985e-04 9.91521997e-01 -2.69003577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters 0.02522613721394878 Centerline is valid? [True, True] Translation: X:201.14, Y:-101.91, Z:-26.91 [[ 7.29649392e-01 6.77132819e-01 9.54091661e-02 2.01142855e+02] [-6.71279750e-01 7.35860408e-01 -8.88423180e-02 -1.01907228e+02] [-1.30365877e-01 7.77502221e-04 9.91465649e-01 -2.69063136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters 0.025193674075202035 Centerline is valid? [True, True] Translation: X:201.19, Y:-101.95, Z:-26.91 [[ 7.27808906e-01 6.78925867e-01 9.67153695e-02 2.01187500e+02] [-6.72913702e-01 7.34206634e-01 -9.01541357e-02 -1.01950433e+02] [-1.32217041e-01 5.33885585e-04 9.91220646e-01 -2.69125027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters 0.025179490935675328 Centerline is valid? [True, True] Translation: X:201.23, Y:-101.99, Z:-26.92 [[ 7.24319802e-01 6.82510184e-01 9.76763711e-02 2.01232778e+02] [-6.76397882e-01 7.30876081e-01 -9.11375879e-02 -1.01993802e+02] [-1.33591655e-01 -5.53308484e-05 9.91036461e-01 -2.69205133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters 0.025120992998376526 Centerline is valid? [True, True] Translation: X:201.28, Y:-102.03, Z:-26.93 [[ 7.21937243e-01 6.85171226e-01 9.66799280e-02 2.01281903e+02] [-6.79194601e-01 7.28381883e-01 -9.03024107e-02 -1.02031705e+02] [-1.32292521e-01 -4.71811780e-04 9.91210606e-01 -2.69262137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters 0.024987763000512583 Centerline is valid? [True, True] Translation: X:201.33, Y:-102.07, Z:-26.93 [[ 7.22737480e-01 6.84455190e-01 9.57686174e-02 2.01327575e+02] [-6.78574964e-01 7.29054877e-01 -8.95265633e-02 -1.02074121e+02] [-1.31097498e-01 -2.81983370e-04 9.91369440e-01 -2.69328131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters 0.024921376770977336 Centerline is valid? [True, True] Translation: X:201.38, Y:-102.11, Z:-26.94 [[ 7.24793335e-01 6.82071902e-01 9.72241821e-02 2.01375819e+02] [-6.75983999e-01 7.31285093e-01 -9.09271462e-02 -1.02113583e+02] [-1.33117447e-01 1.81398134e-04 9.91100254e-01 -2.69395023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters 0.024935776067940837 Centerline is valid? [True, True] Translation: X:201.42, Y:-102.16, Z:-26.95 [[ 7.26638004e-01 6.80199527e-01 9.65702537e-02 2.01422409e+02] [-6.74165453e-01 7.33026780e-01 -9.04028865e-02 -1.02155420e+02] [-1.32280583e-01 5.85844264e-04 9.91212139e-01 -2.69486290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters 0.025052535370916364 Centerline is valid? [True, True] Translation: X:201.47, Y:-102.20, Z:-26.96 [[ 7.27514445e-01 6.79301958e-01 9.62890580e-02 2.01467343e+02] [-6.73282478e-01 7.33858420e-01 -9.02359359e-02 -1.02198445e+02] [-1.31959984e-01 8.18211137e-04 9.91254707e-01 -2.69565876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters 0.02532129728126866 Centerline is valid? [True, True] Translation: X:201.51, Y:-102.24, Z:-26.96 [[ 7.30225539e-01 6.76252220e-01 9.72296043e-02 2.01508748e+02] [-6.70074086e-01 7.36668729e-01 -9.12135041e-02 -1.02244333e+02] [-1.33309344e-01 1.45539204e-03 9.91073408e-01 -2.69622890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters 0.025498293144150922 Centerline is valid? [True, True] Translation: X:201.55, Y:-102.29, Z:-26.97 [[ 7.31333957e-01 6.75115360e-01 9.67982146e-02 2.01552160e+02] [-6.68970712e-01 7.37710170e-01 -9.08949506e-02 -1.02290102e+02] [-1.32773605e-01 1.71939337e-03 9.91144900e-01 -2.69698914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters 0.02565902475804795 Centerline is valid? [True, True] Translation: X:201.59, Y:-102.34, Z:-26.98 [[ 7.31842334e-01 6.74527542e-01 9.70535553e-02 2.01592689e+02] [-6.68332499e-01 7.38247236e-01 -9.12287815e-02 -1.02337585e+02] [-1.33185845e-01 1.90103929e-03 9.91089258e-01 -2.69782164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters 0.025619965816527753 Centerline is valid? [True, True] Translation: X:201.63, Y:-102.39, Z:-26.99 [[ 7.30553663e-01 6.75859567e-01 9.74945725e-02 2.01633239e+02] [-6.69608020e-01 7.37028393e-01 -9.17292071e-02 -1.02386523e+02] [-1.33852330e-01 1.72996056e-03 9.90999778e-01 -2.69853346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters 0.025056700964997382 Centerline is valid? [True, True] Translation: X:201.67, Y:-102.43, Z:-26.99 [[ 7.27462031e-01 6.79414314e-01 9.58915219e-02 2.01673003e+02] [-6.73385978e-01 7.33753991e-01 -9.03128141e-02 -1.02433939e+02] [-1.31720606e-01 1.12713691e-03 9.91286241e-01 -2.69923093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters 0.025194318808442813 Centerline is valid? [True, True] Translation: X:201.71, Y:-102.48, Z:-27.00 [[ 7.23643342e-01 6.83203237e-01 9.78450332e-02 2.01713001e+02] [-6.76948030e-01 7.30228097e-01 -9.22404034e-02 -1.02481074e+02] [-1.34468135e-01 5.13151342e-04 9.90917785e-01 -2.70005366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters 0.025144299811566635 Centerline is valid? [True, True] Translation: X:201.76, Y:-102.53, Z:-27.01 [[ 7.17424240e-01 6.89761719e-01 9.76280228e-02 2.01756657e+02] [-6.83582223e-01 7.24036156e-01 -9.21248559e-02 -1.02526598e+02] [-1.34230417e-01 -6.44176150e-04 9.90949938e-01 -2.70082829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters 0.025105466417150814 Centerline is valid? [True, True] Translation: X:201.80, Y:-102.57, Z:-27.02 [[ 7.15452051e-01 6.91910305e-01 9.68942285e-02 2.01802057e+02] [-6.85830186e-01 7.21982821e-01 -9.15301187e-02 -1.02569607e+02] [-1.33286601e-01 -9.67575559e-04 9.91077064e-01 -2.70152588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters 0.025461520927918938 Centerline is valid? [True, True] Translation: X:201.85, Y:-102.61, Z:-27.02 [[ 7.10759281e-01 6.96784809e-01 9.64996127e-02 2.01846505e+02] [-6.90785782e-01 7.17277971e-01 -9.12541282e-02 -1.02612955e+02] [-1.32801537e-01 -1.80084188e-03 9.91141014e-01 -2.70228056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters 0.02577921221180837 Centerline is valid? [True, True] Translation: X:201.89, Y:-102.65, Z:-27.03 [[ 7.08630302e-01 6.98735668e-01 9.80385692e-02 2.01893906e+02] [-6.92549294e-01 7.15376754e-01 -9.27985733e-02 -1.02652841e+02] [-1.34976187e-01 -2.13666084e-03 9.90846539e-01 -2.70296718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters 0.02629783450942831 Centerline is valid? [True, True] Translation: X:201.94, Y:-102.69, Z:-27.04 [[ 7.06019362e-01 7.01059040e-01 1.00264067e-01 2.01942586e+02] [-6.94597733e-01 7.13098590e-01 -9.49967891e-02 -1.02691280e+02] [-1.38096523e-01 -2.57362143e-03 9.90415431e-01 -2.70379415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters 0.026341918467428255 Centerline is valid? [True, True] Translation: X:201.99, Y:-102.73, Z:-27.04 [[ 7.06241112e-01 7.00874469e-01 9.99923467e-02 2.01991239e+02] [-6.94434036e-01 7.13280377e-01 -9.48286516e-02 -1.02730444e+02] [-1.37785560e-01 -2.46619653e-03 9.90459014e-01 -2.70448348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters 0.026116307851181058 Centerline is valid? [True, True] Translation: X:202.04, Y:-102.77, Z:-27.05 [[ 7.08513210e-01 6.98409966e-01 1.01156073e-01 2.02040290e+02] [-6.91779789e-01 7.15695290e-01 -9.60259071e-02 -1.02770196e+02] [-1.39462375e-01 -1.94210308e-03 9.90225466e-01 -2.70523528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters 0.025767358791079515 Centerline is valid? [True, True] Translation: X:202.09, Y:-102.81, Z:-27.06 [[ 7.12021210e-01 6.95049863e-01 9.96568305e-02 2.02088634e+02] [-6.88569087e-01 7.18960547e-01 -9.47013363e-02 -1.02809024e+02] [-1.37471480e-01 -1.19125272e-03 9.90505009e-01 -2.70596113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters 0.025833421474800715 Centerline is valid? [True, True] Translation: X:202.13, Y:-102.85, Z:-27.07 [[ 7.15491770e-01 6.91193550e-01 1.01602180e-01 2.02134782e+02] [-6.84403994e-01 7.22669582e-01 -9.66428916e-02 -1.02849889e+02] [-1.40223748e-01 -3.89744032e-04 9.90119765e-01 -2.70674112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters 0.025700779683841917 Centerline is valid? [True, True] Translation: X:202.18, Y:-102.89, Z:-27.07 [[ 7.18222636e-01 6.88657068e-01 9.95373680e-02 2.02182341e+02] [-6.82105355e-01 7.25087177e-01 -9.47674573e-02 -1.02890214e+02] [-1.37435548e-01 1.69161280e-04 9.90510697e-01 -2.70726633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters 0.025950254633575965 Centerline is valid? [True, True] Translation: X:202.23, Y:-102.93, Z:-27.08 [[ 7.20791220e-01 6.86099797e-01 9.86259849e-02 2.02228466e+02] [-6.79631791e-01 7.27507081e-01 -9.39897628e-02 -1.02932142e+02] [-1.36237460e-01 7.17641098e-04 9.90675951e-01 -2.70810324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters 0.02579999511372821 Centerline is valid? [True, True] Translation: X:202.27, Y:-102.98, Z:-27.09 [[ 7.23889614e-01 6.83367888e-01 9.48269834e-02 2.02272164e+02] [-6.77355093e-01 7.30073120e-01 -9.04616904e-02 -1.02976316e+02] [-1.31049246e-01 1.25273806e-03 9.91375068e-01 -2.70856607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters 0.026198471641147473 Centerline is valid? [True, True] Translation: X:202.32, Y:-103.02, Z:-27.09 [[ 7.24640765e-01 6.82336009e-01 9.65056086e-02 2.02317193e+02] [-6.76086679e-01 7.31037093e-01 -9.21497148e-02 -1.03018175e+02] [-1.33426248e-01 1.52928340e-03 9.91057565e-01 -2.70929441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters 0.026622318634233384 Centerline is valid? [True, True] Translation: X:202.36, Y:-103.07, Z:-27.10 [[ 7.27381370e-01 6.79388687e-01 9.66817173e-02 2.02357539e+02] [-6.73078828e-01 7.33775469e-01 -9.24037441e-02 -1.03065845e+02] [-1.33720731e-01 2.13834491e-03 9.91016747e-01 -2.70999214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters 0.026960483488614018 Centerline is valid? [True, True] Translation: X:202.40, Y:-103.11, Z:-27.11 [[ 7.28510421e-01 6.78180935e-01 9.66601585e-02 2.02400149e+02] [-6.71851855e-01 7.34890979e-01 -9.24680214e-02 -1.03110672e+02] [-1.33744728e-01 2.42261045e-03 9.91012855e-01 -2.71082964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters 0.027101878920242208 Centerline is valid? [True, True] Translation: X:202.44, Y:-103.16, Z:-27.12 [[ 7.29450942e-01 6.77056170e-01 9.74487881e-02 2.02439684e+02] [-6.70601204e-01 7.35926337e-01 -9.33083703e-02 -1.03159287e+02] [-1.34890137e-01 2.71460398e-03 9.90856842e-01 -2.71155973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters 0.027013094296352527 Centerline is valid? [True, True] Translation: X:202.48, Y:-103.21, Z:-27.12 [[ 7.28292552e-01 6.78406395e-01 9.67198089e-02 2.02480929e+02] [-6.72048643e-01 7.34682567e-01 -9.26938417e-02 -1.03205775e+02] [-1.33942452e-01 2.50781831e-03 9.90985938e-01 -2.71236870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters 0.026466456015967404 Centerline is valid? [True, True] Translation: X:202.52, Y:-103.25, Z:-27.13 [[ 7.24967649e-01 6.81875481e-01 9.73022944e-02 2.02521541e+02] [-6.75459875e-01 7.31465689e-01 -9.33375828e-02 -1.03252334e+02] [-1.34817899e-01 1.94293239e-03 9.90868487e-01 -2.71304338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters 0.02607832994564469 Centerline is valid? [True, True] Translation: X:202.57, Y:-103.30, Z:-27.14 [[ 7.22780292e-01 6.84308430e-01 9.64915593e-02 2.02565219e+02] [-6.78009969e-01 7.29191061e-01 -9.26438251e-02 -1.03296043e+02] [-1.33757733e-01 1.53889188e-03 9.91012866e-01 -2.71370118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters 0.02612576901925545 Centerline is valid? [True, True] Translation: X:202.61, Y:-103.34, Z:-27.14 [[ 7.22044336e-01 6.85181988e-01 9.57998935e-02 2.02607820e+02] [-6.78970261e-01 7.28370511e-01 -9.20640203e-02 -1.03341409e+02] [-1.32858426e-01 1.42902583e-03 9.91133995e-01 -2.71439037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters 0.026167338681032243 Centerline is valid? [True, True] Translation: X:202.65, Y:-103.39, Z:-27.15 [[ 7.22325219e-01 6.84812103e-01 9.63258116e-02 2.02651124e+02] [-6.78516734e-01 7.28717999e-01 -9.26559207e-02 -1.03386036e+02] [-1.33646249e-01 1.56903319e-03 9.91027860e-01 -2.71513750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters 0.026305010429078936 Centerline is valid? [True, True] Translation: X:202.69, Y:-103.43, Z:-27.16 [[ 7.23259523e-01 6.83733496e-01 9.69750957e-02 2.02692684e+02] [-6.77331115e-01 7.29729473e-01 -9.33673230e-02 -1.03432620e+02] [-1.34603952e-01 1.84455576e-03 9.90897762e-01 -2.71578640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters 0.026548171292409654 Centerline is valid? [True, True] Translation: X:202.73, Y:-103.48, Z:-27.17 [[ 7.23701762e-01 6.83292915e-01 9.67809504e-02 2.02732466e+02] [-6.76900416e-01 7.30141659e-01 -9.32683483e-02 -1.03482184e+02] [-1.34393405e-01 1.98740247e-03 9.90926063e-01 -2.71650967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters 0.026639657584829543 Centerline is valid? [True, True] Translation: X:202.77, Y:-103.53, Z:-27.17 [[ 7.23563473e-01 6.83451926e-01 9.66921168e-02 2.02770961e+02] [-6.77059192e-01 7.29992704e-01 -9.32818464e-02 -1.03531950e+02] [-1.34338197e-01 2.02905017e-03 9.90933465e-01 -2.71720852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters 0.02625305988744006 Centerline is valid? [True, True] Translation: X:202.81, Y:-103.58, Z:-27.18 [[ 7.21041433e-01 6.86120269e-01 9.66345073e-02 2.02808962e+02] [-6.79745831e-01 7.27486362e-01 -9.33230845e-02 -1.03581210e+02] [-1.34331146e-01 1.60290717e-03 9.90935202e-01 -2.71774817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters 0.02593292936925081 Centerline is valid? [True, True] Translation: X:202.85, Y:-103.63, Z:-27.18 [[ 7.17427967e-01 6.90083394e-01 9.52996440e-02 2.02847984e+02] [-6.83907837e-01 7.23729284e-01 -9.21194559e-02 -1.03630172e+02] [-1.32541250e-01 9.12900601e-04 9.91177070e-01 -2.71842422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters 0.02590460776742031 Centerline is valid? [True, True] Translation: X:202.89, Y:-103.68, Z:-27.19 [[ 7.13867665e-01 6.93727931e-01 9.55746585e-02 2.02889011e+02] [-6.87535998e-01 7.20237088e-01 -9.24812845e-02 -1.03677788e+02] [-1.32993264e-01 3.08380348e-04 9.91116894e-01 -2.71909120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters 0.02583943493691076 Centerline is valid? [True, True] Translation: X:202.93, Y:-103.72, Z:-27.20 [[ 7.08523712e-01 6.99334451e-01 9.44747390e-02 2.02930781e+02] [-6.93320917e-01 7.14794300e-01 -9.15162052e-02 -1.03724232e+02] [-1.31530440e-01 -6.59911280e-04 9.91311913e-01 -2.71969485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters 0.02630660694342678 Centerline is valid? [True, True] Translation: X:202.97, Y:-103.77, Z:-27.20 [[ 7.03298467e-01 7.04330263e-01 9.63854112e-02 2.02972712e+02] [-6.98103289e-01 7.09870737e-01 -9.34630117e-02 -1.03769757e+02] [-1.34250011e-01 -1.55457970e-03 9.90946274e-01 -2.72039957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters 0.026793988190366377 Centerline is valid? [True, True] Translation: X:203.02, Y:-103.81, Z:-27.21 [[ 6.99379927e-01 7.08290571e-01 9.58758864e-02 2.03016581e+02] [-7.02157799e-01 7.05917405e-01 -9.30324852e-02 -1.03813242e+02] [-1.33574489e-01 -2.25494864e-03 9.91036211e-01 -2.72122097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters 0.027079748081412527 Centerline is valid? [True, True] Translation: X:203.06, Y:-103.86, Z:-27.22 [[ 6.96975705e-01 7.10697385e-01 9.55724482e-02 2.03061029e+02] [-7.04613801e-01 7.03492889e-01 -9.28285892e-02 -1.03856768e+02] [-1.33207573e-01 -2.64239455e-03 9.91084638e-01 -2.72184905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters 0.027800144993103598 Centerline is valid? [True, True] Translation: X:203.11, Y:-103.90, Z:-27.23 [[ 6.93846878e-01 7.13637834e-01 9.64238195e-02 2.03106895e+02] [-7.07459807e-01 7.00507687e-01 -9.37528753e-02 -1.03898859e+02] [-1.34451226e-01 -3.16583693e-03 9.90915156e-01 -2.72262226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters 0.027881638369230136 Centerline is valid? [True, True] Translation: X:203.15, Y:-103.94, Z:-27.23 [[ 6.92493662e-01 7.14904422e-01 9.67687716e-02 2.03154324e+02] [-7.08681232e-01 6.99214130e-01 -9.41833970e-02 -1.03939772e+02] [-1.34994219e-01 -3.35680677e-03 9.90840700e-01 -2.72331547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters 0.027825116638482757 Centerline is valid? [True, True] Translation: X:203.20, Y:-103.98, Z:-27.24 [[ 6.91886130e-01 7.15461344e-01 9.69981860e-02 2.03203634e+02] [-7.09200746e-01 6.98644019e-01 -9.45031006e-02 -1.03979192e+02] [-1.35380518e-01 -3.40580138e-03 9.90787826e-01 -2.72413865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters 0.027605166705331023 Centerline is valid? [True, True] Translation: X:203.25, Y:-104.02, Z:-27.25 [[ 6.93236740e-01 7.14148400e-01 9.70303333e-02 2.03253631e+02] [-7.07857407e-01 6.99987551e-01 -9.46325514e-02 -1.04017246e+02] [-1.35501711e-01 -3.08087878e-03 9.90772322e-01 -2.72491163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters 0.02731549321493872 Centerline is valid? [True, True] Translation: X:203.31, Y:-104.05, Z:-27.26 [[ 6.95324001e-01 7.12131397e-01 9.69195841e-02 2.03305115e+02] [-7.05822329e-01 7.02041327e-01 -9.46193184e-02 -1.04053263e+02] [-1.35422941e-01 -2.61692349e-03 9.90784426e-01 -2.72554839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters 0.027261491778654407 Centerline is valid? [True, True] Translation: X:203.35, Y:-104.09, Z:-27.26 [[ 6.95000017e-01 7.12373931e-01 9.74595208e-02 2.03353826e+02] [-7.05983163e-01 7.01795244e-01 -9.52428933e-02 -1.04093336e+02] [-1.36245183e-01 -2.61096834e-03 9.90671708e-01 -2.72633690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters 0.026870597876844877 Centerline is valid? [True, True] Translation: X:203.40, Y:-104.13, Z:-27.27 [[ 6.97585752e-01 7.09799727e-01 9.77674100e-02 2.03404690e+02] [-7.03329434e-01 7.04400575e-01 -9.56427555e-02 -1.04129207e+02] [-1.36754622e-01 -2.04367362e-03 9.90602845e-01 -2.72695064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters 0.026598860949337 Centerline is valid? [True, True] Translation: X:203.45, Y:-104.17, Z:-27.28 [[ 6.98250937e-01 7.09229792e-01 9.71531297e-02 2.03451811e+02] [-7.02823304e-01 7.04974932e-01 -9.51301714e-02 -1.04169700e+02] [-1.35959673e-01 -1.85675227e-03 9.90712632e-01 -2.72766439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters 0.026673930569731226 Centerline is valid? [True, True] Translation: X:203.50, Y:-104.21, Z:-27.28 [[ 6.97881316e-01 7.09554444e-01 9.74379768e-02 2.03499874e+02] [-7.03100498e-01 7.04648162e-01 -9.55021336e-02 -1.04209672e+02] [-1.36423455e-01 -1.85953527e-03 9.90648870e-01 -2.72828495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters 0.026282104433263932 Centerline is valid? [True, True] Translation: X:203.55, Y:-104.24, Z:-27.29 [[ 6.98055134e-01 7.09290024e-01 9.81157044e-02 2.03552916e+02] [-7.02728436e-01 7.04914614e-01 -9.62711444e-02 -1.04244973e+02] [-1.37447356e-01 -1.74612886e-03 9.90507534e-01 -2.72892556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters 0.02629830754207187 Centerline is valid? [True, True] Translation: X:203.60, Y:-104.29, Z:-27.30 [[ 6.97111118e-01 7.10208695e-01 9.81819705e-02 2.03600051e+02] [-7.03632790e-01 7.03988757e-01 -9.64402701e-02 -1.04285882e+02] [-1.37611722e-01 -1.85446940e-03 9.90484515e-01 -2.72957421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters 0.026372525301703153 Centerline is valid? [True, True] Translation: X:203.65, Y:-104.32, Z:-27.30 [[ 6.94535799e-01 7.12927019e-01 9.67217124e-02 2.03653032e+02] [-7.06558319e-01 7.01234519e-01 -9.51077882e-02 -1.04321573e+02] [-1.35629515e-01 -2.28376676e-03 9.90756993e-01 -2.73006360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters 0.02658242229588261 Centerline is valid? [True, True] Translation: X:203.70, Y:-104.36, Z:-27.31 [[ 6.92521269e-01 7.15002273e-01 9.58438416e-02 2.03703168e+02] [-7.08755173e-01 6.99117317e-01 -9.43455392e-02 -1.04359899e+02] [-1.34463364e-01 -2.59352602e-03 9.90915172e-01 -2.73082732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters 0.026608505745093408 Centerline is valid? [True, True] Translation: X:203.75, Y:-104.40, Z:-27.32 [[ 6.91797884e-01 7.15545736e-01 9.70050897e-02 2.03754336e+02] [-7.09137167e-01 6.98560817e-01 -9.55890342e-02 -1.04395276e+02] [-1.36162281e-01 -2.66162288e-03 9.90682971e-01 -2.73151756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters 0.0263896715762016 Centerline is valid? [True, True] Translation: X:203.81, Y:-104.43, Z:-27.32 [[ 6.96673765e-01 7.11059060e-01 9.50824880e-02 2.03805226e+02] [-7.04850331e-01 7.03130261e-01 -9.37755147e-02 -1.04431449e+02] [-1.33535304e-01 -1.68798221e-03 9.91042619e-01 -2.73218177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters 0.026115357200030356 Centerline is valid? [True, True] Translation: X:203.86, Y:-104.47, Z:-27.33 [[ 7.01426010e-01 7.06367103e-01 9.51160770e-02 2.03856256e+02] [-7.00099149e-01 7.07845309e-01 -9.38946224e-02 -1.04467704e+02] [-1.33651541e-01 -7.30554179e-04 9.91028119e-01 -2.73308279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters 0.02609869598272635 Centerline is valid? [True, True] Translation: X:203.90, Y:-104.51, Z:-27.34 [[ 7.05128235e-01 7.02662813e-01 9.51795307e-02 2.03904530e+02] [-6.96340329e-01 7.11522993e-01 -9.40487992e-02 -1.04507468e+02] [-1.33807018e-01 3.91181344e-05 9.91007407e-01 -2.73369950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters 0.02625119177796586 Centerline is valid? [True, True] Translation: X:203.95, Y:-104.55, Z:-27.34 [[ 7.08745597e-01 6.99170217e-01 9.40249269e-02 2.03952088e+02] [-6.92956871e-01 7.14954841e-01 -9.30072598e-02 -1.04548951e+02] [-1.32251483e-01 7.63266732e-04 9.91215901e-01 -2.73437186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters 0.02665479888554231 Centerline is valid? [True, True] Translation: X:204.00, Y:-104.59, Z:-27.35 [[ 7.11711961e-01 6.96296838e-01 9.29343719e-02 2.03996339e+02] [-6.90190095e-01 7.17752660e-01 -9.20258179e-02 -1.04593434e+02] [-1.30781179e-01 1.35349236e-03 9.91410335e-01 -2.73508740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters 0.02692795985021624 Centerline is valid? [True, True] Translation: X:204.04, Y:-104.64, Z:-27.36 [[ 7.14736969e-01 6.93322812e-01 9.19485942e-02 2.04040447e+02] [-6.87308742e-01 7.20624515e-01 -9.11427573e-02 -1.04636848e+02] [-1.29451764e-01 1.94602548e-03 9.91583811e-01 -2.73570335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters 0.027411955571095045 Centerline is valid? [True, True] Translation: X:204.08, Y:-104.68, Z:-27.36 [[ 7.17487018e-01 6.90439471e-01 9.22264347e-02 2.04080414e+02] [-6.84354076e-01 7.23385724e-01 -9.15018776e-02 -1.04684016e+02] [-1.29891794e-01 2.53587286e-03 9.91524932e-01 -2.73630160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters 0.027724418716446392 Centerline is valid? [True, True] Translation: X:204.12, Y:-104.73, Z:-27.37 [[ 7.18502045e-01 6.89356412e-01 9.24259049e-02 2.04120163e+02] [-6.83224693e-01 7.24416941e-01 -9.17829764e-02 -1.04731710e+02] [-1.30226075e-01 2.79859579e-03 9.91480377e-01 -2.73700581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters 0.027670540833154178 Centerline is valid? [True, True] Translation: X:204.16, Y:-104.78, Z:-27.37 [[ 7.19436016e-01 6.88418591e-01 9.21502179e-02 2.04157016e+02] [-6.82305060e-01 7.25307331e-01 -9.15919251e-02 -1.04782863e+02] [-1.29890813e-01 3.01996969e-03 9.91523705e-01 -2.73743380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters 0.02773788696918825 Centerline is valid? [True, True] Translation: X:204.19, Y:-104.83, Z:-27.38 [[ 7.18894438e-01 6.89070506e-01 9.15020509e-02 2.04193560e+02] [-6.83037736e-01 7.24688339e-01 -9.10289041e-02 -1.04833882e+02] [-1.29035802e-01 2.94081910e-03 9.91635575e-01 -2.73793587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters 0.027508017386760463 Centerline is valid? [True, True] Translation: X:204.23, Y:-104.89, Z:-27.39 [[ 7.17712930e-01 6.90311395e-01 9.14238918e-02 2.04228996e+02] [-6.84288357e-01 7.23507068e-01 -9.10327802e-02 -1.04885495e+02] [-1.28986797e-01 2.77509865e-03 9.91642428e-01 -2.73859960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters 0.02693421028601165 Centerline is valid? [True, True] Translation: X:204.27, Y:-104.94, Z:-27.39 [[ 7.14212159e-01 6.94019274e-01 9.07647412e-02 2.04266378e+02] [-6.88102332e-01 7.19953209e-01 -9.04574926e-02 -1.04936118e+02] [-1.28125610e-01 2.15041096e-03 9.91755617e-01 -2.73922867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters 0.02634216603808564 Centerline is valid? [True, True] Translation: X:204.30, Y:-104.99, Z:-27.40 [[ 7.08574630e-01 6.99621735e-01 9.19316103e-02 2.04304649e+02] [-6.93586444e-01 7.14512383e-01 -9.17055087e-02 -1.04985197e+02] [-1.29845441e-01 1.21767822e-03 9.91533499e-01 -2.73993173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters 0.026320495203471295 Centerline is valid? [True, True] Translation: X:204.35, Y:-105.03, Z:-27.41 [[ 7.05277400e-01 7.03002163e-01 9.14972536e-02 2.04346011e+02] [-6.97041300e-01 7.11187409e-01 -9.13558679e-02 -1.05031239e+02] [-1.29295068e-01 6.53864383e-04 9.91605949e-01 -2.74063416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters 0.02599460228796748 Centerline is valid? [True, True] Translation: X:204.39, Y:-105.08, Z:-27.41 [[ 7.01349748e-01 7.07077243e-01 9.02790326e-02 2.04389736e+02] [-7.01297351e-01 7.07136318e-01 -9.02233537e-02 -1.05075236e+02] [-1.27634463e-01 -3.43200819e-05 9.91821276e-01 -2.74132769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters 0.026260975992767128 Centerline is valid? [True, True] Translation: X:204.60, Y:-105.25, Z:-25.52 [[ 7.58239550e-01 -6.48578633e-01 -6.64721116e-02 2.04600950e+02] [-6.45030407e-01 -7.61095163e-01 6.83368588e-02 -1.05248735e+02] [-9.49134291e-02 -8.93917586e-03 -9.95445394e-01 -2.55160276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters 0.026234174680429524 Centerline is valid? [True, True] Translation: X:204.47, Y:-105.17, Z:-27.43 [[ 7.48803453e-01 6.55534910e-01 9.78129353e-02 2.04471333e+02] [-6.50164197e-01 7.55164352e-01 -8.37455615e-02 -1.05167084e+02] [-1.28762981e-01 -8.85502865e-04 9.91675003e-01 -2.74255904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters 0.026213427596457527 Centerline is valid? [True, True] Translation: X:204.52, Y:-105.21, Z:-27.43 [[ 7.45470048e-01 6.59086933e-01 9.93922664e-02 2.04520660e+02] [-6.53559542e-01 7.52065362e-01 -8.51916424e-02 -1.05205304e+02] [-1.30898179e-01 -1.45094645e-03 9.91394756e-01 -2.74305482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters 0.026168419033197544 Centerline is valid? [True, True] Translation: X:204.57, Y:-105.24, Z:-27.44 [[ 7.43755503e-01 6.60937469e-01 9.99470594e-02 2.04571185e+02] [-6.55353593e-01 7.50438998e-01 -8.57495045e-02 -1.05241763e+02] [-1.31679232e-01 -1.72399873e-03 9.91290880e-01 -2.74371093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters 0.026171112837267897 Centerline is valid? [True, True] Translation: X:204.62, Y:-105.28, Z:-27.44 [[ 7.44890447e-01 6.59340977e-01 1.02018124e-01 2.04621701e+02] [-6.53495758e-01 7.51842733e-01 -8.76116410e-02 -1.05278682e+02] [-1.34467531e-01 -1.40733709e-03 9.90917001e-01 -2.74430100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters 0.025956880519420043 Centerline is valid? [True, True] Translation: X:204.67, Y:-105.32, Z:-27.45 [[ 7.45299365e-01 6.58878833e-01 1.02017350e-01 2.04670946e+02] [-6.53017642e-01 7.52248031e-01 -8.76975437e-02 -1.05318051e+02] [-1.34524406e-01 -1.25820569e-03 9.90909482e-01 -2.74498499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters 0.025987963607326567 Centerline is valid? [True, True] Translation: X:204.72, Y:-105.35, Z:-27.46 [[ 7.45349294e-01 6.58659480e-01 1.03063667e-01 2.04722034e+02] [-6.52661539e-01 7.52440262e-01 -8.86936728e-02 -1.05353862e+02] [-1.35968181e-01 -1.15792531e-03 9.90712528e-01 -2.74568285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters 0.02601223634709987 Centerline is valid? [True, True] Translation: X:204.77, Y:-105.39, Z:-27.46 [[ 7.46005559e-01 6.57880922e-01 1.03287941e-01 2.04772734e+02] [-6.51837241e-01 7.53121362e-01 -8.89742893e-02 -1.05391473e+02] [-1.36322842e-01 -9.51612178e-04 9.90664008e-01 -2.74636709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters 0.02597916400495097 Centerline is valid? [True, True] Translation: X:204.82, Y:-105.43, Z:-27.47 [[ 7.47485132e-01 6.56308610e-01 1.02591356e-01 2.04823129e+02] [-6.50318892e-01 7.54492321e-01 -8.84685005e-02 -1.05428261e+02] [-1.35467029e-01 -5.88208239e-04 9.90781680e-01 -2.74710332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters 0.026326584398896423 Centerline is valid? [True, True] Translation: X:204.87, Y:-105.46, Z:-27.48 [[ 7.49379022e-01 6.53676317e-01 1.05538403e-01 2.04874043e+02] [-6.47297197e-01 7.56774254e-01 -9.10992172e-02 -1.05463767e+02] [-1.39418147e-01 -4.68701648e-05 9.90233598e-01 -2.74776893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters 0.026375682633442667 Centerline is valid? [True, True] Translation: X:204.92, Y:-105.50, Z:-27.48 [[ 7.50872858e-01 6.52029577e-01 1.05106532e-01 2.04923631e+02] [-6.45674249e-01 7.58193461e-01 -9.08154120e-02 -1.05502420e+02] [-1.38905420e-01 3.26246582e-04 9.90305598e-01 -2.74842669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters 0.026824303079050572 Centerline is valid? [True, True] Translation: X:204.97, Y:-105.54, Z:-27.49 [[ 7.54622246e-01 6.47618326e-01 1.05526158e-01 2.04972102e+02] [-6.41155251e-01 7.61963922e-01 -9.12739056e-02 -1.05540183e+02] [-1.39517779e-01 1.21866945e-03 9.90218816e-01 -2.74909048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters 0.0273323911162737 Centerline is valid? [True, True] Translation: X:205.02, Y:-105.58, Z:-27.50 [[ 7.57884022e-01 6.43711171e-01 1.06055350e-01 2.05019261e+02] [-6.37133059e-01 7.65265888e-01 -9.18127759e-02 -1.05580465e+02] [-1.40261451e-01 2.01206664e-03 9.90112457e-01 -2.74976818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters 0.02740828324257116 Centerline is valid? [True, True] Translation: X:205.06, Y:-105.62, Z:-27.51 [[ 7.58188865e-01 6.43396769e-01 1.05783946e-01 2.05064944e+02] [-6.36837192e-01 7.65529917e-01 -9.16642600e-02 -1.05622904e+02] [-1.39957264e-01 2.13167018e-03 9.90155251e-01 -2.75053580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters 0.02754997731332184 Centerline is valid? [True, True] Translation: X:205.11, Y:-105.67, Z:-27.51 [[ 7.55602400e-01 6.46358584e-01 1.06233680e-01 2.05106341e+02] [-6.39758474e-01 7.63031988e-01 -9.21481422e-02 -1.05668867e+02] [-1.40620438e-01 1.66346056e-03 9.90062183e-01 -2.75132594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters 0.027251861217619314 Centerline is valid? [True, True] Translation: X:205.15, Y:-105.71, Z:-27.52 [[ 7.53558769e-01 6.48735343e-01 1.06262107e-01 2.05152431e+02] [-6.42143099e-01 7.61013009e-01 -9.22574654e-02 -1.05710792e+02] [-1.40717524e-01 1.28594352e-03 9.90048951e-01 -2.75196906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters 0.027187312683950207 Centerline is valid? [True, True] Translation: X:205.20, Y:-105.75, Z:-27.53 [[ 7.49740648e-01 6.52914510e-01 1.07664311e-01 2.05197222e+02] [-6.46175876e-01 7.57431387e-01 -9.35651135e-02 -1.05754393e+02] [-1.42638349e-01 5.79488164e-04 9.89774704e-01 -2.75283606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters 0.027137568400848727 Centerline is valid? [True, True] Translation: X:205.24, Y:-105.79, Z:-27.53 [[ 7.49288416e-01 6.53746733e-01 1.05745348e-01 2.05244435e+02] [-6.47242217e-01 7.56713270e-01 -9.19920595e-02 -1.05794393e+02] [-1.40158417e-01 4.85730880e-04 9.90128973e-01 -2.75336255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters 0.027300168899596987 Centerline is valid? [True, True] Translation: X:205.29, Y:-105.83, Z:-27.54 [[ 7.49247406e-01 6.53653505e-01 1.06608725e-01 2.05292299e+02] [-6.47028320e-01 7.56793740e-01 -9.28309678e-02 -1.05833973e+02] [-1.41360103e-01 5.74497815e-04 9.89958076e-01 -2.75405148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters 0.027143197860347447 Centerline is valid? [True, True] Translation: X:205.34, Y:-105.87, Z:-27.55 [[ 7.48273940e-01 6.54820821e-01 1.06281716e-01 2.05341817e+02] [-6.48235330e-01 7.55784040e-01 -9.26360750e-02 -1.05872201e+02] [-1.40986056e-01 4.21597514e-04 9.90011492e-01 -2.75477865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters 0.027306409187720312 Centerline is valid? [True, True] Translation: X:205.39, Y:-105.91, Z:-27.56 [[ 7.47284991e-01 6.55970050e-01 1.06152889e-01 2.05392212e+02] [-6.49397836e-01 7.54786867e-01 -9.26241648e-02 -1.05909998e+02] [-1.40881484e-01 2.81191987e-04 9.90026428e-01 -2.75552235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters 0.02750654554635534 Centerline is valid? [True, True] Translation: X:205.44, Y:-105.95, Z:-27.56 [[ 7.46394252e-01 6.56741933e-01 1.07636673e-01 2.05443270e+02] [-6.49977248e-01 7.54115367e-01 -9.40190905e-02 -1.05945322e+02] [-1.42916748e-01 2.13920538e-04 9.89734690e-01 -2.75637130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters 0.02746211717833136 Centerline is valid? [True, True] Translation: X:205.49, Y:-105.98, Z:-27.57 [[ 7.48361643e-01 6.55046382e-01 1.04254924e-01 2.05494334e+02] [-6.48674041e-01 7.55588443e-01 -9.11487399e-02 -1.05980715e+02] [-1.38480468e-01 5.84757850e-04 9.90364992e-01 -2.75701235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters 0.027660787651071266 Centerline is valid? [True, True] Translation: X:205.55, Y:-106.02, Z:-27.58 [[ 7.49259854e-01 6.53975438e-01 1.04526543e-01 2.05546825e+02] [-6.47546861e-01 7.56515300e-01 -9.14749351e-02 -1.06016451e+02] [-1.38898290e-01 8.52661784e-04 9.90306285e-01 -2.75772969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters 0.027764801685816447 Centerline is valid? [True, True] Translation: X:205.60, Y:-106.05, Z:-27.58 [[ 7.48178408e-01 6.55339572e-01 1.03726154e-01 2.05598325e+02] [-6.49009406e-01 7.55334098e-01 -9.08690861e-02 -1.06051290e+02] [-1.37898009e-01 6.67038629e-04 9.90446210e-01 -2.75843920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters 0.02749189455682142 Centerline is valid? [True, True] Translation: X:205.65, Y:-106.09, Z:-27.59 [[ 7.48632434e-01 6.55079092e-01 1.02082620e-01 2.05649657e+02] [-6.48936397e-01 7.55559929e-01 -8.95027727e-02 -1.06087179e+02] [-1.35760932e-01 7.59551162e-04 9.90741335e-01 -2.75917518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters 0.0275078126484335 Centerline is valid? [True, True] Translation: X:205.70, Y:-106.12, Z:-27.60 [[ 7.49019761e-01 6.54723849e-01 1.01518857e-01 2.05700597e+02] [-6.48640297e-01 7.55867685e-01 -8.90494693e-02 -1.06124190e+02] [-1.35037634e-01 8.50591021e-04 9.90840105e-01 -2.75983977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters 0.028064305956939373 Centerline is valid? [True, True] Translation: X:205.75, Y:-106.16, Z:-27.61 [[ 7.51542435e-01 6.51694163e-01 1.02365454e-01 2.05754310e+02] [-6.45467222e-01 7.58480407e-01 -8.98862488e-02 -1.06157070e+02] [-1.36220535e-01 1.47978477e-03 9.90677433e-01 -2.76064430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters 0.02823888769221325 Centerline is valid? [True, True] Translation: X:205.80, Y:-106.19, Z:-27.61 [[ 7.51858748e-01 6.51266485e-01 1.02763753e-01 2.05804058e+02] [-6.44975184e-01 7.58847360e-01 -9.03199631e-02 -1.06193477e+02] [-1.36804367e-01 1.62778407e-03 9.90596747e-01 -2.76140322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters 0.02848723043016317 Centerline is valid? [True, True] Translation: X:205.85, Y:-106.23, Z:-27.62 [[ 7.54186486e-01 6.48661948e-01 1.02178385e-01 2.05854452e+02] [-6.42407386e-01 7.61073616e-01 -8.98871610e-02 -1.06229658e+02] [-1.36071654e-01 2.15153262e-03 9.90696662e-01 -2.76213556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters 0.029467137492709534 Centerline is valid? [True, True] Translation: X:205.90, Y:-106.27, Z:-27.63 [[ 7.60018946e-01 6.41865288e-01 1.01883040e-01 2.05904375e+02] [-6.35576111e-01 7.66809801e-01 -8.96980292e-02 -1.06266701e+02] [-1.35698965e-01 3.41777512e-03 9.90744220e-01 -2.76281863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters 0.030783854493113504 Centerline is valid? [True, True] Translation: X:205.95, Y:-106.31, Z:-27.64 [[ 7.64924424e-01 6.36085413e-01 1.01419789e-01 2.05950946e+02] [-6.29799689e-01 7.71605861e-01 -8.93126356e-02 -1.06306904e+02] [-1.35066569e-01 4.44326447e-03 9.90826564e-01 -2.76360348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters 0.03180521094540825 Centerline is valid? [True, True] Translation: X:206.00, Y:-106.35, Z:-27.64 [[ 7.67868129e-01 6.32465144e-01 1.01815411e-01 2.05996818e+02] [-6.26094972e-01 7.74571896e-01 -8.96853553e-02 -1.06347487e+02] [-1.35586217e-01 5.12040936e-03 9.90752320e-01 -2.76427643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters 0.03202076580531418 Centerline is valid? [True, True] Translation: X:206.04, Y:-106.39, Z:-27.65 [[ 7.69932917e-01 6.30145250e-01 1.00599539e-01 2.06039508e+02] [-6.23901716e-01 7.76457835e-01 -8.86559594e-02 -1.06392023e+02] [-1.33977432e-01 5.49491645e-03 9.90969149e-01 -2.76486919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters 0.03309470865303911 Centerline is valid? [True, True] Translation: X:206.08, Y:-106.44, Z:-27.66 [[ 7.72226855e-01 6.27299778e-01 1.00800166e-01 2.06082489e+02] [-6.20998544e-01 7.78754375e-01 -8.88956227e-02 -1.06436990e+02] [-1.34262774e-01 6.05083095e-03 9.90927290e-01 -2.76563367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters 0.03392422885268892 Centerline is valid? [True, True] Translation: X:206.13, Y:-106.48, Z:-27.66 [[ 7.74786115e-01 6.24509921e-01 9.84572754e-02 2.06125196e+02] [-6.18473470e-01 7.80990630e-01 -8.68573678e-02 -1.06481679e+02] [-1.31137497e-01 6.40266978e-03 9.91343514e-01 -2.76609466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters 0.03375558787795368 Centerline is valid? [True, True] Translation: X:206.17, Y:-106.52, Z:-27.67 [[ 7.74308260e-01 6.25036952e-01 9.88712691e-02 2.06170863e+02] [-6.18944230e-01 7.80568957e-01 -8.72934279e-02 -1.06524985e+02] [-1.31737462e-01 6.39622066e-03 9.91264006e-01 -2.76679143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters 0.03379775648924447 Centerline is valid? [True, True] Translation: X:206.21, Y:-106.57, Z:-27.68 [[ 7.73932597e-01 6.25256354e-01 1.00413281e-01 2.06210698e+02] [-6.18961547e-01 7.80392143e-01 -8.87395442e-02 -1.06573827e+02] [-1.33846699e-01 6.52646634e-03 9.90980558e-01 -2.76754897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters 0.033113749021348046 Centerline is valid? [True, True] Translation: X:206.25, Y:-106.62, Z:-27.68 [[ 7.72849577e-01 6.26724743e-01 9.95973282e-02 2.06251493e+02] [-6.20534538e-01 7.79215426e-01 -8.80920445e-02 -1.06621576e+02] [-1.32817238e-01 6.27831735e-03 9.91120661e-01 -2.76823743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters 0.03294394201537788 Centerline is valid? [True, True] Translation: X:206.29, Y:-106.67, Z:-27.69 [[ 7.72450689e-01 6.27210632e-01 9.96331087e-02 2.06292390e+02] [-6.21009742e-01 7.78824546e-01 -8.81999243e-02 -1.06670636e+02] [-1.32916641e-01 6.25696118e-03 9.91107470e-01 -2.76888269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters 0.03241884849325678 Centerline is valid? [True, True] Translation: X:206.33, Y:-106.72, Z:-27.70 [[ 7.71015494e-01 6.28912874e-01 1.00018519e-01 2.06334370e+02] [-6.22666445e-01 7.77452216e-01 -8.86259001e-02 -1.06716530e+02] [-1.33497589e-01 6.05376624e-03 9.91030648e-01 -2.76967511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters 0.03206831815872268 Centerline is valid? [True, True] Translation: X:206.38, Y:-106.76, Z:-27.70 [[ 7.69812144e-01 6.30451639e-01 9.95991617e-02 2.06375817e+02] [-6.24260450e-01 7.76206703e-01 -8.83291845e-02 -1.06763541e+02] [-1.32996816e-01 5.82106143e-03 9.91099370e-01 -2.77031216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters 0.030992588131665638 Centerline is valid? [True, True] Translation: X:206.42, Y:-106.81, Z:-27.71 [[ 7.67930414e-01 6.32827655e-01 9.90557324e-02 2.06415517e+02] [-6.26713764e-01 7.74273584e-01 -8.79219819e-02 -1.06811977e+02] [-1.32335699e-01 5.43837311e-03 9.91190036e-01 -2.77098985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters 0.030708447928176896 Centerline is valid? [True, True] Translation: X:206.46, Y:-106.86, Z:-27.72 [[ 7.66348363e-01 6.34752958e-01 9.89892416e-02 2.06457329e+02] [-6.28653160e-01 7.72697898e-01 -8.79384099e-02 -1.06857968e+02] [-1.32307945e-01 5.16155697e-03 9.91195221e-01 -2.77166090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters 0.029996225342425523 Centerline is valid? [True, True] Translation: X:206.50, Y:-106.91, Z:-27.72 [[ 7.64723540e-01 6.37061236e-01 9.67000001e-02 2.06497856e+02] [-6.31251277e-01 7.70798855e-01 -8.59706344e-02 -1.06905371e+02] [-1.29304808e-01 4.70176938e-03 9.91593747e-01 -2.77233067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters 0.02910984206777546 Centerline is valid? [True, True] Translation: X:206.54, Y:-106.95, Z:-27.73 [[ 7.62234762e-01 6.39802964e-01 9.82361160e-02 2.06537769e+02] [-6.33824905e-01 7.68526797e-01 -8.73644732e-02 -1.06954141e+02] [-1.31393136e-01 4.32774154e-03 9.91320894e-01 -2.77291085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters 0.02834535420280643 Centerline is valid? [True, True] Translation: X:206.58, Y:-107.00, Z:-27.74 [[ 7.58906388e-01 6.43468376e-01 1.00047708e-01 2.06576935e+02] [-6.37288240e-01 7.65463159e-01 -8.90497159e-02 -1.07003685e+02] [-1.33883511e-01 3.82117049e-03 9.90989709e-01 -2.77360878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters 0.02769459069798726 Centerline is valid? [True, True] Translation: X:206.62, Y:-107.05, Z:-27.74 [[ 7.55604157e-01 6.47416811e-01 9.95682208e-02 2.06618312e+02] [-6.41323331e-01 7.62129633e-01 -8.86724763e-02 -1.07049818e+02] [-1.33291943e-01 3.14586868e-03 9.91071825e-01 -2.77435050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters 0.026493438380242876 Centerline is valid? [True, True] Translation: X:206.66, Y:-107.10, Z:-27.75 [[ 7.47921397e-01 6.56174592e-01 1.00242151e-01 2.06656675e+02] [-6.50064389e-01 7.54607268e-01 -8.93541312e-02 -1.07098953e+02] [-1.34275366e-01 1.66601403e-03 9.90942657e-01 -2.77509593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters 0.026037875795594113 Centerline is valid? [True, True] Translation: X:206.70, Y:-107.14, Z:-27.76 [[ 7.43769458e-01 6.60741342e-01 1.01132945e-01 2.06701040e+02] [-6.54551983e-01 7.50613111e-01 -9.02311420e-02 -1.07141610e+02] [-1.35531160e-01 9.14397767e-04 9.90772662e-01 -2.77576243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters 0.025961108314736244 Centerline is valid? [True, True] Translation: X:206.75, Y:-107.18, Z:-27.77 [[ 7.38318527e-01 6.66906870e-01 1.00603073e-01 2.06746730e+02] [-6.60827563e-01 7.45141063e-01 -8.98427932e-02 -1.07183281e+02] [-1.34880257e-01 -1.48685063e-04 9.90861895e-01 -2.77660341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters 0.025943145173108927 Centerline is valid? [True, True] Translation: X:206.79, Y:-107.22, Z:-27.77 [[ 7.36665805e-01 6.68766512e-01 1.00373526e-01 2.06794784e+02] [-6.62720313e-01 7.43472377e-01 -8.97252003e-02 -1.07224226e+02] [-1.34630153e-01 -4.22087318e-04 9.90895829e-01 -2.77727114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters 0.025867695588974383 Centerline is valid? [True, True] Translation: X:206.84, Y:-107.26, Z:-27.78 [[ 7.38616799e-01 6.66691077e-01 9.98410382e-02 2.06842702e+02] [-6.60676976e-01 7.45334158e-01 -8.93472236e-02 -1.07264445e+02] [-1.33981933e-01 3.06851260e-05 9.90983774e-01 -2.77795303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters 0.02592136935338326 Centerline is valid? [True, True] Translation: X:206.89, Y:-107.31, Z:-27.79 [[ 7.40739936e-01 6.64454827e-01 9.90158124e-02 2.06890180e+02] [-6.58507169e-01 7.47328260e-01 -8.87061452e-02 -1.07305904e+02] [-1.32938541e-01 5.05561967e-04 9.91124154e-01 -2.77868980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters 0.025984602484597476 Centerline is valid? [True, True] Translation: X:206.94, Y:-107.35, Z:-27.79 [[ 7.41214262e-01 6.63788142e-01 9.99335802e-02 2.06935654e+02] [-6.57710075e-01 7.47920321e-01 -8.96250578e-02 -1.07347498e+02] [-1.34234406e-01 7.04048485e-04 9.90949357e-01 -2.77931124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters 0.026170087621497386 Centerline is valid? [True, True] Translation: X:206.98, Y:-107.39, Z:-27.80 [[ 7.40736236e-01 6.64290667e-01 1.00138597e-01 2.06980814e+02] [-6.58180080e-01 7.47474044e-01 -8.98973585e-02 -1.07391058e+02] [-1.34568978e-01 6.81001362e-04 9.90903995e-01 -2.78009545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters 0.026080041125705153 Centerline is valid? [True, True] Translation: X:207.03, Y:-107.43, Z:-27.81 [[ 7.40045485e-01 6.65125045e-01 9.97063475e-02 2.07025519e+02] [-6.59061706e-01 7.46731755e-01 -8.96066619e-02 -1.07434321e+02] [-1.34053531e-01 6.00370112e-04 9.90973910e-01 -2.78075688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters 0.026168444893021878 Centerline is valid? [True, True] Translation: X:207.07, Y:-107.48, Z:-27.81 [[ 7.39898465e-01 6.65419065e-01 9.88318286e-02 2.07071003e+02] [-6.59452095e-01 7.46469753e-01 -8.89148034e-02 -1.07475700e+02] [-1.32940576e-01 6.13070105e-04 9.91123820e-01 -2.78139696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters 0.026392836893901258 Centerline is valid? [True, True] Translation: X:207.12, Y:-107.52, Z:-27.82 [[ 7.39611638e-01 6.65651362e-01 9.94127241e-02 2.07115660e+02] [-6.59603893e-01 7.46262590e-01 -8.95256985e-02 -1.07519011e+02] [-1.33780900e-01 6.41228749e-04 9.91010726e-01 -2.78217499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters 0.026387179495525544 Centerline is valid? [True, True] Translation: X:207.16, Y:-107.56, Z:-27.83 [[ 7.39414783e-01 6.65923863e-01 9.90514374e-02 2.07162099e+02] [-6.59909858e-01 7.46019417e-01 -8.92973072e-02 -1.07561529e+02] [-1.33359503e-01 6.62729052e-04 9.91067507e-01 -2.78296799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters 0.02653635328831724 Centerline is valid? [True, True] Translation: X:207.21, Y:-107.60, Z:-27.84 [[ 7.39356149e-01 6.65759119e-01 1.00584692e-01 2.07206486e+02] [-6.59541584e-01 7.46166329e-01 -9.07783515e-02 -1.07604136e+02] [-1.35489426e-01 7.77745414e-04 9.90778487e-01 -2.78368759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters 0.026569058997437337 Centerline is valid? [True, True] Translation: X:207.25, Y:-107.65, Z:-27.85 [[ 7.39523223e-01 6.65566548e-01 1.00630874e-01 2.07252797e+02] [-6.59329393e-01 7.46337990e-01 -9.09085036e-02 -1.07646547e+02] [-1.35610303e-01 8.80056609e-04 9.90761864e-01 -2.78459308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters 0.026669262968293913 Centerline is valid? [True, True] Translation: X:207.30, Y:-107.69, Z:-27.85 [[ 7.40043934e-01 6.65011162e-01 1.00474526e-01 2.07297394e+02] [-6.58774899e-01 7.46832673e-01 -9.08657830e-02 -1.07690571e+02] [-1.35464419e-01 1.05457590e-03 9.90781651e-01 -2.78531472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters 0.026534338879521932 Centerline is valid? [True, True] Translation: X:207.34, Y:-107.73, Z:-27.86 [[ 7.38809149e-01 6.66256996e-01 1.01304776e-01 2.07342147e+02] [-6.59914541e-01 7.45721657e-01 -9.17170040e-02 -1.07734439e+02] [-1.36652261e-01 9.08867146e-04 9.90618662e-01 -2.78593888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters 0.02636668199313646 Centerline is valid? [True, True] Translation: X:207.39, Y:-107.78, Z:-27.87 [[ 7.36425754e-01 6.68873852e-01 1.01414392e-01 2.07386050e+02] [-6.62528488e-01 7.43375760e-01 -9.19156254e-02 -1.07778134e+02] [-1.36868959e-01 4.99109974e-04 9.90589036e-01 -2.78689873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters 0.02614884563189437 Centerline is valid? [True, True] Translation: X:207.43, Y:-107.82, Z:-27.87 [[ 7.33373803e-01 6.72413983e-01 1.00111443e-01 2.07431999e+02] [-6.66250697e-01 7.40175269e-01 -9.08326999e-02 -1.07819820e+02] [-1.35177192e-01 -8.49961772e-05 9.90821437e-01 -2.78742141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters 0.026249758038815966 Centerline is valid? [True, True] Translation: X:207.48, Y:-107.86, Z:-27.88 [[ 7.30915807e-01 6.75080625e-01 1.00141062e-01 2.07478669e+02] [-6.68925284e-01 7.37743786e-01 -9.09564199e-02 -1.07861450e+02] [-1.35281363e-01 -5.05403349e-04 9.90807094e-01 -2.78812967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters 0.02628912064065242 Centerline is valid? [True, True] Translation: X:207.53, Y:-107.90, Z:-27.89 [[ 7.30138562e-01 6.75814275e-01 1.00860033e-01 2.07526332e+02] [-6.69562804e-01 7.37071734e-01 -9.17110141e-02 -1.07901848e+02] [-1.36320692e-01 -5.70378382e-04 9.90664597e-01 -2.78882917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters 0.026177526541037645 Centerline is valid? [True, True] Translation: X:207.57, Y:-107.94, Z:-27.90 [[ 7.29854438e-01 6.76149610e-01 1.00668783e-01 2.07573597e+02] [-6.69911380e-01 7.36764137e-01 -9.16370467e-02 -1.07942285e+02] [-1.36129503e-01 -5.57458401e-04 9.90690894e-01 -2.78958046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters 0.026144633026062188 Centerline is valid? [True, True] Translation: X:207.62, Y:-107.98, Z:-27.90 [[ 7.32088213e-01 6.73858862e-01 9.98052178e-02 2.07621288e+02] [-6.67693001e-01 7.38860089e-01 -9.09495775e-02 -1.07981828e+02] [-1.35029271e-01 -5.61316978e-05 9.90841608e-01 -2.79033821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters 0.026013642646729018 Centerline is valid? [True, True] Translation: X:207.67, Y:-108.02, Z:-27.91 [[ 7.33423551e-01 6.72445983e-01 9.95303684e-02 2.07669036e+02] [-6.66287967e-01 7.40146150e-01 -9.07965969e-02 -1.08021995e+02] [-1.34722826e-01 2.76475778e-04 9.90883285e-01 -2.79098678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters 0.02616680296057595 Centerline is valid? [True, True] Translation: X:207.72, Y:-108.06, Z:-27.92 [[ 7.36478795e-01 6.69214929e-01 9.87439240e-02 2.07715825e+02] [-6.63111965e-01 7.43068303e-01 -9.01777068e-02 -1.08063039e+02] [-1.33721748e-01 9.35691346e-04 9.91018475e-01 -2.79177627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters 0.026686185454635532 Centerline is valid? [True, True] Translation: X:207.76, Y:-108.11, Z:-27.93 [[ 7.40291252e-01 6.64943870e-01 9.90884032e-02 2.07760895e+02] [-6.58746668e-01 7.46891192e-01 -9.05890484e-02 -1.08105667e+02] [-1.34244888e-01 1.78812469e-03 9.90946574e-01 -2.79258207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters 0.027384392041585867 Centerline is valid? [True, True] Translation: X:207.80, Y:-108.15, Z:-27.93 [[ 7.44857254e-01 6.59755713e-01 9.95493347e-02 2.07804226e+02] [-6.53442421e-01 7.51474909e-01 -9.10959014e-02 -1.08149751e+02] [-1.34909869e-01 2.80368468e-03 9.90853908e-01 -2.79328293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters 0.02749298776521268 Centerline is valid? [True, True] Translation: X:207.85, Y:-108.19, Z:-27.94 [[ 7.46254787e-01 6.58285879e-01 9.88103982e-02 2.07847281e+02] [-6.52042647e-01 7.52761611e-01 -9.05005136e-02 -1.08193511e+02] [-1.33955885e-01 3.10784790e-03 9.90982423e-01 -2.79393246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters 0.02720558858295597 Centerline is valid? [True, True] Translation: X:207.89, Y:-108.24, Z:-27.95 [[ 7.43547113e-01 6.61201673e-01 9.97498752e-02 2.07888524e+02] [-6.54853575e-01 7.50203453e-01 -9.14416468e-02 -1.08240120e+02] [-1.35294071e-01 2.66961017e-03 9.90801891e-01 -2.79463764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters 0.026463509773130355 Centerline is valid? [True, True] Translation: X:207.93, Y:-108.28, Z:-27.95 [[ 7.39075660e-01 6.66309551e-01 9.89886388e-02 2.07931611e+02] [-6.60091572e-01 7.45673101e-01 -9.08336009e-02 -1.08284299e+02] [-1.34336461e-01 1.79133730e-03 9.90934158e-01 -2.79517398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters 0.02616538376496747 Centerline is valid? [True, True] Translation: X:207.98, Y:-108.33, Z:-27.96 [[ 7.34918595e-01 6.70866881e-01 9.91578841e-02 2.07977076e+02] [-6.64656861e-01 7.41577085e-01 -9.10751515e-02 -1.08326295e+02] [-1.34632517e-01 1.02685436e-03 9.90895065e-01 -2.79592284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters 0.026065298562743963 Centerline is valid? [True, True] Translation: X:208.02, Y:-108.37, Z:-27.97 [[ 7.29328390e-01 6.76854867e-01 9.97375956e-02 2.08023316e+02] [-6.70613889e-01 7.36116491e-01 -9.17034536e-02 -1.08368207e+02] [-1.35488418e-01 -3.48467472e-06 9.90778930e-01 -2.79669890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters 0.026120275774890987 Centerline is valid? [True, True] Translation: X:208.07, Y:-108.41, Z:-27.97 [[ 7.26548324e-01 6.79844019e-01 9.96977617e-02 2.08071845e+02] [-6.73622158e-01 7.33356581e-01 -9.17677142e-02 -1.08408016e+02] [-1.35501741e-01 -4.84942486e-04 9.90776990e-01 -2.79745290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters 0.026305585957120823 Centerline is valid? [True, True] Translation: X:208.12, Y:-108.45, Z:-27.98 [[ 7.25971923e-01 6.80420356e-01 9.99645246e-02 2.08119882e+02] [-6.74156433e-01 7.32821854e-01 -9.21153315e-02 -1.08448794e+02] [-1.35933335e-01 -5.18582923e-04 9.90717851e-01 -2.79817552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters 0.026125425639290142 Centerline is valid? [True, True] Translation: X:208.17, Y:-108.49, Z:-27.99 [[ 7.28095083e-01 6.78156886e-01 9.99038905e-02 2.08166053e+02] [-6.71865388e-01 7.34917163e-01 -9.21610724e-02 -1.08491604e+02] [-1.35920750e-01 -1.99424586e-05 9.90719713e-01 -2.79896559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters 0.026010044783655484 Centerline is valid? [True, True] Translation: X:208.21, Y:-108.53, Z:-28.00 [[ 7.28431272e-01 6.77873089e-01 9.93778525e-02 2.08211575e+02] [-6.71631703e-01 7.35178933e-01 -9.17757696e-02 -1.08533911e+02] [-1.35272828e-01 1.07024295e-04 9.90808382e-01 -2.79970950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters 0.025991870198499824 Centerline is valid? [True, True] Translation: X:208.25, Y:-108.58, Z:-28.00 [[ 7.27656675e-01 6.78838112e-01 9.84610605e-02 2.08253398e+02] [-6.72707214e-01 7.34287966e-01 -9.10284955e-02 -1.08581382e+02] [-1.34092384e-01 2.02671503e-06 9.90968835e-01 -2.80031813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters 0.026173315836869163 Centerline is valid? [True, True] Translation: X:208.30, Y:-108.63, Z:-28.01 [[ 7.25218069e-01 6.81549400e-01 9.77198448e-02 2.08298068e+02] [-6.75522229e-01 7.31771984e-01 -9.04404825e-02 -1.08625387e+02] [-1.33148301e-01 -4.22855320e-04 9.91096035e-01 -2.80103140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters 0.026342350796507756 Centerline is valid? [True, True] Translation: X:208.34, Y:-108.67, Z:-28.02 [[ 7.21521794e-01 6.85370669e-01 9.83531754e-02 2.08341083e+02] [-6.79286298e-01 7.28193603e-01 -9.11273947e-02 -1.08671254e+02] [-1.34076197e-01 -1.05956309e-03 9.90970459e-01 -2.80177649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters 0.027150417436869502 Centerline is valid? [True, True] Translation: X:208.38, Y:-108.72, Z:-28.02 [[ 7.15204100e-01 6.91966939e-01 9.83099741e-02 2.08384145e+02] [-6.85936196e-01 7.21925781e-01 -9.11849865e-02 -1.08716774e+02] [-1.34069501e-01 -2.21849348e-03 9.90969448e-01 -2.80241902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters 0.028008395236829353 Centerline is valid? [True, True] Translation: X:208.43, Y:-108.76, Z:-28.03 [[ 7.08586294e-01 6.99147170e-01 9.53870951e-02 2.08431954e+02] [-6.93523074e-01 7.14969720e-01 -8.85666108e-02 -1.08756939e+02] [-1.30119980e-01 -3.39606490e-03 9.91492439e-01 -2.80310844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters 0.029726402597253634 Centerline is valid? [True, True] Translation: X:208.48, Y:-108.80, Z:-28.04 [[ 7.01566555e-01 7.06212249e-01 9.52293451e-02 2.08479378e+02] [-7.00658869e-01 7.07985066e-01 -8.85115543e-02 -1.08797077e+02] [-1.29928898e-01 -4.62653910e-03 9.91512520e-01 -2.80380553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters 0.03028819416686185 Centerline is valid? [True, True] Translation: X:208.53, Y:-108.83, Z:-28.04 [[ 6.98212682e-01 7.09440479e-01 9.58814741e-02 2.08530864e+02] [-7.03829148e-01 7.04746166e-01 -8.92041043e-02 -1.08833308e+02] [-1.30857104e-01 -5.20073931e-03 9.91387599e-01 -2.80440181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters 0.03004553526556019 Centerline is valid? [True, True] Translation: X:208.58, Y:-108.87, Z:-28.05 [[ 6.98705495e-01 7.08995090e-01 9.55855341e-02 2.08583364e+02] [-7.03403279e-01 7.05195396e-01 -8.90128117e-02 -1.08868138e+02] [-1.30516125e-01 -5.04143750e-03 9.91433369e-01 -2.80522137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters 0.029233673830933334 Centerline is valid? [True, True] Translation: X:208.64, Y:-108.90, Z:-28.06 [[ 7.00870319e-01 7.06959401e-01 9.48113978e-02 2.08636801e+02] [-7.01429316e-01 7.07239384e-01 -8.83706326e-02 -1.08902151e+02] [-1.29528804e-01 -4.56714040e-03 9.91565142e-01 -2.80576581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters 0.02839907589765697 Centerline is valid? [True, True] Translation: X:208.69, Y:-108.93, Z:-28.07 [[ 7.04108339e-01 7.03626337e-01 9.56108061e-02 2.08690965e+02] [-6.97964655e-01 7.10559205e-01 -8.91681366e-02 -1.08934035e+02] [-1.30678188e-01 -3.94893477e-03 9.91416974e-01 -2.80661097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters 0.027533609435762513 Centerline is valid? [True, True] Translation: X:208.74, Y:-108.97, Z:-28.07 [[ 7.08889940e-01 6.98733890e-01 9.61561381e-02 2.08743477e+02] [-6.92951377e-01 7.15375378e-01 -8.97577724e-02 -1.08967818e+02] [-1.31504531e-01 -3.00314636e-03 9.91311021e-01 -2.80731575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters 0.02666480836673162 Centerline is valid? [True, True] Translation: X:208.80, Y:-109.00, Z:-28.08 [[ 7.14640693e-01 6.92681899e-01 9.73676943e-02 2.08795263e+02] [-6.86684593e-01 7.21240854e-01 -9.09719738e-02 -1.09002534e+02] [-1.33240199e-01 -1.84862121e-03 9.91082051e-01 -2.80806366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters 0.026279856826657524 Centerline is valid? [True, True] Translation: X:208.85, Y:-109.04, Z:-28.09 [[ 7.18987827e-01 6.88127421e-01 9.76583718e-02 2.08845871e+02] [-6.82040531e-01 7.25589253e-01 -9.13288060e-02 -1.09038341e+02] [-1.33705721e-01 -9.42667991e-04 9.91020631e-01 -2.80873681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters 0.026133962463577392 Centerline is valid? [True, True] Translation: X:208.89, Y:-109.08, Z:-28.09 [[ 7.23383708e-01 6.83691183e-01 9.63450936e-02 2.08894108e+02] [-6.77716881e-01 7.29771446e-01 -9.01857256e-02 -1.09077679e+02] [-1.31969084e-01 -5.58117534e-05 9.91253831e-01 -2.80939717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters 0.026023155468711222 Centerline is valid? [True, True] Translation: X:208.94, Y:-109.12, Z:-28.10 [[ 7.25187318e-01 6.81593808e-01 9.76382826e-02 2.08939651e+02] [-6.75426336e-01 7.31730636e-01 -9.14851921e-02 -1.09119463e+02] [-1.33800663e-01 3.96433636e-04 9.91008186e-01 -2.81012484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters 0.026174027977279773 Centerline is valid? [True, True] Translation: X:208.99, Y:-109.16, Z:-28.11 [[ 7.24472742e-01 6.82343385e-01 9.77074829e-02 2.08987401e+02] [-6.76161811e-01 7.31031737e-01 -9.16395419e-02 -1.09159962e+02] [-1.33956906e-01 3.24281601e-04 9.90987105e-01 -2.81064958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters 0.026158914180447714 Centerline is valid? [True, True] Translation: X:209.03, Y:-109.20, Z:-28.11 [[ 7.23889394e-01 6.82884000e-01 9.82526741e-02 2.09033508e+02] [-6.76624164e-01 7.30526764e-01 -9.22517613e-02 -1.09201928e+02] [-1.34773460e-01 2.99938042e-04 9.90876392e-01 -2.81140337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters 0.02641689541150984 Centerline is valid? [True, True] Translation: X:209.08, Y:-109.24, Z:-28.12 [[ 7.23222105e-01 6.83817930e-01 9.66582865e-02 2.09079478e+02] [-6.77756071e-01 7.29652657e-01 -9.08499171e-02 -1.09243383e+02] [-1.32651778e-01 1.93927807e-04 9.91162685e-01 -2.81207755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters 0.026345533820739488 Centerline is valid? [True, True] Translation: X:209.13, Y:-109.28, Z:-28.13 [[ 7.24383429e-01 6.82526779e-01 9.70867874e-02 2.09126179e+02] [-6.76387317e-01 7.30860416e-01 -9.13413904e-02 -1.09284997e+02] [-1.33299835e-01 4.97917899e-04 9.91075631e-01 -2.81274695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters 0.02626423102080126 Centerline is valid? [True, True] Translation: X:209.17, Y:-109.33, Z:-28.13 [[ 7.23922074e-01 6.83105917e-01 9.64527699e-02 2.09171915e+02] [-6.77038980e-01 7.30319173e-01 -9.08412101e-02 -1.09326709e+02] [-1.32495475e-01 4.59672346e-04 9.91183504e-01 -2.81349788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters 0.026281053226699342 Centerline is valid? [True, True] Translation: X:209.22, Y:-109.37, Z:-28.14 [[ 7.21702126e-01 6.85382386e-01 9.69382565e-02 2.09215759e+02] [-6.79262372e-01 7.28183338e-01 -9.13874003e-02 -1.09371657e+02] [-1.33224138e-01 1.07971130e-04 9.91085928e-01 -2.81426194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters 0.026470300701504787 Centerline is valid? [True, True] Translation: X:209.26, Y:-109.41, Z:-28.15 [[ 7.20981821e-01 6.86214081e-01 9.64129056e-02 2.09260863e+02] [-6.80154805e-01 7.27399638e-01 -9.09901463e-02 -1.09414747e+02] [-1.32569432e-01 2.65403012e-05 9.91173721e-01 -2.81495524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters 0.026401571486084685 Centerline is valid? [True, True] Translation: X:209.31, Y:-109.46, Z:-28.16 [[ 7.20701044e-01 6.86558051e-01 9.60627325e-02 2.09305039e+02] [-6.80532846e-01 7.27074991e-01 -9.07579434e-02 -1.09459189e+02] [-1.32155407e-01 3.54998753e-05 9.91229008e-01 -2.81557956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters 0.026708347934661203 Centerline is valid? [True, True] Translation: X:209.35, Y:-109.50, Z:-28.17 [[ 7.21910555e-01 6.85158328e-01 9.69701793e-02 2.09348731e+02] [-6.78992293e-01 7.28394076e-01 -9.17144268e-02 -1.09502173e+02] [-1.33471408e-01 3.67608419e-04 9.91052596e-01 -2.81654113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters 0.02695788218744298 Centerline is valid? [True, True] Translation: X:209.39, Y:-109.55, Z:-28.17 [[ 7.24460675e-01 6.82521272e-01 9.65476301e-02 2.09393126e+02] [-6.76373833e-01 7.30865155e-01 -9.14032973e-02 -1.09546932e+02] [-1.32947993e-01 9.15803785e-04 9.91122592e-01 -2.81706891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters 0.026859163163736 Centerline is valid? [True, True] Translation: X:209.44, Y:-109.59, Z:-28.18 [[ 7.24569150e-01 6.82548695e-01 9.55344235e-02 2.09435190e+02] [-6.76517835e-01 7.30839474e-01 -9.05388487e-02 -1.09592490e+02] [-1.31617501e-01 9.70915334e-04 9.91300101e-01 -2.81774661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters 0.027038051390642148 Centerline is valid? [True, True] Translation: X:209.48, Y:-109.64, Z:-28.19 [[ 7.23289788e-01 6.83752639e-01 9.66137248e-02 2.09477508e+02] [-6.77582856e-01 7.29713400e-01 -9.16505690e-02 -1.09638626e+02] [-1.33166648e-01 8.26116944e-04 9.91093316e-01 -2.81850990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters 0.026992876621821767 Centerline is valid? [True, True] Translation: X:209.52, Y:-109.68, Z:-28.19 [[ 7.19787092e-01 6.87717136e-01 9.46133308e-02 2.09519365e+02] [-6.81822952e-01 7.25978729e-01 -8.98462418e-02 -1.09684375e+02] [-1.30476066e-01 1.60624609e-04 9.91451446e-01 -2.81908295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters 0.027174816341326697 Centerline is valid? [True, True] Translation: X:209.56, Y:-109.73, Z:-28.20 [[ 7.16565380e-01 6.90972540e-01 9.53467630e-02 2.09561212e+02] [-6.85003047e-01 7.22880912e-01 -9.06311933e-02 -1.09730711e+02] [-1.31548021e-01 -3.69647669e-04 9.91309730e-01 -2.81974614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters 0.02714799524150523 Centerline is valid? [True, True] Translation: X:209.60, Y:-109.78, Z:-28.20 [[ 7.14030264e-01 6.93570511e-01 9.55025066e-02 2.09604432e+02] [-6.87591296e-01 7.20388328e-01 -9.08783057e-02 -1.09775864e+02] [-1.31829404e-01 -7.76831701e-04 9.91272114e-01 -2.82042413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters 0.027353459262468932 Centerline is valid? [True, True] Translation: X:209.65, Y:-109.82, Z:-28.21 [[ 7.11919652e-01 6.95765467e-01 9.52933580e-02 2.09649182e+02] [-6.89818803e-01 7.18268187e-01 -9.07790207e-02 -1.09819781e+02] [-1.31607095e-01 -1.10778131e-03 9.91301339e-01 -2.82103090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters 0.027445202461465174 Centerline is valid? [True, True] Translation: X:209.69, Y:-109.86, Z:-28.22 [[ 7.10386879e-01 6.97505512e-01 9.40028871e-02 2.09694878e+02] [-6.91721924e-01 7.16578163e-01 -8.96466176e-02 -1.09863035e+02] [-1.29889426e-01 -1.34007699e-03 9.91527580e-01 -2.82179020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters 0.02751079636913449 Centerline is valid? [True, True] Translation: X:209.74, Y:-109.90, Z:-28.23 [[ 7.09584371e-01 6.98210799e-01 9.48245813e-02 2.09741376e+02] [-6.92318617e-01 7.15890835e-01 -9.05275966e-02 -1.09903562e+02] [-1.31091394e-01 -1.41185526e-03 9.91369282e-01 -2.82255815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters 0.027744176916235035 Centerline is valid? [True, True] Translation: X:209.79, Y:-109.94, Z:-28.23 [[ 7.08307331e-01 6.99408843e-01 9.55405377e-02 2.09787839e+02] [-6.93426148e-01 7.14720060e-01 -9.12984845e-02 -1.09944433e+02] [-1.32139706e-01 -1.58292108e-03 9.91229838e-01 -2.82338615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters 0.027654590233981334 Centerline is valid? [True, True] Translation: X:209.84, Y:-109.98, Z:-28.24 [[ 7.07438487e-01 7.00319302e-01 9.53082495e-02 2.09836605e+02] [-6.94362248e-01 7.13827736e-01 -9.11648629e-02 -1.09983900e+02] [-1.31878185e-01 -1.68491768e-03 9.91264498e-01 -2.82395576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters 0.02766418721757167 Centerline is valid? [True, True] Translation: X:209.88, Y:-110.02, Z:-28.25 [[ 7.06449576e-01 7.01255944e-01 9.57554048e-02 2.09883348e+02] [-6.95238812e-01 7.12907325e-01 -9.16850062e-02 -1.10023711e+02] [-1.32559385e-01 -1.80204014e-03 9.91173427e-01 -2.82464209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters 0.027656806376422472 Centerline is valid? [True, True] Translation: X:209.93, Y:-110.06, Z:-28.25 [[ 7.05615363e-01 7.02320858e-01 9.40870433e-02 2.09933209e+02] [-6.96515867e-01 7.11857902e-01 -9.01330968e-02 -1.10061937e+02] [-1.30278959e-01 -1.93382067e-03 9.91475493e-01 -2.82519193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters 0.027693751641538738 Centerline is valid? [True, True] Translation: X:209.98, Y:-110.10, Z:-28.26 [[ 7.04164638e-01 7.03562665e-01 9.56647223e-02 2.09982305e+02] [-6.97566545e-01 7.10629905e-01 -9.16845387e-02 -1.10099928e+02] [-1.32488031e-01 -2.17149970e-03 9.91182227e-01 -2.82584217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters 0.027755559716984127 Centerline is valid? [True, True] Translation: X:210.03, Y:-110.14, Z:-28.26 [[ 7.03598438e-01 7.04058522e-01 9.61812681e-02 2.10032732e+02] [-6.97989701e-01 7.10138509e-01 -9.22695868e-02 -1.10137944e+02] [-1.33265211e-01 -2.21279741e-03 9.91077942e-01 -2.82644267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters 0.027225416954957914 Centerline is valid? [True, True] Translation: X:210.08, Y:-110.17, Z:-28.27 [[ 7.06196705e-01 7.01598567e-01 9.51087036e-02 2.10083154e+02] [-6.95629838e-01 7.12570488e-01 -9.13368925e-02 -1.10174955e+02] [-1.31853488e-01 -1.65863958e-03 9.91267828e-01 -2.82715829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters 0.02702326170087799 Centerline is valid? [True, True] Translation: X:210.13, Y:-110.21, Z:-28.28 [[ 7.11753633e-01 6.95798260e-01 9.62888805e-02 2.10131140e+02] [-6.89614661e-01 7.18237084e-01 -9.25586896e-02 -1.10214348e+02] [-1.33560420e-01 -5.23240122e-04 9.91040534e-01 -2.82789449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters 0.026919629175527166 Centerline is valid? [True, True] Translation: X:210.18, Y:-110.25, Z:-28.29 [[ 7.16290042e-01 6.91354552e-01 9.46438548e-02 2.10179857e+02] [-6.85331087e-01 7.22515570e-01 -9.10634482e-02 -1.10252814e+02] [-1.31338788e-01 3.65465232e-04 9.91337475e-01 -2.82853021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters 0.02683915892194092 Centerline is valid? [True, True] Translation: X:210.23, Y:-110.30, Z:-28.29 [[ 7.17127651e-01 6.90443757e-01 9.49491994e-02 2.10225969e+02] [-6.84361458e-01 7.23385831e-01 -9.14458026e-02 -1.10295819e+02] [-1.31823089e-01 5.98741110e-04 9.91273078e-01 -2.82926020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters 0.026869725354056104 Centerline is valid? [True, True] Translation: X:210.27, Y:-110.34, Z:-28.30 [[ 7.17227872e-01 6.90288476e-01 9.53205092e-02 2.10273843e+02] [-6.84143844e-01 7.23533916e-01 -9.19014283e-02 -1.10335637e+02] [-1.32406118e-01 7.01326310e-04 9.91195303e-01 -2.82998741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters 0.02683188550352289 Centerline is valid? [True, True] Translation: X:210.32, Y:-110.38, Z:-28.31 [[ 7.16799357e-01 6.90802420e-01 9.48192907e-02 2.10320106e+02] [-6.84714774e-01 7.23043268e-01 -9.15101679e-02 -1.10377976e+02] [-1.31773895e-01 6.70260348e-04 9.91279573e-01 -2.83065302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters 0.026892333406257928 Centerline is valid? [True, True] Translation: X:210.37, Y:-110.42, Z:-28.31 [[ 7.17619686e-01 6.89982448e-01 9.45843924e-02 2.10367715e+02] [-6.83905052e-01 7.23825552e-01 -9.13807993e-02 -1.10419132e+02] [-1.31513748e-01 8.89916695e-04 9.91313947e-01 -2.83131118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters 0.02695529627167322 Centerline is valid? [True, True] Translation: X:210.41, Y:-110.46, Z:-28.32 [[ 7.19637355e-01 6.87999920e-01 9.36919820e-02 2.10413778e+02] [-6.82007686e-01 7.25709577e-01 -9.06152633e-02 -1.10462334e+02] [-1.30336462e-01 1.31147653e-03 9.91468954e-01 -2.83194823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters 0.027486129758886497 Centerline is valid? [True, True] Translation: X:210.46, Y:-110.51, Z:-28.33 [[ 7.21147949e-01 6.86051068e-01 9.63305122e-02 2.10456682e+02] [-6.79685222e-01 7.27551213e-01 -9.32589517e-02 -1.10505978e+02] [-1.34065784e-01 1.77907619e-03 9.90970837e-01 -2.83276828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters 0.027463650680420913 Centerline is valid? [True, True] Translation: X:210.50, Y:-110.55, Z:-28.33 [[ 7.21523025e-01 6.86034768e-01 9.35992561e-02 2.10497749e+02] [-6.80019973e-01 7.27566615e-01 -9.06623281e-02 -1.10553276e+02] [-1.30297203e-01 1.76559372e-03 9.91473409e-01 -2.83329623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters 0.027509605334424782 Centerline is valid? [True, True] Translation: X:210.54, Y:-110.60, Z:-28.34 [[ 7.20716789e-01 6.86965071e-01 9.29854840e-02 2.10539714e+02] [-6.81026250e-01 7.26688571e-01 -9.01497008e-02 -1.10599087e+02] [-1.29501184e-01 1.64684746e-03 9.91577900e-01 -2.83409964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters 0.027039603212486277 Centerline is valid? [True, True] Translation: X:210.58, Y:-110.65, Z:-28.35 [[ 7.17455241e-01 6.90260680e-01 9.37985656e-02 2.10581222e+02] [-6.84233829e-01 7.23559900e-01 -9.10227313e-02 -1.10645706e+02] [-1.30698293e-01 1.12458398e-03 9.91421551e-01 -2.83471692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters 0.027041443380558153 Centerline is valid? [True, True] Translation: X:210.62, Y:-110.69, Z:-28.35 [[ 7.14299144e-01 6.93316458e-01 9.53363641e-02 2.10623111e+02] [-6.87104500e-01 7.20632971e-01 -9.26041474e-02 -1.10692244e+02] [-1.32906507e-01 6.41018443e-04 9.91128372e-01 -2.83546985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters 0.026691185975973315 Centerline is valid? [True, True] Translation: X:210.66, Y:-110.74, Z:-28.36 [[ 7.09738843e-01 6.98443724e-01 9.19083207e-02 2.10663016e+02] [-6.92703043e-01 7.15664941e-01 -8.93654656e-02 -1.10740085e+02] [-1.28192311e-01 -2.39031313e-04 9.91749300e-01 -2.83602857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters 0.026772806887279527 Centerline is valid? [True, True] Translation: X:210.71, Y:-110.78, Z:-28.37 [[ 7.05855902e-01 7.02361978e-01 9.19516054e-02 2.10707509e+02] [-6.96637770e-01 7.11819403e-01 -8.94927598e-02 -1.10783967e+02] [-1.28309249e-01 -8.87968665e-04 9.91733809e-01 -2.83658687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters 0.027159457689249378 Centerline is valid? [True, True] Translation: X:210.75, Y:-110.83, Z:-28.37 [[ 6.99222072e-01 7.08863545e-01 9.27414110e-02 2.10752490e+02] [-7.03083841e-01 7.05342738e-01 -9.03589213e-02 -1.10826320e+02] [-1.29466626e-01 -2.02403524e-03 9.91581714e-01 -2.83724522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters 0.02747603015502571 Centerline is valid? [True, True] Translation: X:210.80, Y:-110.87, Z:-28.38 [[ 6.95621445e-01 7.12464217e-01 9.22255125e-02 2.10799949e+02] [-7.06769196e-01 7.01703563e-01 -8.99411657e-02 -1.10866802e+02] [-1.28794833e-01 -2.61714766e-03 9.91667808e-01 -2.83791968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters 0.027372149377158938 Centerline is valid? [True, True] Translation: X:210.85, Y:-110.91, Z:-28.39 [[ 6.95021863e-01 7.12910918e-01 9.32879033e-02 2.10846747e+02] [-7.07075938e-01 7.01249524e-01 -9.10643886e-02 -1.10907211e+02] [-1.30338895e-01 -2.66989073e-03 9.91465907e-01 -2.83855434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters 0.027038007701447396 Centerline is valid? [True, True] Translation: X:210.90, Y:-110.95, Z:-28.39 [[ 6.95859945e-01 7.12258806e-01 9.20126596e-02 2.10895441e+02] [-7.06566336e-01 7.01912656e-01 -8.99034824e-02 -1.10945285e+02] [-1.28619397e-01 -2.45281541e-03 9.91690997e-01 -2.83925595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters 0.026948899385774876 Centerline is valid? [True, True] Translation: X:210.94, Y:-110.99, Z:-28.40 [[ 6.98525297e-01 7.09508282e-01 9.30613055e-02 2.10942498e+02] [-7.03648985e-01 7.04694518e-01 -9.10150651e-02 -1.10985716e+02] [-1.30155734e-01 -1.90616775e-03 9.91491730e-01 -2.84011984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters 0.02639925074056937 Centerline is valid? [True, True] Translation: X:210.99, Y:-111.03, Z:-28.41 [[ 7.02324634e-01 7.05796033e-01 9.26934136e-02 2.10990149e+02] [-6.99939577e-01 7.08414171e-01 -9.07411239e-02 -1.11025770e+02] [-1.29710053e-01 -1.15006201e-03 9.91551299e-01 -2.84072219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters 0.02644317297058901 Centerline is valid? [True, True] Translation: X:211.04, Y:-111.07, Z:-28.42 [[ 7.05827275e-01 7.02329625e-01 9.24172870e-02 2.11035180e+02] [-6.96467152e-01 7.11851738e-01 -9.05572121e-02 -1.11067947e+02] [-1.29388419e-01 -4.47854401e-04 9.91593887e-01 -2.84151398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters 0.02671132038060525 Centerline is valid? [True, True] Translation: X:211.08, Y:-111.11, Z:-28.42 [[ 7.09344674e-01 6.98446725e-01 9.48804766e-02 2.11080309e+02] [-6.92219326e-01 7.15661973e-01 -9.30609750e-02 -1.11109265e+02] [-1.32900482e-01 3.34207465e-04 9.91129331e-01 -2.84229667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters 0.02651317566313174 Centerline is valid? [True, True] Translation: X:211.12, Y:-111.15, Z:-28.43 [[ 7.11276996e-01 6.96794998e-01 9.25298074e-02 2.11123791e+02] [-6.90849350e-01 7.17270006e-01 -9.08345398e-02 -1.11153324e+02] [-1.29661909e-01 6.84361333e-04 9.91558027e-01 -2.84300408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters 0.02645001675505602 Centerline is valid? [True, True] Translation: X:211.17, Y:-111.20, Z:-28.44 [[ 7.10252801e-01 6.97828733e-01 9.26067900e-02 2.11167098e+02] [-6.91870572e-01 7.16264440e-01 -9.09965039e-02 -1.11198728e+02] [-1.29830926e-01 5.58608981e-04 9.91535990e-01 -2.84363254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters 0.026336173532936394 Centerline is valid? [True, True] Translation: X:211.21, Y:-111.24, Z:-28.44 [[ 7.06721174e-01 7.01248923e-01 9.37823534e-02 2.11210190e+02] [-6.95154469e-01 7.12916508e-01 -9.22513771e-02 -1.11244454e+02] [-1.31550167e-01 2.77942976e-06 9.91309515e-01 -2.84432003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters 0.026419661296955606 Centerline is valid? [True, True] Translation: X:211.25, Y:-111.29, Z:-28.45 [[ 7.04148824e-01 7.03736033e-01 9.44988332e-02 2.11252120e+02] [-6.97556607e-01 7.10461429e-01 -9.30555660e-02 -1.11289330e+02] [-1.32624331e-01 -3.93318031e-04 9.91166299e-01 -2.84499659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters 0.026159529173445488 Centerline is valid? [True, True] Translation: X:211.30, Y:-111.33, Z:-28.46 [[ 7.02610599e-01 7.05344023e-01 9.39582619e-02 2.11298353e+02] [-6.99237776e-01 7.08864877e-01 -9.26127339e-02 -1.11331102e+02] [-1.31927550e-01 -6.28477579e-04 9.91259162e-01 -2.84560913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters 0.02636724181398062 Centerline is valid? [True, True] Translation: X:211.34, Y:-111.38, Z:-28.46 [[ 7.02738608e-01 7.05198644e-01 9.40920927e-02 2.11342377e+02] [-6.99060190e-01 7.09009585e-01 -9.28453513e-02 -1.11375514e+02] [-1.32186611e-01 -5.30023247e-04 9.91224707e-01 -2.84627935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters 0.026309976543031195 Centerline is valid? [True, True] Translation: X:211.39, Y:-111.42, Z:-28.47 [[ 7.03339584e-01 7.04597204e-01 9.41074395e-02 2.11387296e+02] [-6.98437896e-01 7.09607399e-01 -9.29615228e-02 -1.11419373e+02] [-1.32279764e-01 -3.44683276e-04 9.91212361e-01 -2.84701722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters 0.026004386899901217 Centerline is valid? [True, True] Translation: X:211.43, Y:-111.46, Z:-28.48 [[ 7.05313681e-01 7.02675147e-01 9.37029875e-02 2.11431989e+02] [-6.96538622e-01 7.11510809e-01 -9.26623826e-02 -1.11462940e+02] [-1.31782242e-01 8.82963986e-05 9.91278686e-01 -2.84770707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters 0.026394300082482117 Centerline is valid? [True, True] Translation: X:211.47, Y:-111.51, Z:-28.49 [[ 7.07350260e-01 7.00374919e-01 9.55540837e-02 2.11474388e+02] [-6.93957654e-01 7.13774903e-01 -9.45947302e-02 -1.11507549e+02] [-1.34455883e-01 6.01119213e-04 9.90919398e-01 -2.84851425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters 0.026072402195435527 Centerline is valid? [True, True] Translation: X:211.52, Y:-111.55, Z:-28.49 [[ 7.08628470e-01 6.99430887e-01 9.29630364e-02 2.11515359e+02] [-6.93339153e-01 7.14699771e-01 -9.21143682e-02 -1.11553912e+02] [-1.30868295e-01 8.19950954e-04 9.91399424e-01 -2.84911616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters 0.026184077768329917 Centerline is valid? [True, True] Translation: X:211.56, Y:-111.60, Z:-28.50 [[ 7.08920464e-01 6.98816309e-01 9.53285994e-02 2.11556884e+02] [-6.92391475e-01 7.15300441e-01 -9.45479944e-02 -1.11600005e+02] [-1.34260270e-01 1.02229848e-03 9.90945576e-01 -2.84975140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters 0.026443647527877895 Centerline is valid? [True, True] Translation: X:211.60, Y:-111.65, Z:-28.51 [[ 7.08936891e-01 6.98839277e-01 9.50376231e-02 2.11597755e+02] [-6.92441849e-01 7.15277918e-01 -9.43492802e-02 -1.11647836e+02] [-1.33913296e-01 1.07965792e-03 9.90992464e-01 -2.85055245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters 0.026476101815391194 Centerline is valid? [True, True] Translation: X:211.64, Y:-111.69, Z:-28.51 [[ 7.08056978e-01 6.99608006e-01 9.59372415e-02 2.11638864e+02] [-6.93081590e-01 7.14526141e-01 -9.53430852e-02 -1.11694220e+02] [-1.35252453e-01 1.01600096e-03 9.90810649e-01 -2.85116794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters 0.02635218378660397 Centerline is valid? [True, True] Translation: X:211.68, Y:-111.74, Z:-28.52 [[ 7.07265760e-01 7.00410011e-01 9.59216409e-02 2.11682964e+02] [-6.93880639e-01 7.13740117e-01 -9.54185738e-02 -1.11739269e+02] [-1.35295248e-01 9.28120647e-04 9.90804892e-01 -2.85177822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters 0.026222129100499734 Centerline is valid? [True, True] Translation: X:211.73, Y:-111.78, Z:-28.52 [[ 7.05891155e-01 7.01833538e-01 9.56418432e-02 2.11725311e+02] [-6.95341872e-01 7.12340621e-01 -9.52392862e-02 -1.11784492e+02] [-1.34971695e-01 7.24791483e-04 9.90849189e-01 -2.85241090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters 0.026277971502735274 Centerline is valid? [True, True] Translation: X:211.77, Y:-111.83, Z:-28.53 [[ 7.03498017e-01 7.04205902e-01 9.58362589e-02 2.11770946e+02] [-6.97697022e-01 7.09995729e-01 -9.55245039e-02 -1.11827744e+02] [-1.35312254e-01 3.36626651e-04 9.90802947e-01 -2.85319407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters 0.02621001227063158 Centerline is valid? [True, True] Translation: X:211.82, Y:-111.87, Z:-28.54 [[ 7.01351606e-01 7.06346642e-01 9.58141210e-02 2.11815278e+02] [-6.99846424e-01 7.07866104e-01 -9.56062835e-02 -1.11872108e+02] [-1.35354746e-01 -1.54941680e-06 9.90797201e-01 -2.85390259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters 0.026203108282414872 Centerline is valid? [True, True] Translation: X:211.86, Y:-111.92, Z:-28.54 [[ 6.99814718e-01 7.07778283e-01 9.64845212e-02 2.11860366e+02] [-7.01185783e-01 7.06434611e-01 -9.63775787e-02 -1.11915207e+02] [-1.36373962e-01 -2.07126526e-04 9.90657408e-01 -2.85448271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters 0.026395959681963073 Centerline is valid? [True, True] Translation: X:211.91, Y:-111.96, Z:-28.55 [[ 6.99642405e-01 7.07946335e-01 9.65012528e-02 2.11905399e+02] [-7.01340219e-01 7.06266208e-01 -9.64880390e-02 -1.11958575e+02] [-1.36463928e-01 -1.73086118e-04 9.90645025e-01 -2.85517557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters 0.0263706406691549 Centerline is valid? [True, True] Translation: X:212.10, Y:-112.14, Z:-26.67 [[ 7.56986698e-01 -6.50440592e-01 -6.24353713e-02 2.12100064e+02] [-6.47255431e-01 -7.59507310e-01 6.48772183e-02 -1.12138791e+02] [-8.96188972e-02 -8.69955812e-03 -9.95938136e-01 -2.66699679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters 0.02617213623345305 Centerline is valid? [True, True] Translation: X:211.98, Y:-112.05, Z:-28.57 [[ 7.51389754e-01 6.51787432e-01 1.02891111e-01 2.11982154e+02] [-6.45799257e-01 7.58401674e-01 -8.81488593e-02 -1.12046320e+02] [-1.35487110e-01 -2.12853586e-04 9.90779086e-01 -2.85656417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters 0.026378114524609326 Centerline is valid? [True, True] Translation: X:212.03, Y:-112.09, Z:-28.57 [[ 7.52454948e-01 6.50539079e-01 1.03007074e-01 2.12031017e+02] [-6.44512357e-01 7.59472777e-01 -8.83454753e-02 -1.12085389e+02] [-1.35703252e-01 8.66583136e-05 9.90749524e-01 -2.85720573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters 0.02648265726619194 Centerline is valid? [True, True] Translation: X:212.08, Y:-112.12, Z:-28.58 [[ 7.53859409e-01 6.49129290e-01 1.01622619e-01 2.12078122e+02] [-6.43238948e-01 7.60677987e-01 -8.72505360e-02 -1.12124583e+02] [-1.33938968e-01 4.07010724e-04 9.90989499e-01 -2.85809019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters 0.02656856813434844 Centerline is valid? [True, True] Translation: X:212.13, Y:-112.16, Z:-28.59 [[ 7.54394063e-01 6.48432859e-01 1.02100073e-01 2.12126109e+02] [-6.42468687e-01 7.61271613e-01 -8.77468944e-02 -1.12164521e+02] [-1.34623857e-01 5.99636384e-04 9.90896593e-01 -2.85886167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters 0.026973282781104148 Centerline is valid? [True, True] Translation: X:212.17, Y:-112.21, Z:-28.60 [[ 7.55891583e-01 6.46812324e-01 1.01300205e-01 2.12172440e+02] [-6.40914451e-01 7.62648613e-01 -8.71536536e-02 -1.12207207e+02] [-1.33628518e-01 9.53948109e-04 9.91031033e-01 -2.85954195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters 0.02726487142869565 Centerline is valid? [True, True] Translation: X:212.22, Y:-112.25, Z:-28.60 [[ 7.56669518e-01 6.45464512e-01 1.04051932e-01 2.12217703e+02] [-6.39214249e-01 7.63789157e-01 -8.96173384e-02 -1.12249144e+02] [-1.37318549e-01 1.29923052e-03 9.90526087e-01 -2.86041128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters 0.027377815594358874 Centerline is valid? [True, True] Translation: X:212.26, Y:-112.29, Z:-28.61 [[ 7.56325774e-01 6.45824880e-01 1.04314655e-01 2.12263831e+02] [-6.39534208e-01 7.63484462e-01 -8.99303798e-02 -1.12291237e+02] [-1.37721895e-01 1.30387369e-03 9.90470080e-01 -2.86108232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters 0.027528837484904627 Centerline is valid? [True, True] Translation: X:212.31, Y:-112.33, Z:-28.62 [[ 7.55051802e-01 6.47338064e-01 1.04164326e-01 2.12310244e+02] [-6.41066548e-01 7.62202217e-01 -8.98969520e-02 -1.12332769e+02] [-1.37587999e-01 1.10059061e-03 9.90488935e-01 -2.86188346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters 0.027344964193922287 Centerline is valid? [True, True] Translation: X:212.36, Y:-112.37, Z:-28.63 [[ 7.54897376e-01 6.47607762e-01 1.03605686e-01 2.12357517e+02] [-6.41393014e-01 7.61973054e-01 -8.95101536e-02 -1.12373666e+02] [-1.36912211e-01 1.11901664e-03 9.90582553e-01 -2.86252558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters 0.027592615330133023 Centerline is valid? [True, True] Translation: X:212.40, Y:-112.41, Z:-28.63 [[ 7.55378761e-01 6.46951328e-01 1.04196482e-01 2.12404617e+02] [-6.40645752e-01 7.62530158e-01 -9.01153642e-02 -1.12413627e+02] [-1.37753215e-01 1.31819820e-03 9.90465706e-01 -2.86333748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters 0.02793357328032044 Centerline is valid? [True, True] Translation: X:212.45, Y:-112.45, Z:-28.64 [[ 7.55096816e-01 6.47173910e-01 1.04855757e-01 2.12451564e+02] [-6.40777938e-01 7.62341198e-01 -9.07718686e-02 -1.12454087e+02] [-1.38681048e-01 1.35229347e-03 9.90336174e-01 -2.86414089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters 0.027716841825954866 Centerline is valid? [True, True] Translation: X:212.50, Y:-112.49, Z:-28.65 [[ 7.53893636e-01 6.48525315e-01 1.05163209e-01 2.12499698e+02] [-6.42092298e-01 7.61192180e-01 -9.11259889e-02 -1.12494331e+02] [-1.39146923e-01 1.17481632e-03 9.90271051e-01 -2.86481118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters 0.0276577948160468 Centerline is valid? [True, True] Translation: X:212.55, Y:-112.53, Z:-28.65 [[ 7.52444551e-01 6.50363770e-01 1.04183320e-01 2.12547263e+02] [-6.44055092e-01 7.59622379e-01 -9.03707924e-02 -1.12534285e+02] [-1.37913870e-01 8.99212739e-04 9.90443818e-01 -2.86549364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters 0.02770062781772789 Centerline is valid? [True, True] Translation: X:212.59, Y:-112.57, Z:-28.66 [[ 7.52538172e-01 6.50434619e-01 1.03058748e-01 2.12593988e+02] [-6.44251239e-01 7.59561664e-01 -8.94785923e-02 -1.12574447e+02] [-1.36479448e-01 9.40330091e-04 9.90642456e-01 -2.86609502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters 0.027759744530642404 Centerline is valid? [True, True] Translation: X:212.64, Y:-112.61, Z:-28.67 [[ 7.52626284e-01 6.50085842e-01 1.04604373e-01 2.12642252e+02] [-6.43699219e-01 7.59860001e-01 -9.09070648e-02 -1.12613428e+02] [-1.38582075e-01 1.08529311e-03 9.90350358e-01 -2.86681650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters 0.027943830638874977 Centerline is valid? [True, True] Translation: X:212.69, Y:-112.65, Z:-28.68 [[ 7.52524564e-01 6.50164613e-01 1.04846347e-01 2.12688563e+02] [-6.43736623e-01 7.59792521e-01 -9.12057346e-02 -1.12654894e+02] [-1.38960212e-01 1.14112209e-03 9.90297308e-01 -2.86759407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters 0.027704382222528315 Centerline is valid? [True, True] Translation: X:212.74, Y:-112.69, Z:-28.68 [[ 7.52583948e-01 6.50238404e-01 1.03958741e-01 2.12736739e+02] [-6.43906930e-01 7.59729295e-01 -9.05276929e-02 -1.12693369e+02] [-1.37845084e-01 1.18993448e-03 9.90453087e-01 -2.86819865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters 0.027915522851450034 Centerline is valid? [True, True] Translation: X:212.78, Y:-112.74, Z:-28.69 [[ 7.53012293e-01 6.49712489e-01 1.04144939e-01 2.12783900e+02] [-6.43341071e-01 7.60178824e-01 -9.07767724e-02 -1.12735045e+02] [-1.38147580e-01 1.35530909e-03 9.90410728e-01 -2.86891188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters 0.028050708185195845 Centerline is valid? [True, True] Translation: X:212.83, Y:-112.77, Z:-28.70 [[ 7.55097916e-01 6.47320508e-01 1.03938907e-01 2.12831287e+02] [-6.40938643e-01 7.62215646e-01 -9.06915934e-02 -1.12774811e+02] [-1.37930389e-01 1.86257151e-03 9.90440174e-01 -2.86954050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters 0.02797327088139185 Centerline is valid? [True, True] Translation: X:212.88, Y:-112.82, Z:-28.70 [[ 7.55950866e-01 6.46217813e-01 1.04598402e-01 2.12876882e+02] [-6.39731840e-01 7.63150015e-01 -9.13522127e-02 -1.12816650e+02] [-1.38857699e-01 2.14285614e-03 9.90310026e-01 -2.87036338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters 0.02803402016964036 Centerline is valid? [True, True] Translation: X:212.92, Y:-112.86, Z:-28.71 [[ 7.56514466e-01 6.45874812e-01 1.02623532e-01 2.12922322e+02] [-6.39618271e-01 7.63440090e-01 -8.97089512e-02 -1.12858020e+02] [-1.36287671e-01 2.22623299e-03 9.90666803e-01 -2.87102235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters 0.028200191686812637 Centerline is valid? [True, True] Translation: X:212.97, Y:-112.90, Z:-28.72 [[ 7.56007588e-01 6.46493273e-01 1.02464509e-01 2.12966786e+02] [-6.40250246e-01 7.62916582e-01 -8.96544042e-02 -1.12902933e+02] [-1.36132842e-01 2.17648257e-03 9.90688201e-01 -2.87167191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters 0.02828081857725395 Centerline is valid? [True, True] Translation: X:213.01, Y:-112.94, Z:-28.72 [[ 7.57190461e-01 6.45176308e-01 1.02030080e-01 2.13011736e+02] [-6.38961903e-01 7.64029719e-01 -8.93659567e-02 -1.12944759e+02] [-1.35610811e-01 2.47371589e-03 9.90759097e-01 -2.87238527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters 0.0280693697819827 Centerline is valid? [True, True] Translation: X:213.06, Y:-112.99, Z:-28.73 [[ 7.57190120e-01 6.45383769e-01 1.00712034e-01 2.13057509e+02] [-6.39320654e-01 7.63854508e-01 -8.82915208e-02 -1.12986768e+02] [-1.33911255e-01 2.46618398e-03 9.90990259e-01 -2.87286534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters 0.02772081236353846 Centerline is valid? [True, True] Translation: X:213.10, Y:-113.03, Z:-28.74 [[ 7.55193722e-01 6.47778005e-01 1.00329947e-01 2.13103762e+02] [-6.41772354e-01 7.61826286e-01 -8.80281484e-02 -1.13028338e+02] [-1.33456689e-01 2.08931898e-03 9.91052444e-01 -2.87363272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters 0.027610282337618967 Centerline is valid? [True, True] Translation: X:213.15, Y:-113.07, Z:-28.74 [[ 7.53590083e-01 6.49731655e-01 9.97535154e-02 2.13150151e+02] [-6.43807129e-01 7.60161609e-01 -8.75597405e-02 -1.13069860e+02] [-1.32719128e-01 1.76212776e-03 9.91152122e-01 -2.87425838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters 0.027285836378462887 Centerline is valid? [True, True] Translation: X:213.20, Y:-113.11, Z:-28.75 [[ 7.50606804e-01 6.53154646e-01 9.98921145e-02 2.13197631e+02] [-6.47232694e-01 7.57223557e-01 -8.77628873e-02 -1.13109035e+02] [-1.32963400e-01 1.22197787e-03 9.91120195e-01 -2.87483481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters 0.027137469086961945 Centerline is valid? [True, True] Translation: X:213.25, Y:-113.15, Z:-28.76 [[ 7.48681284e-01 6.55267976e-01 1.00499824e-01 2.13245647e+02] [-6.49280819e-01 7.55395948e-01 -8.83820124e-02 -1.13149271e+02] [-1.33831062e-01 9.17350466e-04 9.91003736e-01 -2.87566033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters 0.027225793876827116 Centerline is valid? [True, True] Translation: X:213.30, Y:-113.19, Z:-28.76 [[ 7.48024916e-01 6.55977871e-01 1.00755931e-01 2.13295302e+02] [-6.49953413e-01 7.54779626e-01 -8.87033108e-02 -1.13187483e+02] [-1.34235933e-01 8.65625510e-04 9.90949022e-01 -2.87636058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters 0.02740144016468532 Centerline is valid? [True, True] Translation: X:213.34, Y:-113.23, Z:-28.77 [[ 7.47284478e-01 6.56586857e-01 1.02272226e-01 2.13343715e+02] [-6.50371203e-01 7.54249953e-01 -9.01349411e-02 -1.13226364e+02] [-1.36320239e-01 8.41531677e-04 9.90664466e-01 -2.87719381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters 0.027258846077291107 Centerline is valid? [True, True] Translation: X:213.39, Y:-113.26, Z:-28.78 [[ 7.46648664e-01 6.57175630e-01 1.03130811e-01 2.13392394e+02] [-6.50848248e-01 7.53737051e-01 -9.09781074e-02 -1.13264195e+02] [-1.37522108e-01 8.06174581e-04 9.90498369e-01 -2.87783106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters 0.0275071022307412 Centerline is valid? [True, True] Translation: X:213.44, Y:-113.30, Z:-28.79 [[ 7.47249509e-01 6.56563254e-01 1.02678451e-01 2.13441519e+02] [-6.50273689e-01 7.54270330e-01 -9.06664167e-02 -1.13303731e+02] [-1.36975547e-01 9.81340437e-04 9.90573943e-01 -2.87858225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters 0.027998967391108767 Centerline is valid? [True, True] Translation: X:213.49, Y:-113.34, Z:-28.80 [[ 7.51194161e-01 6.52011337e-01 1.02900675e-01 2.13493644e+02] [-6.45638551e-01 7.58206862e-01 -9.09572244e-02 -1.13336663e+02] [-1.37325139e-01 1.88989350e-03 9.90524222e-01 -2.87963730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters 0.028096704056850188 Centerline is valid? [True, True] Translation: X:213.54, Y:-113.38, Z:-28.80 [[ 7.53047429e-01 6.49775129e-01 1.03498074e-01 2.13541338e+02] [-6.43295525e-01 7.60122786e-01 -9.15653761e-02 -1.13375650e+02] [-1.38168149e-01 2.37322290e-03 9.90405942e-01 -2.88029019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters 0.028745509869747266 Centerline is valid? [True, True] Translation: X:213.59, Y:-113.41, Z:-28.81 [[ 7.56175645e-01 6.46096123e-01 1.03721712e-01 2.13591929e+02] [-6.39542111e-01 7.63249683e-01 -9.18466663e-02 -1.13412091e+02] [-1.38507339e-01 3.11780930e-03 9.90356500e-01 -2.88099082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters 0.028983209854194666 Centerline is valid? [True, True] Translation: X:213.64, Y:-113.45, Z:-28.82 [[ 7.57305736e-01 6.44714062e-01 1.04075933e-01 2.13638827e+02] [-6.38090297e-01 7.64416050e-01 -9.22435602e-02 -1.13451426e+02] [-1.39028034e-01 3.44673440e-03 9.90282447e-01 -2.88189903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters 0.028913955534671593 Centerline is valid? [True, True] Translation: X:213.69, Y:-113.49, Z:-28.83 [[ 7.56632619e-01 6.45510257e-01 1.04036479e-01 2.13685508e+02] [-6.38887133e-01 7.63744191e-01 -9.22932410e-02 -1.13492425e+02] [-1.39033490e-01 3.36450878e-03 9.90281964e-01 -2.88262347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters 0.028662808752107173 Centerline is valid? [True, True] Translation: X:213.73, Y:-113.53, Z:-28.83 [[ 7.55727845e-01 6.46669335e-01 1.03412739e-01 2.13731229e+02] [-6.40123875e-01 7.62763736e-01 -9.18308615e-02 -1.13534322e+02] [-1.38263690e-01 3.20217558e-03 9.90390276e-01 -2.88312841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters 0.028633583738038076 Centerline is valid? [True, True] Translation: X:213.78, Y:-113.57, Z:-28.84 [[ 7.54511437e-01 6.47971402e-01 1.04141986e-01 2.13778159e+02] [-6.41333140e-01 7.61658555e-01 -9.25637550e-02 -1.13574901e+02] [-1.39299301e-01 3.05070477e-03 9.90245625e-01 -2.88398917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters 0.028675619163237975 Centerline is valid? [True, True] Translation: X:213.82, Y:-113.62, Z:-28.85 [[ 7.54015188e-01 6.48350999e-01 1.05366404e-01 2.13823165e+02] [-6.41545157e-01 7.61335302e-01 -9.37463036e-02 -1.13617476e+02] [-1.40999672e-01 3.08883057e-03 9.90004824e-01 -2.88467719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters 0.02855409837430231 Centerline is valid? [True, True] Translation: X:213.87, Y:-113.66, Z:-28.85 [[ 7.53531646e-01 6.49227444e-01 1.03410755e-01 2.13868644e+02] [-6.42670006e-01 7.60588673e-01 -9.20876401e-02 -1.13659464e+02] [-1.38438872e-01 2.93196047e-03 9.90366640e-01 -2.88540054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters 0.02863196205767463 Centerline is valid? [True, True] Translation: X:213.91, Y:-113.70, Z:-28.86 [[ 7.52423142e-01 6.50482600e-01 1.03594414e-01 2.13913367e+02] [-6.43901561e-01 7.59516099e-01 -9.23367494e-02 -1.13703035e+02] [-1.38745074e-01 2.77170200e-03 9.90324251e-01 -2.88621356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters 0.028354348557477205 Centerline is valid? [True, True] Translation: X:213.96, Y:-113.74, Z:-28.87 [[ 7.52082828e-01 6.51119110e-01 1.02055498e-01 2.13959769e+02] [-6.44726404e-01 7.58970818e-01 -9.10558192e-02 -1.13744625e+02] [-1.36745329e-01 2.68364385e-03 9.90602601e-01 -2.88672674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters 0.02843453791173496 Centerline is valid? [True, True] Translation: X:214.00, Y:-113.79, Z:-28.87 [[ 7.52394856e-01 6.50697934e-01 1.02441107e-01 2.14003900e+02] [-6.44241190e-01 7.59331393e-01 -9.14829178e-02 -1.13787921e+02] [-1.37314494e-01 2.83449616e-03 9.90523445e-01 -2.88731683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters 0.028788974785836904 Centerline is valid? [True, True] Translation: X:214.05, Y:-113.83, Z:-28.88 [[ 7.52521805e-01 6.50533618e-01 1.02552161e-01 2.14048425e+02] [-6.44049380e-01 7.59471795e-01 -9.16678129e-02 -1.13831641e+02] [-1.37518468e-01 2.93337209e-03 9.90494859e-01 -2.88816404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters 0.028673234307443965 Centerline is valid? [True, True] Translation: X:214.09, Y:-113.88, Z:-28.89 [[ 7.50971131e-01 6.52409584e-01 1.02000469e-01 2.14092387e+02] [-6.45999671e-01 7.57861947e-01 -9.12671653e-02 -1.13875309e+02] [-1.36845847e-01 2.64673708e-03 9.90588819e-01 -2.88884054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters 0.02831108990708192 Centerline is valid? [True, True] Translation: X:214.14, Y:-113.92, Z:-28.90 [[ 7.48692650e-01 6.54980726e-01 1.02272010e-01 2.14135967e+02] [-6.48548777e-01 7.55642244e-01 -9.15930312e-02 -1.13919793e+02] [-1.37272721e-01 2.24664226e-03 9.90530743e-01 -2.88951732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters 0.02855996203988882 Centerline is valid? [True, True] Translation: X:214.18, Y:-113.96, Z:-28.90 [[ 7.48374230e-01 6.55234871e-01 1.02972208e-01 2.14179268e+02] [-6.48704696e-01 7.55421780e-01 -9.23046680e-02 -1.13963776e+02] [-1.38268686e-01 2.27988026e-03 9.90392131e-01 -2.89036708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters 0.02844751356961011 Centerline is valid? [True, True] Translation: X:214.22, Y:-114.01, Z:-28.91 [[ 7.48036323e-01 6.55719625e-01 1.02339791e-01 2.14222815e+02] [-6.49262690e-01 7.55001161e-01 -9.18215972e-02 -1.14008045e+02] [-1.37475884e-01 2.24048187e-03 9.90502580e-01 -2.89090651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters 0.02838659191792289 Centerline is valid? [True, True] Translation: X:214.27, Y:-114.05, Z:-28.92 [[ 7.46617440e-01 6.57411321e-01 1.01846712e-01 2.14266220e+02] [-6.51021888e-01 7.53529325e-01 -9.14552232e-02 -1.14052902e+02] [-1.36868183e-01 1.97762613e-03 9.90587295e-01 -2.89159915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters 0.028343760666668674 Centerline is valid? [True, True] Translation: X:214.31, Y:-114.10, Z:-28.92 [[ 7.45246163e-01 6.59017478e-01 1.01509208e-01 2.14309933e+02] [-6.52678069e-01 7.52125664e-01 -9.12048478e-02 -1.14096127e+02] [-1.36453269e-01 1.71722920e-03 9.90645020e-01 -2.89228277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters 0.028441851331736066 Centerline is valid? [True, True] Translation: X:214.36, Y:-114.14, Z:-28.93 [[ 7.43709889e-01 6.60648214e-01 1.02174060e-01 2.14355555e+02] [-6.54228114e-01 7.50694147e-01 -9.18905426e-02 -1.14139390e+02] [-1.37408792e-01 1.49476241e-03 9.90513296e-01 -2.89308079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters 0.028311079867014134 Centerline is valid? [True, True] Translation: X:214.40, Y:-114.18, Z:-28.94 [[ 7.43529168e-01 6.60847760e-01 1.02198901e-01 2.14402124e+02] [-6.54412775e-01 7.50518414e-01 -9.20110300e-02 -1.14180851e+02] [-1.37507440e-01 1.53261835e-03 9.90499548e-01 -2.89365555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters 0.028661262908930955 Centerline is valid? [True, True] Translation: X:214.45, Y:-114.22, Z:-28.95 [[ 7.43582578e-01 6.60720065e-01 1.02635007e-01 2.14448060e+02] [-6.54215028e-01 7.50630613e-01 -9.25007025e-02 -1.14222032e+02] [-1.38158049e-01 1.63654665e-03 9.90408843e-01 -2.89454296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters 0.028466925260862783 Centerline is valid? [True, True] Translation: X:214.49, Y:-114.26, Z:-28.95 [[ 7.42780596e-01 6.61227238e-01 1.05145258e-01 2.14494492e+02] [-6.54390063e-01 7.50183851e-01 -9.48569215e-02 -1.14263214e+02] [-1.41600255e-01 1.65186851e-03 9.89922542e-01 -2.89510640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters 0.02857596374006204 Centerline is valid? [True, True] Translation: X:214.54, Y:-114.31, Z:-28.96 [[ 7.42446769e-01 6.61877477e-01 1.03397298e-01 2.14539468e+02] [-6.55261160e-01 7.49610400e-01 -9.33651998e-02 -1.14305265e+02] [-1.39304013e-01 1.56645728e-03 9.90248422e-01 -2.89585165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters 0.02862987073484104 Centerline is valid? [True, True] Translation: X:214.59, Y:-114.35, Z:-28.97 [[ 7.41925472e-01 6.62498164e-01 1.03163840e-01 2.14585271e+02] [-6.55905220e-01 7.49062007e-01 -9.32440498e-02 -1.14348371e+02] [-1.39050125e-01 1.51443451e-03 9.90284186e-01 -2.89655499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters 0.02847882356287971 Centerline is valid? [True, True] Translation: X:214.63, Y:-114.39, Z:-28.97 [[ 7.41117841e-01 6.63338629e-01 1.03567413e-01 2.14630926e+02] [-6.56687733e-01 7.48317977e-01 -9.37092657e-02 -1.14391096e+02] [-1.39662333e-01 1.43815925e-03 9.90198144e-01 -2.89714726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters 0.028424605263185194 Centerline is valid? [True, True] Translation: X:214.68, Y:-114.43, Z:-28.98 [[ 7.38835370e-01 6.66212661e-01 1.01405059e-01 2.14675334e+02] [-6.59851812e-01 7.45761217e-01 -9.18465782e-02 -1.14434139e+02] [-1.36813314e-01 9.47188612e-04 9.90596396e-01 -2.89783112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters 0.02827142589723819 Centerline is valid? [True, True] Translation: X:214.72, Y:-114.48, Z:-28.99 [[ 7.37036781e-01 6.67969640e-01 1.02923972e-01 2.14719964e+02] [-6.61420509e-01 7.44188198e-01 -9.33104250e-02 -1.14476229e+02] [-1.38923336e-01 6.97189524e-04 9.90302893e-01 -2.89857009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters 0.028213186670307294 Centerline is valid? [True, True] Translation: X:214.77, Y:-114.52, Z:-28.99 [[ 7.36415983e-01 6.68751185e-01 1.02290530e-01 2.14766118e+02] [-6.62278200e-01 7.43486031e-01 -9.28229943e-02 -1.14518183e+02] [-1.38127068e-01 6.11548166e-04 9.90414327e-01 -2.89915115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters 0.028203521200641252 Centerline is valid? [True, True] Translation: X:214.81, Y:-114.56, Z:-29.00 [[ 7.35272633e-01 6.70194939e-01 1.01058890e-01 2.14810926e+02] [-6.63879382e-01 7.42185007e-01 -9.17909693e-02 -1.14561173e+02] [-1.36522236e-01 4.00473964e-04 9.90636926e-01 -2.89982770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters 0.028173805062536788 Centerline is valid? [True, True] Translation: X:214.86, Y:-114.60, Z:-29.00 [[ 7.35187651e-01 6.70299092e-01 1.00986362e-01 2.14857203e+02] [-6.63981215e-01 7.42090915e-01 -9.18151340e-02 -1.14603854e+02] [-1.36484663e-01 4.48305138e-04 9.90642083e-01 -2.90049118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters 0.028084859125643655 Centerline is valid? [True, True] Translation: X:214.90, Y:-114.65, Z:-29.01 [[ 7.34408508e-01 6.71411988e-01 9.92476052e-02 2.14901735e+02] [-6.65307936e-01 7.41084238e-01 -9.03299622e-02 -1.14647117e+02] [-1.34199455e-01 3.08873363e-04 9.90954293e-01 -2.90106639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters 0.027692300237223848 Centerline is valid? [True, True] Translation: X:214.95, Y:-114.69, Z:-29.02 [[ 7.33962159e-01 6.72134361e-01 9.76470731e-02 2.14947712e+02] [-6.66221724e-01 7.40429163e-01 -8.89565570e-02 -1.14688312e+02] [-1.32091499e-01 2.36145221e-04 9.91237499e-01 -2.90158965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters 0.02789671164816821 Centerline is valid? [True, True] Translation: X:214.99, Y:-114.73, Z:-29.02 [[ 7.32603425e-01 6.73413880e-01 9.90250873e-02 2.14990591e+02] [-6.67332280e-01 7.39265677e-01 -9.02988721e-02 -1.14733032e+02] [-1.34014362e-01 7.06256806e-05 9.90979387e-01 -2.90245564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters 0.02785712118308506 Centerline is valid? [True, True] Translation: X:215.04, Y:-114.77, Z:-29.03 [[ 7.32008432e-01 6.74101805e-01 9.87441758e-02 2.15037755e+02] [-6.68049115e-01 7.38638448e-01 -9.01311429e-02 -1.14774709e+02] [-1.33693811e-01 1.07973718e-05 9.91022686e-01 -2.90311165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters 0.02788579477888308 Centerline is valid? [True, True] Translation: X:215.08, Y:-114.82, Z:-29.04 [[ 7.29490793e-01 6.76851987e-01 9.85625226e-02 2.15081898e+02] [-6.70833171e-01 7.36119021e-01 -9.00646580e-02 -1.14818796e+02] [-1.33514190e-01 -4.17670794e-04 9.91046813e-01 -2.90376292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters 0.027853647907503686 Centerline is valid? [True, True] Translation: X:215.13, Y:-114.86, Z:-29.04 [[ 7.28811687e-01 6.77664424e-01 9.80023113e-02 2.15128551e+02] [-6.71708293e-01 7.35371123e-01 -8.96508870e-02 -1.14860939e+02] [-1.32821286e-01 -4.90350982e-04 9.91139882e-01 -2.90442539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters 0.02787399681956916 Centerline is valid? [True, True] Translation: X:215.17, Y:-114.90, Z:-29.05 [[ 7.26049108e-01 6.80551043e-01 9.85036644e-02 2.15172470e+02] [-6.74546756e-01 7.32700058e-01 -9.02069831e-02 -1.14904626e+02] [-1.33564097e-01 -9.50627697e-04 9.91039721e-01 -2.90508409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters 0.027881285125394294 Centerline is valid? [True, True] Translation: X:215.22, Y:-114.95, Z:-29.06 [[ 7.22910596e-01 6.83936822e-01 9.81361008e-02 2.15216998e+02] [-6.77996855e-01 7.29539688e-01 -8.99561484e-02 -1.14947108e+02] [-1.33118503e-01 -1.50571489e-03 9.91098985e-01 -2.90562523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters 0.028080957209867318 Centerline is valid? [True, True] Translation: X:215.26, Y:-114.99, Z:-29.06 [[ 7.19798161e-01 6.87426248e-01 9.66217447e-02 2.15263208e+02] [-6.81688818e-01 7.26251291e-01 -8.86533574e-02 -1.14988925e+02] [-1.31114312e-01 -2.05343938e-03 9.91365130e-01 -2.90623985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters 0.02827847916327209 Centerline is valid? [True, True] Translation: X:215.31, Y:-115.03, Z:-29.07 [[ 7.18159889e-01 6.88791768e-01 9.90569237e-02 2.15309453e+02] [-6.82759841e-01 7.24955624e-01 -9.09853976e-02 -1.15029170e+02] [-1.34481867e-01 -2.29002641e-03 9.90913409e-01 -2.90708412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters 0.028000845502623564 Centerline is valid? [True, True] Translation: X:215.36, Y:-115.07, Z:-29.08 [[ 7.19208277e-01 6.87744652e-01 9.87256212e-02 2.15357469e+02] [-6.81731921e-01 7.25949856e-01 -9.07656014e-02 -1.15068400e+02] [-1.34093407e-01 -2.02503561e-03 9.90966628e-01 -2.90758609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters 0.027895238893348065 Centerline is valid? [True, True] Translation: X:215.41, Y:-115.11, Z:-29.08 [[ 7.20195424e-01 6.86603048e-01 9.94726400e-02 2.15406167e+02] [-6.80475634e-01 7.27030366e-01 -9.15410187e-02 -1.15108023e+02] [-1.35171972e-01 -1.76128501e-03 9.90820587e-01 -2.90848503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters 0.027887128982144144 Centerline is valid? [True, True] Translation: X:215.45, Y:-115.15, Z:-29.09 [[ 7.19890457e-01 6.86751650e-01 1.00647414e-01 2.15453145e+02] [-6.80465766e-01 7.26890054e-01 -9.27210334e-02 -1.15148094e+02] [-1.36835927e-01 -1.73813239e-03 9.90592201e-01 -2.90920281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters 0.02775904631147749 Centerline is valid? [True, True] Translation: X:215.50, Y:-115.19, Z:-29.10 [[ 7.21074308e-01 6.85740807e-01 9.90524479e-02 2.15500378e+02] [-6.79632444e-01 7.27844363e-01 -9.13363240e-02 -1.15188204e+02] [-1.34727810e-01 -1.45898066e-03 9.90881571e-01 -2.90978142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters 0.027611079560359145 Centerline is valid? [True, True] Translation: X:215.55, Y:-115.23, Z:-29.11 [[ 7.21724983e-01 6.84947628e-01 9.97987749e-02 2.15548362e+02] [-6.78726524e-01 7.28591225e-01 -9.21147803e-02 -1.15227624e+02] [-1.35806312e-01 -1.25453729e-03 9.90734612e-01 -2.91066496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters 0.027434713631200165 Centerline is valid? [True, True] Translation: X:215.60, Y:-115.27, Z:-29.11 [[ 7.22826022e-01 6.83812431e-01 9.96147602e-02 2.15595483e+02] [-6.77590237e-01 7.29657196e-01 -9.20426392e-02 -1.15268130e+02] [-1.35624527e-01 -9.67174193e-04 9.90759836e-01 -2.91124884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters 0.027636827310799778 Centerline is valid? [True, True] Translation: X:215.64, Y:-115.31, Z:-29.12 [[ 7.23513587e-01 6.83171495e-01 9.90191823e-02 2.15642680e+02] [-6.77005829e-01 7.30257561e-01 -9.15805750e-02 -1.15307732e+02] [-1.34874745e-01 -7.76773305e-04 9.90862352e-01 -2.91205710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters 0.027701515522358208 Centerline is valid? [True, True] Translation: X:215.69, Y:-115.35, Z:-29.13 [[ 7.24478016e-01 6.81893953e-01 1.00758334e-01 2.15688380e+02] [-6.75483750e-01 7.31450891e-01 -9.32807454e-02 -1.15348628e+02] [-1.37307349e-01 -4.80767770e-04 9.90528375e-01 -2.91272711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters 0.027637978659499435 Centerline is valid? [True, True] Translation: X:215.74, Y:-115.39, Z:-29.14 [[ 7.26474950e-01 6.79666607e-01 1.01427064e-01 2.15735369e+02] [-6.73136656e-01 7.33521167e-01 -9.39879748e-02 -1.15389801e+02] [-1.38279386e-01 5.63469394e-06 9.90393261e-01 -2.91355632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters 0.02761058474938381 Centerline is valid? [True, True] Translation: X:215.78, Y:-115.43, Z:-29.14 [[ 7.27888843e-01 6.78357388e-01 1.00045422e-01 2.15779702e+02] [-6.71979996e-01 7.34732027e-01 -9.27994213e-02 -1.15433512e+02] [-1.36457749e-01 3.19141275e-04 9.90645840e-01 -2.91428054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters 0.02760265504799687 Centerline is valid? [True, True] Translation: X:215.82, Y:-115.48, Z:-29.15 [[ 7.26721093e-01 6.79653503e-01 9.97375008e-02 2.15824046e+02] [-6.73319169e-01 7.33533299e-01 -9.25753489e-02 -1.15477365e+02] [-1.36079938e-01 1.21287507e-04 9.90697853e-01 -2.91498570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters 0.02777435458198823 Centerline is valid? [True, True] Translation: X:215.87, Y:-115.52, Z:-29.16 [[ 7.26496444e-01 6.79994414e-01 9.90480369e-02 2.15868848e+02] [-6.73737585e-01 7.33217280e-01 -9.20330720e-02 -1.15520513e+02] [-1.35205707e-01 1.29314342e-04 9.90817541e-01 -2.91567661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters 0.02778095706453537 Centerline is valid? [True, True] Translation: X:215.91, Y:-115.56, Z:-29.17 [[ 7.28264527e-01 6.78230892e-01 9.81510895e-02 2.15913834e+02] [-6.72060627e-01 7.34848689e-01 -9.12793471e-02 -1.15563254e+02] [-1.34034672e-01 5.12027812e-04 9.90976511e-01 -2.91657453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters 0.02794544433467347 Centerline is valid? [True, True] Translation: X:215.96, Y:-115.61, Z:-29.17 [[ 7.31452240e-01 6.74701823e-01 9.87677564e-02 2.15957931e+02] [-6.68413668e-01 7.38089417e-01 -9.19085436e-02 -1.15606237e+02] [-1.34910298e-01 1.20899182e-03 9.90857078e-01 -2.91731167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters 0.02838786619323129 Centerline is valid? [True, True] Translation: X:216.00, Y:-115.65, Z:-29.18 [[ 7.32861052e-01 6.73016854e-01 9.98147967e-02 2.16001562e+02] [-6.66566321e-01 7.39625412e-01 -9.29709105e-02 -1.15650165e+02] [-1.36396550e-01 1.60157742e-03 9.90653025e-01 -2.91802004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters 0.028383765679656493 Centerline is valid? [True, True] Translation: X:216.04, Y:-115.70, Z:-29.19 [[ 7.34037645e-01 6.71563531e-01 1.00951275e-01 2.16044566e+02] [-6.64938480e-01 7.40944385e-01 -9.41182021e-02 -1.15695191e+02] [-1.38005633e-01 1.95991596e-03 9.90429505e-01 -2.91856751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters 0.028601053135752758 Centerline is valid? [True, True] Translation: X:216.09, Y:-115.74, Z:-29.19 [[ 7.35312378e-01 6.70206004e-01 1.00695675e-01 2.16085352e+02] [-6.63589895e-01 7.42171638e-01 -9.39665395e-02 -1.15742632e+02] [-1.37710413e-01 2.27412704e-03 9.90469924e-01 -2.91925778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters 0.02910844525984599 Centerline is valid? [True, True] Translation: X:216.13, Y:-115.79, Z:-29.20 [[ 7.37436743e-01 6.67962200e-01 1.00067726e-01 2.16126948e+02] [-6.61395994e-01 7.44190149e-01 -9.34685052e-02 -1.15789320e+02] [-1.36902844e-01 2.74271707e-03 9.90580683e-01 -2.91989973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters 0.029794893028702682 Centerline is valid? [True, True] Translation: X:216.17, Y:-115.84, Z:-29.21 [[ 7.39472727e-01 6.65577244e-01 1.00930756e-01 2.16165812e+02] [-6.58861013e-01 7.46321736e-01 -9.43717731e-02 -1.15838855e+02] [-1.38138522e-01 3.28601214e-03 9.90407467e-01 -2.92068592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters 0.029547928349297467 Centerline is valid? [True, True] Translation: X:216.21, Y:-115.89, Z:-29.21 [[ 7.38340160e-01 6.66852753e-01 1.00802850e-01 2.16206396e+02] [-6.60152219e-01 7.45183000e-01 -9.43469328e-02 -1.15886873e+02] [-1.38032082e-01 3.11490445e-03 9.90422860e-01 -2.92139453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters 0.029424394391428417 Centerline is valid? [True, True] Translation: X:216.25, Y:-115.93, Z:-29.22 [[ 7.37946415e-01 6.67363187e-01 1.00306857e-01 2.16250137e+02] [-6.60720261e-01 7.44726068e-01 -9.39777614e-02 -1.15931166e+02] [-1.37418430e-01 3.07577922e-03 9.90508311e-01 -2.92211584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters 0.029372328553513134 Centerline is valid? [True, True] Translation: X:216.29, Y:-115.98, Z:-29.23 [[ 7.36176135e-01 6.69128405e-01 1.01547403e-01 2.16291717e+02] [-6.62321872e-01 7.43141317e-01 -9.52403307e-02 -1.15978773e+02] [-1.39192081e-01 2.85659280e-03 9.90261281e-01 -2.92271260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters 0.029351966085597602 Centerline is valid? [True, True] Translation: X:216.33, Y:-116.03, Z:-29.23 [[ 7.34758708e-01 6.70826489e-01 1.00605481e-01 2.16331259e+02] [-6.64148310e-01 7.41609829e-01 -9.44557236e-02 -1.16027619e+02] [-1.37973415e-01 2.58520486e-03 9.90432559e-01 -2.92335841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters 0.02918135350578979 Centerline is valid? [True, True] Translation: X:216.37, Y:-116.07, Z:-29.24 [[ 7.32453209e-01 6.73103406e-01 1.02196384e-01 2.16373322e+02] [-6.66218535e-01 7.39544897e-01 -9.60531572e-02 -1.16073835e+02] [-1.40232522e-01 2.26931802e-03 9.90115998e-01 -2.92417609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters 0.029284963295943663 Centerline is valid? [True, True] Translation: X:216.41, Y:-116.12, Z:-29.25 [[ 7.30387991e-01 6.75470956e-01 1.01352704e-01 2.16414659e+02] [-6.68708222e-01 7.37384208e-01 -9.53616511e-02 -1.16121506e+02] [-1.39149909e-01 1.87561850e-03 9.90269552e-01 -2.92484207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters 0.02916441855291714 Centerline is valid? [True, True] Translation: X:216.46, Y:-116.17, Z:-29.26 [[ 7.27357645e-01 6.78512993e-01 1.02815250e-01 2.16457883e+02] [-6.71567589e-01 7.34587080e-01 -9.68441774e-02 -1.16166657e+02] [-1.41236787e-01 1.39296313e-03 9.89974863e-01 -2.92567407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters 0.029169320143563503 Centerline is valid? [True, True] Translation: X:216.50, Y:-116.21, Z:-29.26 [[ 7.25414589e-01 6.80774335e-01 1.01587297e-01 2.16502796e+02] [-6.74002174e-01 7.32492504e-01 -9.57904031e-02 -1.16210070e+02] [-1.39623581e-01 1.01769691e-03 9.90204130e-01 -2.92637664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters 0.029215728138591385 Centerline is valid? [True, True] Translation: X:216.55, Y:-116.25, Z:-29.27 [[ 7.25588338e-01 6.80445354e-01 1.02546007e-01 2.16547766e+02] [-6.73525587e-01 7.32797892e-01 -9.68015179e-02 -1.16252912e+02] [-1.41013641e-01 1.17069310e-03 9.90006961e-01 -2.92711853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters 0.02892604583919753 Centerline is valid? [True, True] Translation: X:216.59, Y:-116.30, Z:-29.28 [[ 7.26176114e-01 6.79859629e-01 1.02269923e-01 2.16592839e+02] [-6.72956605e-01 7.33341012e-01 -9.66455801e-02 -1.16296594e+02] [-1.40704157e-01 1.35849182e-03 9.90050754e-01 -2.92775514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters 0.02899043935695375 Centerline is valid? [True, True] Translation: X:216.64, Y:-116.34, Z:-29.29 [[ 7.26233439e-01 6.79832652e-01 1.02041939e-01 2.16638389e+02] [-6.72945374e-01 7.33365868e-01 -9.65351153e-02 -1.16339553e+02] [-1.40461799e-01 1.43837801e-03 9.90085054e-01 -2.92851357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters 0.02862163547224716 Centerline is valid? [True, True] Translation: X:216.68, Y:-116.38, Z:-29.29 [[ 7.23856761e-01 6.82443236e-01 1.01501819e-01 2.16683814e+02] [-6.75639749e-01 7.30937905e-01 -9.61286079e-02 -1.16382913e+02] [-1.39793845e-01 1.00467929e-03 9.90180121e-01 -2.92907733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters 0.028562023286855486 Centerline is valid? [True, True] Translation: X:216.73, Y:-116.43, Z:-29.30 [[ 7.20945798e-01 6.85919499e-01 9.87501760e-02 2.16727905e+02] [-6.79500088e-01 7.27677321e-01 -9.36234319e-02 -1.16427121e+02] [-1.36076401e-01 3.96666559e-04 9.90698267e-01 -2.92968581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters 0.02878186704020982 Centerline is valid? [True, True] Translation: X:216.77, Y:-116.47, Z:-29.30 [[ 7.17779243e-01 6.89210336e-01 9.89043560e-02 2.16774067e+02] [-6.82787207e-01 7.24561309e-01 -9.38751212e-02 -1.16469747e+02] [-1.36361974e-01 -1.49015601e-04 9.90659068e-01 -2.93045872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters 0.029021827692987112 Centerline is valid? [True, True] Translation: X:216.82, Y:-116.51, Z:-29.31 [[ 7.13670086e-01 6.93532013e-01 9.84294430e-02 2.16819717e+02] [-6.87195631e-01 7.20425267e-01 -9.35392944e-02 -1.16513143e+02] [-1.35783553e-01 -8.84087029e-04 9.90738131e-01 -2.93116027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters 0.02946778104794269 Centerline is valid? [True, True] Translation: X:216.87, Y:-116.56, Z:-29.32 [[ 7.07645023e-01 6.99865423e-01 9.70922786e-02 2.16867350e+02] [-6.93744606e-01 7.14271971e-01 -9.23795060e-02 -1.16555694e+02] [-1.34003515e-01 -1.98534694e-03 9.90978868e-01 -2.93176670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters 0.029962403444661705 Centerline is valid? [True, True] Translation: X:216.92, Y:-116.60, Z:-29.32 [[ 7.03295283e-01 7.04451700e-01 9.55172611e-02 2.16915101e+02] [-6.98556375e-01 7.09746667e-01 -9.09871403e-02 -1.16596714e+02] [-1.31889103e-01 -2.73336515e-03 9.91260709e-01 -2.93231181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters 0.03030976309281632 Centerline is valid? [True, True] Translation: X:216.97, Y:-116.63, Z:-29.33 [[ 7.00657636e-01 7.06981272e-01 9.62099695e-02 2.16965487e+02] [-7.01010455e-01 7.07225193e-01 -9.17434903e-02 -1.16634830e+02] [-1.32903044e-01 -3.16341747e-03 9.91123995e-01 -2.93281149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters 0.03027668815854435 Centerline is valid? [True, True] Translation: X:217.02, Y:-116.67, Z:-29.33 [[ 6.99633267e-01 7.07948943e-01 9.65483634e-02 2.17018434e+02] [-7.01932075e-01 7.06255950e-01 -9.21623335e-02 -1.16670626e+02] [-1.33434083e-01 -3.29055861e-03 9.91052228e-01 -2.93338759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters 0.030192856272752335 Centerline is valid? [True, True] Translation: X:217.07, Y:-116.71, Z:-29.34 [[ 6.99869093e-01 7.07893766e-01 9.52348077e-02 2.17071570e+02] [-7.02027267e-01 7.06311814e-01 -9.10018501e-02 -1.16705767e+02] [-1.31685112e-01 -3.16804952e-03 9.91286535e-01 -2.93404758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters 0.029748739707602927 Centerline is valid? [True, True] Translation: X:217.12, Y:-116.74, Z:-29.35 [[ 7.01273579e-01 7.06456705e-01 9.55734841e-02 2.17120713e+02] [-7.00522222e-01 7.07750561e-01 -9.14207911e-02 -1.16744547e+02] [-1.32227018e-01 -2.84036401e-03 9.91215389e-01 -2.93476076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters 0.029088958900447236 Centerline is valid? [True, True] Translation: X:217.17, Y:-116.78, Z:-29.36 [[ 7.05194386e-01 7.02579941e-01 9.53011207e-02 2.17170046e+02] [-6.96632043e-01 7.11601898e-01 -9.12498528e-02 -1.16782416e+02] [-1.31926775e-01 -2.04093047e-03 9.91257364e-01 -2.93554407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters 0.029062043072621748 Centerline is valid? [True, True] Translation: X:217.22, Y:-116.82, Z:-29.36 [[ 7.06413664e-01 7.01220804e-01 9.62762657e-02 2.17218338e+02] [-6.95125492e-01 7.12942039e-01 -9.22724229e-02 -1.16822501e+02] [-1.33342740e-01 -1.74158623e-03 9.91068454e-01 -2.93628004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters 0.029164327076919978 Centerline is valid? [True, True] Translation: X:217.27, Y:-116.86, Z:-29.37 [[ 7.06176490e-01 7.01514313e-01 9.58771804e-02 2.17266024e+02] [-6.95459200e-01 7.12653292e-01 -9.19879716e-02 -1.16863089e+02] [-1.32858067e-01 -1.71892423e-03 9.91133583e-01 -2.93695719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters 0.02894016490744268 Centerline is valid? [True, True] Translation: X:217.31, Y:-116.90, Z:-29.38 [[ 7.05994015e-01 7.01930926e-01 9.41563899e-02 2.17312512e+02] [-6.96083403e-01 7.12243004e-01 -9.04311882e-02 -1.16904772e+02] [-1.30538678e-01 -1.69682257e-03 9.91441766e-01 -2.93763088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters 0.028836376328203454 Centerline is valid? [True, True] Translation: X:217.36, Y:-116.94, Z:-29.38 [[ 7.05068787e-01 7.02734249e-01 9.50924882e-02 2.17361422e+02] [-6.96764022e-01 7.11450174e-01 -9.14250943e-02 -1.16944523e+02] [-1.31901112e-01 -1.79604414e-03 9.91261253e-01 -2.93823433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters 0.028887254721196846 Centerline is valid? [True, True] Translation: X:217.41, Y:-116.99, Z:-29.39 [[ 7.04092914e-01 7.03652182e-01 9.55341628e-02 2.17408099e+02] [-6.97621460e-01 7.10542025e-01 -9.19474242e-02 -1.16986038e+02] [-1.32580043e-01 -1.90715234e-03 9.91170467e-01 -2.93886392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters 0.028902390410886623 Centerline is valid? [True, True] Translation: X:217.46, Y:-117.03, Z:-29.40 [[ 7.02211269e-01 7.05551247e-01 9.53770022e-02 2.17456675e+02] [-6.99544684e-01 7.08655514e-01 -9.18944907e-02 -1.17026150e+02] [-1.32425711e-01 -2.19112807e-03 9.91190511e-01 -2.93960658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters 0.02876652699090678 Centerline is valid? [True, True] Translation: X:217.50, Y:-117.07, Z:-29.40 [[ 7.01508014e-01 7.06443693e-01 9.39351583e-02 2.17502484e+02] [-7.00613651e-01 7.07765653e-01 -9.05996309e-02 -1.17068503e+02] [-1.30487617e-01 -2.25588701e-03 9.91447373e-01 -2.94013935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters 0.02902710433726651 Centerline is valid? [True, True] Translation: X:217.55, Y:-117.11, Z:-29.41 [[ 6.99671192e-01 7.08230671e-01 9.41782328e-02 2.17547259e+02] [-7.02373827e-01 7.05976576e-01 -9.09289869e-02 -1.17112003e+02] [-1.30886324e-01 -2.52793313e-03 9.91394160e-01 -2.94089178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters 0.029326044902236666 Centerline is valid? [True, True] Translation: X:217.59, Y:-117.16, Z:-29.42 [[ 6.97672886e-01 7.09969090e-01 9.58980473e-02 2.17591552e+02] [-7.03898670e-01 7.04227123e-01 -9.26866866e-02 -1.17155404e+02] [-1.33338688e-01 -2.83751985e-03 9.91066467e-01 -2.94153511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters 0.02937056562922323 Centerline is valid? [True, True] Translation: X:217.64, Y:-117.20, Z:-29.42 [[ 6.95284933e-01 7.12563718e-01 9.39777105e-02 2.17636777e+02] [-7.06746453e-01 7.01600097e-01 -9.09216972e-02 -1.17199399e+02] [-1.30722273e-01 -3.20192744e-03 9.91413857e-01 -2.94207703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters 0.030001962012914746 Centerline is valid? [True, True] Translation: X:217.68, Y:-117.24, Z:-29.43 [[ 6.91678235e-01 7.15851482e-01 9.55922371e-02 2.17682950e+02] [-7.09849655e-01 6.98242128e-01 -9.25818485e-02 -1.17241888e+02] [-1.33021380e-01 -3.81926692e-03 9.91105809e-01 -2.94273764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters 0.029976544364811848 Centerline is valid? [True, True] Translation: X:217.73, Y:-117.28, Z:-29.43 [[ 6.90568733e-01 7.16859650e-01 9.60576228e-02 2.17728144e+02] [-7.10795604e-01 6.97206225e-01 -9.31294222e-02 -1.17284508e+02] [-1.33732698e-01 -3.96506889e-03 9.91009507e-01 -2.94341773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters 0.030602547680896465 Centerline is valid? [True, True] Translation: X:217.78, Y:-117.33, Z:-29.44 [[ 6.87562674e-01 7.19876598e-01 9.50539505e-02 2.17775457e+02] [-7.13955356e-01 6.94087884e-01 -9.22483587e-02 -1.17325689e+02] [-1.32383230e-01 -4.43774882e-03 9.91188674e-01 -2.94400290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters 0.030662786438520363 Centerline is valid? [True, True] Translation: X:217.82, Y:-117.37, Z:-29.45 [[ 6.85919602e-01 7.21465114e-01 9.48809223e-02 2.17823576e+02] [-7.15568654e-01 6.92435018e-01 -9.21696675e-02 -1.17365487e+02] [-1.32196073e-01 -4.67283227e-03 9.91212572e-01 -2.94462677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters 0.030359206049494693 Centerline is valid? [True, True] Translation: X:217.87, Y:-117.40, Z:-29.45 [[ 6.86828975e-01 7.20692622e-01 9.41706155e-02 2.17872359e+02] [-7.14866509e-01 6.93240575e-01 -9.15607921e-02 -1.17403735e+02] [-1.31270079e-01 -4.43281422e-03 9.91336732e-01 -2.94526763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters 0.029859542854258115 Centerline is valid? [True, True] Translation: X:217.92, Y:-117.44, Z:-29.46 [[ 6.87765390e-01 7.19802681e-01 9.41428117e-02 2.17922031e+02] [-7.13960893e-01 6.94165993e-01 -9.16155967e-02 -1.17441347e+02] [-1.31295890e-01 -4.20424928e-03 9.91334310e-01 -2.94588699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters 0.03026553892923266 Centerline is valid? [True, True] Translation: X:217.97, Y:-117.48, Z:-29.47 [[ 6.85633711e-01 7.21919987e-01 9.34769851e-02 2.17970405e+02] [-7.16169679e-01 6.91961782e-01 -9.10487943e-02 -1.17479633e+02] [-1.30412446e-01 -4.51925975e-03 9.91449530e-01 -2.94662187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters 0.030400593478157215 Centerline is valid? [True, True] Translation: X:218.02, Y:-117.52, Z:-29.47 [[ 6.84621625e-01 7.22968985e-01 9.27851162e-02 2.18020110e+02] [-7.17302594e-01 6.90865000e-01 -9.04573924e-02 -1.17517795e+02] [-1.29499878e-01 -4.62591759e-03 9.91568647e-01 -2.94731584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters 0.029610050967322214 Centerline is valid? [True, True] Translation: X:218.07, Y:-117.56, Z:-29.48 [[ 6.85868986e-01 7.21846490e-01 9.23113143e-02 2.18069499e+02] [-7.16216781e-01 6.92039658e-01 -9.00812682e-02 -1.17556530e+02] [-1.28907938e-01 -4.33096424e-03 9.91647108e-01 -2.94796139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters 0.028432973864859656 Centerline is valid? [True, True] Translation: X:218.12, Y:-117.59, Z:-29.49 [[ 6.90505543e-01 7.17393078e-01 9.24622431e-02 2.18118589e+02] [-7.11698556e-01 6.96659991e-01 -9.02774755e-02 -1.17593937e+02] [-1.29179181e-01 -3.46814763e-03 9.91615203e-01 -2.94864792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters 0.02805988446714877 Centerline is valid? [True, True] Translation: X:218.17, Y:-117.63, Z:-29.49 [[ 6.91792624e-01 7.16209061e-01 9.20192722e-02 2.18165787e+02] [-7.10548641e-01 6.97878566e-01 -8.99229403e-02 -1.17634493e+02] [-1.28621902e-01 -3.17614201e-03 9.91688620e-01 -2.94928435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters 0.027808253212855176 Centerline is valid? [True, True] Translation: X:218.21, Y:-117.68, Z:-29.50 [[ 6.91866616e-01 7.16223374e-01 9.13491328e-02 2.18212144e+02] [-7.10634954e-01 6.97864231e-01 -8.93503022e-02 -1.17675177e+02] [-1.27744067e-01 -3.09739556e-03 9.91802329e-01 -2.94984529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters 0.027635595305808155 Centerline is valid? [True, True] Translation: X:218.26, Y:-117.72, Z:-29.50 [[ 6.90674588e-01 7.17427275e-01 9.09215013e-02 2.18258403e+02] [-7.11890861e-01 6.96625850e-01 -8.90158815e-02 -1.17716942e+02] [-1.27200689e-01 -3.24517859e-03 9.91871692e-01 -2.95044553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters 0.027859802413257247 Centerline is valid? [True, True] Translation: X:218.31, Y:-117.76, Z:-29.51 [[ 6.89926405e-01 7.17964144e-01 9.23528160e-02 2.18305292e+02] [-7.12243645e-01 6.96072120e-01 -9.05129556e-02 -1.17757640e+02] [-1.29269277e-01 -3.33042817e-03 9.91603934e-01 -2.95105590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters 0.027984970778558427 Centerline is valid? [True, True] Translation: X:218.35, Y:-117.80, Z:-29.52 [[ 6.88681396e-01 7.19216667e-01 9.18984252e-02 2.18354321e+02] [-7.13552494e-01 6.94777104e-01 -9.01532847e-02 -1.17797448e+02] [-1.28688667e-01 -3.48746052e-03 9.91678912e-01 -2.95170363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters 0.027924511253162466 Centerline is valid? [True, True] Translation: X:218.40, Y:-117.84, Z:-29.52 [[ 6.87613602e-01 7.20333717e-01 9.11420327e-02 2.18403572e+02] [-7.14760287e-01 6.93618326e-01 -8.95061444e-02 -1.17837655e+02] [-1.27692078e-01 -3.59906306e-03 9.91807330e-01 -2.95219774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters 0.027690516646763128 Centerline is valid? [True, True] Translation: X:218.45, Y:-117.88, Z:-29.53 [[ 6.88442447e-01 7.19607274e-01 9.06221177e-02 2.18452129e+02] [-7.14079900e-01 6.94373049e-01 -8.90840352e-02 -1.17876877e+02] [-1.27031076e-01 -3.38220157e-03 9.91892971e-01 -2.95307603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters 0.027378098605756216 Centerline is valid? [True, True] Translation: X:218.50, Y:-117.92, Z:-29.54 [[ 6.90161251e-01 7.17670934e-01 9.28756029e-02 2.18500097e+02] [-7.11839689e-01 6.96375644e-01 -9.13521761e-02 -1.17915768e+02] [-1.30237109e-01 -3.06480814e-03 9.91478140e-01 -2.95389014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters 0.026993127255438412 Centerline is valid? [True, True] Translation: X:218.55, Y:-117.96, Z:-29.55 [[ 6.91793976e-01 7.16017876e-01 9.34852729e-02 2.18546877e+02] [-7.10083027e-01 6.98076681e-01 -9.20382591e-02 -1.17956193e+02] [-1.31160928e-01 -2.71079236e-03 9.91357384e-01 -2.95464731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters 0.026754149495824973 Centerline is valid? [True, True] Translation: X:218.59, Y:-118.00, Z:-29.55 [[ 6.92318725e-01 7.15496142e-01 9.35951623e-02 2.18594635e+02] [-7.09531019e-01 6.98612016e-01 -9.22333112e-02 -1.17995624e+02] [-1.31379283e-01 -2.55382250e-03 9.91328887e-01 -2.95540599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters 0.026916196688191053 Centerline is valid? [True, True] Translation: X:218.64, Y:-118.04, Z:-29.56 [[ 6.92452863e-01 7.15272007e-01 9.43132414e-02 2.18642291e+02] [-7.09200398e-01 6.98841806e-01 -9.30318479e-02 -1.18036856e+02] [-1.32453113e-01 -2.46681891e-03 9.91186202e-01 -2.95605616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters 0.02650400140891432 Centerline is valid? [True, True] Translation: X:218.69, Y:-118.08, Z:-29.57 [[ 6.95032717e-01 7.12710950e-01 9.47239366e-02 2.18687987e+02] [-7.06548931e-01 7.01455225e-01 -9.35370325e-02 -1.18077825e+02] [-1.33109468e-01 -1.91579827e-03 9.91099490e-01 -2.95686242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters 0.026313441032590663 Centerline is valid? [True, True] Translation: X:218.73, Y:-118.12, Z:-29.58 [[ 6.96511121e-01 7.11075072e-01 9.61483222e-02 2.18733615e+02] [-7.04697167e-01 7.03114362e-01 -9.50373482e-02 -1.18120478e+02] [-1.35181955e-01 -1.56088030e-03 9.90819561e-01 -2.95761098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters 0.02617680202522287 Centerline is valid? [True, True] Translation: X:218.78, Y:-118.16, Z:-29.58 [[ 6.96069523e-01 7.11689749e-01 9.47888170e-02 2.18778774e+02] [-7.05484206e-01 7.02492124e-01 -9.37915313e-02 -1.18163360e+02] [-1.33338869e-01 -1.58658680e-03 9.91069235e-01 -2.95822955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters 0.02605407674697773 Centerline is valid? [True, True] Translation: X:218.82, Y:-118.21, Z:-29.59 [[ 6.95596194e-01 7.12155834e-01 9.47628770e-02 2.18822668e+02] [-7.05945804e-01 7.02019566e-01 -9.38565418e-02 -1.18208051e+02] [-1.33365878e-01 -1.61120210e-03 9.91065561e-01 -2.95899169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters 0.02630644539865068 Centerline is valid? [True, True] Translation: X:218.87, Y:-118.25, Z:-29.60 [[ 6.94565302e-01 7.12945672e-01 9.63717328e-02 2.18866440e+02] [-7.06515643e-01 7.01217161e-01 -9.55517640e-02 -1.18250904e+02] [-1.35700729e-01 -1.72119698e-03 9.90748379e-01 -2.95985039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters 0.026325583050938312 Centerline is valid? [True, True] Translation: X:218.91, Y:-118.29, Z:-29.61 [[ 6.93610980e-01 7.13934437e-01 9.59240754e-02 2.18911648e+02] [-7.07561196e-01 7.00210134e-01 -9.51993844e-02 -1.18294181e+02] [-1.35133129e-01 -1.84081521e-03 9.90825741e-01 -2.96058835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters 0.02627404988106064 Centerline is valid? [True, True] Translation: X:218.96, Y:-118.34, Z:-29.61 [[ 6.90734171e-01 7.17040965e-01 9.34802651e-02 2.18957919e+02] [-7.11004926e-01 6.97027182e-01 -9.28714286e-02 -1.18336598e+02] [-1.31750905e-01 -2.31545978e-03 9.91280151e-01 -2.96119461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters 0.026832577850486452 Centerline is valid? [True, True] Translation: X:219.00, Y:-118.38, Z:-29.62 [[ 6.88821444e-01 7.18561419e-01 9.58879840e-02 2.19002829e+02] [-7.12209675e-01 6.95458637e-01 -9.53659472e-02 -1.18379217e+02] [-1.35212417e-01 -2.60224049e-03 9.90813217e-01 -2.96205696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters 0.026900651722241244 Centerline is valid? [True, True] Translation: X:219.05, Y:-118.42, Z:-29.63 [[ 6.88814862e-01 7.18727667e-01 9.46817150e-02 2.19048579e+02] [-7.12525013e-01 6.95287060e-01 -9.42550264e-02 -1.18420857e+02] [-1.33574666e-01 -2.53882725e-03 9.91035500e-01 -2.96283012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters 0.02698951078957685 Centerline is valid? [True, True] Translation: X:219.09, Y:-118.46, Z:-29.64 [[ 6.89574966e-01 7.17864394e-01 9.56926185e-02 2.19093983e+02] [-7.11506972e-01 6.96179054e-01 -9.53548841e-02 -1.18463939e+02] [-1.35071073e-01 -2.33162426e-03 9.90833169e-01 -2.96382438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters 0.027013358996866847 Centerline is valid? [True, True] Translation: X:219.14, Y:-118.51, Z:-29.65 [[ 6.89913740e-01 7.17436129e-01 9.64594825e-02 2.19137010e+02] [-7.10957344e-01 6.96620840e-01 -9.62240154e-02 -1.18509014e+02] [-1.36230271e-01 -2.19230710e-03 9.90674774e-01 -2.96454160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters 0.02677328380641443 Centerline is valid? [True, True] Translation: X:219.18, Y:-118.55, Z:-29.65 [[ 6.91004722e-01 7.16511372e-01 9.55192543e-02 2.19179348e+02] [-7.10136419e-01 6.97572770e-01 -9.53860441e-02 -1.18553609e+02] [-1.34976816e-01 -1.91949429e-03 9.90846898e-01 -2.96523009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters 0.026814232801778047 Centerline is valid? [True, True] Translation: X:219.22, Y:-118.60, Z:-29.66 [[ 6.91179550e-01 7.16218529e-01 9.64460939e-02 2.19222185e+02] [-7.09702907e-01 6.97873719e-01 -9.64056901e-02 -1.18599181e+02] [-1.36354736e-01 -1.81443165e-03 9.90658414e-01 -2.96594353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters 0.02714307678428216 Centerline is valid? [True, True] Translation: X:219.34, Y:-118.86, Z:-27.78 [[ 7.65032639e-01 -6.41320547e-01 -5.85919535e-02 2.19336825e+02] [-6.38438730e-01 -7.67212588e-01 6.14884818e-02 -1.18855273e+02] [-8.43863111e-02 -9.63332320e-03 -9.96386546e-01 -2.77790282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters 0.027193381859009495 Centerline is valid? [True, True] Translation: X:219.29, Y:-118.68, Z:-29.67 [[ 7.39017160e-01 6.65880923e-01 1.02255721e-01 2.19289438e+02] [-6.60070829e-01 7.46053498e-01 -8.78104675e-02 -1.18683340e+02] [-1.34759554e-01 -2.60257631e-03 9.90874911e-01 -2.96704285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters 0.027310630747377117 Centerline is valid? [True, True] Translation: X:219.34, Y:-118.72, Z:-29.68 [[ 7.37405266e-01 6.67683136e-01 1.02140610e-01 2.19337847e+02] [-6.61890689e-01 7.44440099e-01 -8.78046423e-02 -1.18722032e+02] [-1.34663245e-01 -2.85831302e-03 9.90887300e-01 -2.96773284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters 0.02767909202350756 Centerline is valid? [True, True] Translation: X:219.39, Y:-118.76, Z:-29.68 [[ 7.35519813e-01 6.69565772e-01 1.03403491e-01 2.19386956e+02] [-6.63635190e-01 7.42745969e-01 -8.89761812e-02 -1.18759732e+02] [-1.36377931e-01 -3.17845110e-03 9.90651784e-01 -2.96836740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters 0.027461897303663347 Centerline is valid? [True, True] Translation: X:219.44, Y:-118.79, Z:-29.69 [[ 7.35695276e-01 6.69408233e-01 1.03174990e-01 2.19438747e+02] [-6.63490806e-01 7.42888375e-01 -8.88640120e-02 -1.18793840e+02] [-1.36133802e-01 -3.07882360e-03 9.90685676e-01 -2.96911283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters 0.027591201962551333 Centerline is valid? [True, True] Translation: X:219.49, Y:-118.83, Z:-29.70 [[ 7.35827362e-01 6.69467966e-01 1.01836811e-01 2.19488214e+02] [-6.63693039e-01 7.42834922e-01 -8.77942418e-02 -1.18831781e+02] [-1.34423372e-01 -2.98697731e-03 9.90919490e-01 -2.96981415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters 0.027297911918133203 Centerline is valid? [True, True] Translation: X:219.54, Y:-118.87, Z:-29.71 [[ 7.36658348e-01 6.68559510e-01 1.01797152e-01 2.19538351e+02] [-6.62769120e-01 7.43653535e-01 -8.78436933e-02 -1.18867832e+02] [-1.34430549e-01 -2.75721913e-03 9.90919182e-01 -2.97050369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters 0.027193905075793307 Centerline is valid? [True, True] Translation: X:219.59, Y:-118.90, Z:-29.71 [[ 7.38585670e-01 6.66278186e-01 1.02784176e-01 2.19588049e+02] [-6.60340806e-01 7.45699728e-01 -8.87802624e-02 -1.18904285e+02] [-1.35798484e-01 -2.30075622e-03 9.90733808e-01 -2.97132266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters 0.027083527851334825 Centerline is valid? [True, True] Translation: X:219.64, Y:-118.94, Z:-29.72 [[ 7.41535559e-01 6.62967695e-01 1.02950718e-01 2.19635994e+02] [-6.56967465e-01 7.48646226e-01 -8.90088667e-02 -1.18943361e+02] [-1.36083670e-01 -1.63203244e-03 9.90696003e-01 -2.97227434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters 0.02716190982103415 Centerline is valid? [True, True] Translation: X:219.68, Y:-118.98, Z:-29.73 [[ 7.44549150e-01 6.59444569e-01 1.03824002e-01 2.19684546e+02] [-6.53295186e-01 7.51752618e-01 -8.98521064e-02 -1.18982873e+02] [-1.37302448e-01 -9.28410957e-04 9.90528735e-01 -2.97307878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters 0.027054667406546506 Centerline is valid? [True, True] Translation: X:219.73, Y:-119.03, Z:-29.74 [[ 7.47179814e-01 6.56718282e-01 1.02193068e-01 2.19730040e+02] [-6.50723363e-01 7.54135914e-01 -8.85332041e-02 -1.19025122e+02] [-1.35208837e-01 -3.49194161e-04 9.90817061e-01 -2.97378823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters 0.026701526525665202 Centerline is valid? [True, True] Translation: X:219.77, Y:-119.07, Z:-29.74 [[ 7.48004038e-01 6.55875893e-01 1.01571511e-01 2.19774174e+02] [-6.49935063e-01 7.54868727e-01 -8.80773483e-02 -1.19068471e+02] [-1.34440967e-01 -1.32674451e-04 9.90921596e-01 -2.97448113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters 0.026692274199557473 Centerline is valid? [True, True] Translation: X:219.82, Y:-119.11, Z:-29.75 [[ 7.45572105e-01 6.58687162e-01 1.01259370e-01 2.19817235e+02] [-6.52797168e-01 7.52416704e-01 -8.78917577e-02 -1.19114275e+02] [-1.34082414e-01 -5.72187009e-04 9.90970019e-01 -2.97513472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters 0.02685430002504129 Centerline is valid? [True, True] Translation: X:219.86, Y:-119.16, Z:-29.76 [[ 7.41958140e-01 6.62726359e-01 1.01448958e-01 2.19861153e+02] [-6.56839115e-01 7.48860636e-01 -8.81483154e-02 -1.19157229e+02] [-1.34389343e-01 -1.23328336e-03 9.90927840e-01 -2.97580000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters 0.02697659330928476 Centerline is valid? [True, True] Translation: X:219.91, Y:-119.20, Z:-29.76 [[ 7.37998985e-01 6.67135588e-01 1.01427832e-01 2.19906576e+02] [-6.61281468e-01 7.44933692e-01 -8.82077902e-02 -1.19199857e+02] [-1.34403566e-01 -1.97508623e-03 9.90924710e-01 -2.97644071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters 0.02720620068662888 Centerline is valid? [True, True] Translation: X:219.96, Y:-119.24, Z:-29.77 [[ 7.33871957e-01 6.71809846e-01 1.00516072e-01 2.19955262e+02] [-6.66093313e-01 7.40718579e-01 -8.74967707e-02 -1.19237734e+02] [-1.33235314e-01 -2.74165699e-03 9.91080640e-01 -2.97705773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters 0.027493398742012877 Centerline is valid? [True, True] Translation: X:220.00, Y:-119.28, Z:-29.78 [[ 7.31060344e-01 6.74693033e-01 1.01686210e-01 2.20004349e+02] [-6.68858220e-01 7.38091323e-01 -8.85995493e-02 -1.19275191e+02] [-1.34831208e-01 -3.24204074e-03 9.90863277e-01 -2.97763923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters 0.027811901452755375 Centerline is valid? [True, True] Translation: X:220.06, Y:-119.31, Z:-29.79 [[ 7.29667423e-01 6.76248750e-01 1.01356207e-01 2.20055218e+02] [-6.70455536e-01 7.36665247e-01 -8.83950702e-02 -1.19311255e+02] [-1.34442651e-01 -3.45582736e-03 9.90915350e-01 -2.97854716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters 0.027764418622537236 Centerline is valid? [True, True] Translation: X:220.11, Y:-119.35, Z:-29.79 [[ 7.30220594e-01 6.75397109e-01 1.03037030e-01 2.20106659e+02] [-6.69388627e-01 7.37446899e-01 -8.99496333e-02 -1.19347897e+02] [-1.36736060e-01 -3.28874125e-03 9.90602056e-01 -2.97926072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters 0.02734041842953416 Centerline is valid? [True, True] Translation: X:220.16, Y:-119.38, Z:-29.80 [[ 7.34162016e-01 6.71400474e-01 1.01131291e-01 2.20156235e+02] [-6.65563279e-01 7.41090755e-01 -8.83742885e-02 -1.19383307e+02] [-1.34282004e-01 -2.42822791e-03 9.90940183e-01 -2.98003886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters 0.027002466207361235 Centerline is valid? [True, True] Translation: X:220.21, Y:-119.42, Z:-29.81 [[ 7.37115511e-01 6.68257524e-01 1.00461962e-01 2.20205291e+02] [-6.62459804e-01 7.43927863e-01 -8.78541020e-02 -1.19421066e+02] [-1.33445617e-01 -1.79339008e-03 9.91054515e-01 -2.98073712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters 0.026949383329299026 Centerline is valid? [True, True] Translation: X:220.26, Y:-119.46, Z:-29.81 [[ 7.39385780e-01 6.65663483e-01 1.00998991e-01 2.20255888e+02] [-6.59767795e-01 7.46250976e-01 -8.84077920e-02 -1.19457390e+02] [-1.34220434e-01 -1.26841716e-03 9.90950688e-01 -2.98143953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters 0.027227916541008982 Centerline is valid? [True, True] Translation: X:220.30, Y:-119.50, Z:-29.82 [[ 7.37937516e-01 6.67124737e-01 1.01945121e-01 2.20304950e+02] [-6.61119761e-01 7.44944549e-01 -8.93212199e-02 -1.19495825e+02] [-1.35531858e-01 -1.48445509e-03 9.90771877e-01 -2.98212977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters 0.027371093315115943 Centerline is valid? [True, True] Translation: X:220.35, Y:-119.53, Z:-29.83 [[ 7.36508453e-01 6.68465818e-01 1.03483087e-01 2.20354557e+02] [-6.62278543e-01 7.43740940e-01 -9.07554148e-02 -1.19532415e+02] [-1.37631501e-01 -1.69249770e-03 9.90482057e-01 -2.98290998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters 0.027393310429380778 Centerline is valid? [True, True] Translation: X:220.41, Y:-119.57, Z:-29.83 [[ 7.39727954e-01 6.65163040e-01 1.01787444e-01 2.20405516e+02] [-6.59136577e-01 7.46697477e-01 -8.93412001e-02 -1.19568919e+02] [-1.35430892e-01 -1.00364430e-03 9.90786287e-01 -2.98349790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters 0.02726356733251366 Centerline is valid? [True, True] Translation: X:220.45, Y:-119.61, Z:-29.84 [[ 7.40614363e-01 6.64243205e-01 1.01347564e-01 2.20454644e+02] [-6.58255025e-01 7.47516101e-01 -8.89943873e-02 -1.19606887e+02] [-1.34872853e-01 -8.02021667e-04 9.90862589e-01 -2.98417028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters 0.02734540917138387 Centerline is valid? [True, True] Translation: X:220.50, Y:-119.64, Z:-29.85 [[ 7.42939936e-01 6.61737428e-01 1.00716571e-01 2.20503474e+02] [-6.55789719e-01 7.49735618e-01 -8.85231526e-02 -1.19644329e+02] [-1.34089884e-01 -2.81506465e-04 9.90969134e-01 -2.98499400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters 0.02742059233615876 Centerline is valid? [True, True] Translation: X:220.55, Y:-119.68, Z:-29.86 [[ 7.45745973e-01 6.58427987e-01 1.01663805e-01 2.20552052e+02] [-6.52325081e-01 7.52643634e-01 -8.94401982e-02 -1.19683099e+02] [-1.35406546e-01 3.81817703e-04 9.90790049e-01 -2.98564765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters 0.02766188620091253 Centerline is valid? [True, True] Translation: X:220.60, Y:-119.72, Z:-29.86 [[ 7.50066521e-01 6.53611338e-01 1.00957578e-01 2.20598745e+02] [-6.47538495e-01 7.56829247e-01 -8.89010096e-02 -1.19724039e+02] [-1.34514355e-01 1.30775319e-03 9.90910782e-01 -2.98645378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters 0.028198039761545137 Centerline is valid? [True, True] Translation: X:220.64, Y:-119.77, Z:-29.87 [[ 7.54022671e-01 6.48790122e-01 1.02572851e-01 2.20643452e+02] [-6.42465676e-01 7.60964035e-01 -9.03968680e-02 -1.19766735e+02] [-1.36702845e-01 2.26175187e-03 9.90609518e-01 -2.98732736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters 0.028682054263406098 Centerline is valid? [True, True] Translation: X:220.69, Y:-119.81, Z:-29.88 [[ 7.56826777e-01 6.45449206e-01 1.02997820e-01 2.20686326e+02] [-6.39036322e-01 7.63797672e-01 -9.08058100e-02 -1.19811223e+02] [-1.37280033e-01 2.90492053e-03 9.90528018e-01 -2.98802930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters 0.029474893958517927 Centerline is valid? [True, True] Translation: X:220.73, Y:-119.86, Z:-29.89 [[ 7.60613484e-01 6.41250241e-01 1.01317603e-01 2.20726468e+02] [-6.34998889e-01 7.67323099e-01 -8.93961619e-02 -1.19858655e+02] [-1.35068648e-01 3.65936059e-03 9.90829486e-01 -2.98863995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters 0.030015019913423042 Centerline is valid? [True, True] Translation: X:220.77, Y:-119.91, Z:-29.89 [[ 7.62648257e-01 6.38931043e-01 1.00671537e-01 2.20765860e+02] [-6.32732916e-01 7.69253186e-01 -8.88740323e-02 -1.19907241e+02] [-1.34226279e-01 4.08143084e-03 9.90942303e-01 -2.98928394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters 0.030041757794380414 Centerline is valid? [True, True] Translation: X:220.80, Y:-119.96, Z:-29.90 [[ 7.63962354e-01 6.37575926e-01 9.92897825e-02 2.20803207e+02] [-6.31525945e-01 7.70375418e-01 -8.77308156e-02 -1.19957923e+02] [-1.32425464e-01 4.31896666e-03 9.91183557e-01 -2.98992532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters 0.029966499053632457 Centerline is valid? [True, True] Translation: X:220.84, Y:-120.01, Z:-29.90 [[ 7.64128283e-01 6.37292526e-01 9.98308713e-02 2.20840614e+02] [-6.31163355e-01 7.70609119e-01 -8.82859280e-02 -1.20009188e+02] [-1.33194542e-01 4.45218693e-03 9.91079912e-01 -2.99047675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters 0.029827591038420108 Centerline is valid? [True, True] Translation: X:220.88, Y:-120.06, Z:-29.91 [[ 7.62758588e-01 6.38865613e-01 1.00250012e-01 2.20880872e+02] [-6.32687565e-01 7.69306580e-01 -8.87346119e-02 -1.20056870e+02] [-1.33812486e-01 4.25615152e-03 9.90997530e-01 -2.99112731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters 0.02879941646716925 Centerline is valid? [True, True] Translation: X:220.92, Y:-120.11, Z:-29.92 [[ 7.58425456e-01 6.44060034e-01 9.98874412e-02 2.20919291e+02] [-6.37962214e-01 7.64967472e-01 -8.84815266e-02 -1.20105901e+02] [-1.33398058e-01 3.38222901e-03 9.91056769e-01 -2.99181212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters 0.027906165042503185 Centerline is valid? [True, True] Translation: X:220.96, Y:-120.16, Z:-29.93 [[ 7.52645192e-01 6.50530493e-01 1.01662643e-01 2.20957477e+02] [-6.44267242e-01 7.59476646e-01 -9.00829928e-02 -1.20155184e+02] [-1.35812137e-01 2.30262072e-03 9.90731932e-01 -2.99269849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters 0.027878926062619873 Centerline is valid? [True, True] Translation: X:221.00, Y:-120.20, Z:-29.94 [[ 7.50958806e-01 6.52343454e-01 1.02512874e-01 2.21001104e+02] [-6.45979559e-01 7.57920701e-01 -9.09209594e-02 -1.20199545e+02] [-1.37008322e-01 2.05667398e-03 9.90567761e-01 -2.99358836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters 0.02742046360926209 Centerline is valid? [True, True] Translation: X:221.05, Y:-120.24, Z:-29.94 [[ 7.48977871e-01 6.54743573e-01 1.01700559e-01 2.21045342e+02] [-6.48490988e-01 7.55849236e-01 -9.02849466e-02 -1.20243725e+02] [-1.35983778e-01 1.66953137e-03 9.90709657e-01 -2.99414821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters 0.027681629926764335 Centerline is valid? [True, True] Translation: X:221.09, Y:-120.29, Z:-29.95 [[ 7.44741238e-01 6.58976827e-01 1.05404130e-01 2.21088174e+02] [-6.52292072e-01 7.52162609e-01 -9.36293910e-02 -1.20288479e+02] [-1.40980645e-01 9.75389974e-04 9.90011872e-01 -2.99505808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters 0.027818932477190975 Centerline is valid? [True, True] Translation: X:221.13, Y:-120.33, Z:-29.96 [[ 7.44584379e-01 6.59534070e-01 1.02999579e-01 2.21132112e+02] [-6.53145942e-01 7.51674116e-01 -9.15772996e-02 -1.20331959e+02] [-1.37820467e-01 9.13269537e-04 9.90456806e-01 -2.99565864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters 0.027784229626399044 Centerline is valid? [True, True] Translation: X:221.18, Y:-120.38, Z:-29.96 [[ 7.43984768e-01 6.60175639e-01 1.03222044e-01 2.21175533e+02] [-6.53753500e-01 7.51110764e-01 -9.18639310e-02 -1.20377867e+02] [-1.38177518e-01 8.63592708e-04 9.90407102e-01 -2.99645246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters 0.02785004939613136 Centerline is valid? [True, True] Translation: X:221.22, Y:-120.42, Z:-29.97 [[ 7.42479670e-01 6.61552621e-01 1.05223902e-01 2.21220288e+02] [-6.54877312e-01 7.49898424e-01 -9.37446494e-02 -1.20420240e+02] [-1.40924257e-01 6.94750155e-04 9.90020137e-01 -2.99702466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters 0.027743874088435358 Centerline is valid? [True, True] Translation: X:221.26, Y:-120.47, Z:-29.98 [[ 7.38952842e-01 6.65271074e-01 1.06597816e-01 2.21263283e+02] [-6.58444797e-01 7.46601898e-01 -9.50581636e-02 -1.20465006e+02] [-1.42825578e-01 5.47231290e-05 9.89747873e-01 -2.99796836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters 0.027869921941517755 Centerline is valid? [True, True] Translation: X:221.31, Y:-120.51, Z:-29.99 [[ 7.35805204e-01 6.68375382e-01 1.08926813e-01 2.21308863e+02] [-6.61266071e-01 7.43823977e-01 -9.72269238e-02 -1.20505823e+02] [-1.46006457e-01 -4.89528997e-04 9.89283516e-01 -2.99871415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters 0.027868626536574258 Centerline is valid? [True, True] Translation: X:221.36, Y:-120.55, Z:-29.99 [[ 7.35399239e-01 6.68890326e-01 1.08506639e-01 2.21356411e+02] [-6.61828416e-01 7.43360921e-01 -9.69416777e-02 -1.20545965e+02] [-1.45502945e-01 -5.21940852e-04 9.89357681e-01 -2.99944487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters 0.0281265012689982 Centerline is valid? [True, True] Translation: X:221.40, Y:-120.58, Z:-30.00 [[ 7.37327688e-01 6.66616817e-01 1.09407037e-01 2.21403755e+02] [-6.59396176e-01 7.45400576e-01 -9.78502104e-02 -1.20584686e+02] [-1.46780664e-01 5.08792252e-06 9.89169064e-01 -3.00035176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters 0.028076902522014797 Centerline is valid? [True, True] Translation: X:221.45, Y:-120.62, Z:-30.01 [[ 7.40243029e-01 6.63476918e-01 1.08805497e-01 2.21453333e+02] [-6.56288038e-01 7.48196427e-01 -9.74069715e-02 -1.20623724e+02] [-1.46035161e-01 6.97085446e-04 9.89279155e-01 -3.00101411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters 0.028305348669092994 Centerline is valid? [True, True] Translation: X:221.50, Y:-120.66, Z:-30.02 [[ 7.40259961e-01 6.63265464e-01 1.09973247e-01 2.21501018e+02] [-6.55902770e-01 7.48383754e-01 -9.85561391e-02 -1.20662482e+02] [-1.47671074e-01 8.25406580e-04 9.89036184e-01 -3.00190792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters 0.028244006444250718 Centerline is valid? [True, True] Translation: X:221.55, Y:-120.70, Z:-30.03 [[ 7.39037930e-01 6.64649310e-01 1.09837307e-01 2.21550590e+02] [-6.57305817e-01 7.47155211e-01 -9.85299602e-02 -1.20701574e+02] [-1.47553386e-01 6.20677113e-04 9.89053898e-01 -3.00254071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters 0.028650737982756 Centerline is valid? [True, True] Translation: X:221.60, Y:-120.74, Z:-30.03 [[ 7.39056587e-01 6.64493235e-01 1.10653065e-01 2.21597655e+02] [-6.57022362e-01 7.47293918e-01 -9.93650645e-02 -1.20741344e+02] [-1.48717776e-01 7.34867316e-04 9.88879408e-01 -3.00341373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters 0.0286536223509834 Centerline is valid? [True, True] Translation: X:221.65, Y:-120.78, Z:-30.04 [[ 7.39221717e-01 6.64410009e-01 1.10048139e-01 2.21645677e+02] [-6.57006369e-01 7.47367829e-01 -9.89138985e-02 -1.20780622e+02] [-1.47965823e-01 8.16973438e-04 9.88992137e-01 -3.00405916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters 0.028714093091077808 Centerline is valid? [True, True] Translation: X:221.69, Y:-120.82, Z:-30.05 [[ 7.38782737e-01 6.65084748e-01 1.08914397e-01 2.21691716e+02] [-6.57827633e-01 7.46767518e-01 -9.79850950e-02 -1.20821695e+02] [-1.46502126e-01 7.42796491e-04 9.89210076e-01 -3.00487464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters 0.028785456597180473 Centerline is valid? [True, True] Translation: X:221.74, Y:-120.86, Z:-30.06 [[ 7.35490548e-01 6.68627649e-01 1.09502144e-01 2.21739654e+02] [-6.61316309e-01 7.43597374e-01 -9.86087501e-02 -1.20862054e+02] [-1.47358044e-01 1.10249893e-04 9.89083209e-01 -3.00559053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters 0.02874434370818797 Centerline is valid? [True, True] Translation: X:221.79, Y:-120.90, Z:-30.06 [[ 7.32027714e-01 6.72681544e-01 1.07865504e-01 2.21785548e+02] [-6.65617310e-01 7.39931860e-01 -9.72339448e-02 -1.20903600e+02] [-1.45220603e-01 -6.19204257e-04 9.89399107e-01 -3.00627661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters 0.02875141782501283 Centerline is valid? [True, True] Translation: X:221.83, Y:-120.94, Z:-30.07 [[ 7.28330806e-01 6.76807608e-01 1.07078002e-01 2.21834141e+02] [-6.69877288e-01 7.36158687e-01 -9.66168072e-02 -1.20942955e+02] [-1.44217391e-01 -1.36012440e-03 9.89545095e-01 -3.00706624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters 0.02867961391716647 Centerline is valid? [True, True] Translation: X:221.88, Y:-120.98, Z:-30.08 [[ 7.26808357e-01 6.78399479e-01 1.07348773e-01 2.21884496e+02] [-6.71436280e-01 7.34691481e-01 -9.69626233e-02 -1.20979676e+02] [-1.44647622e-01 -1.60461563e-03 9.89481930e-01 -3.00760014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters 0.0289641671449724 Centerline is valid? [True, True] Translation: X:221.94, Y:-121.02, Z:-30.09 [[ 7.26974450e-01 6.78075334e-01 1.08268140e-01 2.21935156e+02] [-6.70974429e-01 7.34990910e-01 -9.78860500e-02 -1.21015566e+02] [-1.45950215e-01 -1.48449613e-03 9.89290822e-01 -3.00858749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters 0.028929816020931958 Centerline is valid? [True, True] Translation: X:221.99, Y:-121.05, Z:-30.09 [[ 7.28423340e-01 6.76437976e-01 1.08770869e-01 2.21986962e+02] [-6.69238040e-01 7.36498797e-01 -9.84376336e-02 -1.21052155e+02] [-1.46696568e-01 -1.08933352e-03 9.89180939e-01 -3.00935655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters 0.028780832236096548 Centerline is valid? [True, True] Translation: X:222.04, Y:-121.09, Z:-30.10 [[ 7.29944510e-01 6.74994606e-01 1.07532757e-01 2.22036911e+02] [-6.67928025e-01 7.37822317e-01 -9.74185893e-02 -1.21088755e+02] [-1.45097091e-01 -7.13977788e-04 9.89417164e-01 -3.01009342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters 0.028651347183989713 Centerline is valid? [True, True] Translation: X:222.09, Y:-121.13, Z:-30.11 [[ 7.31345083e-01 6.73713296e-01 1.06041333e-01 2.22086116e+02] [-6.66816000e-01 7.38992723e-01 -9.61570447e-02 -1.21126908e+02] [-1.43146053e-01 -3.86075846e-04 9.89701500e-01 -3.01061427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters 0.028618018516864772 Centerline is valid? [True, True] Translation: X:222.13, Y:-121.17, Z:-30.11 [[ 7.31634947e-01 6.73423983e-01 1.05879383e-01 2.22134656e+02] [-6.66531413e-01 7.39256432e-01 -9.61030871e-02 -1.21166979e+02] [-1.42990138e-01 -2.59557433e-04 9.89724079e-01 -3.01142042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters 0.028901182449996458 Centerline is valid? [True, True] Translation: X:222.18, Y:-121.21, Z:-30.12 [[ 7.31552567e-01 6.73188241e-01 1.07927909e-01 2.22183722e+02] [-6.66007040e-01 7.39471144e-01 -9.80665612e-02 -1.21205056e+02] [-1.45826830e-01 -1.39902302e-04 9.89310121e-01 -3.01231822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters 0.02878189529619839 Centerline is valid? [True, True] Translation: X:222.23, Y:-121.24, Z:-30.13 [[ 7.31003646e-01 6.73766463e-01 1.08038989e-01 2.22233097e+02] [-6.66562611e-01 7.38944327e-01 -9.82627406e-02 -1.21243473e+02] [-1.46040937e-01 -1.84328650e-04 9.89278530e-01 -3.01303532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters 0.028440027749656552 Centerline is valid? [True, True] Translation: X:222.28, Y:-121.28, Z:-30.14 [[ 7.30522583e-01 6.74588165e-01 1.06148776e-01 2.22281885e+02] [-6.67629914e-01 7.38194239e-01 -9.66414155e-02 -1.21281397e+02] [-1.43551570e-01 -2.69361798e-04 9.89642801e-01 -3.01373365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters 0.028743371150196206 Centerline is valid? [True, True] Translation: X:222.33, Y:-121.32, Z:-30.15 [[ 7.30214538e-01 6.74867180e-01 1.06494211e-01 2.22330894e+02] [-6.67852749e-01 7.37939173e-01 -9.70488639e-02 -1.21321118e+02] [-1.44081343e-01 -2.55960204e-04 9.89565814e-01 -3.01450269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters 0.028571504786826622 Centerline is valid? [True, True] Translation: X:222.38, Y:-121.36, Z:-30.15 [[ 7.30786964e-01 6.74366182e-01 1.05738667e-01 2.22379676e+02] [-6.67431845e-01 7.38397079e-01 -9.64597630e-02 -1.21358832e+02] [-1.43126325e-01 -8.18161006e-05 9.89704425e-01 -3.01518886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters 0.028559787630486166 Centerline is valid? [True, True] Translation: X:222.43, Y:-121.40, Z:-30.16 [[ 7.31030093e-01 6.73918596e-01 1.06905238e-01 2.22427695e+02] [-6.66811520e-01 7.38805604e-01 -9.76149336e-02 -1.21397011e+02] [-1.44766708e-01 7.38098910e-05 9.89465813e-01 -3.01618279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters 0.028682772523093796 Centerline is valid? [True, True] Translation: X:222.47, Y:-121.44, Z:-30.17 [[ 7.31594183e-01 6.73200823e-01 1.07566741e-01 2.22473590e+02] [-6.65983893e-01 7.39459648e-01 -9.83101426e-02 -1.21437856e+02] [-1.45723733e-01 2.85411800e-04 9.89325281e-01 -3.01694537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters 0.028434092809402466 Centerline is valid? [True, True] Translation: X:222.52, Y:-121.48, Z:-30.18 [[ 7.33083494e-01 6.71735638e-01 1.06582469e-01 2.22518086e+02] [-6.64622476e-01 7.40790675e-01 -9.74994324e-02 -1.21480611e+02] [-1.44449143e-01 6.38120238e-04 9.89512020e-01 -3.01772498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters 0.028253772668388372 Centerline is valid? [True, True] Translation: X:222.56, Y:-121.53, Z:-30.18 [[ 7.33195906e-01 6.71537510e-01 1.07056693e-01 2.22561114e+02] [-6.64345252e-01 7.40970184e-01 -9.80233276e-02 -1.21525530e+02] [-1.45152159e-01 7.47696880e-04 9.89409062e-01 -3.01844407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters 0.028229456969775326 Centerline is valid? [True, True] Translation: X:222.60, Y:-121.57, Z:-30.19 [[ 7.29467869e-01 6.75702872e-01 1.06312071e-01 2.22602065e+02] [-6.68641664e-01 7.37174083e-01 -9.74304742e-02 -1.21572754e+02] [-1.44204555e-01 -1.22794094e-05 9.89547900e-01 -3.01928302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters 0.02811601318960831 Centerline is valid? [True, True] Translation: X:222.65, Y:-121.62, Z:-30.20 [[ 7.27008289e-01 6.78195679e-01 1.07282660e-01 2.22646606e+02] [-6.71017802e-01 7.34881232e-01 -9.84107942e-02 -1.21616059e+02] [-1.45581789e-01 -4.43111779e-04 9.89346121e-01 -3.02001596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters 0.02805322573901617 Centerline is valid? [True, True] Translation: X:222.69, Y:-121.66, Z:-30.21 [[ 7.25801967e-01 6.79588283e-01 1.06636156e-01 2.22689979e+02] [-6.72498850e-01 7.33593444e-01 -9.79078892e-02 -1.21659697e+02] [-1.44764640e-01 -6.50954010e-04 9.89465904e-01 -3.02079747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters 0.028173722697120526 Centerline is valid? [True, True] Translation: X:222.73, Y:-121.70, Z:-30.22 [[ 7.26368002e-01 6.78864805e-01 1.07387626e-01 2.22733891e+02] [-6.71653182e-01 7.34263155e-01 -9.86895224e-02 -1.21702753e+02] [-1.45847620e-01 -4.42329300e-04 9.89306968e-01 -3.02160068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters 0.02829006182278746 Centerline is valid? [True, True] Translation: X:222.78, Y:-121.75, Z:-30.22 [[ 7.25834662e-01 6.79331764e-01 1.08038867e-01 2.22778396e+02] [-6.72023351e-01 7.33831133e-01 -9.93805008e-02 -1.21745835e+02] [-1.46794615e-01 -4.70829417e-04 9.89166881e-01 -3.02241653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters 0.027966119030239475 Centerline is valid? [True, True] Translation: X:222.82, Y:-121.79, Z:-30.23 [[ 7.24830266e-01 6.80553306e-01 1.07090067e-01 2.22820578e+02] [-6.73373258e-01 7.32698289e-01 -9.85985474e-02 -1.21790797e+02] [-1.45566276e-01 -6.44376028e-04 9.89348293e-01 -3.02304557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters 0.02789628563973596 Centerline is valid? [True, True] Translation: X:222.87, Y:-121.83, Z:-30.24 [[ 7.26115907e-01 6.79325153e-01 1.06174508e-01 2.22865483e+02] [-6.72241797e-01 7.33837331e-01 -9.78454790e-02 -1.21833833e+02] [-1.44383713e-01 -3.27783611e-04 9.89521721e-01 -3.02374925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters 0.0278850936198628 Centerline is valid? [True, True] Translation: X:222.91, Y:-121.87, Z:-30.25 [[ 7.29973811e-01 6.75335720e-01 1.05166060e-01 2.22910744e+02] [-6.68332618e-01 7.37510263e-01 -9.70057912e-02 -1.21874927e+02] [-1.43072524e-01 5.25779014e-04 9.89712067e-01 -3.02464224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters 0.028123882256192254 Centerline is valid? [True, True] Translation: X:222.96, Y:-121.92, Z:-30.25 [[ 7.30575732e-01 6.74564230e-01 1.05934883e-01 2.22955098e+02] [-6.67436464e-01 7.38215780e-01 -9.78060794e-02 -1.21917746e+02] [-1.44179285e-01 7.49944018e-04 9.89551298e-01 -3.02532511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters 0.02818110432424333 Centerline is valid? [True, True] Translation: X:223.00, Y:-121.96, Z:-30.26 [[ 7.30454039e-01 6.74538143e-01 1.06935452e-01 2.23000310e+02] [-6.67260673e-01 7.38239531e-01 -9.88209979e-02 -1.21959781e+02] [-1.45602510e-01 8.30375455e-04 9.89342822e-01 -3.02627579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters 0.028162263331208276 Centerline is valid? [True, True] Translation: X:223.04, Y:-122.00, Z:-30.27 [[ 7.29336661e-01 6.75698930e-01 1.07233344e-01 2.23044613e+02] [-6.68379230e-01 7.37177391e-01 -9.91902167e-02 -1.22003968e+02] [-1.46072720e-01 6.70521516e-04 9.89273628e-01 -3.02706500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters 0.028311773708449013 Centerline is valid? [True, True] Translation: X:223.09, Y:-122.05, Z:-30.28 [[ 7.27033674e-01 6.78300239e-01 1.06446335e-01 2.23089450e+02] [-6.71101113e-01 7.34784823e-01 -9.85624683e-02 -1.22046070e+02] [-1.45070097e-01 2.21979527e-04 9.89421355e-01 -3.02778782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters 0.028209841541387472 Centerline is valid? [True, True] Translation: X:223.13, Y:-122.09, Z:-30.29 [[ 7.23337879e-01 6.82361121e-01 1.05667466e-01 2.23134456e+02] [-6.75297292e-01 7.31015069e-01 -9.79312829e-02 -1.22087724e+02] [-1.44069010e-01 -5.19547236e-04 9.89567507e-01 -3.02850788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters 0.027994136413376756 Centerline is valid? [True, True] Translation: X:223.18, Y:-122.13, Z:-30.29 [[ 7.21438125e-01 6.84468273e-01 1.05024831e-01 2.23182626e+02] [-6.77499314e-01 7.29042134e-01 -9.74281558e-02 -1.22128284e+02] [-1.43254008e-01 -8.65864783e-04 9.89685576e-01 -3.02912893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters 0.02798711170114886 Centerline is valid? [True, True] Translation: X:223.23, Y:-122.17, Z:-30.30 [[ 7.19138410e-01 6.87161084e-01 1.03196865e-01 2.23229448e+02] [-6.80447429e-01 7.26503917e-01 -9.58298211e-02 -1.22169247e+02] [-1.40823450e-01 -1.30513607e-03 9.90033864e-01 -3.02979133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters 0.02800552748538135 Centerline is valid? [True, True] Translation: X:223.28, Y:-122.21, Z:-30.31 [[ 7.18734863e-01 6.87559831e-01 1.03352192e-01 2.23278915e+02] [-6.80816834e-01 7.26126534e-01 -9.60661049e-02 -1.22208305e+02] [-1.41097964e-01 -1.31785361e-03 9.89994762e-01 -3.03055824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters 0.028058991259009017 Centerline is valid? [True, True] Translation: X:223.33, Y:-122.25, Z:-30.31 [[ 7.19964470e-01 6.86323647e-01 1.03009777e-01 2.23325795e+02] [-6.79598645e-01 7.27295576e-01 -9.58479332e-02 -1.22248231e+02] [-1.40701258e-01 -9.98198167e-04 9.90051594e-01 -3.03127713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters 0.027801072528259186 Centerline is valid? [True, True] Translation: X:223.38, Y:-122.29, Z:-30.32 [[ 7.20652030e-01 6.85639360e-01 1.02758553e-01 2.23376629e+02] [-6.78927347e-01 7.27940957e-01 -9.57059086e-02 -1.22285935e+02] [-1.40421897e-01 -7.94934235e-04 9.90091440e-01 -3.03219643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters 0.02759155435822199 Centerline is valid? [True, True] Translation: X:223.43, Y:-122.32, Z:-30.33 [[ 7.22283036e-01 6.84014570e-01 1.02133660e-01 2.23425876e+02] [-6.77355399e-01 7.29468232e-01 -9.52142969e-02 -1.22324433e+02] [-1.39631227e-01 -4.09114872e-04 9.90203491e-01 -3.03289564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters 0.027591898829518187 Centerline is valid? [True, True] Translation: X:223.47, Y:-122.36, Z:-30.34 [[ 7.23695819e-01 6.82637371e-01 1.01343877e-01 2.23473109e+02] [-6.76059971e-01 7.30757285e-01 -9.45341488e-02 -1.22363572e+02] [-1.38590319e-01 -1.00570540e-04 9.90349793e-01 -3.03377076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters 0.027480681838185198 Centerline is valid? [True, True] Translation: X:223.52, Y:-122.40, Z:-30.34 [[ 7.25464254e-01 6.80814901e-01 1.00958832e-01 2.23520706e+02] [-6.74257474e-01 7.32455440e-01 -9.42649860e-02 -1.22404224e+02] [-1.38124853e-01 3.13631027e-04 9.90414775e-01 -3.03449176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters 0.027516989791399892 Centerline is valid? [True, True] Translation: X:223.57, Y:-122.45, Z:-30.35 [[ 7.26780589e-01 6.79497209e-01 1.00366920e-01 2.23566352e+02] [-6.72990527e-01 7.33677818e-01 -9.38115673e-02 -1.22447809e+02] [-1.37381681e-01 6.34439439e-04 9.90517981e-01 -3.03513944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters 0.027476377537733285 Centerline is valid? [True, True] Translation: X:223.61, Y:-122.49, Z:-30.36 [[ 7.26841949e-01 6.79459288e-01 1.00179120e-01 2.23611747e+02] [-6.72962973e-01 7.33712863e-01 -9.37351100e-02 -1.22490712e+02] [-1.37191900e-01 7.13771454e-04 9.90544231e-01 -3.03583530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters 0.027589448682473892 Centerline is valid? [True, True] Translation: X:223.65, Y:-122.54, Z:-30.37 [[ 7.26850369e-01 6.79618639e-01 9.90305297e-02 2.23654580e+02] [-6.73260978e-01 7.33565239e-01 -9.27453293e-02 -1.22536170e+02] [-1.35676809e-01 7.38585556e-04 9.90752874e-01 -3.03650083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters 0.027469496308004458 Centerline is valid? [True, True] Translation: X:223.70, Y:-122.58, Z:-30.37 [[ 7.23558632e-01 6.83265352e-01 9.80375670e-02 2.23697733e+02] [-6.77062911e-01 7.30170153e-01 -9.18551165e-02 -1.22580239e+02] [-1.34345524e-01 8.49619317e-05 9.90934545e-01 -3.03723234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters 0.027423734944897058 Centerline is valid? [True, True] Translation: X:223.74, Y:-122.62, Z:-30.38 [[ 7.18591781e-01 6.88662321e-01 9.67990696e-02 2.23741373e+02] [-6.82653457e-01 7.25081712e-01 -9.07786809e-02 -1.22624188e+02] [-1.32703092e-01 -8.47405535e-04 9.91155473e-01 -3.03782212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters 0.027888167280097187 Centerline is valid? [True, True] Translation: X:223.79, Y:-122.67, Z:-30.38 [[ 7.12785897e-01 6.94510697e-01 9.79344532e-02 2.23786297e+02] [-6.88402242e-01 7.19479890e-01 -9.19295444e-02 -1.22666479e+02] [-1.34307922e-01 -1.89221446e-03 9.90937839e-01 -3.03845470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters 0.028102816259789307 Centerline is valid? [True, True] Translation: X:223.83, Y:-122.71, Z:-30.39 [[ 7.08914075e-01 6.98668989e-01 9.64493536e-02 2.23834191e+02] [-6.92772115e-01 7.15440428e-01 -9.06189308e-02 -1.22705968e+02] [-1.32316404e-01 -2.57638715e-03 9.91204183e-01 -3.03925343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters 0.02845886372431827 Centerline is valid? [True, True] Translation: X:223.88, Y:-122.74, Z:-30.40 [[ 7.05349693e-01 7.02226166e-01 9.67482411e-02 2.23884051e+02] [-6.96314330e-01 7.11946786e-01 -9.09842154e-02 -1.22742629e+02] [-1.32771096e-01 -3.19149825e-03 9.91141589e-01 -3.03991264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters 0.028582355780011108 Centerline is valid? [True, True] Translation: X:223.93, Y:-122.78, Z:-30.41 [[ 7.02142635e-01 7.05368062e-01 9.72194270e-02 2.23934716e+02] [-6.99417094e-01 7.08831344e-01 -9.15087698e-02 -1.22779621e+02] [-1.33459541e-01 -3.74472028e-03 9.91047188e-01 -3.04057937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters 0.028231644945003024 Centerline is valid? [True, True] Translation: X:223.99, Y:-122.81, Z:-30.41 [[ 7.05909048e-01 7.01786006e-01 9.58583260e-02 2.23986488e+02] [-6.95958477e-01 7.12381629e-01 -9.03006822e-02 -1.22814287e+02] [-1.31659466e-01 -2.96934597e-03 9.91290557e-01 -3.04122155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters 0.027639343266872875 Centerline is valid? [True, True] Translation: X:224.04, Y:-122.85, Z:-30.42 [[ 7.11694439e-01 6.95761186e-01 9.69917386e-02 2.24036327e+02] [-6.89734304e-01 7.18270803e-01 -9.13982754e-02 -1.22851342e+02] [-1.33257706e-01 -1.85088500e-03 9.91079693e-01 -3.04205663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters 0.027350654081961828 Centerline is valid? [True, True] Translation: X:224.09, Y:-122.89, Z:-30.43 [[ 7.18331892e-01 6.88923736e-01 9.68678442e-02 2.24086037e+02] [-6.82838303e-01 7.24833652e-01 -9.13675493e-02 -1.22888188e+02] [-1.33158347e-01 -5.12849806e-04 9.91094643e-01 -3.04277392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters 0.02724949010082042 Centerline is valid? [True, True] Translation: X:224.13, Y:-122.93, Z:-30.43 [[ 7.22413897e-01 6.84856961e-01 9.53367898e-02 2.24130249e+02] [-6.78916722e-01 7.28677470e-01 -9.00068303e-02 -1.22931904e+02] [-1.31111575e-01 2.96444234e-04 9.91367574e-01 -3.04345847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters 0.027407715182589932 Centerline is valid? [True, True] Translation: X:224.18, Y:-122.97, Z:-30.44 [[ 7.24236873e-01 6.82763253e-01 9.65157638e-02 2.24176193e+02] [-6.76644506e-01 7.30639296e-01 -9.12054321e-02 -1.22973903e+02] [-1.32789927e-01 7.47475650e-04 9.91143923e-01 -3.04407450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters 0.0274828260286154 Centerline is valid? [True, True] Translation: X:224.22, Y:-123.02, Z:-30.45 [[ 7.23393498e-01 6.83550000e-01 9.72689353e-02 2.24215846e+02] [-6.77330258e-01 7.29903382e-01 -9.20042107e-02 -1.23022743e+02] [-1.33886403e-01 6.72054695e-04 9.90996458e-01 -3.04506515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters 0.027536274502808118 Centerline is valid? [True, True] Translation: X:224.26, Y:-123.07, Z:-30.46 [[ 7.19301391e-01 6.87846604e-01 9.73270695e-02 2.24257664e+02] [-6.81645155e-01 7.25856078e-01 -9.21565881e-02 -1.23069304e+02] [-1.34035041e-01 -5.41633263e-05 9.90976591e-01 -3.04572281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters 0.02773018704087878 Centerline is valid? [True, True] Translation: X:224.30, Y:-123.12, Z:-30.46 [[ 7.14515012e-01 6.92811383e-01 9.73688091e-02 2.24300439e+02] [-6.86636937e-01 7.21118268e-01 -9.22938833e-02 -1.23115282e+02] [-1.34156680e-01 -9.11655711e-04 9.90959714e-01 -3.04645425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters 0.02800700739231932 Centerline is valid? [True, True] Translation: X:224.35, Y:-123.16, Z:-30.47 [[ 7.11598248e-01 6.95978831e-01 9.61322019e-02 2.24345087e+02] [-6.89976801e-01 7.18060898e-01 -9.12171067e-02 -1.23159322e+02] [-1.32513951e-01 -1.41905585e-03 9.91180125e-01 -3.04691037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters 0.028185783814497236 Centerline is valid? [True, True] Translation: X:224.39, Y:-123.20, Z:-30.48 [[ 7.08914928e-01 6.98859509e-01 9.50526748e-02 2.24389741e+02] [-6.93005185e-01 7.15256531e-01 -9.02879152e-02 -1.23203087e+02] [-1.31085615e-01 -1.86554561e-03 9.91369296e-01 -3.04787647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters 0.028556805665406148 Centerline is valid? [True, True] Translation: X:224.44, Y:-123.25, Z:-30.49 [[ 7.06668122e-01 7.01039431e-01 9.57281666e-02 2.24435146e+02] [-6.95108310e-01 7.13119066e-01 -9.10254595e-02 -1.23245602e+02] [-1.32078017e-01 -2.21665367e-03 9.91236845e-01 -3.04857373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters 0.028712061246464055 Centerline is valid? [True, True] Translation: X:224.48, Y:-123.29, Z:-30.49 [[ 7.03750191e-01 7.03873309e-01 9.64263096e-02 2.24481539e+02] [-6.97869945e-01 7.10320376e-01 -9.17741939e-02 -1.23286046e+02] [-1.33090978e-01 -2.70691690e-03 9.91100128e-01 -3.04908903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters 0.029131435254949718 Centerline is valid? [True, True] Translation: X:224.53, Y:-123.33, Z:-30.50 [[ 7.01983223e-01 7.05647937e-01 9.63355777e-02 2.24527598e+02] [-6.99661737e-01 7.08556344e-01 -9.17679747e-02 -1.23326700e+02] [-1.33015067e-01 -2.98273895e-03 9.91109527e-01 -3.04991104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters 0.028877434480077947 Centerline is valid? [True, True] Translation: X:224.58, Y:-123.37, Z:-30.51 [[ 7.01067266e-01 7.06743560e-01 9.49643534e-02 2.24576484e+02] [-7.00925955e-01 7.07463096e-01 -9.05470755e-02 -1.23366732e+02] [-1.31177338e-01 -3.08338946e-03 9.91354124e-01 -3.05051315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters 0.028932001294545776 Centerline is valid? [True, True] Translation: X:224.62, Y:-123.41, Z:-30.51 [[ 7.01262623e-01 7.06662303e-01 9.41229104e-02 2.24624013e+02] [-7.00934763e-01 7.07544731e-01 -8.98382591e-02 -1.23406162e+02] [-1.30081480e-01 -2.97380653e-03 9.91498848e-01 -3.05117635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters 0.028959539194580847 Centerline is valid? [True, True] Translation: X:224.68, Y:-123.44, Z:-30.52 [[ 7.00894696e-01 7.07069948e-01 9.38014589e-02 2.24676369e+02] [-7.01374086e-01 7.07137342e-01 -8.96168007e-02 -1.23441742e+02] [-1.29695861e-01 -2.97797222e-03 9.91549351e-01 -3.05183432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters 0.02903503301300338 Centerline is valid? [True, True] Translation: X:224.73, Y:-123.48, Z:-30.52 [[ 7.00044756e-01 7.08020915e-01 9.29716279e-02 2.24727950e+02] [-7.02421805e-01 7.06184842e-01 -8.89189313e-02 -1.23478498e+02] [-1.28611618e-01 -3.05806713e-03 9.91690325e-01 -3.05238887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters 0.028862084037455965 Centerline is valid? [True, True] Translation: X:224.78, Y:-123.51, Z:-30.53 [[ 7.01581995e-01 7.06322832e-01 9.42908356e-02 2.24780333e+02] [-7.00536141e-01 7.07884625e-01 -9.02688965e-02 -1.23513605e+02] [-1.30506015e-01 -2.72310564e-03 9.91443778e-01 -3.05323857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters 0.028187376808149922 Centerline is valid? [True, True] Translation: X:224.83, Y:-123.55, Z:-30.54 [[ 7.06979474e-01 7.01223718e-01 9.20071726e-02 2.24830282e+02] [-6.95668241e-01 7.12939238e-01 -8.81098305e-02 -1.23550393e+02] [-1.27380227e-01 -1.71462627e-03 9.91852478e-01 -3.05383381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters 0.028042937626681457 Centerline is valid? [True, True] Translation: X:224.88, Y:-123.59, Z:-30.55 [[ 7.13764551e-01 6.94337998e-01 9.18417619e-02 2.24879116e+02] [-6.88741931e-01 7.19648895e-01 -8.79773825e-02 -1.23589245e+02] [-1.27179862e-01 -4.60135456e-04 9.91879565e-01 -3.05460487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters 0.028031059457255342 Centerline is valid? [True, True] Translation: X:224.93, Y:-123.63, Z:-30.55 [[ 7.17731497e-01 6.90375987e-01 9.07881914e-02 2.24926143e+02] [-6.84866064e-01 7.23450694e-01 -8.70492283e-02 -1.23629658e+02] [-1.25777477e-01 3.00221583e-04 9.92058434e-01 -3.05518580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters 0.027776414637528335 Centerline is valid? [True, True] Translation: X:224.97, Y:-123.67, Z:-30.56 [[ 7.17239641e-01 6.91155689e-01 8.87192767e-02 2.24970640e+02] [-6.85891916e-01 7.22705866e-01 -8.51381915e-02 -1.23673622e+02] [-1.22961687e-01 2.12651293e-04 9.92411396e-01 -3.05566963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters 0.02769309813147433 Centerline is valid? [True, True] Translation: X:225.02, Y:-123.72, Z:-30.56 [[ 7.14755039e-01 6.93688848e-01 8.90000969e-02 2.25015265e+02] [-6.88406776e-01 7.20274769e-01 -8.54421849e-02 -1.23718206e+02] [-1.23374815e-01 -1.98037636e-04 9.92360124e-01 -3.05622029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters 0.0276408389835742 Centerline is valid? [True, True] Translation: X:225.06, Y:-123.76, Z:-30.57 [[ 7.09628254e-01 6.99189208e-01 8.69608659e-02 2.25059414e+02] [-6.94177554e-01 7.14935888e-01 -8.35715264e-02 -1.23762570e+02] [-1.20603753e-01 -1.06156484e-03 9.92700160e-01 -3.05686414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters 0.02807823811242237 Centerline is valid? [True, True] Translation: X:225.11, Y:-123.80, Z:-30.57 [[ 7.06339098e-01 7.02286666e-01 8.87610149e-02 2.25105306e+02] [-6.97077601e-01 7.11892557e-01 -8.53920641e-02 -1.23803623e+02] [-1.23158014e-01 -1.55756177e-03 9.92385851e-01 -3.05749157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters 0.028384848470647324 Centerline is valid? [True, True] Translation: X:225.15, Y:-123.84, Z:-30.58 [[ 7.02880462e-01 7.05967109e-01 8.70028591e-02 2.25153914e+02] [-7.00981760e-01 7.08241499e-01 -8.37767934e-02 -1.23842043e+02] [-1.20762696e-01 -2.10234602e-03 9.92679178e-01 -3.05812452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters 0.02831776463090032 Centerline is valid? [True, True] Translation: X:225.20, Y:-123.88, Z:-30.59 [[ 7.02379576e-01 7.06414151e-01 8.74184141e-02 2.25202826e+02] [-7.01374497e-01 7.07795522e-01 -8.42574245e-02 -1.23882218e+02] [-1.21394999e-01 -2.13235216e-03 9.92601988e-01 -3.05878726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters 0.028046439806576878 Centerline is valid? [True, True] Translation: X:225.25, Y:-123.92, Z:-30.59 [[ 7.04554958e-01 7.04193138e-01 8.78312925e-02 2.25253027e+02] [-6.99077308e-01 7.10006449e-01 -8.47452579e-02 -1.23919834e+02] [-1.22037813e-01 -1.69317193e-03 9.92524007e-01 -3.05943258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters 0.027590622903575373 Centerline is valid? [True, True] Translation: X:225.30, Y:-123.96, Z:-30.60 [[ 7.12565868e-01 6.96177537e-01 8.71017831e-02 2.25302540e+02] [-6.91077377e-01 7.17869606e-01 -8.41147275e-02 -1.23958510e+02] [-1.21086507e-01 -2.56788010e-04 9.92641925e-01 -3.06001470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters 0.02756509337638859 Centerline is valid? [True, True] Translation: X:225.35, Y:-124.00, Z:-30.61 [[ 7.15499501e-01 6.93158194e-01 8.71331215e-02 2.25348398e+02] [-6.88027882e-01 7.20785432e-01 -8.41783506e-02 -1.24000903e+02] [-1.21153198e-01 2.79550909e-04 9.92633782e-01 -3.06072398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters 0.027637268987226557 Centerline is valid? [True, True] Translation: X:225.39, Y:-124.05, Z:-30.61 [[ 7.17875336e-01 6.90886887e-01 8.56172375e-02 2.25391523e+02] [-6.85907749e-01 7.22962515e-01 -8.27995275e-02 -1.24047108e+02] [-1.19103161e-01 7.14211985e-04 9.92881628e-01 -3.06123352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters 0.027455304824149093 Centerline is valid? [True, True] Translation: X:225.43, Y:-124.09, Z:-30.62 [[ 7.16321623e-01 6.92460768e-01 8.59151702e-02 2.25434310e+02] [-6.87447611e-01 7.21455347e-01 -8.31743091e-02 -1.24093338e+02] [-1.19578905e-01 5.17377671e-04 9.92824565e-01 -3.06190952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters 0.027329468435049815 Centerline is valid? [True, True] Translation: X:225.48, Y:-124.14, Z:-30.63 [[ 7.11250949e-01 6.97444756e-01 8.77091822e-02 2.25475243e+02] [-6.92245684e-01 7.16638504e-01 -8.50009802e-02 -1.24141407e+02] [-1.22139265e-01 -2.59275038e-04 9.92512938e-01 -3.06258188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters 0.02735287248329044 Centerline is valid? [True, True] Translation: X:225.52, Y:-124.19, Z:-30.63 [[ 7.04991577e-01 7.03916466e-01 8.65360337e-02 2.25517588e+02] [-6.98893747e-01 7.10281586e-01 -8.39499841e-02 -1.24187114e+02] [-1.20558727e-01 -1.29546113e-03 9.92705352e-01 -3.06323096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters 0.027327213162099573 Centerline is valid? [True, True] Translation: X:225.56, Y:-124.23, Z:-30.64 [[ 7.03213950e-01 7.05817650e-01 8.55078096e-02 2.25562345e+02] [-7.00918847e-01 7.08391877e-01 -8.30284236e-02 -1.24230645e+02] [-1.19175965e-01 -1.54728957e-03 9.92871943e-01 -3.06382700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters 0.027222576892784376 Centerline is valid? [True, True] Translation: X:225.61, Y:-124.27, Z:-30.65 [[ 7.05113709e-01 7.03918283e-01 8.55202173e-02 2.25608401e+02] [-6.98993624e-01 7.10280013e-01 -8.31277132e-02 -1.24271814e+02] [-1.19258418e-01 -1.16359641e-03 9.92862566e-01 -3.06460683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters 0.027142970069884677 Centerline is valid? [True, True] Translation: X:225.65, Y:-124.32, Z:-30.65 [[ 7.06189126e-01 7.02666420e-01 8.69299710e-02 2.25653773e+02] [-6.97558021e-01 7.11518851e-01 -8.45797410e-02 -1.24315700e+02] [-1.21283657e-01 -9.09405067e-04 9.92617473e-01 -3.06531383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters 0.02732224051553407 Centerline is valid? [True, True] Translation: X:225.70, Y:-124.36, Z:-30.66 [[ 7.04472733e-01 7.04071186e-01 8.94535239e-02 2.25698506e+02] [-6.98660188e-01 7.10128520e-01 -8.71287917e-02 -1.24358618e+02] [-1.24868370e-01 -1.11775785e-03 9.92172687e-01 -3.06592489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters 0.027104491255942293 Centerline is valid? [True, True] Translation: X:225.74, Y:-124.40, Z:-30.66 [[ 7.04413351e-01 7.04229534e-01 8.86712687e-02 2.25741792e+02] [-6.98904419e-01 7.09971549e-01 -8.64465923e-02 -1.24403742e+02] [-1.23832321e-01 -1.07860775e-03 9.92302571e-01 -3.06644484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters 0.027139909443662964 Centerline is valid? [True, True] Translation: X:225.78, Y:-124.45, Z:-30.67 [[ 7.07085402e-01 7.01452917e-01 8.94093908e-02 2.25784081e+02] [-6.96004478e-01 7.12715599e-01 -8.72596239e-02 -1.24450117e+02] [-1.24931985e-01 -5.29330132e-04 9.92165167e-01 -3.06723106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters 0.026983923257895493 Centerline is valid? [True, True] Translation: X:225.83, Y:-124.49, Z:-30.68 [[ 7.08146671e-01 7.00343963e-01 8.97029889e-02 2.25827492e+02] [-6.94838822e-01 7.13805479e-01 -8.76398822e-02 -1.24494979e+02] [-1.25408547e-01 -2.67228366e-04 9.92105148e-01 -3.06789353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters 0.026877918142513595 Centerline is valid? [True, True] Translation: X:225.87, Y:-124.54, Z:-30.69 [[ 7.07951906e-01 7.00491871e-01 9.00846082e-02 2.25868405e+02] [-6.94928846e-01 7.13660344e-01 -8.81068256e-02 -1.24542735e+02] [-1.26007928e-01 -2.26997668e-04 9.92029209e-01 -3.06859404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters 0.026968135237863757 Centerline is valid? [True, True] Translation: X:225.91, Y:-124.59, Z:-30.69 [[ 7.06241747e-01 7.01970025e-01 9.19819468e-02 2.25910358e+02] [-6.96169233e-01 7.12206359e-01 -9.00583204e-02 -1.24588285e+02] [-1.28728369e-01 -4.32055784e-04 9.91679797e-01 -3.06935886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters 0.027056585637288237 Centerline is valid? [True, True] Translation: X:225.95, Y:-124.64, Z:-30.70 [[ 7.06050151e-01 7.02510910e-01 8.92838496e-02 2.25950780e+02] [-6.97041679e-01 7.11672824e-01 -8.74910789e-02 -1.24636170e+02] [-1.25004327e-01 -4.61474882e-04 9.92156089e-01 -3.06997547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters 0.027337835767050674 Centerline is valid? [True, True] Translation: X:225.99, Y:-124.68, Z:-30.71 [[ 7.06216944e-01 7.02114127e-01 9.10679972e-02 2.25992359e+02] [-6.96415181e-01 7.12064332e-01 -8.92764393e-02 -1.24682586e+02] [-1.27528522e-01 -3.72601629e-04 9.91834834e-01 -3.07079065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters 0.027279230186051506 Centerline is valid? [True, True] Translation: X:226.04, Y:-124.73, Z:-30.72 [[ 7.06198640e-01 7.02090168e-01 9.13940747e-02 2.26035374e+02] [-6.96338828e-01 7.12087987e-01 -8.96824141e-02 -1.24728701e+02] [-1.28045764e-01 -3.07643918e-04 9.91768213e-01 -3.07154260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters 0.027348185832012036 Centerline is valid? [True, True] Translation: X:226.08, Y:-124.77, Z:-30.72 [[ 7.06144233e-01 7.02191022e-01 9.10389545e-02 2.26079497e+02] [-6.96473126e-01 7.11988555e-01 -8.94286457e-02 -1.24772888e+02] [-1.27614686e-01 -2.56662830e-04 9.91823788e-01 -3.07219130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters 0.027584465832087724 Centerline is valid? [True, True] Translation: X:226.12, Y:-124.82, Z:-30.73 [[ 7.05049101e-01 7.03297597e-01 9.09849209e-02 2.26122127e+02] [-6.97583445e-01 7.10895449e-01 -8.94706501e-02 -1.24818161e+02] [-1.27605259e-01 -3.88373173e-04 9.91824958e-01 -3.07296493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters 0.027804970459385535 Centerline is valid? [True, True] Translation: X:226.17, Y:-124.86, Z:-30.74 [[ 7.03626578e-01 7.04457529e-01 9.30012257e-02 2.26165689e+02] [-6.98483365e-01 7.09745938e-01 -9.15515861e-02 -1.24862343e+02] [-1.30501446e-01 -5.41679770e-04 9.91447971e-01 -3.07358188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters 0.028046374952947664 Centerline is valid? [True, True] Translation: X:226.21, Y:-124.91, Z:-30.74 [[ 7.01949077e-01 7.06065776e-01 9.34805516e-02 2.26209631e+02] [-7.00032172e-01 7.08145824e-01 -9.21110760e-02 -1.24906391e+02] [-1.31234341e-01 -7.82108757e-04 9.91351066e-01 -3.07437033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters 0.028282915687986878 Centerline is valid? [True, True] Translation: X:226.25, Y:-124.95, Z:-30.75 [[ 6.98552064e-01 7.09513643e-01 9.28192045e-02 2.26254779e+02] [-7.03582929e-01 7.04690407e-01 -9.15559467e-02 -1.24949884e+02] [-1.30368996e-01 -1.34941226e-03 9.91464626e-01 -3.07497507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters 0.028630589613097206 Centerline is valid? [True, True] Translation: X:226.30, Y:-124.99, Z:-30.75 [[ 6.94197117e-01 7.13877233e-01 9.20307513e-02 2.26299927e+02] [-7.08072983e-01 7.00267780e-01 -9.08718228e-02 -1.24992305e+02] [-1.29317495e-01 -2.08153123e-03 9.91601055e-01 -3.07545036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters 0.029497739957600154 Centerline is valid? [True, True] Translation: X:226.35, Y:-125.03, Z:-30.76 [[ 6.89598857e-01 7.18349488e-01 9.18010305e-02 2.26345767e+02] [-7.12602684e-01 6.95676563e-01 -9.07278070e-02 -1.25033231e+02] [-1.29038099e-01 -2.85186872e-03 9.91635536e-01 -3.07614334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters 0.029752667408816574 Centerline is valid? [True, True] Translation: X:226.39, Y:-125.07, Z:-30.77 [[ 6.85969859e-01 7.21990104e-01 9.04192585e-02 2.26394173e+02] [-7.16437156e-01 6.91894892e-01 -8.94385770e-02 -1.25072520e+02] [-1.27134391e-01 -3.42754835e-03 9.91879579e-01 -3.07662440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters 0.03059013265243904 Centerline is valid? [True, True] Translation: X:226.44, Y:-125.11, Z:-30.77 [[ 6.81609928e-01 7.26041595e-01 9.09478294e-02 2.26441881e+02] [-7.20448221e-01 6.87638273e-01 -9.00442464e-02 -1.25111764e+02] [-1.27915077e-01 -4.14814952e-03 9.91776450e-01 -3.07734194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters 0.030617634378372352 Centerline is valid? [True, True] Translation: X:226.49, Y:-125.15, Z:-30.78 [[ 6.80153026e-01 7.27467610e-01 9.04584849e-02 2.26488068e+02] [-7.21937033e-01 6.86128309e-01 -8.96374015e-02 -1.25153588e+02] [-1.27274433e-01 -4.33818027e-03 9.91858054e-01 -3.07797850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters 0.03137316761144712 Centerline is valid? [True, True] Translation: X:226.54, Y:-125.19, Z:-30.78 [[ 6.75889849e-01 7.31460981e-01 9.02094523e-02 2.26540306e+02] [-7.25986385e-01 6.81864808e-01 -8.94659293e-02 -1.25188761e+02] [-1.26951487e-01 -5.02172078e-03 9.91896215e-01 -3.07848126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters 0.03172529900019987 Centerline is valid? [True, True] Translation: X:226.59, Y:-125.22, Z:-30.79 [[ 6.74353539e-01 7.32687969e-01 9.17368270e-02 2.26593070e+02] [-7.27032650e-01 6.80543926e-01 -9.10136867e-02 -1.25223876e+02] [-1.29115574e-01 -5.32026669e-03 9.91615280e-01 -3.07910176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters 0.030805257374404493 Centerline is valid? [True, True] Translation: X:226.64, Y:-125.26, Z:-30.80 [[ 6.79093224e-01 7.28314930e-01 9.15956113e-02 2.26644607e+02] [-7.22627412e-01 6.85228263e-01 -9.09497192e-02 -1.25258935e+02] [-1.29003940e-01 -4.42616156e-03 9.91634203e-01 -3.07981244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters 0.029725869462079512 Centerline is valid? [True, True] Translation: X:226.69, Y:-125.30, Z:-30.81 [[ 6.88470243e-01 7.19690495e-01 8.97458473e-02 2.26692706e+02] [-7.14154559e-01 6.94289683e-01 -8.91353005e-02 -1.25295689e+02] [-1.26459444e-01 -2.72540409e-03 9.91968034e-01 -3.08050114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters 0.02886676093589472 Centerline is valid? [True, True] Translation: X:226.74, Y:-125.33, Z:-30.81 [[ 6.96879004e-01 7.11714836e-01 8.84400673e-02 2.26741610e+02] [-7.06274407e-01 7.02467389e-01 -8.78409295e-02 -1.25333936e+02] [-1.24643956e-01 -1.24845669e-03 9.92200749e-01 -3.08100234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters 0.028871708816729763 Centerline is valid? [True, True] Translation: X:226.79, Y:-125.38, Z:-30.82 [[ 6.99131134e-01 7.09607436e-01 8.75953457e-02 2.26786516e+02] [-7.04251348e-01 7.04596743e-01 -8.70256789e-02 -1.25376036e+02] [-1.23473464e-01 -8.46778742e-04 9.92347513e-01 -3.08172248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters 0.028692458498159403 Centerline is valid? [True, True] Translation: X:226.83, Y:-125.42, Z:-30.82 [[ 6.99242598e-01 7.09501222e-01 8.75660116e-02 2.26830484e+02] [-7.04137696e-01 7.04703785e-01 -8.70785878e-02 -1.25420424e+02] [-1.23490464e-01 -7.69471708e-04 9.92345461e-01 -3.08241503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters 0.028679827332291533 Centerline is valid? [True, True] Translation: X:226.87, Y:-125.46, Z:-30.83 [[ 7.01542312e-01 7.07343178e-01 8.66257050e-02 2.26874778e+02] [-7.02067923e-01 7.06870231e-01 -8.62270730e-02 -1.25464125e+02] [-1.22225264e-01 -3.25188655e-04 9.92502332e-01 -3.08317261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters 0.028814170222494506 Centerline is valid? [True, True] Translation: X:226.92, Y:-125.51, Z:-30.84 [[ 7.04419283e-01 7.04482518e-01 8.65901640e-02 2.26919532e+02] [-6.99185796e-01 7.09721314e-01 -8.62257418e-02 -1.25508838e+02] [-1.22199413e-01 1.96462417e-04 9.92505549e-01 -3.08373804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters 0.02877664824515952 Centerline is valid? [True, True] Translation: X:226.97, Y:-125.55, Z:-30.84 [[ 7.05594471e-01 7.03290235e-01 8.67138320e-02 2.26965280e+02] [-6.97958130e-01 7.10902684e-01 -8.64397063e-02 -1.25551820e+02] [-1.22437297e-01 4.68754764e-04 9.92476140e-01 -3.08426054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters 0.028615111630903998 Centerline is valid? [True, True] Translation: X:227.01, Y:-125.60, Z:-30.85 [[ 7.04194990e-01 7.04761395e-01 8.61440169e-02 2.27010088e+02] [-6.99499462e-01 7.09444360e-01 -8.59604714e-02 -1.25595387e+02] [-1.21696009e-01 2.75239768e-04 9.92567381e-01 -3.08489682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters 0.02854693845874618 Centerline is valid? [True, True] Translation: X:227.05, Y:-125.64, Z:-30.86 [[ 7.02723523e-01 7.05891439e-01 8.88646542e-02 2.27053127e+02] [-7.00287722e-01 7.08320022e-01 -8.87685330e-02 -1.25639487e+02] [-1.25605561e-01 1.48909931e-04 9.92080249e-01 -3.08563021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters 0.02808125656588764 Centerline is valid? [True, True] Translation: X:227.10, Y:-125.68, Z:-30.86 [[ 7.03732934e-01 7.04997889e-01 8.79655290e-02 2.27097050e+02] [-6.99490324e-01 7.09209310e-01 -8.79513575e-02 -1.25684758e+02] [-1.24391493e-01 3.63230412e-04 9.92233150e-01 -3.08620848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters 0.028201513763801544 Centerline is valid? [True, True] Translation: X:227.12, Y:-125.69, Z:-30.86 [[ 6.56602613e-01 7.49638725e-01 8.31552265e-02 2.27123800e+02] [-7.43647232e-01 6.61847195e-01 -9.45890279e-02 -1.25690433e+02] [-1.25943652e-01 2.69248822e-04 9.92037360e-01 -3.08627422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters 0.028034944951515196 Centerline is valid? [True, True] Translation: X:227.03, Y:-126.10, Z:-28.95 [[ 6.99809184e-01 -7.11507973e-01 -6.34311382e-02 2.27028858e+02] [-7.07659845e-01 -7.02642519e-01 7.42363443e-02 -1.26098269e+02] [-9.73891656e-02 -7.06360614e-03 -9.95221310e-01 -2.89463960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters 0.028232496657916703 Centerline is valid? [True, True] Translation: X:227.15, Y:-125.76, Z:-30.87 [[ 7.13067985e-01 6.95269128e-01 9.01936171e-02 2.27150870e+02] [-6.89479768e-01 7.18747557e-01 -8.95522141e-02 -1.25758515e+02] [-1.27089332e-01 1.67014261e-03 9.91889869e-01 -3.08724347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters 0.028267473831364378 Centerline is valid? [True, True] Translation: X:227.19, Y:-125.81, Z:-30.88 [[ 7.15518671e-01 6.92882829e-01 8.91426813e-02 2.27191052e+02] [-6.87199736e-01 7.21047060e-01 -8.85870195e-02 -1.25806320e+02] [-1.25656493e-01 2.12683940e-03 9.92071531e-01 -3.08787521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters 0.02819037350311784 Centerline is valid? [True, True] Translation: X:227.22, Y:-125.86, Z:-30.89 [[ 7.16626286e-01 6.91744974e-01 8.90823079e-02 2.27222624e+02] [-6.86051043e-01 7.22137951e-01 -8.86044377e-02 -1.25861613e+02] [-1.25621390e-01 2.38125884e-03 9.92075398e-01 -3.08853121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters 0.028057895299563672 Centerline is valid? [True, True] Translation: X:227.26, Y:-125.91, Z:-30.89 [[ 7.16636776e-01 6.91699751e-01 8.93486822e-02 2.27260241e+02] [-6.85961762e-01 7.22181036e-01 -8.89438724e-02 -1.25912128e+02] [-1.26048378e-01 2.45067050e-03 9.92021069e-01 -3.08926332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters 0.028737760749870295 Centerline is valid? [True, True] Translation: X:227.29, Y:-125.97, Z:-30.90 [[ 7.18517185e-01 6.89683540e-01 8.98313366e-02 2.27292374e+02] [-6.83855999e-01 7.24105164e-01 -8.95135926e-02 -1.25966761e+02] [-1.26783386e-01 2.88535614e-03 9.91926231e-01 -3.09011864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters 0.02871682664794371 Centerline is valid? [True, True] Translation: X:227.32, Y:-126.02, Z:-30.91 [[ 7.17930464e-01 6.90171306e-01 9.07712353e-02 2.27324454e+02] [-6.84213930e-01 7.23640258e-01 -9.05321779e-02 -1.26022806e+02] [-1.28168432e-01 2.88886483e-03 9.91748208e-01 -3.09069655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters 0.028367679279562484 Centerline is valid? [True, True] Translation: X:227.36, Y:-126.08, Z:-30.91 [[ 7.17498856e-01 6.91004798e-01 8.77938503e-02 2.27355546e+02] [-6.85429613e-01 7.22845102e-01 -8.76424807e-02 -1.26078685e+02] [-1.24022729e-01 2.70687487e-03 9.92275685e-01 -3.09138040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters 0.027756649918610772 Centerline is valid? [True, True] Translation: X:227.39, Y:-126.14, Z:-30.92 [[ 7.12926786e-01 6.95528909e-01 8.93024906e-02 2.27386182e+02] [-6.89785352e-01 7.18495301e-01 -8.92225845e-02 -1.26136142e+02] [-1.26220307e-01 2.00962046e-03 9.92000199e-01 -3.09208367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters 0.027198791224411965 Centerline is valid? [True, True] Translation: X:227.42, Y:-126.19, Z:-30.93 [[ 7.05459391e-01 7.03064549e-01 8.95951384e-02 2.27418206e+02] [-6.97338492e-01 7.11125696e-01 -8.95503841e-02 -1.26191469e+02] [-1.26673105e-01 6.96020667e-04 9.91944273e-01 -3.09271469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters 0.026928663570805766 Centerline is valid? [True, True] Translation: X:227.55, Y:-126.42, Z:-29.01 [[ 7.56004285e-01 -6.51140468e-01 -6.68850701e-02 2.27552429e+02] [-6.47575833e-01 -7.58909327e-01 6.85723993e-02 -1.26419157e+02] [-9.54099677e-02 -8.52787270e-03 -9.95401534e-01 -2.90143082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters 0.02708672113242836 Centerline is valid? [True, True] Translation: X:227.47, Y:-126.29, Z:-30.94 [[ 7.50357584e-01 6.54076575e-01 9.56416743e-02 2.27468776e+02] [-6.48912844e-01 7.56428167e-01 -8.20277388e-02 -1.26285217e+02] [-1.25998479e-01 -5.12974938e-04 9.92030302e-01 -3.09375077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters 0.027108749586721118 Centerline is valid? [True, True] Translation: X:227.51, Y:-126.33, Z:-30.94 [[ 7.48561014e-01 6.56120117e-01 9.57225195e-02 2.27511928e+02] [-6.50952772e-01 7.54656060e-01 -8.21870982e-02 -1.26331968e+02] [-1.26162188e-01 -7.88781870e-04 9.92009315e-01 -3.09437074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters 0.027607012949192326 Centerline is valid? [True, True] Translation: X:227.56, Y:-126.38, Z:-30.95 [[ 7.45173537e-01 6.59659536e-01 9.78043830e-02 2.27555305e+02] [-6.54282178e-01 7.51563359e-01 -8.40675241e-02 -1.26376328e+02] [-1.28962135e-01 -1.34677043e-03 9.91648604e-01 -3.09505460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters 0.027841760089536646 Centerline is valid? [True, True] Translation: X:227.60, Y:-126.42, Z:-30.96 [[ 7.42233309e-01 6.63014512e-01 9.74754882e-02 2.27600472e+02] [-6.57691627e-01 7.48604230e-01 -8.38655537e-02 -1.26419256e+02] [-1.28574642e-01 -1.86100498e-03 9.91698088e-01 -3.09571925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters 0.027961588944546215 Centerline is valid? [True, True] Translation: X:227.65, Y:-126.46, Z:-30.96 [[ 7.40025044e-01 6.65583765e-01 9.67532181e-02 2.27646184e+02] [-6.60351370e-01 7.46319824e-01 -8.33233932e-02 -1.26460984e+02] [-1.27667543e-01 -2.22972241e-03 9.91814512e-01 -3.09632794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters 0.028085618014554795 Centerline is valid? [True, True] Translation: X:227.69, Y:-126.50, Z:-30.97 [[ 7.39973255e-01 6.65630520e-01 9.68276443e-02 2.27693012e+02] [-6.60379938e-01 7.46278277e-01 -8.34689824e-02 -1.26502963e+02] [-1.27819870e-01 -2.17821910e-03 9.91795007e-01 -3.09700320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters 0.02802026236030173 Centerline is valid? [True, True] Translation: X:227.74, Y:-126.54, Z:-30.98 [[ 7.39844266e-01 6.65766612e-01 9.68776571e-02 2.27740240e+02] [-6.60499928e-01 7.46156998e-01 -8.36037089e-02 -1.26543462e+02] [-1.27946500e-01 -2.13396085e-03 9.91778775e-01 -3.09768821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters 0.02813146662975809 Centerline is valid? [True, True] Translation: X:227.79, Y:-126.59, Z:-30.98 [[ 7.40767240e-01 6.64709529e-01 9.70831494e-02 2.27785860e+02] [-6.59399644e-01 7.47099511e-01 -8.38715078e-02 -1.26585052e+02] [-1.28280964e-01 -1.88732877e-03 9.91736070e-01 -3.09845920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters 0.028207087705280704 Centerline is valid? [True, True] Translation: X:227.83, Y:-126.63, Z:-30.99 [[ 7.41187159e-01 6.64286864e-01 9.67706452e-02 2.27829633e+02] [-6.58997411e-01 7.47475689e-01 -8.36809789e-02 -1.26629361e+02] [-1.27921880e-01 -1.74833759e-03 9.91782706e-01 -3.09928928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters 0.028372310682573447 Centerline is valid? [True, True] Translation: X:227.88, Y:-126.67, Z:-31.00 [[ 7.38221933e-01 6.67451110e-01 9.76595816e-02 2.27875622e+02] [-6.62080413e-01 7.44650206e-01 -8.45316343e-02 -1.26671201e+02] [-1.29142961e-01 -2.25538975e-03 9.91623421e-01 -3.09995591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters 0.029107882221612754 Centerline is valid? [True, True] Translation: X:227.92, Y:-126.71, Z:-31.01 [[ 7.35325011e-01 6.70516937e-01 9.85097192e-02 2.27921463e+02] [-6.65068417e-01 7.41889103e-01 -8.53496295e-02 -1.26712857e+02] [-1.30311659e-01 -2.75598574e-03 9.91469251e-01 -3.10055300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters 0.02947810051335372 Centerline is valid? [True, True] Translation: X:227.97, Y:-126.75, Z:-31.01 [[ 7.33061062e-01 6.72906000e-01 9.90908406e-02 2.27968067e+02] [-6.67403545e-01 7.39721345e-01 -8.59350864e-02 -1.26752870e+02] [-1.31125845e-01 -3.13791264e-03 9.91360765e-01 -3.10124844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters 0.029469543095024007 Centerline is valid? [True, True] Translation: X:228.02, Y:-126.79, Z:-31.02 [[ 7.31642263e-01 6.74327269e-01 9.99116284e-02 2.28019059e+02] [-6.68735084e-01 7.38424977e-01 -8.67291253e-02 -1.26788673e+02] [-1.32261056e-01 -3.35971772e-03 9.91209224e-01 -3.10189739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters 0.029025222932062465 Centerline is valid? [True, True] Translation: X:228.07, Y:-126.83, Z:-31.02 [[ 7.33275920e-01 6.72560045e-01 9.98469347e-02 2.28068506e+02] [-6.66948046e-01 7.40036563e-01 -8.67536141e-02 -1.26825704e+02] [-1.32237397e-01 -2.97838167e-03 9.91213600e-01 -3.10241122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters 0.029121539271238266 Centerline is valid? [True, True] Translation: X:228.12, Y:-126.86, Z:-31.03 [[ 7.34335722e-01 6.71279942e-01 1.00669195e-01 2.28116627e+02] [-6.65551522e-01 7.41198964e-01 -8.75515176e-02 -1.26864162e+02] [-1.33387480e-01 -2.70832885e-03 9.91060263e-01 -3.10313076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters 0.02885017139345122 Centerline is valid? [True, True] Translation: X:228.17, Y:-126.90, Z:-31.04 [[ 7.33539030e-01 6.72291912e-01 9.97199866e-02 2.28166441e+02] [-6.66669543e-01 7.40280849e-01 -8.68100557e-02 -1.26901828e+02] [-1.32182495e-01 -2.80171380e-03 9.91221438e-01 -3.10375113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters 0.02881027624773025 Centerline is valid? [True, True] Translation: X:228.22, Y:-126.94, Z:-31.04 [[ 7.32921106e-01 6.73275876e-01 9.76025009e-02 2.28216410e+02] [-6.67888570e-01 7.39385863e-01 -8.50494166e-02 -1.26939355e+02] [-1.29427630e-01 -2.85308227e-03 9.91584766e-01 -3.10443322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters 0.028772815039965993 Centerline is valid? [True, True] Translation: X:228.27, Y:-126.98, Z:-31.05 [[ 7.33560192e-01 6.72527875e-01 9.79576540e-02 2.28265094e+02] [-6.67088020e-01 7.40066888e-01 -8.54082857e-02 -1.26977781e+02] [-1.29934669e-01 -2.69425896e-03 9.91518897e-01 -3.10494283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters 0.02822678188781045 Centerline is valid? [True, True] Translation: X:228.32, Y:-127.01, Z:-31.06 [[ 7.35774154e-01 6.70141538e-01 9.77072822e-02 2.28315636e+02] [-6.64698121e-01 7.42230052e-01 -8.52699090e-02 -1.27014365e+02] [-1.29664189e-01 -2.20645167e-03 9.91555510e-01 -3.10570564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters 0.028128589150312893 Centerline is valid? [True, True] Translation: X:228.36, Y:-127.05, Z:-31.06 [[ 7.38515692e-01 6.67107538e-01 9.77860199e-02 2.28364067e+02] [-6.61618118e-01 7.44959684e-01 -8.54197623e-02 -1.27052969e+02] [-1.29830810e-01 -1.61316756e-03 9.91534850e-01 -3.10629479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters 0.02790665244815827 Centerline is valid? [True, True] Translation: X:228.41, Y:-127.09, Z:-31.07 [[ 7.40666066e-01 6.64809784e-01 9.71685647e-02 2.28410879e+02] [-6.59359438e-01 7.47011813e-01 -8.49616498e-02 -1.27092799e+02] [-1.29069402e-01 -1.14079934e-03 9.91634907e-01 -3.10694341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters 0.02802667962165131 Centerline is valid? [True, True] Translation: X:228.46, Y:-127.13, Z:-31.08 [[ 7.44194681e-01 6.60657125e-01 9.85212681e-02 2.28457231e+02] [-6.55005607e-01 7.50687707e-01 -8.62300507e-02 -1.27134164e+02] [-1.30927202e-01 -3.60037913e-04 9.91391920e-01 -3.10787741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters 0.027992759725352118 Centerline is valid? [True, True] Translation: X:228.50, Y:-127.18, Z:-31.08 [[ 7.43998959e-01 6.60911342e-01 9.82941851e-02 2.28503321e+02] [-6.55275661e-01 7.50463915e-01 -8.61261841e-02 -1.27176211e+02] [-1.30688011e-01 -3.31995804e-04 9.91423489e-01 -3.10849694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters 0.02781708632664048 Centerline is valid? [True, True] Translation: X:228.55, Y:-127.22, Z:-31.09 [[ 7.44992126e-01 6.59788270e-01 9.83166857e-02 2.28547653e+02] [-6.54127747e-01 7.51451552e-01 -8.62406860e-02 -1.27221067e+02] [-1.30780819e-01 -6.30400297e-05 9.91411304e-01 -3.10912147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters 0.027860180093915856 Centerline is valid? [True, True] Translation: X:228.59, Y:-127.26, Z:-31.10 [[ 7.44528364e-01 6.60532029e-01 9.68243511e-02 2.28591020e+02] [-6.55037279e-01 7.50797858e-01 -8.50219879e-02 -1.27264886e+02] [-1.28855262e-01 -1.22277949e-04 9.91663404e-01 -3.10992006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters 0.027963131505432556 Centerline is valid? [True, True] Translation: X:228.64, Y:-127.31, Z:-31.10 [[ 7.40947277e-01 6.64382530e-01 9.79437929e-02 2.28635161e+02] [-6.58781852e-01 7.47392341e-01 -8.60880953e-02 -1.27308901e+02] [-1.30397867e-01 -7.36853508e-04 9.91461473e-01 -3.11049570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters 0.028309218235182915 Centerline is valid? [True, True] Translation: X:228.68, Y:-127.35, Z:-31.11 [[ 7.36838508e-01 6.68679192e-01 9.96852613e-02 2.28679206e+02] [-6.62904283e-01 7.43549602e-01 -8.77034786e-02 -1.27352289e+02] [-1.32766428e-01 -1.45848637e-03 9.91146280e-01 -3.11124544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters 0.028379785294062213 Centerline is valid? [True, True] Translation: X:228.72, Y:-127.40, Z:-31.12 [[ 7.35096913e-01 6.70668832e-01 9.91758345e-02 2.28722464e+02] [-6.64959627e-01 7.41754863e-01 -8.73408128e-02 -1.27397468e+02] [-1.32140918e-01 -1.74396407e-03 9.91229406e-01 -3.11196080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters 0.02826354817521247 Centerline is valid? [True, True] Translation: X:228.77, Y:-127.44, Z:-31.13 [[ 7.34050115e-01 6.71712444e-01 9.98640157e-02 2.28767361e+02] [-6.65920237e-01 7.40809611e-01 -8.80418039e-02 -1.27439603e+02] [-1.33118998e-01 -1.87437275e-03 9.91098289e-01 -3.11259787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters 0.02845096555177161 Centerline is valid? [True, True] Translation: X:228.81, Y:-127.48, Z:-31.13 [[ 7.31213854e-01 6.74835111e-01 9.96186320e-02 2.28811033e+02] [-6.69088907e-01 7.37964729e-01 -8.79095748e-02 -1.27484418e+02] [-1.32839504e-01 -2.37302256e-03 9.91134721e-01 -3.11313744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters 0.02870181590677076 Centerline is valid? [True, True] Translation: X:228.86, Y:-127.53, Z:-31.14 [[ 7.29495814e-01 6.76852879e-01 9.85192219e-02 2.28855742e+02] [-6.71240429e-01 7.36113561e-01 -8.70236252e-02 -1.27527905e+02] [-1.31423527e-01 -2.64671453e-03 9.91322779e-01 -3.11396193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters 0.028555569733555095 Centerline is valid? [True, True] Translation: X:228.90, Y:-127.57, Z:-31.15 [[ 7.28791921e-01 6.77518575e-01 9.91509783e-02 2.28900315e+02] [-6.71827340e-01 7.35500649e-01 -8.76745078e-02 -1.27571479e+02] [-1.32326716e-01 -2.71586509e-03 9.91202434e-01 -3.11457146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters 0.02857087503005064 Centerline is valid? [True, True] Translation: X:228.95, Y:-127.61, Z:-31.15 [[ 7.28685965e-01 6.77664918e-01 9.89293863e-02 2.28946390e+02] [-6.71989442e-01 7.35365968e-01 -8.75618802e-02 -1.27614155e+02] [-1.32086918e-01 -2.67438998e-03 9.91234530e-01 -3.11525191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters 0.02863062661701144 Centerline is valid? [True, True] Translation: X:228.99, Y:-127.66, Z:-31.16 [[ 7.27819664e-01 6.78713417e-01 9.81154127e-02 2.28993570e+02] [-6.73128595e-01 7.34397993e-01 -8.69337862e-02 -1.27655506e+02] [-1.31058889e-01 -2.77217085e-03 9.91370709e-01 -3.11594992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters 0.02860122192402043 Centerline is valid? [True, True] Translation: X:229.04, Y:-127.70, Z:-31.17 [[ 7.26919406e-01 6.79752521e-01 9.75945058e-02 2.29040595e+02] [-6.74224254e-01 7.33435917e-01 -8.65644939e-02 -1.27697560e+02] [-1.30421749e-01 -2.87517234e-03 9.91454437e-01 -3.11656855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters 0.02873968905025286 Centerline is valid? [True, True] Translation: X:229.09, Y:-127.74, Z:-31.17 [[ 7.27541497e-01 6.78890494e-01 9.89498208e-02 2.29088934e+02] [-6.73187035e-01 7.34234600e-01 -8.78565219e-02 -1.27736709e+02] [-1.32297340e-01 -2.69247100e-03 9.91206419e-01 -3.11724214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters 0.02859400424522173 Centerline is valid? [True, True] Translation: X:229.14, Y:-127.78, Z:-31.18 [[ 7.29260747e-01 6.77127222e-01 9.83742244e-02 2.29136376e+02] [-6.71465909e-01 7.35862338e-01 -8.74079633e-02 -1.27775864e+02] [-1.31576198e-01 -2.31174146e-03 9.91303364e-01 -3.11816983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters 0.028241895980778548 Centerline is valid? [True, True] Translation: X:229.18, Y:-127.82, Z:-31.19 [[ 7.31828187e-01 6.74556187e-01 9.69611056e-02 2.29182013e+02] [-6.69024014e-01 7.38221407e-01 -8.62323712e-02 -1.27817289e+02] [-1.29747343e-01 -1.76202821e-03 9.91545522e-01 -3.11863589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters 0.02818796025540919 Centerline is valid? [True, True] Translation: X:229.23, Y:-127.86, Z:-31.19 [[ 7.32282116e-01 6.73945468e-01 9.77773438e-02 2.29228686e+02] [-6.68302775e-01 7.38779352e-01 -8.70429226e-02 -1.27858188e+02] [-1.30898066e-01 -1.60489464e-03 9.91394533e-01 -3.11941555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters 0.02813015007251738 Centerline is valid? [True, True] Translation: X:229.27, Y:-127.90, Z:-31.20 [[ 7.33599611e-01 6.72529863e-01 9.76483185e-02 2.29273004e+02] [-6.66877386e-01 7.40068876e-01 -8.70207429e-02 -1.27901867e+02] [-1.30790530e-01 -1.28107229e-03 9.91409197e-01 -3.12018986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters 0.028460402537541573 Centerline is valid? [True, True] Translation: X:229.32, Y:-127.95, Z:-31.21 [[ 7.30628131e-01 6.75561956e-01 9.89877670e-02 2.29315055e+02] [-6.69768851e-01 7.37301064e-01 -8.82996467e-02 -1.27947311e+02] [-1.32635668e-01 -1.78471713e-03 9.91163253e-01 -3.12082490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters 0.028902727025752892 Centerline is valid? [True, True] Translation: X:229.36, Y:-127.99, Z:-31.21 [[ 7.26281458e-01 6.80458525e-01 9.74240144e-02 2.29358262e+02] [-6.74880576e-01 7.32782079e-01 -8.69863934e-02 -1.27992363e+02] [-1.30581205e-01 -2.57297035e-03 9.91434279e-01 -3.12147875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters 0.029370499779902783 Centerline is valid? [True, True] Translation: X:229.40, Y:-128.03, Z:-31.22 [[ 7.22056617e-01 6.84917905e-01 9.75792229e-02 2.29404018e+02] [-6.79351610e-01 7.28612670e-01 -8.72064638e-02 -1.28033904e+02] [-1.30826727e-01 -3.32259795e-03 9.91399681e-01 -3.12212885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters 0.030634091806734366 Centerline is valid? [True, True] Translation: X:229.45, Y:-128.08, Z:-31.23 [[ 7.16131272e-01 6.90927708e-01 9.88681097e-02 2.29450619e+02] [-6.85258029e-01 7.22910381e-01 -8.84421525e-02 -1.28075237e+02] [-1.32579917e-01 -4.41397485e-03 9.91162490e-01 -3.12286993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters 0.03128304774515499 Centerline is valid? [True, True] Translation: X:229.50, Y:-128.11, Z:-31.24 [[ 7.13617209e-01 6.93635268e-01 9.80846276e-02 2.29498544e+02] [-6.88070156e-01 7.20310279e-01 -8.78211935e-02 -1.28113665e+02] [-1.31567243e-01 -4.81839002e-03 9.91295538e-01 -3.12355599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters 0.03229089479660829 Centerline is valid? [True, True] Translation: X:229.55, Y:-128.15, Z:-31.24 [[ 7.08448326e-01 6.98793299e-01 9.89388469e-02 2.29551320e+02] [-6.93173198e-01 7.15300241e-01 -8.86368023e-02 -1.28147877e+02] [-1.32709784e-01 -5.78716267e-03 9.91138044e-01 -3.12421756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters 0.03295797491214214 Centerline is valid? [True, True] Translation: X:229.60, Y:-128.18, Z:-31.25 [[ 7.05880647e-01 7.01422344e-01 9.86874202e-02 2.29602176e+02] [-6.95845832e-01 7.12718847e-01 -8.84896793e-02 -1.28183177e+02] [-1.32405023e-01 -6.20807797e-03 9.91176256e-01 -3.12493348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters 0.03320053638364691 Centerline is valid? [True, True] Translation: X:229.66, Y:-128.22, Z:-31.25 [[ 7.02882561e-01 7.04508673e-01 9.81001285e-02 2.29655515e+02] [-6.99019434e-01 7.09663756e-01 -8.80294541e-02 -1.28215717e+02] [-1.31635620e-01 -6.69952818e-03 9.91275532e-01 -3.12546650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters 0.0329584017561984 Centerline is valid? [True, True] Translation: X:229.71, Y:-128.25, Z:-31.26 [[ 7.03681621e-01 7.03817870e-01 9.73271896e-02 2.29710374e+02] [-6.98402670e-01 7.10350860e-01 -8.73805833e-02 -1.28247534e+02] [-1.30636469e-01 -6.48545864e-03 9.91409124e-01 -3.12609788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters 0.031986222429869565 Centerline is valid? [True, True] Translation: X:229.76, Y:-128.28, Z:-31.27 [[ 7.06343285e-01 7.00822186e-01 9.96364732e-02 2.29764321e+02] [-6.95105457e-01 7.13310640e-01 -8.95339858e-02 -1.28279917e+02] [-1.33819160e-01 -6.01612656e-03 9.90987507e-01 -3.12681375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters 0.030539642901443547 Centerline is valid? [True, True] Translation: X:229.82, Y:-128.31, Z:-31.27 [[ 7.09470342e-01 6.97908510e-01 9.78547155e-02 2.29819145e+02] [-6.92357672e-01 7.16167228e-01 -8.80077037e-02 -1.28310563e+02] [-1.31501666e-01 -5.31160741e-03 9.91301719e-01 -3.12741854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters 0.030273478050918002 Centerline is valid? [True, True] Translation: X:229.87, Y:-128.34, Z:-31.28 [[ 7.11378091e-01 6.96010033e-01 9.75256107e-02 2.29872806e+02] [-6.90470768e-01 7.18015344e-01 -8.77729104e-02 -1.28344098e+02] [-1.31115711e-01 -4.89885789e-03 9.91354967e-01 -3.12807593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters 0.029891519136046478 Centerline is valid? [True, True] Translation: X:229.92, Y:-128.38, Z:-31.29 [[ 7.12733304e-01 6.94488490e-01 9.84732166e-02 2.29923395e+02] [-6.88821128e-01 7.19488871e-01 -8.86635096e-02 -1.28380759e+02] [-1.32426170e-01 -4.63699603e-03 9.91182026e-01 -3.12878668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters 0.029330661567247875 Centerline is valid? [True, True] Translation: X:229.98, Y:-128.41, Z:-31.29 [[ 7.15399568e-01 6.91557581e-01 9.97575518e-02 2.29977898e+02] [-6.85701078e-01 7.22309773e-01 -8.99034154e-02 -1.28412405e+02] [-1.34229243e-01 -4.08699615e-03 9.90941879e-01 -3.12946595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters 0.02907720472388647 Centerline is valid? [True, True] Translation: X:230.03, Y:-128.45, Z:-31.30 [[ 7.15704356e-01 6.91408115e-01 9.86006776e-02 2.30027748e+02] [-6.85674868e-01 7.22453600e-01 -8.89425158e-02 -1.28448976e+02] [-1.32729992e-01 -3.95146063e-03 9.91144356e-01 -3.13005965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters 0.02871052087265691 Centerline is valid? [True, True] Translation: X:230.08, Y:-128.48, Z:-31.31 [[ 7.17427403e-01 6.89667458e-01 9.82686064e-02 2.30080118e+02] [-6.83945613e-01 7.24117498e-01 -8.87256868e-02 -1.28482790e+02] [-1.32349236e-01 -3.55614312e-03 9.91196768e-01 -3.13064532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters 0.028655806816292453 Centerline is valid? [True, True] Translation: X:230.13, Y:-128.52, Z:-31.31 [[ 7.19793846e-01 6.87013842e-01 9.95429546e-02 2.30133739e+02] [-6.81105019e-01 7.26637950e-01 -8.99624537e-02 -1.28516326e+02] [-1.34137139e-01 -3.04478537e-03 9.90958101e-01 -3.13133861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters 0.0283249740033409 Centerline is valid? [True, True] Translation: X:230.19, Y:-128.55, Z:-31.32 [[ 7.23677412e-01 6.82987423e-01 9.90917932e-02 2.30185089e+02] [-6.77083061e-01 7.30426751e-01 -8.96397827e-02 -1.28551307e+02] [-1.33602141e-01 -2.22308866e-03 9.91032555e-01 -3.13201813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters 0.028261316476202995 Centerline is valid? [True, True] Translation: X:230.24, Y:-128.59, Z:-31.33 [[ 7.28524997e-01 6.77980606e-01 9.79470583e-02 2.30235789e+02] [-6.72156050e-01 7.35078770e-01 -8.86873487e-02 -1.28587305e+02] [-1.32127106e-01 -1.22475739e-03 9.91232025e-01 -3.13265017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters 0.027952063072080903 Centerline is valid? [True, True] Translation: X:230.28, Y:-128.63, Z:-31.34 [[ 7.31156023e-01 6.75143353e-01 9.79404064e-02 2.30283455e+02] [-6.69283045e-01 7.37686269e-01 -8.87647119e-02 -1.28626930e+02] [-1.32178198e-01 -6.48999612e-04 9.91225758e-01 -3.13351597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters 0.028029698411974894 Centerline is valid? [True, True] Translation: X:230.33, Y:-128.67, Z:-31.34 [[ 7.30326817e-01 6.75887881e-01 9.89864282e-02 2.30329846e+02] [-6.69896542e-01 7.37004098e-01 -8.97974528e-02 -1.28667867e+02] [-1.33646413e-01 -7.29178153e-04 9.91028811e-01 -3.13422591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters 0.027862370734023645 Centerline is valid? [True, True] Translation: X:230.38, Y:-128.71, Z:-31.35 [[ 7.28813895e-01 6.77885266e-01 9.64462111e-02 2.30376096e+02] [-6.72205640e-01 7.35167022e-01 -8.75729796e-02 -1.28708590e+02] [-1.30268506e-01 -1.00728267e-03 9.91478241e-01 -3.13483438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters 0.028061276106237064 Centerline is valid? [True, True] Translation: X:230.42, Y:-128.75, Z:-31.36 [[ 7.25794665e-01 6.81196714e-01 9.58808738e-02 2.30422235e+02] [-6.75601546e-01 7.32098831e-01 -8.71427179e-02 -1.28750435e+02] [-1.29555609e-01 -1.52954686e-03 9.91570978e-01 -3.13552381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters 0.028191454166269253 Centerline is valid? [True, True] Translation: X:230.47, Y:-128.79, Z:-31.36 [[ 7.24287700e-01 6.82598368e-01 9.72974551e-02 2.30470558e+02] [-6.76836027e-01 7.30791659e-01 -8.85242551e-02 -1.28788857e+02] [-1.31530681e-01 -1.73739372e-03 9.91310578e-01 -3.13636052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters 0.02839642685002102 Centerline is valid? [True, True] Translation: X:230.52, Y:-128.83, Z:-31.37 [[ 7.22123974e-01 6.84967896e-01 9.67261471e-02 2.30519757e+02] [-6.79283503e-01 7.28570239e-01 -8.80870554e-02 -1.28826270e+02] [-1.30808597e-01 -2.09470157e-03 9.91405428e-01 -3.13697458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters 0.02888969215650453 Centerline is valid? [True, True] Translation: X:230.57, Y:-128.86, Z:-31.38 [[ 7.20597988e-01 6.86265980e-01 9.88814679e-02 2.30570433e+02] [-6.80324921e-01 7.27346975e-01 -9.01353425e-02 -1.28862799e+02] [-1.33777956e-01 -2.32018040e-03 9.91008615e-01 -3.13763259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters 0.028502969987979805 Centerline is valid? [True, True] Translation: X:230.62, Y:-128.90, Z:-31.38 [[ 7.22643826e-01 6.84301315e-01 9.75582475e-02 2.30622659e+02] [-6.78490051e-01 7.29196968e-01 -8.90114182e-02 -1.28897751e+02] [-1.32049809e-01 -1.86874849e-03 9.91241321e-01 -3.13831519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters 0.028513402436508687 Centerline is valid? [True, True] Translation: X:230.67, Y:-128.94, Z:-31.39 [[ 7.24631599e-01 6.82099505e-01 9.82309033e-02 2.30671366e+02] [-6.76175992e-01 7.31258000e-01 -8.97093404e-02 -1.28936418e+02] [-1.33022831e-01 -1.41515561e-03 9.91111963e-01 -3.13908289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters 0.028554214584139113 Centerline is valid? [True, True] Translation: X:230.72, Y:-128.97, Z:-31.40 [[ 7.27543404e-01 6.79009906e-01 9.81129112e-02 2.30721758e+02] [-6.73062617e-01 7.34128680e-01 -8.96760516e-02 -1.28973640e+02] [-1.32918429e-01 -7.92913049e-04 9.91126663e-01 -3.13976332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters 0.02829895963862789 Centerline is valid? [True, True] Translation: X:230.77, Y:-129.01, Z:-31.40 [[ 7.27889686e-01 6.78968086e-01 9.58068017e-02 2.30769064e+02] [-6.73293173e-01 7.34167413e-01 -8.76042965e-02 -1.29013793e+02] [-1.29818753e-01 -7.39801580e-04 9.91537465e-01 -3.14039388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters 0.02824804890759652 Centerline is valid? [True, True] Translation: X:230.82, Y:-129.06, Z:-31.41 [[ 7.28313620e-01 6.78383706e-01 9.67203132e-02 2.30815442e+02] [-6.72583320e-01 7.34707569e-01 -8.85238138e-02 -1.29056030e+02] [-1.31114259e-01 -5.79370137e-04 9.91367094e-01 -3.14111745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters 0.027953609651162784 Centerline is valid? [True, True] Translation: X:230.86, Y:-129.10, Z:-31.42 [[ 7.28381782e-01 6.78423996e-01 9.59211172e-02 2.30860878e+02] [-6.72707856e-01 7.34670414e-01 -8.78835764e-02 -1.29098819e+02] [-1.30092734e-01 -5.14093106e-04 9.91501698e-01 -3.14174363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters 0.027817159760036292 Centerline is valid? [True, True] Translation: X:230.90, Y:-129.14, Z:-31.42 [[ 7.28617200e-01 6.78344217e-01 9.46894879e-02 2.30904997e+02] [-6.72763560e-01 7.34744129e-01 -8.68346559e-02 -1.29142259e+02] [-1.28476332e-01 -4.34413042e-04 9.91712480e-01 -3.14236695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters 0.027638661682365572 Centerline is valid? [True, True] Translation: X:230.95, Y:-129.18, Z:-31.43 [[ 7.27970530e-01 6.79088552e-01 9.43273366e-02 2.30952122e+02] [-6.73546346e-01 7.34056187e-01 -8.65842588e-02 -1.29183769e+02] [-1.28039944e-01 -5.03044134e-04 9.91768884e-01 -3.14301724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters 0.027748726581892282 Centerline is valid? [True, True] Translation: X:231.00, Y:-129.23, Z:-31.44 [[ 7.28456422e-01 6.78411929e-01 9.54384447e-02 2.30997193e+02] [-6.72719940e-01 7.34681668e-01 -8.76968014e-02 -1.29225921e+02] [-1.29611432e-01 -3.20046706e-04 9.91564811e-01 -3.14370638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters 0.027438163424305897 Centerline is valid? [True, True] Translation: X:231.04, Y:-129.27, Z:-31.44 [[ 7.29444348e-01 6.77590011e-01 9.37161705e-02 2.31043657e+02] [-6.72085519e-01 7.35439844e-01 -8.61933380e-02 -1.29266468e+02] [-1.27326351e-01 -1.12037826e-04 9.91860871e-01 -3.14431035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters 0.02756594186579784 Centerline is valid? [True, True] Translation: X:231.09, Y:-129.31, Z:-31.45 [[ 7.29285233e-01 6.77618690e-01 9.47415461e-02 2.31090885e+02] [-6.71982283e-01 7.35413426e-01 -8.72175676e-02 -1.29306877e+02] [-1.28774459e-01 -5.81563327e-05 9.91673906e-01 -3.14500679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters 0.02753970205326892 Centerline is valid? [True, True] Translation: X:231.14, Y:-129.35, Z:-31.46 [[ 7.29873361e-01 6.76909262e-01 9.52823619e-02 2.31136609e+02] [-6.71191109e-01 7.36066461e-01 -8.77989813e-02 -1.29350011e+02] [-1.29566095e-01 1.29463441e-04 9.91570779e-01 -3.14564998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters 0.027489360006594514 Centerline is valid? [True, True] Translation: X:231.18, Y:-129.39, Z:-31.46 [[ 7.29970671e-01 6.76688951e-01 9.60983028e-02 2.31181681e+02] [-6.70857874e-01 7.36268977e-01 -8.86437033e-02 -1.29393169e+02] [-1.30738414e-01 2.39000463e-04 9.91416870e-01 -3.14620675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters 0.027552387724316993 Centerline is valid? [True, True] Translation: X:231.23, Y:-129.44, Z:-31.47 [[ 7.28636055e-01 6.78005750e-01 9.69417431e-02 2.31226013e+02] [-6.72071656e-01 7.35056595e-01 -8.95069369e-02 -1.29437739e+02] [-1.31943886e-01 6.61835955e-05 9.91257185e-01 -3.14694454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters 0.02746514889328669 Centerline is valid? [True, True] Translation: X:231.27, Y:-129.48, Z:-31.48 [[ 7.25394208e-01 6.81549308e-01 9.64042695e-02 2.31268723e+02] [-6.75699784e-01 7.31772017e-01 -8.91039687e-02 -1.29484180e+02] [-1.31274695e-01 -5.04841229e-04 9.91345903e-01 -3.14767530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters 0.027508767899581628 Centerline is valid? [True, True] Translation: X:231.31, Y:-129.53, Z:-31.48 [[ 7.24157300e-01 6.82763261e-01 9.71109340e-02 2.31312679e+02] [-6.76825693e-01 7.30639372e-01 -8.98503715e-02 -1.29527191e+02] [-1.32299604e-01 -6.61372688e-04 9.91209553e-01 -3.14839567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters 0.027762119993520736 Centerline is valid? [True, True] Translation: X:231.36, Y:-129.57, Z:-31.49 [[ 7.22756391e-01 6.84088344e-01 9.82157682e-02 2.31358687e+02] [-6.78015105e-01 7.29398664e-01 -9.09566183e-02 -1.29567729e+02] [-1.33860812e-01 -8.52297207e-04 9.90999776e-01 -3.14911107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters 0.027595640446603186 Centerline is valid? [True, True] Translation: X:231.41, Y:-129.61, Z:-31.50 [[ 7.20468986e-01 6.86614958e-01 9.73875747e-02 2.31407851e+02] [-6.80656298e-01 7.27020175e-01 -9.02699739e-02 -1.29606829e+02] [-1.32783446e-01 -1.25074950e-03 9.91144284e-01 -3.14989134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters 0.027604196336584116 Centerline is valid? [True, True] Translation: X:231.46, Y:-129.65, Z:-31.50 [[ 7.20453885e-01 6.86805938e-01 9.61447020e-02 2.31456484e+02] [-6.80988665e-01 7.26839844e-01 -8.92091914e-02 -1.29645699e+02] [-1.31151203e-01 -1.20234371e-03 9.91361648e-01 -3.15035507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters 0.02755922254232801 Centerline is valid? [True, True] Translation: X:231.51, Y:-129.68, Z:-31.51 [[ 7.25543361e-01 6.81434515e-01 9.60928367e-02 2.31505547e+02] [-6.75565425e-01 7.31879070e-01 -8.92433912e-02 -1.29684327e+02] [-1.31141863e-01 -1.67048106e-04 9.91363598e-01 -3.15106432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters 0.027835055843508053 Centerline is valid? [True, True] Translation: X:231.55, Y:-129.72, Z:-31.52 [[ 7.28458708e-01 6.78156997e-01 9.72162450e-02 2.31551948e+02] [-6.72108810e-01 7.34916897e-01 -9.03709092e-02 -1.29724468e+02] [-1.32731526e-01 4.91580980e-04 9.91151906e-01 -3.15182893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters 0.028127624851167824 Centerline is valid? [True, True] Translation: X:231.60, Y:-129.77, Z:-31.52 [[ 7.30374651e-01 6.76094727e-01 9.72048832e-02 2.31599319e+02] [-6.70019057e-01 7.36814131e-01 -9.04400384e-02 -1.29766334e+02] [-1.32767965e-01 9.25987401e-04 9.91146715e-01 -3.15240754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters 0.02814333198066766 Centerline is valid? [True, True] Translation: X:231.64, Y:-129.81, Z:-31.53 [[ 7.29564253e-01 6.77061659e-01 9.65583311e-02 2.31644045e+02] [-6.71063168e-01 7.35925845e-01 -8.99298360e-02 -1.29809497e+02] [-1.31947815e-01 8.12854040e-04 9.91256331e-01 -3.15307077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters 0.028156699203597785 Centerline is valid? [True, True] Translation: X:231.69, Y:-129.85, Z:-31.54 [[ 7.28098825e-01 6.78468485e-01 9.77374827e-02 2.31687927e+02] [-6.72323295e-01 7.34629241e-01 -9.11112800e-02 -1.29852567e+02] [-1.33616945e-01 6.26829503e-04 9.91032855e-01 -3.15379628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters 0.028192490450585 Centerline is valid? [True, True] Translation: X:231.73, Y:-129.89, Z:-31.54 [[ 7.27337581e-01 6.79416351e-01 9.68166547e-02 2.31733973e+02] [-6.73384427e-01 7.33752794e-01 -9.03341095e-02 -1.29894741e+02] [-1.32413962e-01 5.08565205e-04 9.91194372e-01 -3.15437290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters 0.028111961717083023 Centerline is valid? [True, True] Translation: X:231.78, Y:-129.94, Z:-31.55 [[ 7.27113364e-01 6.79761527e-01 9.60750842e-02 2.31780129e+02] [-6.73814275e-01 7.33433033e-01 -8.97235174e-02 -1.29936272e+02] [-1.31455236e-01 5.02405391e-04 9.91321980e-01 -3.15507835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters 0.028357856715337443 Centerline is valid? [True, True] Translation: X:231.83, Y:-129.98, Z:-31.56 [[ 7.28146573e-01 6.78677401e-01 9.59143010e-02 2.31826617e+02] [-6.72729749e-01 7.34436117e-01 -8.96564273e-02 -1.29978745e+02] [-1.31290718e-01 7.58616631e-04 9.91343619e-01 -3.15572815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters 0.028402673077019727 Centerline is valid? [True, True] Translation: X:231.87, Y:-130.02, Z:-31.56 [[ 7.29595099e-01 6.77445015e-01 9.35908274e-02 2.31871173e+02] [-6.71761753e-01 7.35572708e-01 -8.75724793e-02 -1.30022259e+02] [-1.28168398e-01 1.02171342e-03 9.91751893e-01 -3.15643235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters 0.02827956324283201 Centerline is valid? [True, True] Translation: X:231.91, Y:-130.07, Z:-31.57 [[ 7.29806341e-01 6.77234989e-01 9.34637590e-02 2.31914643e+02] [-6.71555111e-01 7.35765943e-01 -8.75340550e-02 -1.30067883e+02] [-1.28048576e-01 1.11684340e-03 9.91767269e-01 -3.15719888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters 0.028369240341235988 Centerline is valid? [True, True] Translation: X:231.95, Y:-130.12, Z:-31.58 [[ 7.29879577e-01 6.76953421e-01 9.49203305e-02 2.31953477e+02] [-6.71079975e-01 7.36024794e-01 -8.89897191e-02 -1.30116525e+02] [-1.30105611e-01 1.25264549e-03 9.91499350e-01 -3.15786907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters 0.02844994348041409 Centerline is valid? [True, True] Translation: X:232.00, Y:-130.16, Z:-31.59 [[ 7.30459065e-01 6.76443135e-01 9.40969706e-02 2.31996789e+02] [-6.70656908e-01 7.36493550e-01 -8.82981494e-02 -1.30162430e+02] [-1.29030489e-01 1.39140024e-03 9.91639651e-01 -3.15858868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters 0.02843460096177649 Centerline is valid? [True, True] Translation: X:232.04, Y:-130.21, Z:-31.59 [[ 7.29503775e-01 6.77507123e-01 9.38527626e-02 2.32036000e+02] [-6.71747927e-01 7.35515119e-01 -8.81602609e-02 -1.30212461e+02] [-1.28759331e-01 1.26784436e-03 9.91675061e-01 -3.15924401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters 0.02813446814563575 Centerline is valid? [True, True] Translation: X:232.08, Y:-130.26, Z:-31.60 [[ 7.28188972e-01 6.79100432e-01 9.25387688e-02 2.32078608e+02] [-6.73503638e-01 7.34044636e-01 -8.70133422e-02 -1.30257145e+02] [-1.27018385e-01 1.03695878e-03 9.91899821e-01 -3.15981639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters 0.02791860064444285 Centerline is valid? [True, True] Translation: X:232.12, Y:-130.30, Z:-31.60 [[ 7.26978532e-01 6.80540209e-01 9.14726039e-02 2.32119777e+02] [-6.75073693e-01 7.32710262e-01 -8.60882161e-02 -1.30303118e+02] [-1.25609408e-01 8.33536540e-04 9.92079423e-01 -3.16040494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters 0.028025475124454 Centerline is valid? [True, True] Translation: X:232.16, Y:-130.35, Z:-31.61 [[ 7.26966919e-01 6.80361586e-01 9.28827805e-02 2.32162376e+02] [-6.74712667e-01 7.32876001e-01 -8.74961912e-02 -1.30348204e+02] [-1.27600608e-01 9.37648003e-04 9.91825189e-01 -3.16119330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters 0.028044288842390772 Centerline is valid? [True, True] Translation: X:232.21, Y:-130.39, Z:-31.62 [[ 7.26814732e-01 6.80572431e-01 9.25284416e-02 2.32207650e+02] [-6.74957972e-01 7.32680183e-01 -8.72438279e-02 -1.30391617e+02] [-1.27169500e-01 9.57289997e-04 9.91880538e-01 -3.16179420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters 0.027914014423479405 Centerline is valid? [True, True] Translation: X:232.25, Y:-130.44, Z:-31.62 [[ 7.26890487e-01 6.80483262e-01 9.25891453e-02 2.32251083e+02] [-6.74848945e-01 7.32762885e-01 -8.73925364e-02 -1.30437676e+02] [-1.27315047e-01 1.04111633e-03 9.91861782e-01 -3.16236917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters 0.02781233970768201 Centerline is valid? [True, True] Translation: X:232.29, Y:-130.48, Z:-31.63 [[ 7.26642347e-01 6.80730986e-01 9.27158220e-02 2.32294886e+02] [-6.75071387e-01 7.32532720e-01 -8.76038595e-02 -1.30483272e+02] [-1.27552035e-01 1.06687552e-03 9.91831306e-01 -3.16305004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters 0.02770809200209241 Centerline is valid? [True, True] Translation: X:232.34, Y:-130.53, Z:-31.64 [[ 7.25427543e-01 6.82196589e-01 9.14477675e-02 2.32336547e+02] [-6.76691685e-01 7.31168290e-01 -8.64944818e-02 -1.30529577e+02] [-1.25869948e-01 8.63535613e-04 9.92046375e-01 -3.16371480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters 0.027604253452533548 Centerline is valid? [True, True] Translation: X:232.38, Y:-130.58, Z:-31.64 [[ 7.25561090e-01 6.82174674e-01 9.05473282e-02 2.32379467e+02] [-6.76767915e-01 7.31188671e-01 -8.57223204e-02 -1.30576167e+02] [-1.24684777e-01 9.17253717e-04 9.92195981e-01 -3.16427132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters 0.027497881598395515 Centerline is valid? [True, True] Translation: X:232.42, Y:-130.62, Z:-31.65 [[ 7.25158371e-01 6.82539074e-01 9.10260880e-02 2.32420758e+02] [-6.77065980e-01 7.30848516e-01 -8.62676421e-02 -1.30623330e+02] [-1.25407318e-01 9.27035439e-04 9.92104906e-01 -3.16503973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters 0.027307389260192574 Centerline is valid? [True, True] Translation: X:232.46, Y:-130.67, Z:-31.66 [[ 7.24523643e-01 6.83192025e-01 9.11819499e-02 2.32462908e+02] [-6.77693639e-01 7.30238234e-01 -8.65069535e-02 -1.30670193e+02] [-1.25685407e-01 8.82905623e-04 9.92069755e-01 -3.16552269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters 0.027368823344089185 Centerline is valid? [True, True] Translation: X:232.50, Y:-130.72, Z:-31.66 [[ 7.24326352e-01 6.83478524e-01 9.06004601e-02 2.32504814e+02] [-6.78041141e-01 7.29970073e-01 -8.60459405e-02 -1.30717691e+02] [-1.24946177e-01 8.94502801e-04 9.92163118e-01 -3.16622724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters 0.02744122319630875 Centerline is valid? [True, True] Translation: X:232.54, Y:-130.77, Z:-31.67 [[ 7.24757719e-01 6.82842972e-01 9.19332629e-02 2.32544129e+02] [-6.77226861e-01 7.30564367e-01 -8.74041481e-02 -1.30766505e+02] [-1.26846474e-01 1.08715599e-03 9.91921766e-01 -3.16691448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters 0.027604532426388488 Centerline is valid? [True, True] Translation: X:232.58, Y:-130.81, Z:-31.68 [[ 7.25944226e-01 6.81479708e-01 9.26843432e-02 2.32584723e+02] [-6.75749385e-01 7.31835675e-01 -8.82004156e-02 -1.30813467e+02] [-1.27936502e-01 1.39719454e-03 9.91781377e-01 -3.16756779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters 0.027347279796470034 Centerline is valid? [True, True] Translation: X:232.63, Y:-130.86, Z:-31.68 [[ 7.25305684e-01 6.82245488e-01 9.20475907e-02 2.32626375e+02] [-6.76589782e-01 7.31121994e-01 -8.76749457e-02 -1.30860129e+02] [-1.27113854e-01 1.31267706e-03 9.91887264e-01 -3.16816104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters 0.027164835719798865 Centerline is valid? [True, True] Translation: X:232.67, Y:-130.91, Z:-31.69 [[ 7.23506353e-01 6.84263858e-01 9.12224161e-02 2.32666079e+02] [-6.78715386e-01 7.29233814e-01 -8.69682078e-02 -1.30907859e+02] [-1.26031672e-01 1.00799356e-03 9.92025706e-01 -3.16878444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters 0.02689072502416713 Centerline is valid? [True, True] Translation: X:232.71, Y:-130.96, Z:-31.69 [[ 7.19288449e-01 6.88680183e-01 9.13440313e-02 2.32705516e+02] [-6.83141870e-01 7.25065182e-01 -8.71646021e-02 -1.30956380e+02] [-1.26258911e-01 2.95559098e-04 9.91997278e-01 -3.16936061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters 0.02668346948061064 Centerline is valid? [True, True] Translation: X:232.75, Y:-131.00, Z:-31.70 [[ 7.16436829e-01 6.91694982e-01 9.09742938e-02 2.32747389e+02] [-6.86215259e-01 7.22189741e-01 -8.68941744e-02 -1.31003389e+02] [-1.25804966e-01 -1.73761853e-04 9.92054978e-01 -3.16988696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters 0.026674850742094594 Centerline is valid? [True, True] Translation: X:232.79, Y:-131.05, Z:-31.71 [[ 7.13059771e-01 6.95219024e-01 9.06436460e-02 2.32788048e+02] [-6.89795570e-01 7.18797597e-01 -8.66722946e-02 -1.31051192e+02] [-1.25410663e-01 -7.23058860e-04 9.92104653e-01 -3.17069967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters 0.026707016400749184 Centerline is valid? [True, True] Translation: X:232.83, Y:-131.10, Z:-31.71 [[ 7.10724429e-01 6.97462464e-01 9.17436517e-02 2.32828858e+02] [-6.91912477e-01 7.16620527e-01 -8.78188130e-02 -1.31098569e+02] [-1.26995710e-01 -1.06360157e-03 9.91902696e-01 -3.17139470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters 0.0266452178490686 Centerline is valid? [True, True] Translation: X:232.87, Y:-131.14, Z:-31.72 [[ 7.09729445e-01 6.98335586e-01 9.27983007e-02 2.32869741e+02] [-6.92653128e-01 7.15769540e-01 -8.89134946e-02 -1.31144855e+02] [-1.28513654e-01 -1.17250814e-03 9.91707046e-01 -3.17195277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters 0.026405291782447146 Centerline is valid? [True, True] Translation: X:232.91, Y:-131.19, Z:-31.73 [[ 7.10084388e-01 6.98160069e-01 9.13929981e-02 2.32912210e+02] [-6.92637130e-01 7.15940910e-01 -8.76494119e-02 -1.31189508e+02] [-1.26625306e-01 -1.06370496e-03 9.91950049e-01 -3.17261821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters 0.026394010128289888 Centerline is valid? [True, True] Translation: X:232.95, Y:-131.24, Z:-31.74 [[ 7.09603012e-01 6.98526738e-01 9.23253037e-02 2.32954275e+02] [-6.92881889e-01 7.15583143e-01 -8.86309949e-02 -1.31235648e+02] [-1.27977551e-01 -1.07770993e-03 9.91776479e-01 -3.17351058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters 0.02645499872306704 Centerline is valid? [True, True] Translation: X:233.00, Y:-131.28, Z:-31.74 [[ 7.09017437e-01 6.99071546e-01 9.26997705e-02 2.32996492e+02] [-6.93372466e-01 7.15050867e-01 -8.90891760e-02 -1.31282127e+02] [-1.28564759e-01 -1.10968924e-03 9.91700495e-01 -3.17430335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters 0.026381791961000323 Centerline is valid? [True, True] Translation: X:233.04, Y:-131.33, Z:-31.75 [[ 7.07459043e-01 7.00492474e-01 9.38722297e-02 2.33039635e+02] [-6.94647237e-01 7.13658578e-01 -9.03141745e-02 -1.31326505e+02] [-1.30257122e-01 -1.31450554e-03 9.91479377e-01 -3.17511008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters 0.026357648415250765 Centerline is valid? [True, True] Translation: X:233.08, Y:-131.37, Z:-31.76 [[ 7.06778259e-01 7.01031881e-01 9.49673347e-02 2.33082075e+02] [-6.95042029e-01 7.13128623e-01 -9.14556998e-02 -1.31371737e+02] [-1.31837286e-01 -1.36738872e-03 9.91270427e-01 -3.17582127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters 0.026549304023281282 Centerline is valid? [True, True] Translation: X:233.13, Y:-131.41, Z:-31.77 [[ 7.07388546e-01 7.00227059e-01 9.63509789e-02 2.33127260e+02] [-6.94041030e-01 7.13919250e-01 -9.28781669e-02 -1.31413880e+02] [-1.33822624e-01 -1.17058122e-03 9.91004609e-01 -3.17658024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters 0.026480087644932673 Centerline is valid? [True, True] Translation: X:233.17, Y:-131.46, Z:-31.77 [[ 7.07731604e-01 6.99734531e-01 9.74041237e-02 2.33171816e+02] [-6.93394969e-01 7.14402224e-01 -9.39834047e-02 -1.31457005e+02] [-1.35349156e-01 -1.02450355e-03 9.90797435e-01 -3.17725840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters 0.02633149173607427 Centerline is valid? [True, True] Translation: X:233.22, Y:-131.50, Z:-31.78 [[ 7.09483203e-01 6.98010081e-01 9.70335604e-02 2.33217679e+02] [-6.91690695e-01 7.16087657e-01 -9.37147303e-02 -1.31498669e+02] [-1.34898361e-01 -6.28183856e-04 9.90859242e-01 -3.17798370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters 0.02643342106412501 Centerline is valid? [True, True] Translation: X:233.26, Y:-131.54, Z:-31.79 [[ 7.13053099e-01 6.94243147e-01 9.78863160e-02 2.33264161e+02] [-6.87763418e-01 7.19740529e-01 -9.46311349e-02 -1.31539909e+02] [-1.36149766e-01 1.54396816e-04 9.90688254e-01 -3.17888075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters 0.02656630896518428 Centerline is valid? [True, True] Translation: X:233.31, Y:-131.58, Z:-31.80 [[ 7.15029968e-01 6.92112579e-01 9.85511199e-02 2.33309252e+02] [-6.85509815e-01 7.21789284e-01 -9.53756941e-02 -1.31581541e+02] [-1.37143860e-01 6.38719504e-04 9.90550934e-01 -3.17968236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters 0.026529355112338213 Centerline is valid? [True, True] Translation: X:233.35, Y:-131.62, Z:-31.80 [[ 7.17562708e-01 6.89538173e-01 9.81879206e-02 2.33354054e+02] [-6.82947599e-01 7.24248357e-01 -9.51151637e-02 -1.31624690e+02] [-1.36697976e-01 1.19388981e-03 9.90612052e-01 -3.18049032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters 0.026578202929491514 Centerline is valid? [True, True] Translation: X:233.40, Y:-131.67, Z:-31.81 [[ 7.18811811e-01 6.88202967e-01 9.84187844e-02 2.33395769e+02] [-6.81555064e-01 7.25516612e-01 -9.54376299e-02 -1.31669651e+02] [-1.37084923e-01 1.52387467e-03 9.90558126e-01 -3.18129895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters 0.026667308781304157 Centerline is valid? [True, True] Translation: X:233.44, Y:-131.72, Z:-31.82 [[ 7.19734724e-01 6.87273608e-01 9.81677913e-02 2.33438092e+02] [-6.80638751e-01 7.26396505e-01 -9.52838289e-02 -1.31715988e+02] [-1.36794801e-01 1.76227739e-03 9.90597838e-01 -3.18190944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters 0.02712517637099156 Centerline is valid? [True, True] Translation: X:233.48, Y:-131.76, Z:-31.83 [[ 7.21712159e-01 6.85152133e-01 9.84789985e-02 2.33477999e+02] [-6.78441616e-01 7.28396539e-01 -9.56841445e-02 -1.31763118e+02] [-1.37289957e-01 2.24415967e-03 9.90528360e-01 -3.18274853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters 0.027510773636433047 Centerline is valid? [True, True] Translation: X:233.52, Y:-131.81, Z:-31.83 [[ 7.23405005e-01 6.83512282e-01 9.74482443e-02 2.33516388e+02] [-6.76915262e-01 7.29934405e-01 -9.47707398e-02 -1.31812911e+02] [-1.35907791e-01 2.59342361e-03 9.90718096e-01 -3.18345373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters 0.02762403259604472 Centerline is valid? [True, True] Translation: X:233.56, Y:-131.86, Z:-31.84 [[ 7.23199519e-01 6.83747993e-01 9.73197722e-02 2.33560091e+02] [-6.77157060e-01 7.29713524e-01 -9.47443355e-02 -1.31857544e+02] [-1.35796803e-01 2.61828713e-03 9.90733250e-01 -3.18417522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters 0.027401914757366468 Centerline is valid? [True, True] Translation: X:233.60, Y:-131.91, Z:-31.85 [[ 7.20465847e-01 6.86553956e-01 9.78398130e-02 2.33596224e+02] [-6.79904332e-01 7.27075611e-01 -9.53475559e-02 -1.31909283e+02] [-1.36598184e-01 2.17294495e-03 9.90624154e-01 -3.18487127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters 0.027327776766108834 Centerline is valid? [True, True] Translation: X:233.64, Y:-131.96, Z:-31.86 [[ 7.19233071e-01 6.87840196e-01 9.78757099e-02 2.33639113e+02] [-6.81185160e-01 7.25859411e-01 -9.54719533e-02 -1.31955357e+02] [-1.36713452e-01 1.99510509e-03 9.90608627e-01 -3.18568987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters 0.02758014231947229 Centerline is valid? [True, True] Translation: X:233.68, Y:-132.00, Z:-31.87 [[ 7.18793437e-01 6.88318191e-01 9.77448878e-02 2.33679404e+02] [-6.81671564e-01 7.25406208e-01 -9.54448123e-02 -1.32004058e+02] [-1.36601149e-01 1.97519409e-03 9.90624159e-01 -3.18652999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters 0.027441183900720808 Centerline is valid? [True, True] Translation: X:233.72, Y:-132.05, Z:-31.87 [[ 7.18449184e-01 6.88867473e-01 9.63969600e-02 2.33721163e+02] [-6.82395311e-01 7.24884771e-01 -9.42268987e-02 -1.32050089e+02] [-1.34786534e-01 1.91640502e-03 9.90872806e-01 -3.18722381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters 0.027506402065933903 Centerline is valid? [True, True] Translation: X:233.76, Y:-132.10, Z:-31.88 [[ 7.17262416e-01 6.90229258e-01 9.54892544e-02 2.33761717e+02] [-6.83878315e-01 7.23588720e-01 -9.34334762e-02 -1.32097251e+02] [-1.33585466e-01 1.71329042e-03 9.91035816e-01 -3.18787513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters 0.027530950145304704 Centerline is valid? [True, True] Translation: X:233.80, Y:-132.14, Z:-31.89 [[ 7.16788124e-01 6.90817548e-01 9.47939842e-02 2.33803340e+02] [-6.84551648e-01 7.23027217e-01 -9.28476425e-02 -1.32143403e+02] [-1.32679411e-01 1.66070945e-03 9.91157614e-01 -3.18853820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters 0.027572842341554073 Centerline is valid? [True, True] Translation: X:233.84, Y:-132.19, Z:-31.89 [[ 7.16980731e-01 6.90545916e-01 9.53151050e-02 2.33843803e+02] [-6.84195001e-01 7.23286338e-01 -9.34562723e-02 -1.32190978e+02] [-1.33475960e-01 1.79222812e-03 9.91050431e-01 -3.18920487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters 0.027949351089917265 Centerline is valid? [True, True] Translation: X:233.89, Y:-132.24, Z:-31.90 [[ 7.18767040e-01 6.88751086e-01 9.48466291e-02 2.33885881e+02] [-6.82434041e-01 7.24994592e-01 -9.30946856e-02 -1.32237214e+02] [-1.32882359e-01 2.18682320e-03 9.91129405e-01 -3.18984373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters 0.02843804983428238 Centerline is valid? [True, True] Translation: X:233.93, Y:-132.29, Z:-31.90 [[ 7.21943371e-01 6.85418587e-01 9.48637406e-02 2.33925452e+02] [-6.79057433e-01 7.28143600e-01 -9.32089063e-02 -1.32285823e+02] [-1.32961543e-01 2.87362387e-03 9.91117032e-01 -3.19049258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters 0.02854275714630987 Centerline is valid? [True, True] Translation: X:233.97, Y:-132.33, Z:-31.91 [[ 7.22913980e-01 6.84445446e-01 9.44976663e-02 2.33965670e+02] [-6.78112636e-01 7.29057445e-01 -9.29435026e-02 -1.32334027e+02] [-1.32508984e-01 3.11009575e-03 9.91176925e-01 -3.19108343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters 0.028727889340740196 Centerline is valid? [True, True] Translation: X:234.01, Y:-132.38, Z:-31.92 [[ 7.22476677e-01 6.84980737e-01 9.39619149e-02 2.34005867e+02] [-6.78711646e-01 7.28554732e-01 -9.25121869e-02 -1.32383058e+02] [-1.31825464e-01 3.06485144e-03 9.91268205e-01 -3.19177516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters 0.028413685487024942 Centerline is valid? [True, True] Translation: X:234.05, Y:-132.43, Z:-31.92 [[ 7.20254710e-01 6.87205546e-01 9.47717765e-02 2.34046265e+02] [-6.80833181e-01 7.26457811e-01 -9.34089372e-02 -1.32431535e+02] [-1.33038837e-01 2.75445698e-03 9.91106998e-01 -3.19233908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters 0.028387154867141995 Centerline is valid? [True, True] Translation: X:234.09, Y:-132.48, Z:-31.93 [[ 7.18443938e-01 6.88991002e-01 9.55494988e-02 2.34089217e+02] [-6.82515163e-01 7.24765519e-01 -9.42761589e-02 -1.32476654e+02] [-1.34206407e-01 2.51815311e-03 9.90950200e-01 -3.19318129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters 0.02834244771647667 Centerline is valid? [True, True] Translation: X:234.13, Y:-132.52, Z:-31.94 [[ 7.18049848e-01 6.89541289e-01 9.45369124e-02 2.34134141e+02] [-6.83194039e-01 7.24242191e-01 -9.33764171e-02 -1.32520599e+02] [-1.32854516e-01 2.46186706e-03 9.91132492e-01 -3.19395243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters 0.029104121317852987 Centerline is valid? [True, True] Translation: X:234.18, Y:-132.57, Z:-31.95 [[ 7.20328951e-01 6.87035859e-01 9.54354796e-02 2.34177931e+02] [-6.80531091e-01 7.26617205e-01 -9.43656261e-02 -1.32565439e+02] [-1.34177630e-01 3.02748141e-03 9.90952672e-01 -3.19469957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters 0.029674599111567654 Centerline is valid? [True, True] Translation: X:234.22, Y:-132.61, Z:-31.95 [[ 7.23570642e-01 6.83671178e-01 9.50749494e-02 2.34220885e+02] [-6.77173266e-01 7.29780749e-01 -9.41085925e-02 -1.32610674e+02] [-1.33723200e-01 3.71200075e-03 9.91011769e-01 -3.19541255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters 0.029469412067318287 Centerline is valid? [True, True] Translation: X:234.26, Y:-132.66, Z:-31.96 [[ 7.23798482e-01 6.83590056e-01 9.39169512e-02 2.34261279e+02] [-6.77236642e-01 7.29856533e-01 -9.30589689e-02 -1.32658604e+02] [-1.32160086e-01 3.75193973e-03 9.91221284e-01 -3.19611593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters 0.029415661621262315 Centerline is valid? [True, True] Translation: X:234.30, Y:-132.71, Z:-31.97 [[ 7.23066745e-01 6.84473722e-01 9.31139381e-02 2.34300973e+02] [-6.78223530e-01 7.29028495e-01 -9.23596063e-02 -1.32706760e+02] [-1.31100438e-01 3.63009610e-03 9.91362445e-01 -3.19686907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters 0.02915406726557332 Centerline is valid? [True, True] Translation: X:234.34, Y:-132.76, Z:-31.97 [[ 7.21567633e-01 6.86061498e-01 9.30579013e-02 2.34341148e+02] [-6.79818917e-01 7.27535551e-01 -9.24027159e-02 -1.32755929e+02] [-1.31096877e-01 3.41228727e-03 9.91363690e-01 -3.19749668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters 0.029066103811474012 Centerline is valid? [True, True] Translation: X:234.38, Y:-132.80, Z:-31.98 [[ 7.19811383e-01 6.87900000e-01 9.30868608e-02 2.34382907e+02] [-6.81654824e-01 7.25798616e-01 -9.25368582e-02 -1.32803687e+02] [-1.31218419e-01 3.15597610e-03 9.91348459e-01 -3.19839916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters 0.028608247549208692 Centerline is valid? [True, True] Translation: X:234.43, Y:-132.85, Z:-31.99 [[ 7.18485979e-01 6.89518418e-01 9.13359177e-02 2.34425203e+02] [-6.83506021e-01 7.24262406e-01 -9.09037244e-02 -1.32850972e+02] [-1.28830964e-01 2.88440170e-03 9.91662374e-01 -3.19902920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters 0.028197406855844043 Centerline is valid? [True, True] Translation: X:234.47, Y:-132.90, Z:-32.00 [[ 7.14819168e-01 6.93163415e-01 9.25096645e-02 2.34467525e+02] [-6.87010223e-01 7.20776668e-01 -9.21843210e-02 -1.32897723e+02] [-1.30577606e-01 2.34003441e-03 9.91435330e-01 -3.19968719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters 0.02805226307275696 Centerline is valid? [True, True] Translation: X:234.51, Y:-132.94, Z:-32.01 [[ 7.09808601e-01 6.98180450e-01 9.33585003e-02 2.34510390e+02] [-6.91940917e-01 7.15920219e-01 -9.31450877e-02 -1.32944409e+02] [-1.31869317e-01 1.51661807e-03 9.91265950e-01 -3.20052345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters 0.02762910464932728 Centerline is valid? [True, True] Translation: X:234.55, Y:-132.99, Z:-32.01 [[ 7.03385066e-01 7.04813814e-01 9.21245714e-02 2.34553553e+02] [-6.98780103e-01 7.09392248e-01 -9.20272044e-02 -1.32991630e+02] [-1.30214502e-01 3.55743779e-04 9.91485783e-01 -3.20121768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters 0.027600988214554367 Centerline is valid? [True, True] Translation: X:234.95, Y:-132.97, Z:-30.13 [[ 7.59924794e-01 -6.46856464e-01 -6.39610991e-02 2.34952749e+02] [-6.43536354e-01 -7.62558043e-01 6.60771737e-02 -1.32965020e+02] [-9.15164975e-02 -9.05239012e-03 -9.95762414e-01 -3.01285847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters 0.02823002208360544 Centerline is valid? [True, True] Translation: X:234.65, Y:-133.10, Z:-32.03 [[ 7.45310958e-01 6.59410208e-01 9.84365482e-02 2.34645354e+02] [-6.54040901e-01 7.51781230e-01 -8.39969208e-02 -1.33098934e+02] [-1.29391176e-01 -1.77770313e-03 9.91592035e-01 -3.20275600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters 0.02930443909268367 Centerline is valid? [True, True] Translation: X:234.70, Y:-133.14, Z:-32.03 [[ 7.38696451e-01 6.66617382e-01 9.97437660e-02 2.34695473e+02] [-6.61154919e-01 7.45394047e-01 -8.52167084e-02 -1.33137955e+02] [-1.31155348e-01 -2.99680150e-03 9.91357299e-01 -3.20336268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters 0.030351188563424693 Centerline is valid? [True, True] Translation: X:234.75, Y:-133.18, Z:-32.04 [[ 7.33964164e-01 6.71894931e-01 9.92663456e-02 2.34745664e+02] [-6.66519891e-01 7.40636490e-01 -8.49047959e-02 -1.33175688e+02] [-1.30567380e-01 -3.84591630e-03 9.91431979e-01 -3.20423717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters 0.030559976979187865 Centerline is valid? [True, True] Translation: X:234.80, Y:-133.21, Z:-32.05 [[ 7.32034402e-01 6.73871361e-01 1.00115050e-01 2.34796555e+02] [-6.68411992e-01 7.38836875e-01 -8.57057788e-02 -1.33213871e+02] [-1.31723360e-01 -4.17852140e-03 9.91277709e-01 -3.20482821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters 0.030512808987079244 Centerline is valid? [True, True] Translation: X:234.85, Y:-133.25, Z:-32.05 [[ 7.31250582e-01 6.74583941e-01 1.01040053e-01 2.34849119e+02] [-6.69016324e-01 7.38185776e-01 -8.65962932e-02 -1.33249302e+02] [-1.33002798e-01 -4.27385480e-03 9.91106447e-01 -3.20545226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters 0.030760053202118894 Centerline is valid? [True, True] Translation: X:234.90, Y:-133.29, Z:-32.06 [[ 7.30244584e-01 6.75862243e-01 9.97650977e-02 2.34900237e+02] [-6.70435177e-01 7.37014929e-01 -8.55901168e-02 -1.33285986e+02] [-1.31375495e-01 -4.38431163e-03 9.91322983e-01 -3.20620666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters 0.030575280007386928 Centerline is valid? [True, True] Translation: X:234.95, Y:-133.32, Z:-32.07 [[ 7.29580711e-01 6.76452267e-01 1.00619662e-01 2.34949322e+02] [-6.70925117e-01 7.36472951e-01 -8.64122742e-02 -1.33324735e+02] [-1.32557438e-01 -4.46352976e-03 9.91165275e-01 -3.20689059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters 0.031533109939420115 Centerline is valid? [True, True] Translation: X:235.00, Y:-133.36, Z:-32.08 [[ 7.26112939e-01 6.80180068e-01 1.00573729e-01 2.35001739e+02] [-6.74681533e-01 7.33027504e-01 -8.64610213e-02 -1.33360085e+02] [-1.32532373e-01 -5.07477104e-03 9.91165686e-01 -3.20756822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters 0.03203789493286949 Centerline is valid? [True, True] Translation: X:235.05, Y:-133.40, Z:-32.08 [[ 7.23592536e-01 6.82963677e-01 9.98722086e-02 2.35052897e+02] [-6.77556416e-01 7.30431787e-01 -8.59459583e-02 -1.33396099e+02] [-1.31647803e-01 -5.47920181e-03 9.91281410e-01 -3.20844076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters 0.032959362875401806 Centerline is valid? [True, True] Translation: X:235.11, Y:-133.43, Z:-32.09 [[ 7.18082592e-01 6.88447587e-01 1.01967206e-01 2.35108160e+02] [-6.82852518e-01 7.25256484e-01 -8.78377554e-02 -1.33428198e+02] [-1.34424068e-01 -6.55380033e-03 9.90902224e-01 -3.20895584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters 0.033274254331833356 Centerline is valid? [True, True] Translation: X:235.16, Y:-133.46, Z:-32.10 [[ 7.17197131e-01 6.89493137e-01 1.01131053e-01 2.35159029e+02] [-6.83988668e-01 7.24261860e-01 -8.72024060e-02 -1.33464951e+02] [-1.33370825e-01 -6.63117870e-03 9.91044021e-01 -3.20974323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters 0.03377472219393175 Centerline is valid? [True, True] Translation: X:235.21, Y:-133.50, Z:-32.11 [[ 7.15344003e-01 6.91200214e-01 1.02592502e-01 2.35210693e+02] [-6.85540116e-01 7.22629538e-01 -8.85511184e-02 -1.33500239e+02] [-1.35342924e-01 -6.98676392e-03 9.90774181e-01 -3.21060615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters 0.03380649133430079 Centerline is valid? [True, True] Translation: X:235.26, Y:-133.53, Z:-32.11 [[ 7.14098089e-01 6.92629240e-01 1.01629993e-01 2.35264360e+02] [-6.87078071e-01 7.21258591e-01 -8.78052970e-02 -1.33534004e+02] [-1.34118022e-01 -7.12614499e-03 9.90939743e-01 -3.21129574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters 0.03426956615424621 Centerline is valid? [True, True] Translation: X:235.31, Y:-133.57, Z:-32.12 [[ 7.13015447e-01 6.93724019e-01 1.01764222e-01 2.35314660e+02] [-6.88158598e-01 7.20204075e-01 -8.79990569e-02 -1.33570349e+02] [-1.34338067e-01 -7.28523740e-03 9.90908779e-01 -3.21206485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters 0.034364947884362985 Centerline is valid? [True, True] Translation: X:235.37, Y:-133.60, Z:-32.13 [[ 7.11312797e-01 6.95331023e-01 1.02707710e-01 2.35367669e+02] [-6.89670134e-01 7.18649242e-01 -8.88727932e-02 -1.33604488e+02] [-1.35606828e-01 -7.61808498e-03 9.90733442e-01 -3.21271000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters 0.03474104751414747 Centerline is valid? [True, True] Translation: X:235.42, Y:-133.64, Z:-32.14 [[ 7.11026270e-01 6.95553025e-01 1.03187365e-01 2.35420611e+02] [-6.89829350e-01 7.18434206e-01 -8.93742695e-02 -1.33638502e+02] [-1.36297876e-01 -7.63421926e-03 9.90638485e-01 -3.21356892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters 0.03364010185106494 Centerline is valid? [True, True] Translation: X:235.47, Y:-133.67, Z:-32.14 [[ 7.12193879e-01 6.94675249e-01 1.01025622e-01 2.35474191e+02] [-6.89169958e-01 7.19286994e-01 -8.75841782e-02 -1.33670885e+02] [-1.33508977e-01 -7.24690843e-03 9.91021107e-01 -3.21415604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters 0.03294837532029897 Centerline is valid? [True, True] Translation: X:235.53, Y:-133.71, Z:-32.15 [[ 7.14278854e-01 6.92477908e-01 1.01390654e-01 2.35526369e+02] [-6.86901314e-01 7.21406932e-01 -8.79694505e-02 -1.33705495e+02] [-1.34060822e-01 -6.81065507e-03 9.90949702e-01 -3.21487786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters 0.03240037511326688 Centerline is valid? [True, True] Translation: X:235.58, Y:-133.74, Z:-32.15 [[ 7.15611661e-01 6.91276086e-01 1.00186441e-01 2.35577463e+02] [-6.85813800e-01 7.22561754e-01 -8.69709379e-02 -1.33740558e+02] [-1.32511820e-01 -6.47182664e-03 9.91160296e-01 -3.21548616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters 0.032149019270924506 Centerline is valid? [True, True] Translation: X:235.63, Y:-133.78, Z:-32.16 [[ 7.15967679e-01 6.91013686e-01 9.94503289e-02 2.35626060e+02] [-6.85619200e-01 7.22814041e-01 -8.64070299e-02 -1.33778607e+02] [-1.31592534e-01 -6.32041420e-03 9.91283742e-01 -3.21629064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters 0.032281555003378176 Centerline is valid? [True, True] Translation: X:235.68, Y:-133.81, Z:-32.17 [[ 7.15798789e-01 6.90891387e-01 1.01494755e-01 2.35676944e+02] [-6.85260078e-01 7.22930482e-01 -8.82617933e-02 -1.33813782e+02] [-1.34352965e-01 -6.37261878e-03 9.90913049e-01 -3.21708286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters 0.03184888703266399 Centerline is valid? [True, True] Translation: X:235.73, Y:-133.85, Z:-32.18 [[ 7.17485591e-01 6.89270019e-01 1.00604512e-01 2.35726505e+02] [-6.83711324e-01 7.24480047e-01 -8.75641862e-02 -1.33850861e+02] [-1.33241330e-01 -5.95840220e-03 9.91065712e-01 -3.21774337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters 0.03121867674916544 Centerline is valid? [True, True] Translation: X:235.78, Y:-133.89, Z:-32.18 [[ 7.18329101e-01 6.88413377e-01 1.00450610e-01 2.35775101e+02] [-6.82853109e-01 7.25295900e-01 -8.75070761e-02 -1.33889076e+02] [-1.33097458e-01 -5.73413221e-03 9.91086367e-01 -3.21829759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters 0.031354235000321154 Centerline is valid? [True, True] Translation: X:235.82, Y:-133.93, Z:-32.19 [[ 7.18031623e-01 6.88785492e-01 1.00025671e-01 2.35824533e+02] [-6.83265402e-01 7.24942633e-01 -8.72156418e-02 -1.33928203e+02] [-1.32585742e-01 -5.72049143e-03 9.91155032e-01 -3.21907899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters 0.03225369878308655 Centerline is valid? [True, True] Translation: X:235.87, Y:-133.96, Z:-32.20 [[ 7.14579528e-01 6.92302150e-01 1.00468063e-01 2.35874799e+02] [-6.86755440e-01 7.21579924e-01 -8.76891036e-02 -1.33964896e+02] [-1.33203092e-01 -6.33615019e-03 9.91068509e-01 -3.21982963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters 0.033726413483230404 Centerline is valid? [True, True] Translation: X:235.92, Y:-134.00, Z:-32.20 [[ 7.08912475e-01 6.98160950e-01 1.00071925e-01 2.35923971e+02] [-6.92706113e-01 7.15903087e-01 -8.74128769e-02 -1.34001931e+02] [-1.32670057e-01 -7.35235492e-03 9.91132987e-01 -3.22035787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters 0.034801740057919694 Centerline is valid? [True, True] Translation: X:235.98, Y:-134.04, Z:-32.21 [[ 7.06462369e-01 7.00470839e-01 1.01249811e-01 2.35976045e+02] [-6.94903964e-01 7.13637871e-01 -8.84842922e-02 -1.34035209e+02] [-1.34236366e-01 -7.84807237e-03 9.90918264e-01 -3.22113991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters 0.033868774645029506 Centerline is valid? [True, True] Translation: X:236.03, Y:-134.07, Z:-32.22 [[ 7.08161090e-01 6.98876249e-01 1.00398500e-01 2.36028911e+02] [-6.93377590e-01 7.15204016e-01 -8.78107765e-02 -1.34067830e+02] [-1.33174276e-01 -7.42989441e-03 9.91064785e-01 -3.22184319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters 0.03346241774413916 Centerline is valid? [True, True] Translation: X:236.08, Y:-134.10, Z:-32.23 [[ 7.09875727e-01 6.97152938e-01 1.00270799e-01 2.36083454e+02] [-6.91641607e-01 7.16887822e-01 -8.77709439e-02 -1.34098759e+02] [-1.33072686e-01 -7.04499388e-03 9.91081242e-01 -3.22258556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters 0.03284950757978375 Centerline is valid? [True, True] Translation: X:236.14, Y:-134.13, Z:-32.23 [[ 7.11833232e-01 6.95030718e-01 1.01122457e-01 2.36136674e+02] [-6.89393525e-01 7.18949282e-01 -8.85917418e-02 -1.34131909e+02] [-1.34275900e-01 -6.65062097e-03 9.90921668e-01 -3.22324581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters 0.03189767711308592 Centerline is valid? [True, True] Translation: X:236.19, Y:-134.16, Z:-32.24 [[ 7.14385386e-01 6.92343485e-01 1.01557956e-01 2.36189645e+02] [-6.86621268e-01 7.21542107e-01 -8.90405638e-02 -1.34164760e+02] [-1.34924996e-01 -6.12257524e-03 9.90836899e-01 -3.22386734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters 0.03129056148864854 Centerline is valid? [True, True] Translation: X:236.24, Y:-134.20, Z:-32.25 [[ 7.16829151e-01 6.89818098e-01 1.01523196e-01 2.36240949e+02] [-6.84071007e-01 7.23960876e-01 -8.90365563e-02 -1.34198359e+02] [-1.34917850e-01 -5.62507587e-03 9.90840821e-01 -3.22452198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters 0.030385485123491932 Centerline is valid? [True, True] Translation: X:236.29, Y:-134.23, Z:-32.25 [[ 7.20557406e-01 6.85878629e-01 1.01821073e-01 2.36293937e+02] [-6.80049162e-01 7.27699786e-01 -8.93653076e-02 -1.34229852e+02] [-1.35388927e-01 -4.85050087e-03 9.90780657e-01 -3.22534999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters 0.02936766504406529 Centerline is valid? [True, True] Translation: X:236.35, Y:-134.26, Z:-32.26 [[ 7.26233065e-01 6.79997420e-01 1.00940791e-01 2.36347673e+02] [-6.74204607e-01 7.33205284e-01 -8.86462599e-02 -1.34261359e+02] [-1.34289549e-01 -3.67690113e-03 9.90935314e-01 -3.22602042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters 0.028831805418204084 Centerline is valid? [True, True] Translation: X:236.40, Y:-134.30, Z:-32.27 [[ 7.31406645e-01 6.74626001e-01 9.96196671e-02 2.36396594e+02] [-6.68931439e-01 7.38155012e-01 -8.75094710e-02 -1.34297958e+02] [-1.32570921e-01 -2.63371867e-03 9.91170023e-01 -3.22667477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters 0.028309431456512994 Centerline is valid? [True, True] Translation: X:236.45, Y:-134.33, Z:-32.27 [[ 7.38310204e-01 6.67095500e-01 9.94064179e-02 2.36446162e+02] [-6.61353441e-01 7.44971156e-01 -8.73475990e-02 -1.34334663e+02] [-1.32324104e-01 -1.25315276e-03 9.91205711e-01 -3.22739223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters 0.027823182700477074 Centerline is valid? [True, True] Translation: X:236.49, Y:-134.37, Z:-32.28 [[ 7.45275651e-01 6.59427333e-01 9.85890295e-02 2.36493896e+02] [-6.53702603e-01 7.51768291e-01 -8.67026147e-02 -1.34374609e+02] [-1.31290180e-01 1.69442401e-04 9.91343966e-01 -3.22818453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters 0.027980458285476448 Centerline is valid? [True, True] Translation: X:236.54, Y:-134.42, Z:-32.29 [[ 7.48007653e-01 6.56340965e-01 9.84941030e-02 2.36536205e+02] [-6.50595357e-01 7.54464040e-01 -8.66584856e-02 -1.34420859e+02] [-1.31187773e-01 7.41404284e-04 9.91357261e-01 -3.22879250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters 0.02779078372901071 Centerline is valid? [True, True] Translation: X:236.58, Y:-134.46, Z:-32.29 [[ 7.47888945e-01 6.56624605e-01 9.75000180e-02 2.36580967e+02] [-6.50985586e-01 7.54217184e-01 -8.58731963e-02 -1.34463704e+02] [-1.29922643e-01 7.52507792e-04 9.91523848e-01 -3.22944393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters 0.027745356673289794 Centerline is valid? [True, True] Translation: X:236.62, Y:-134.51, Z:-32.30 [[ 7.46213836e-01 6.58274939e-01 9.91918100e-02 2.36622027e+02] [-6.52441090e-01 7.52777401e-01 -8.74460323e-02 -1.34510420e+02] [-1.32232885e-01 5.36626631e-04 9.91218531e-01 -3.23013463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters 0.02788536429815683 Centerline is valid? [True, True] Translation: X:236.67, Y:-134.56, Z:-32.31 [[ 7.43748448e-01 6.60905342e-01 1.00211654e-01 2.36665707e+02] [-6.54962570e-01 7.50469260e-01 -8.84303190e-02 -1.34556027e+02] [-1.33649836e-01 1.35030262e-04 9.91028609e-01 -3.23077802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters 0.02771027175365218 Centerline is valid? [True, True] Translation: X:236.71, Y:-134.60, Z:-32.31 [[ 7.39771597e-01 6.65433668e-01 9.96795819e-02 2.36706597e+02] [-6.59582206e-01 7.46456741e-01 -8.80547979e-02 -1.34604159e+02] [-1.33001123e-01 -6.06440044e-04 9.91115701e-01 -3.23137565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters 0.027808614601958284 Centerline is valid? [True, True] Translation: X:236.75, Y:-134.65, Z:-32.32 [[ 7.38681788e-01 6.66775961e-01 9.87878196e-02 2.36750873e+02] [-6.61028983e-01 7.45257822e-01 -8.73582373e-02 -1.34647053e+02] [-1.31870768e-01 -7.71673072e-04 9.91266617e-01 -3.23190875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters 0.028022497891115876 Centerline is valid? [True, True] Translation: X:236.80, Y:-134.69, Z:-32.33 [[ 7.38031773e-01 6.67468096e-01 9.89719315e-02 2.36796631e+02] [-6.61694449e-01 7.44637930e-01 -8.76059900e-02 -1.34690402e+02] [-1.32172458e-01 -8.33173444e-04 9.91226385e-01 -3.23259606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters 0.028265751530706363 Centerline is valid? [True, True] Translation: X:236.84, Y:-134.73, Z:-32.33 [[ 7.37783117e-01 6.67593203e-01 9.99769381e-02 2.36840899e+02] [-6.61689585e-01 7.44525813e-01 -8.85901088e-02 -1.34733008e+02] [-1.33577566e-01 -7.93412103e-04 9.91038044e-01 -3.23329865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters 0.028252099766121246 Centerline is valid? [True, True] Translation: X:236.89, Y:-134.78, Z:-32.34 [[ 7.37185193e-01 6.68250597e-01 9.99956553e-02 2.36885158e+02] [-6.62339201e-01 7.43935764e-01 -8.86925126e-02 -1.34778145e+02] [-1.33659169e-01 -8.48235459e-04 9.91026996e-01 -3.23405418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters 0.028239397648175874 Centerline is valid? [True, True] Translation: X:236.93, Y:-134.82, Z:-32.35 [[ 7.34756920e-01 6.70957730e-01 9.97396277e-02 2.36929565e+02] [-6.65088651e-01 7.41494521e-01 -8.85604981e-02 -1.34823227e+02] [-1.33376738e-01 -1.26525558e-03 9.91064602e-01 -3.23458770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters 0.028360164225432943 Centerline is valid? [True, True] Translation: X:236.97, Y:-134.87, Z:-32.35 [[ 7.33118498e-01 6.73089952e-01 9.74021793e-02 2.36972062e+02] [-6.67501832e-01 7.39558994e-01 -8.65667268e-02 -1.34869373e+02] [-1.30301852e-01 -1.55246448e-03 9.91473155e-01 -3.23516475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters 0.02857645540823236 Centerline is valid? [True, True] Translation: X:237.02, Y:-134.91, Z:-32.36 [[ 7.31859955e-01 6.74154807e-01 9.94801576e-02 2.37015899e+02] [-6.68329104e-01 7.38588000e-01 -8.84532409e-02 -1.34913534e+02] [-1.33106028e-01 -1.75009966e-03 9.91100259e-01 -3.23583604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters 0.028696817767376852 Centerline is valid? [True, True] Translation: X:237.06, Y:-134.96, Z:-32.37 [[ 7.30112143e-01 6.75942595e-01 1.00189160e-01 2.37059047e+02] [-6.70038318e-01 7.36951491e-01 -8.91692389e-02 -1.34958461e+02] [-1.34107838e-01 -2.02703234e-03 9.90964671e-01 -3.23662451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters 0.029208339397968557 Centerline is valid? [True, True] Translation: X:237.10, Y:-135.00, Z:-32.37 [[ 7.25700669e-01 6.80757576e-01 9.96376516e-02 2.37102135e+02] [-6.74952008e-01 7.32503297e-01 -8.87620760e-02 -1.35002924e+02] [-1.33410364e-01 -2.83593509e-03 9.91056826e-01 -3.23720522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters 0.03003409754618256 Centerline is valid? [True, True] Translation: X:237.15, Y:-135.05, Z:-32.38 [[ 7.19865003e-01 6.87200362e-01 9.77243059e-02 2.37147675e+02] [-6.81664543e-01 7.26457531e-01 -8.71372814e-02 -1.35045500e+02] [-1.30873329e-01 -3.88811508e-03 9.91391474e-01 -3.23773874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters 0.03109175918368874 Centerline is valid? [True, True] Translation: X:237.19, Y:-135.09, Z:-32.38 [[ 7.15612355e-01 6.91634372e-01 9.76772932e-02 2.37194275e+02] [-6.86135223e-01 7.22232891e-01 -8.71671252e-02 -1.35086605e+02] [-1.30833534e-01 -4.64195961e-03 9.91393483e-01 -3.23841045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters 0.031465519943316964 Centerline is valid? [True, True] Translation: X:237.24, Y:-135.12, Z:-32.39 [[ 7.13080337e-01 6.94341880e-01 9.69834379e-02 2.37243688e+02] [-6.88937027e-01 7.19627558e-01 -8.66138007e-02 -1.35123609e+02] [-1.29931544e-01 -5.05288323e-03 9.91510092e-01 -3.23902979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters 0.031768453260434024 Centerline is valid? [True, True] Translation: X:237.29, Y:-135.16, Z:-32.40 [[ 7.11559807e-01 6.95990538e-01 9.63317879e-02 2.37293917e+02] [-6.90663915e-01 7.18031653e-01 -8.61040239e-02 -1.35159292e+02] [-1.29096859e-01 -5.26472709e-03 9.91618013e-01 -3.23977221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters 0.03197967096613155 Centerline is valid? [True, True] Translation: X:237.34, Y:-135.19, Z:-32.41 [[ 7.10586576e-01 6.96747185e-01 9.80310063e-02 2.37344722e+02] [-6.91227442e-01 7.17296113e-01 -8.76978299e-02 -1.35194218e+02] [-1.31420476e-01 -5.44482107e-03 9.91311764e-01 -3.24056367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters 0.03162354422346055 Centerline is valid? [True, True] Translation: X:237.39, Y:-135.23, Z:-32.41 [[ 7.11053521e-01 6.96338225e-01 9.75498134e-02 2.37394672e+02] [-6.90859170e-01 7.17694297e-01 -8.73412992e-02 -1.35230648e+02] [-1.30830030e-01 -5.28884483e-03 9.91390706e-01 -3.24111470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters 0.031277860918456524 Centerline is valid? [True, True] Translation: X:237.45, Y:-135.26, Z:-32.42 [[ 7.12398677e-01 6.95144314e-01 9.62419230e-02 2.37448336e+02] [-6.89790831e-01 7.18853211e-01 -8.62477254e-02 -1.35263890e+02] [-1.29138431e-01 -4.94403058e-03 9.91614251e-01 -3.24177139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters 0.03104657935156097 Centerline is valid? [True, True] Translation: X:237.50, Y:-135.30, Z:-32.43 [[ 7.13280372e-01 6.94205881e-01 9.64847428e-02 2.37498398e+02] [-6.88806355e-01 7.19760956e-01 -8.65446198e-02 -1.35301100e+02] [-1.29525735e-01 -4.72872546e-03 9.91564785e-01 -3.24254780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters 0.029895176134995642 Centerline is valid? [True, True] Translation: X:237.55, Y:-135.34, Z:-32.43 [[ 7.18705326e-01 6.88629780e-01 9.61856569e-02 2.37548753e+02] [-6.83204698e-01 7.25103892e-01 -8.63463172e-02 -1.35336793e+02] [-1.29205240e-01 -3.65693463e-03 9.91611130e-01 -3.24314259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters 0.029431246523211645 Centerline is valid? [True, True] Translation: X:237.60, Y:-135.38, Z:-32.44 [[ 7.21935038e-01 6.84995021e-01 9.79368257e-02 2.37595906e+02] [-6.79332589e-01 7.28541407e-01 -8.79468718e-02 -1.35377098e+02] [-1.31594202e-01 -3.03974912e-03 9.91299009e-01 -3.24385269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters 0.029084582747034217 Centerline is valid? [True, True] Translation: X:237.64, Y:-135.42, Z:-32.44 [[ 7.23690480e-01 6.83204232e-01 9.74888001e-02 2.37642845e+02] [-6.77566545e-01 7.30222574e-01 -8.76274494e-02 -1.35417971e+02] [-1.31055967e-01 -2.63999847e-03 9.91371456e-01 -3.24449591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters 0.02899755968485966 Centerline is valid? [True, True] Translation: X:237.69, Y:-135.46, Z:-32.45 [[ 7.24380507e-01 6.82632572e-01 9.63620906e-02 2.37687588e+02] [-6.77110303e-01 7.30757660e-01 -8.66884107e-02 -1.35461354e+02] [-1.29593669e-01 -2.45236949e-03 9.91564152e-01 -3.24523660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters 0.029313871168887885 Centerline is valid? [True, True] Translation: X:237.73, Y:-135.50, Z:-32.46 [[ 7.21150326e-01 6.85955330e-01 9.69922268e-02 2.37732776e+02] [-6.80385067e-01 7.27637300e-01 -8.72933034e-02 -1.35503504e+02] [-1.30454469e-01 -3.04046852e-03 9.91449639e-01 -3.24583414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters 0.029525566536051123 Centerline is valid? [True, True] Translation: X:237.78, Y:-135.55, Z:-32.47 [[ 7.18945071e-01 6.88232309e-01 9.72330883e-02 2.37777194e+02] [-6.82643911e-01 7.25482407e-01 -8.75932002e-02 -1.35546477e+02] [-1.30825365e-01 -3.40087612e-03 9.91399595e-01 -3.24660406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters 0.029998327403039527 Centerline is valid? [True, True] Translation: X:237.82, Y:-135.59, Z:-32.47 [[ 7.15966424e-01 6.91329361e-01 9.72409059e-02 2.37824705e+02] [-6.85757471e-01 7.22529209e-01 -8.76825701e-02 -1.35586163e+02] [-1.30876930e-01 -3.90590160e-03 9.91390929e-01 -3.24741839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters 0.030087316716276014 Centerline is valid? [True, True] Translation: X:237.87, Y:-135.63, Z:-32.48 [[ 7.13402624e-01 6.93813994e-01 9.83810848e-02 2.37872188e+02] [-6.88122336e-01 7.20141098e-01 -8.87944188e-02 -1.35626562e+02] [-1.32455073e-01 -4.35205054e-03 9.91179456e-01 -3.24797154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters 0.030514445182368833 Centerline is valid? [True, True] Translation: X:237.92, Y:-135.66, Z:-32.49 [[ 7.11124145e-01 6.96090662e-01 9.87939283e-02 2.37920309e+02] [-6.90362475e-01 7.17938240e-01 -8.92431332e-02 -1.35664759e+02] [-1.33049251e-01 -4.74067398e-03 9.91098089e-01 -3.24874598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters 0.03058335901144574 Centerline is valid? [True, True] Translation: X:237.97, Y:-135.70, Z:-32.49 [[ 7.10096639e-01 6.97031905e-01 9.95453963e-02 2.37969128e+02] [-6.91218195e-01 7.17023244e-01 -8.99726311e-02 -1.35703185e+02] [-1.34090157e-01 -4.91832614e-03 9.90956931e-01 -3.24938370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters 0.030917737702348538 Centerline is valid? [True, True] Translation: X:238.02, Y:-135.74, Z:-32.50 [[ 7.09934409e-01 6.97271455e-01 9.90234945e-02 2.38016926e+02] [-6.91510056e-01 7.16790574e-01 -8.95830083e-02 -1.35743092e+02] [-1.33442782e-01 -4.87768215e-03 9.91044516e-01 -3.25008441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters 0.03078907253634557 Centerline is valid? [True, True] Translation: X:238.07, Y:-135.78, Z:-32.51 [[ 7.08662585e-01 6.98301858e-01 1.00855619e-01 2.38067871e+02] [-6.92323130e-01 7.15785193e-01 -9.13249211e-02 -1.35778374e+02] [-1.35963321e-01 -5.10612289e-03 9.90700713e-01 -3.25064175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters 0.03021698407153439 Centerline is valid? [True, True] Translation: X:238.12, Y:-135.81, Z:-32.51 [[ 7.10694300e-01 6.96419212e-01 9.95685313e-02 2.38119427e+02] [-6.90564830e-01 7.17620246e-01 -9.02296950e-02 -1.35813957e+02] [-1.34290087e-01 -4.63279590e-03 9.90931234e-01 -3.25142231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters 0.029736904653845573 Centerline is valid? [True, True] Translation: X:238.17, Y:-135.85, Z:-32.52 [[ 7.13935112e-01 6.93034455e-01 9.99994992e-02 2.38170000e+02] [-6.87088715e-01 7.20893511e-01 -9.06732831e-02 -1.35850510e+02] [-1.34928699e-01 -3.97368687e-03 9.90847342e-01 -3.25214727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters 0.02886326788086865 Centerline is valid? [True, True] Translation: X:238.22, Y:-135.89, Z:-32.53 [[ 7.19522170e-01 6.87116700e-01 1.00789325e-01 2.38218782e+02] [-6.81008191e-01 7.26541556e-01 -9.14615252e-02 -1.35886623e+02] [-1.36072375e-01 -2.82976108e-03 9.90694858e-01 -3.25304520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters 0.02824758477193866 Centerline is valid? [True, True] Translation: X:238.26, Y:-135.93, Z:-32.54 [[ 7.26543111e-01 6.79787095e-01 1.00122990e-01 2.38263855e+02] [-6.73687859e-01 7.33408110e-01 -9.08692059e-02 -1.35927465e+02] [-1.35202726e-01 -1.43124722e-03 9.90816923e-01 -3.25380072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters 0.028362670408886934 Centerline is valid? [True, True] Translation: X:238.31, Y:-135.97, Z:-32.55 [[ 7.30394065e-01 6.75627895e-01 1.00256961e-01 2.38307447e+02] [-6.69469511e-01 7.37242522e-01 -9.10166891e-02 -1.35970772e+02] [-1.35407109e-01 -6.40928846e-04 9.90789839e-01 -3.25463243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters 0.02794342046792373 Centerline is valid? [True, True] Translation: X:238.35, Y:-136.02, Z:-32.55 [[ 7.31987720e-01 6.74161835e-01 9.84875487e-02 2.38350921e+02] [-6.68196801e-01 7.38583594e-01 -8.94835792e-02 -1.36015710e+02] [-1.33067702e-01 -3.08183799e-04 9.91106902e-01 -3.25525547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters 0.028084851135774382 Centerline is valid? [True, True] Translation: X:238.39, Y:-136.06, Z:-32.56 [[ 7.31671021e-01 6.74456591e-01 9.88221810e-02 2.38393743e+02] [-6.68447830e-01 7.38314429e-01 -8.98292958e-02 -1.36062161e+02] [-1.33547803e-01 -3.31979801e-04 9.91042317e-01 -3.25589042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters 0.028058297288129624 Centerline is valid? [True, True] Translation: X:238.44, Y:-136.11, Z:-32.57 [[ 7.31310545e-01 6.74863835e-01 9.87101384e-02 2.38436106e+02] [-6.68859516e-01 7.37942201e-01 -8.98234686e-02 -1.36109225e+02] [-1.33460987e-01 -3.34365633e-04 9.91054011e-01 -3.25659749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters 0.028132188237872252 Centerline is valid? [True, True] Translation: X:238.48, Y:-136.15, Z:-32.57 [[ 7.30240859e-01 6.76000181e-01 9.88536509e-02 2.38481330e+02] [-6.69975607e-01 7.36901306e-01 -9.00508312e-02 -1.36153439e+02] [-1.33719763e-01 -4.70738438e-04 9.91019073e-01 -3.25720635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters 0.02800531703607451 Centerline is valid? [True, True] Translation: X:238.53, Y:-136.20, Z:-32.58 [[ 7.28445005e-01 6.77943960e-01 9.87920089e-02 2.38526368e+02] [-6.71931625e-01 7.35113200e-01 -9.00914742e-02 -1.36197406e+02] [-1.33700281e-01 -7.54790721e-04 9.91021526e-01 -3.25778864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters 0.02790949281828819 Centerline is valid? [True, True] Translation: X:238.57, Y:-136.24, Z:-32.58 [[ 7.27827288e-01 6.78720965e-01 9.80065783e-02 2.38569616e+02] [-6.72798740e-01 7.34395791e-01 -8.94688645e-02 -1.36241983e+02] [-1.32700013e-01 -8.20821396e-04 9.91155907e-01 -3.25848198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters 0.02801711354720138 Centerline is valid? [True, True] Translation: X:238.62, Y:-136.28, Z:-32.59 [[ 7.27072438e-01 6.79588336e-01 9.75979723e-02 2.38615807e+02] [-6.73711858e-01 7.33593119e-01 -8.91822159e-02 -1.36284851e+02] [-1.32204395e-01 -9.10980116e-04 9.91222058e-01 -3.25917539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters 0.027988889936163264 Centerline is valid? [True, True] Translation: X:238.66, Y:-136.33, Z:-32.60 [[ 7.24734168e-01 6.82134268e-01 9.72276983e-02 2.38661601e+02] [-6.76312566e-01 7.31225787e-01 -8.89390851e-02 -1.36327333e+02] [-1.31763798e-01 -1.29912031e-03 9.91280290e-01 -3.25987056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters 0.027982473285565832 Centerline is valid? [True, True] Translation: X:238.71, Y:-136.37, Z:-32.61 [[ 7.24721347e-01 6.82174399e-01 9.70415268e-02 2.38708268e+02] [-6.76362772e-01 7.31188462e-01 -8.88641286e-02 -1.36369613e+02] [-1.31576478e-01 -1.23354499e-03 9.91305255e-01 -3.26055646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters 0.027849741808612105 Centerline is valid? [True, True] Translation: X:238.75, Y:-136.41, Z:-32.61 [[ 7.26269877e-01 6.80518344e-01 9.70919567e-02 2.38754131e+02] [-6.74674470e-01 7.32730527e-01 -8.89962612e-02 -1.36411762e+02] [-1.31705829e-01 -8.70160621e-04 9.91288463e-01 -3.26124146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters 0.027657428857433393 Centerline is valid? [True, True] Translation: X:238.80, Y:-136.45, Z:-32.62 [[ 7.26349583e-01 6.80420983e-01 9.71780222e-02 2.38802392e+02] [-6.74560389e-01 7.32820993e-01 -8.91160659e-02 -1.36452420e+02] [-1.31850536e-01 -8.23027121e-04 9.91269267e-01 -3.26186160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters 0.027341025035442928 Centerline is valid? [True, True] Translation: X:238.85, Y:-136.49, Z:-32.63 [[ 7.28452095e-01 6.78242998e-01 9.66642741e-02 2.38848786e+02] [-6.72412925e-01 7.34837607e-01 -8.87386560e-02 -1.36492963e+02] [-1.31218916e-01 -3.56447483e-04 9.91353352e-01 -3.26259397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters 0.027154584792640518 Centerline is valid? [True, True] Translation: X:238.90, Y:-136.53, Z:-32.63 [[ 7.30963090e-01 6.75575050e-01 9.63914532e-02 2.38896837e+02] [-6.69743573e-01 7.37291202e-01 -8.85733055e-02 -1.36533913e+02] [-1.30906486e-01 1.86260815e-04 9.91394703e-01 -3.26324081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters 0.02734657505607973 Centerline is valid? [True, True] Translation: X:238.94, Y:-136.58, Z:-32.64 [[ 7.32695845e-01 6.73394984e-01 9.84682419e-02 2.38942015e+02] [-6.67275641e-01 7.39282597e-01 -9.05784724e-02 -1.36576427e+02] [-1.33790947e-01 6.61011078e-04 9.91009357e-01 -3.26405610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters 0.027149612742788213 Centerline is valid? [True, True] Translation: X:238.98, Y:-136.62, Z:-32.65 [[ 7.33055608e-01 6.72993696e-01 9.85340583e-02 2.38984377e+02] [-6.66850761e-01 7.39647785e-01 -9.07260550e-02 -1.36622371e+02] [-1.33938561e-01 7.99731663e-04 9.90989315e-01 -3.26479886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters 0.026876821600806525 Centerline is valid? [True, True] Translation: X:239.02, Y:-136.67, Z:-32.65 [[ 7.29386512e-01 6.77163927e-01 9.71819569e-02 2.39023512e+02] [-6.71213535e-01 7.35832186e-01 -8.95733470e-02 -1.36670706e+02] [-1.32165451e-01 1.03746285e-04 9.91227664e-01 -3.26538432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters 0.026880275602895982 Centerline is valid? [True, True] Translation: X:239.06, Y:-136.72, Z:-32.66 [[ 7.24777420e-01 6.81975685e-01 9.80145693e-02 2.39063949e+02] [-6.75954700e-01 7.31374495e-01 -9.04245066e-02 -1.36717459e+02] [-1.33352671e-01 -7.15768121e-04 9.91068390e-01 -3.26595379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters 0.026865332243678347 Centerline is valid? [True, True] Translation: X:239.11, Y:-136.76, Z:-32.67 [[ 7.20611348e-01 6.86648493e-01 9.60891935e-02 2.39106672e+02] [-6.80893446e-01 7.26988054e-01 -8.87270178e-02 -1.36763794e+02] [-1.30779969e-01 -1.48880624e-03 9.91410300e-01 -3.26659758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters 0.027011130789600758 Centerline is valid? [True, True] Translation: X:239.15, Y:-136.81, Z:-32.67 [[ 7.17538857e-01 6.89862591e-01 9.60603648e-02 2.39151749e+02] [-6.84127182e-01 7.23937559e-01 -8.87942046e-02 -1.36805940e+02] [-1.30797506e-01 -2.00421455e-03 9.91407079e-01 -3.26722145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters 0.027343264268624674 Centerline is valid? [True, True] Translation: X:239.20, Y:-136.85, Z:-32.68 [[ 7.12721126e-01 6.95111461e-01 9.40672841e-02 2.39199034e+02] [-6.89647272e-01 7.18896358e-01 -8.70325614e-02 -1.36846111e+02] [-1.28121959e-01 -2.84330069e-03 9.91754344e-01 -3.26786900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters 0.027737710883853742 Centerline is valid? [True, True] Translation: X:239.25, Y:-136.89, Z:-32.69 [[ 7.09833380e-01 6.97878574e-01 9.54047659e-02 2.39246630e+02] [-6.92270941e-01 7.16208360e-01 -8.83545661e-02 -1.36885321e+02] [-1.29990450e-01 -3.32892679e-03 9.91509658e-01 -3.26850615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters 0.027738615439833227 Centerline is valid? [True, True] Translation: X:239.30, Y:-136.92, Z:-32.69 [[ 7.09683252e-01 6.98059164e-01 9.52002354e-02 2.39295412e+02] [-6.92466151e-01 7.16032511e-01 -8.82500620e-02 -1.36924416e+02] [-1.29770228e-01 -3.29334953e-03 9.91538623e-01 -3.26928341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters 0.027644880009365966 Centerline is valid? [True, True] Translation: X:239.34, Y:-136.96, Z:-32.70 [[ 7.10342531e-01 6.97432680e-01 9.48743670e-02 2.39343259e+02] [-6.91861129e-01 7.16643577e-01 -8.80349983e-02 -1.36964406e+02] [-1.29389591e-01 -3.10488316e-03 9.91588974e-01 -3.26999923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters 0.027974705133520673 Centerline is valid? [True, True] Translation: X:239.39, Y:-137.01, Z:-32.71 [[ 7.08785626e-01 6.98796965e-01 9.64662513e-02 2.39389967e+02] [-6.93041621e-01 7.15312118e-01 -8.95649752e-02 -1.37005138e+02] [-1.31591211e-01 -3.37276018e-03 9.91298329e-01 -3.27058559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters 0.027901372284804004 Centerline is valid? [True, True] Translation: X:239.44, Y:-137.05, Z:-32.71 [[ 7.08123097e-01 6.99573102e-01 9.57034735e-02 2.39437116e+02] [-6.93904650e-01 7.14552817e-01 -8.89416009e-02 -1.37046301e+02] [-1.30606338e-01 -3.42748344e-03 9.91428382e-01 -3.27132864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters 0.027963599915065376 Centerline is valid? [True, True] Translation: X:239.48, Y:-137.09, Z:-32.72 [[ 7.07158542e-01 7.00641434e-01 9.50177745e-02 2.39483694e+02] [-6.95051467e-01 7.13504813e-01 -8.83987516e-02 -1.37088860e+02] [-1.29731468e-01 -3.53031129e-03 9.91542880e-01 -3.27198924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters 0.02824514088423624 Centerline is valid? [True, True] Translation: X:239.53, Y:-137.13, Z:-32.73 [[ 7.06520282e-01 7.01099849e-01 9.63747534e-02 2.39530654e+02] [-6.95339915e-01 7.13054034e-01 -8.97571553e-02 -1.37129600e+02] [-1.31649135e-01 -3.59796215e-03 9.91289847e-01 -3.27272456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters 0.02779470853453674 Centerline is valid? [True, True] Translation: X:239.58, Y:-137.17, Z:-32.73 [[ 7.08364326e-01 6.99504215e-01 9.44131061e-02 2.39578948e+02] [-6.93952579e-01 7.14621424e-01 -8.80115856e-02 -1.37168239e+02] [-1.29034103e-01 -3.17395086e-03 9.91635077e-01 -3.27330879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters 0.027667883811512226 Centerline is valid? [True, True] Translation: X:239.63, Y:-137.21, Z:-32.74 [[ 7.10387090e-01 6.97465964e-01 9.42942816e-02 2.39626520e+02] [-6.91899676e-01 7.16612673e-01 -8.79836150e-02 -1.37207300e+02] [-1.28938054e-01 -2.73975861e-03 9.91648865e-01 -3.27397451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters 0.027190706989653764 Centerline is valid? [True, True] Translation: X:239.67, Y:-137.25, Z:-32.75 [[ 7.13652411e-01 6.94251957e-01 9.33512577e-02 2.39673294e+02] [-6.88758858e-01 7.19729053e-01 -8.71855813e-02 -1.37247989e+02] [-1.27716373e-01 -2.07630547e-03 9.91808559e-01 -3.27465568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters 0.02688286787188502 Centerline is valid? [True, True] Translation: X:239.72, Y:-137.29, Z:-32.75 [[ 7.16840295e-01 6.91042836e-01 9.27350555e-02 2.39722113e+02] [-6.85585058e-01 7.22812385e-01 -8.66913233e-02 -1.37286144e+02] [-1.26937464e-01 -1.43393460e-03 9.91909685e-01 -3.27529359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters 0.0268239800115061 Centerline is valid? [True, True] Translation: X:239.77, Y:-137.33, Z:-32.76 [[ 7.21044031e-01 6.86734523e-01 9.21477086e-02 2.39767567e+02] [-6.81300342e-01 7.26908057e-01 -8.62236631e-02 -1.37328404e+02] [-1.26195678e-01 -6.09207779e-04 9.92005181e-01 -3.27596457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters 0.026775401050997634 Centerline is valid? [True, True] Translation: X:239.81, Y:-137.37, Z:-32.77 [[ 7.24163160e-01 6.83429018e-01 9.22631769e-02 2.39813215e+02] [-6.77943608e-01 7.30016970e-01 -8.64157915e-02 -1.37371777e+02] [-1.26412744e-01 2.99016481e-05 9.91977730e-01 -3.27664255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters 0.026881564834564543 Centerline is valid? [True, True] Translation: X:239.86, Y:-137.42, Z:-32.77 [[ 7.25430628e-01 6.81986178e-01 9.29798714e-02 2.39857486e+02] [-6.76390833e-01 7.31364976e-01 -8.71820688e-02 -1.37416362e+02] [-1.27459187e-01 3.53810260e-04 9.91843753e-01 -3.27724206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters 0.026916418418976153 Centerline is valid? [True, True] Translation: X:239.90, Y:-137.46, Z:-32.78 [[ 7.26191683e-01 6.81102827e-01 9.35124494e-02 2.39898909e+02] [-6.75423509e-01 7.32187545e-01 -8.77751821e-02 -1.37463113e+02] [-1.28252575e-01 5.81100573e-04 9.91741367e-01 -3.27791380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters 0.02687654418038069 Centerline is valid? [True, True] Translation: X:239.94, Y:-137.51, Z:-32.79 [[ 7.25207368e-01 6.82115932e-01 9.37663569e-02 2.39940507e+02] [-6.76402520e-01 7.31243896e-01 -8.81021853e-02 -1.37510653e+02] [-1.28661980e-01 4.68553836e-04 9.91688396e-01 -3.27859028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters 0.02691050087534112 Centerline is valid? [True, True] Translation: X:239.98, Y:-137.56, Z:-32.79 [[ 7.22365241e-01 6.85302415e-01 9.24611170e-02 2.39978916e+02] [-6.79762008e-01 7.28258607e-01 -8.69655939e-02 -1.37559273e+02] [-1.26933336e-01 -3.06323344e-05 9.91911250e-01 -3.27939465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters 0.026883364347993637 Centerline is valid? [True, True] Translation: X:240.02, Y:-137.61, Z:-32.80 [[ 7.20354704e-01 6.87362530e-01 9.28539347e-02 2.40019697e+02] [-6.81780998e-01 7.26314423e-01 -8.74187033e-02 -1.37607114e+02] [-1.27529493e-01 -3.33574148e-04 9.91834723e-01 -3.28003206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters 0.027057747350434556 Centerline is valid? [True, True] Translation: X:240.06, Y:-137.65, Z:-32.81 [[ 7.16746647e-01 6.91217705e-01 9.21538345e-02 2.40061139e+02] [-6.85740019e-01 7.22645970e-01 -8.68529125e-02 -1.37654162e+02] [-1.26628868e-01 -9.42038418e-04 9.91949718e-01 -3.28076243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters 0.027308043730006937 Centerline is valid? [True, True] Translation: X:240.10, Y:-137.70, Z:-32.81 [[ 7.12466354e-01 6.95602590e-01 9.23511349e-02 2.40104319e+02] [-6.90125964e-01 7.18424871e-01 -8.71312718e-02 -1.37698853e+02] [-1.26956091e-01 -1.65581646e-03 9.91906956e-01 -3.28145981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters 0.027559556164050387 Centerline is valid? [True, True] Translation: X:240.15, Y:-137.74, Z:-32.82 [[ 7.09148521e-01 6.99116725e-01 9.13464844e-02 2.40146651e+02] [-6.93777808e-01 7.15004170e-01 -8.62634961e-02 -1.37743751e+02] [-1.25621370e-01 -2.20053298e-03 9.92075818e-01 -3.28208342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters 0.028333247528442667 Centerline is valid? [True, True] Translation: X:240.19, Y:-137.79, Z:-32.83 [[ 7.17770984e-01 6.89823182e-01 9.45980598e-02 2.40185750e+02] [-6.84003004e-01 7.23977697e-01 -8.94213819e-02 -1.37792718e+02] [-1.30171828e-01 -5.21283840e-04 9.91491313e-01 -3.28275471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters 0.02851840402413621 Centerline is valid? [True, True] Translation: X:240.23, Y:-137.83, Z:-32.83 [[ 7.20789267e-01 6.86281861e-01 9.73654965e-02 2.40231214e+02] [-6.80070237e-01 7.27335667e-01 -9.21265493e-02 -1.37833965e+02] [-1.34042178e-01 1.88451686e-04 9.90975610e-01 -3.28339135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters 0.02853485272597204 Centerline is valid? [True, True] Translation: X:240.28, Y:-137.88, Z:-32.84 [[ 7.23680105e-01 6.83260445e-01 9.71713468e-02 2.40276709e+02] [-6.77035107e-01 7.30174301e-01 -9.20269230e-02 -1.37877317e+02] [-1.33830377e-01 8.09640115e-04 9.91003923e-01 -3.28393579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters 0.02887847836914844 Centerline is valid? [True, True] Translation: X:240.32, Y:-137.92, Z:-32.85 [[ 7.26598401e-01 6.80091122e-01 9.76259660e-02 2.40320678e+02] [-6.73765364e-01 7.33126112e-01 -9.25545147e-02 -1.37921040e+02] [-1.34517649e-01 1.47296785e-03 9.90910103e-01 -3.28470057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters 0.029230203198885696 Centerline is valid? [True, True] Translation: X:240.36, Y:-137.97, Z:-32.85 [[ 7.28626482e-01 6.77795878e-01 9.84692679e-02 2.40363330e+02] [-6.71326951e-01 7.35247463e-01 -9.34413890e-02 -1.37965269e+02] [-1.35733468e-01 1.97879722e-03 9.90743413e-01 -3.28541109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters 0.02933754406583983 Centerline is valid? [True, True] Translation: X:240.41, Y:-138.01, Z:-32.86 [[ 7.29183121e-01 6.77292549e-01 9.78099146e-02 2.40405125e+02] [-6.70894080e-01 7.35710743e-01 -9.29022927e-02 -1.38012588e+02] [-1.34881836e-01 2.12269114e-03 9.90859417e-01 -3.28612472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters 0.029376478924304773 Centerline is valid? [True, True] Translation: X:240.45, Y:-138.06, Z:-32.87 [[ 7.29467652e-01 6.76981563e-01 9.78412442e-02 2.40446988e+02] [-6.70562948e-01 7.35996527e-01 -9.30292697e-02 -1.38059146e+02] [-1.34989916e-01 2.25312972e-03 9.90844411e-01 -3.28682893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters 0.030010954407696088 Centerline is valid? [True, True] Translation: X:240.49, Y:-138.11, Z:-32.88 [[ 7.32183632e-01 6.74035525e-01 9.78940282e-02 2.40488247e+02] [-6.67570773e-01 7.38693359e-01 -9.31739435e-02 -1.38105658e+02] [-1.35116216e-01 2.86924427e-03 9.90825603e-01 -3.28768044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters 0.03015491838945406 Centerline is valid? [True, True] Translation: X:240.53, Y:-138.15, Z:-32.88 [[ 7.33915602e-01 6.72451000e-01 9.57994850e-02 2.40532136e+02] [-6.66236673e-01 7.40134922e-01 -9.12633189e-02 -1.38150020e+02] [-1.32274654e-01 3.15444353e-03 9.91208084e-01 -3.28821251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters 0.030331958152204935 Centerline is valid? [True, True] Translation: X:240.58, Y:-138.20, Z:-32.89 [[ 7.34773858e-01 6.71661023e-01 9.47567832e-02 2.40575444e+02] [-6.65563164e-01 7.40851124e-01 -9.03619755e-02 -1.38195913e+02] [-1.30893286e-01 3.32899290e-03 9.91390874e-01 -3.28896137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters 0.030363915428291588 Centerline is valid? [True, True] Translation: X:240.62, Y:-138.24, Z:-32.90 [[ 7.33080674e-01 6.73443328e-01 9.52197923e-02 2.40618575e+02] [-6.67288185e-01 7.39232377e-01 -9.08953860e-02 -1.38240508e+02] [-1.31602445e-01 3.09460851e-03 9.91297745e-01 -3.28973993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters 0.02981061639982361 Centerline is valid? [True, True] Translation: X:240.66, Y:-138.29, Z:-32.90 [[ 7.30817996e-01 6.75979503e-01 9.46402033e-02 2.40661313e+02] [-6.69909842e-01 7.36915543e-01 -9.04228210e-02 -1.38285392e+02] [-1.30865810e-01 2.68222132e-03 9.91396462e-01 -3.29026197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters 0.02938573436268206 Centerline is valid? [True, True] Translation: X:240.71, Y:-138.33, Z:-32.91 [[ 7.27069389e-01 6.80128466e-01 9.37836544e-02 2.40705393e+02] [-6.74192308e-01 7.33090277e-01 -8.96848799e-02 -1.38329305e+02] [-1.29749125e-01 1.97891235e-03 9.91544880e-01 -3.29079799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters 0.029172869783522626 Centerline is valid? [True, True] Translation: X:240.75, Y:-138.37, Z:-32.91 [[ 7.19673258e-01 6.87931287e-01 9.39198934e-02 2.40751515e+02] [-6.82032511e-01 7.25775540e-01 -8.98972738e-02 -1.38370355e+02] [-1.30007909e-01 6.40243132e-04 9.91512750e-01 -3.29146305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters 0.02944533849962637 Centerline is valid? [True, True] Translation: X:240.80, Y:-138.41, Z:-32.92 [[ 7.11838653e-01 6.95663380e-01 9.66343304e-02 2.40797893e+02] [-6.89475397e-01 7.18367552e-01 -9.25836807e-02 -1.38411986e+02] [-1.33826044e-01 -7.22350711e-04 9.91004575e-01 -3.29197176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters 0.029592931964939527 Centerline is valid? [True, True] Translation: X:240.85, Y:-138.45, Z:-32.93 [[ 7.07848168e-01 7.00064873e-01 9.41283369e-02 2.40846644e+02] [-6.94222610e-01 7.14077773e-01 -9.02657293e-02 -1.38450354e+02] [-1.30406819e-01 -1.45158855e-03 9.91459507e-01 -3.29250270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters 0.02963000482585214 Centerline is valid? [True, True] Translation: X:240.89, Y:-138.49, Z:-32.93 [[ 7.06710174e-01 7.01362262e-01 9.30145532e-02 2.40892985e+02] [-6.95657957e-01 7.12803192e-01 -8.92839081e-02 -1.38492092e+02] [-1.28921434e-01 -1.60846775e-03 9.91653506e-01 -3.29324531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters 0.029665641159040027 Centerline is valid? [True, True] Translation: X:240.94, Y:-138.53, Z:-32.94 [[ 7.05238714e-01 7.02823092e-01 9.31560871e-02 2.40941562e+02] [-6.97101238e-01 7.11362378e-01 -8.95177743e-02 -1.38531516e+02] [-1.29182895e-01 -1.80782350e-03 9.91619136e-01 -3.29396059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters 0.02988333765310447 Centerline is valid? [True, True] Translation: X:240.99, Y:-138.57, Z:-32.95 [[ 7.04877477e-01 7.02713720e-01 9.66497244e-02 2.40993034e+02] [-6.96537784e-01 7.11470485e-01 -9.29777603e-02 -1.38567251e+02] [-1.34100174e-01 -1.78225575e-03 9.90966178e-01 -3.29464317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters 0.029684487665828572 Centerline is valid? [True, True] Translation: X:241.04, Y:-138.61, Z:-32.95 [[ 7.07568864e-01 7.00443256e-01 9.34106384e-02 2.41043103e+02] [-6.94646369e-01 7.13706999e-01 -8.99374258e-02 -1.38605065e+02] [-1.29663890e-01 -1.25043859e-03 9.91557216e-01 -3.29537214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters 0.029472788804767985 Centerline is valid? [True, True] Translation: X:241.09, Y:-138.64, Z:-32.96 [[ 7.10822850e-01 6.97009069e-01 9.43887369e-02 2.41092290e+02] [-6.91053752e-01 7.17062061e-01 -9.09214679e-02 -1.38644213e+02] [-1.31055670e-01 -5.98633839e-04 9.91374830e-01 -3.29621558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters 0.02973707767285487 Centerline is valid? [True, True] Translation: X:241.14, Y:-138.68, Z:-32.97 [[ 7.11729562e-01 6.95758942e-01 9.67498042e-02 2.41138867e+02] [-6.89475205e-01 7.18275297e-01 -9.32981192e-02 -1.38684629e+02] [-1.34405995e-01 -3.03561562e-04 9.90926302e-01 -3.29692458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters 0.02989068129178657 Centerline is valid? [True, True] Translation: X:241.19, Y:-138.73, Z:-32.98 [[ 7.14536526e-01 6.92849248e-01 9.69405652e-02 2.41186844e+02] [-6.86501463e-01 7.21082397e-01 -9.35730660e-02 -1.38725533e+02] [-1.34734163e-01 3.11533712e-04 9.90881733e-01 -3.29766394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters 0.029763020807459326 Centerline is valid? [True, True] Translation: X:241.23, Y:-138.77, Z:-32.98 [[ 7.14933398e-01 6.92527956e-01 9.63081870e-02 2.41232061e+02] [-6.86246598e-01 7.21390902e-01 -9.30632704e-02 -1.38769400e+02] [-1.33924766e-01 4.42874426e-04 9.90991403e-01 -3.29843285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters 0.029873884470754362 Centerline is valid? [True, True] Translation: X:241.28, Y:-138.81, Z:-32.99 [[ 7.13255502e-01 6.94102801e-01 9.74058065e-02 2.41276654e+02] [-6.87677746e-01 7.19875859e-01 -9.42234881e-02 -1.38812768e+02] [-1.35520876e-01 2.21615837e-04 9.90774466e-01 -3.29919255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters 0.030103549848413368 Centerline is valid? [True, True] Translation: X:241.32, Y:-138.86, Z:-33.00 [[ 7.09481797e-01 6.97953480e-01 9.74500841e-02 2.41319668e+02] [-6.91546027e-01 7.16142961e-01 -9.43575727e-02 -1.38858046e+02] [-1.35645388e-01 -4.46238269e-04 9.90757352e-01 -3.29986627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters 0.03006562955318311 Centerline is valid? [True, True] Translation: X:241.36, Y:-138.90, Z:-33.01 [[ 7.05945853e-01 7.01637095e-01 9.66738854e-02 2.41362668e+02] [-6.95352385e-01 7.12533676e-01 -9.37060345e-02 -1.38903552e+02] [-1.34631029e-01 -1.07103032e-03 9.90895221e-01 -3.30057602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters 0.030155049914382514 Centerline is valid? [True, True] Translation: X:241.41, Y:-138.95, Z:-33.01 [[ 7.04600265e-01 7.02842631e-01 9.77276942e-02 2.41406463e+02] [-6.96417152e-01 7.11344284e-01 -9.48285836e-02 -1.38947738e+02] [-1.36167608e-01 -1.24299734e-03 9.90685034e-01 -3.30117026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters 0.03030362621458586 Centerline is valid? [True, True] Translation: X:241.45, Y:-138.99, Z:-33.02 [[ 7.01780830e-01 7.05812185e-01 9.66065515e-02 2.41451011e+02] [-6.99549496e-01 7.08396894e-01 -9.38314614e-02 -1.38992116e+02] [-1.34663170e-01 -1.73194353e-03 9.90889919e-01 -3.30164142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters 0.030703258037602918 Centerline is valid? [True, True] Translation: X:241.50, Y:-139.03, Z:-33.02 [[ 6.97321708e-01 7.10381867e-01 9.53941281e-02 2.41497240e+02] [-7.04305359e-01 7.03811982e-01 -9.27505013e-02 -1.39033720e+02] [-1.33027805e-01 -2.50965773e-03 9.91109129e-01 -3.30222761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters 0.03084183385965745 Centerline is valid? [True, True] Translation: X:241.54, Y:-139.07, Z:-33.03 [[ 6.95645460e-01 7.12033475e-01 9.53190664e-02 2.41543616e+02] [-7.05970209e-01 7.02140091e-01 -9.27650555e-02 -1.39074820e+02] [-1.32979163e-01 -2.76083159e-03 9.91114988e-01 -3.30288026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters 0.030942836909211686 Centerline is valid? [True, True] Translation: X:241.59, Y:-139.11, Z:-33.03 [[ 6.94585399e-01 7.12831998e-01 9.70652674e-02 2.41593012e+02] [-7.06538935e-01 7.01328817e-01 -9.45548728e-02 -1.39112864e+02] [-1.35476408e-01 -2.90395654e-03 9.90776317e-01 -3.30340233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters 0.030681057920988335 Centerline is valid? [True, True] Translation: X:241.64, Y:-139.15, Z:-33.04 [[ 6.96473783e-01 7.11232340e-01 9.52513927e-02 2.41643811e+02] [-7.05146890e-01 7.02952627e-01 -9.28733981e-02 -1.39149438e+02] [-1.33011781e-01 -2.48233634e-03 9.91111348e-01 -3.30406729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters 0.030494941301632526 Centerline is valid? [True, True] Translation: X:241.69, Y:-139.19, Z:-33.05 [[ 6.98369094e-01 7.09470627e-01 9.45094639e-02 2.41692109e+02] [-7.03452411e-01 7.04731973e-01 -9.22363875e-02 -1.39187888e+02] [-1.32042849e-01 -2.06786793e-03 9.91241852e-01 -3.30487080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters 0.030201157095675224 Centerline is valid? [True, True] Translation: X:241.74, Y:-139.22, Z:-33.05 [[ 7.00132764e-01 7.07855124e-01 9.35694167e-02 2.41742025e+02] [-7.01930843e-01 7.06355638e-01 -9.14046194e-02 -1.39224982e+02] [-1.30794513e-01 -1.68389071e-03 9.91408069e-01 -3.30542937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters 0.029861628128828487 Centerline is valid? [True, True] Translation: X:241.79, Y:-139.26, Z:-33.06 [[ 7.02495656e-01 7.05561405e-01 9.31823895e-02 2.41789863e+02] [-6.99654851e-01 7.08647789e-01 -9.11120264e-02 -1.39264793e+02] [-1.30318624e-01 -1.18970811e-03 9.91471452e-01 -3.30623612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters 0.02993352323775829 Centerline is valid? [True, True] Translation: X:241.84, Y:-139.30, Z:-33.07 [[ 7.04132047e-01 7.03706672e-01 9.48418666e-02 2.41836773e+02] [-6.97558302e-01 7.10490171e-01 -9.28231245e-02 -1.39304705e+02] [-1.32704466e-01 -7.97994783e-04 9.91155330e-01 -3.30704973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters 0.02975122872415992 Centerline is valid? [True, True] Translation: X:241.88, Y:-139.35, Z:-33.08 [[ 7.05089822e-01 7.02771825e-01 9.46578354e-02 2.41883361e+02] [-6.96627121e-01 7.11415106e-01 -9.27318793e-02 -1.39346568e+02] [-1.32510366e-01 -5.56911140e-04 9.91181463e-01 -3.30767907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters 0.02971670322257057 Centerline is valid? [True, True] Translation: X:241.93, Y:-139.39, Z:-33.08 [[ 7.05625216e-01 7.02392945e-01 9.34730202e-02 2.41926563e+02] [-6.96385861e-01 7.11789282e-01 -9.16665237e-02 -1.39390078e+02] [-1.30919013e-01 -4.11079065e-04 9.91392981e-01 -3.30849389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters 0.02975434576509053 Centerline is valid? [True, True] Translation: X:241.97, Y:-139.43, Z:-33.09 [[ 7.03227336e-01 7.04959787e-01 9.22117858e-02 2.41970849e+02] [-6.99125353e-01 7.09246807e-01 -9.05135746e-02 -1.39433981e+02] [-1.29209345e-01 -8.15977414e-04 9.91617002e-01 -3.30912761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters 0.029678501339796267 Centerline is valid? [True, True] Translation: X:242.01, Y:-139.48, Z:-33.10 [[ 6.96848369e-01 7.11070634e-01 9.37064800e-02 2.42014430e+02] [-7.05087703e-01 7.03117977e-01 -9.20675938e-02 -1.39477983e+02] [-1.31353273e-01 -1.91413419e-03 9.91333775e-01 -3.30973180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters 0.0299431025625446 Centerline is valid? [True, True] Translation: X:242.06, Y:-139.52, Z:-33.10 [[ 6.91542642e-01 7.16410183e-01 9.23321425e-02 2.42060475e+02] [-7.10638331e-01 6.97673622e-01 -9.08002167e-02 -1.39519220e+02] [-1.29467900e-01 -2.82253792e-03 9.91579596e-01 -3.31049655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters 0.02997727145777536 Centerline is valid? [True, True] Translation: X:242.11, Y:-139.56, Z:-33.11 [[ 6.89938875e-01 7.17997775e-01 9.19975207e-02 2.42106866e+02] [-7.12270941e-01 6.96038716e-01 -9.05550225e-02 -1.39560720e+02] [-1.29052141e-01 -3.04973035e-03 9.91633120e-01 -3.31116554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters 0.029262339324215313 Centerline is valid? [True, True] Translation: X:242.15, Y:-139.60, Z:-33.12 [[ 6.91446768e-01 7.16439138e-01 9.28241813e-02 2.42154666e+02] [-7.10584235e-01 6.97644262e-01 -9.14468661e-02 -1.39601132e+02] [-1.30274371e-01 -2.72875981e-03 9.91474227e-01 -3.31177680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters 0.0285004225667137 Centerline is valid? [True, True] Translation: X:242.20, Y:-139.64, Z:-33.13 [[ 6.93211621e-01 7.14554560e-01 9.41776487e-02 2.42199892e+02] [-7.08504092e-01 6.99575668e-01 -9.28215353e-02 -1.39642579e+02] [-1.32210443e-01 -2.38028248e-03 9.91218812e-01 -3.31264251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters 0.028258514806440847 Centerline is valid? [True, True] Translation: X:242.25, Y:-139.68, Z:-33.13 [[ 6.94980797e-01 7.12797652e-01 9.44520990e-02 2.42245157e+02] [-7.06683572e-01 7.01366918e-01 -9.31814189e-02 -1.39684904e+02] [-1.32665074e-01 -1.98844989e-03 9.91158930e-01 -3.31342191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters 0.027908979978023142 Centerline is valid? [True, True] Translation: X:242.29, Y:-139.73, Z:-33.14 [[ 6.98256370e-01 7.09460449e-01 9.54144258e-02 2.42286773e+02] [-7.03177300e-01 7.04744048e-01 -9.42205494e-02 -1.39730058e+02] [-1.34088502e-01 -1.30315951e-03 9.90968504e-01 -3.31420589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters 0.02765986047780767 Centerline is valid? [True, True] Translation: X:242.33, Y:-139.78, Z:-33.15 [[ 7.00951977e-01 7.06696495e-01 9.61581516e-02 2.42328468e+02] [-7.00276005e-01 7.07516470e-01 -9.50471572e-02 -1.39776424e+02] [-1.35202969e-01 -7.13753466e-04 9.90817666e-01 -3.31495901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters 0.02777901912585986 Centerline is valid? [True, True] Translation: X:242.37, Y:-139.82, Z:-33.16 [[ 7.01412611e-01 7.06252094e-01 9.60641908e-02 2.42371787e+02] [-6.99826172e-01 7.07960220e-01 -9.50560674e-02 -1.39821124e+02] [-1.35143172e-01 -5.54710499e-04 9.90825926e-01 -3.31560699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters 0.027718616268531393 Centerline is valid? [True, True] Translation: X:242.41, Y:-139.87, Z:-33.16 [[ 7.00349397e-01 7.07342246e-01 9.58001562e-02 2.42413529e+02] [-7.00948114e-01 7.06870901e-01 -9.48961076e-02 -1.39867727e+02] [-1.34842369e-01 -6.90507006e-04 9.90866822e-01 -3.31626970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters 0.027877640063364264 Centerline is valid? [True, True] Translation: X:242.45, Y:-139.92, Z:-33.17 [[ 6.96739161e-01 7.10959527e-01 9.53472217e-02 2.42453164e+02] [-7.04645846e-01 7.03231707e-01 -9.45483901e-02 -1.39916802e+02] [-1.34271268e-01 -1.31045775e-03 9.90943747e-01 -3.31699734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters 0.027946769744880653 Centerline is valid? [True, True] Translation: X:242.50, Y:-139.96, Z:-33.18 [[ 6.94739646e-01 7.12957817e-01 9.50156645e-02 2.42495162e+02] [-7.06693242e-01 7.01205055e-01 -9.43193121e-02 -1.39963277e+02] [-1.33871155e-01 -1.61956257e-03 9.90997422e-01 -3.31763096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters 0.028355875731127782 Centerline is valid? [True, True] Translation: X:242.54, Y:-140.01, Z:-33.18 [[ 6.91385297e-01 7.16387024e-01 9.36803282e-02 2.42537016e+02] [-7.10316061e-01 6.97699707e-01 -9.30924975e-02 -1.40010435e+02] [-1.32050995e-01 -2.17985764e-03 9.91240527e-01 -3.31839499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters 0.028713277724941737 Centerline is valid? [True, True] Translation: X:242.58, Y:-140.06, Z:-33.19 [[ 6.88012369e-01 7.19711614e-01 9.30278034e-02 2.42577359e+02] [-7.13742615e-01 6.94267776e-01 -9.25404503e-02 -1.40056859e+02] [-1.31188643e-01 -2.72893325e-03 9.91353667e-01 -3.31916098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters 0.02952681530912846 Centerline is valid? [True, True] Translation: X:242.62, Y:-140.10, Z:-33.20 [[ 6.82273620e-01 7.25308941e-01 9.18131081e-02 2.42620523e+02] [-7.19534438e-01 6.88413618e-01 -9.14159935e-02 -1.40100356e+02] [-1.29510231e-01 -3.69197234e-03 9.91571212e-01 -3.31978294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters 0.030789616646862424 Centerline is valid? [True, True] Translation: X:242.66, Y:-140.14, Z:-33.21 [[ 6.76195174e-01 7.31008876e-01 9.15757079e-02 2.42664631e+02] [-7.25305547e-01 6.82351683e-01 -9.12581127e-02 -1.40142445e+02] [-1.29197329e-01 -4.71207356e-03 9.91607708e-01 -3.32057690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters 0.0318371109709474 Centerline is valid? [True, True] Translation: X:242.71, Y:-140.18, Z:-33.21 [[ 6.71865481e-01 7.35055983e-01 9.10465673e-02 2.42712973e+02] [-7.29446381e-01 6.77984844e-01 -9.07993811e-02 -1.40181453e+02] [-1.28470821e-01 -5.40861917e-03 9.91698540e-01 -3.32123883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters 0.03217209884797776 Centerline is valid? [True, True] Translation: X:242.76, Y:-140.22, Z:-33.22 [[ 6.71231641e-01 7.35817632e-01 8.95572240e-02 2.42760093e+02] [-7.30393377e-01 6.77157896e-01 -8.93459490e-02 -1.40222711e+02] [-1.26386706e-01 -5.44017533e-03 9.91966131e-01 -3.32196906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters 0.031167919132880997 Centerline is valid? [True, True] Translation: X:242.81, Y:-140.26, Z:-33.23 [[ 6.74670727e-01 7.32522736e-01 9.07185352e-02 2.42811005e+02] [-7.26914799e-01 6.80725488e-01 -9.05962699e-02 -1.40257689e+02] [-1.28118247e-01 -4.82199457e-03 9.91747177e-01 -3.32262262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters 0.03043030555093023 Centerline is valid? [True, True] Translation: X:242.86, Y:-140.30, Z:-33.23 [[ 6.78560263e-01 7.28765140e-01 9.19638023e-02 2.42859170e+02] [-7.22958740e-01 6.84751317e-01 -9.19037262e-02 -1.40296372e+02] [-1.29948567e-01 -4.12381799e-03 9.91512160e-01 -3.32319194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters 0.029448945963698563 Centerline is valid? [True, True] Translation: X:242.91, Y:-140.34, Z:-33.24 [[ 6.83450559e-01 7.24223297e-01 9.16294192e-02 2.42905896e+02] [-7.18415971e-01 6.89557952e-01 -9.15877926e-02 -1.40336510e+02] [-1.29513808e-01 -3.23231008e-03 9.91572350e-01 -3.32391245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters 0.0290252942450544 Centerline is valid? [True, True] Translation: X:242.95, Y:-140.38, Z:-33.25 [[ 6.87589274e-01 7.20053609e-01 9.35082406e-02 2.42953479e+02] [-7.13962008e-01 6.93914028e-01 -9.34963785e-02 -1.40375746e+02] [-1.32209085e-01 -2.47422424e-03 9.91218763e-01 -3.32482484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters 0.028758091217545967 Centerline is valid? [True, True] Translation: X:243.01, Y:-140.67, Z:-31.37 [[ 7.64493252e-01 -6.41643987e-01 -6.19924376e-02 2.43012657e+02] [-6.38487425e-01 -7.66942996e-01 6.42825721e-02 -1.40666731e+02] [-8.87911917e-02 -9.56220069e-03 -9.96004362e-01 -3.13736766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters 0.028360294658367254 Centerline is valid? [True, True] Translation: X:243.01, Y:-140.45, Z:-33.26 [[ 7.42999253e-01 6.62019668e-01 9.83975101e-02 2.43009955e+02] [-6.56580309e-01 7.49484605e-01 -8.47061110e-02 -1.40445339e+02] [-1.29824530e-01 -1.66929047e-03 9.91535579e-01 -3.32596011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters 0.028622242458496358 Centerline is valid? [True, True] Translation: X:243.06, Y:-140.49, Z:-33.27 [[ 7.42623840e-01 6.62452580e-01 9.83179078e-02 2.43056986e+02] [-6.57015121e-01 7.49101963e-01 -8.47194196e-02 -1.40486746e+02] [-1.29772736e-01 -1.68169138e-03 9.91542338e-01 -3.32676169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters 0.028587075464072083 Centerline is valid? [True, True] Translation: X:243.11, Y:-140.53, Z:-33.27 [[ 7.41324354e-01 6.64004398e-01 9.76542942e-02 2.43105658e+02] [-6.58642036e-01 7.47726324e-01 -8.42378275e-02 -1.40526365e+02] [-1.28952974e-01 -1.87167012e-03 9.91648944e-01 -3.32739147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters 0.02915928001606213 Centerline is valid? [True, True] Translation: X:243.15, Y:-140.57, Z:-33.28 [[ 7.37671013e-01 6.68052151e-01 9.77128461e-02 2.43153522e+02] [-6.62706892e-01 7.44110215e-01 -8.43775012e-02 -1.40565088e+02] [-1.29077698e-01 -2.51213977e-03 9.91631301e-01 -3.32819027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters 0.029540702556047925 Centerline is valid? [True, True] Translation: X:243.20, Y:-140.61, Z:-33.29 [[ 7.35847673e-01 6.70117273e-01 9.73192770e-02 2.43200963e+02] [-6.64822825e-01 7.42249947e-01 -8.41167520e-02 -1.40605460e+02] [-1.28603317e-01 -2.80296043e-03 9.91692155e-01 -3.32878243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters 0.02968564029600832 Centerline is valid? [True, True] Translation: X:243.25, Y:-140.64, Z:-33.30 [[ 7.35611229e-01 6.70349399e-01 9.75079658e-02 2.43251610e+02] [-6.65025756e-01 7.42040370e-01 -8.43613275e-02 -1.40642376e+02] [-1.28906412e-01 -2.78816890e-03 9.91652844e-01 -3.32950824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters 0.02987395120032272 Centerline is valid? [True, True] Translation: X:243.30, Y:-140.68, Z:-33.30 [[ 7.34528234e-01 6.71209258e-01 9.97316693e-02 2.43303755e+02] [-6.65634501e-01 7.41262101e-01 -8.63782873e-02 -1.40676951e+02] [-1.31905213e-01 -2.93754913e-03 9.91257981e-01 -3.32994902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters 0.02992747504912962 Centerline is valid? [True, True] Translation: X:243.36, Y:-140.71, Z:-33.31 [[ 7.35199353e-01 6.70643081e-01 9.85888968e-02 2.43355939e+02] [-6.65180323e-01 7.41775123e-01 -8.54681538e-02 -1.40711514e+02] [-1.30449417e-01 -2.74326281e-03 9.91451171e-01 -3.33066562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters 0.02966148342049162 Centerline is valid? [True, True] Translation: X:243.41, Y:-140.75, Z:-33.31 [[ 7.35879943e-01 6.69749298e-01 9.95820688e-02 2.43407456e+02] [-6.64156147e-01 7.42582914e-01 -8.64131220e-02 -1.40748342e+02] [-1.31823071e-01 -2.54835988e-03 9.91269985e-01 -3.33127809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters 0.02952514050091293 Centerline is valid? [True, True] Translation: X:243.46, Y:-140.78, Z:-33.32 [[ 7.38011524e-01 6.67603506e-01 9.82066695e-02 2.43459949e+02] [-6.62133769e-01 7.44514127e-01 -8.53087715e-02 -1.40781795e+02] [-1.30068688e-01 -2.06709576e-03 9.91502831e-01 -3.33190172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters 0.02911552071048284 Centerline is valid? [True, True] Translation: X:243.51, Y:-140.82, Z:-33.33 [[ 7.40489642e-01 6.64879254e-01 9.80340120e-02 2.43512083e+02] [-6.59394494e-01 7.46949297e-01 -8.52387780e-02 -1.40815469e+02] [-1.29899932e-01 -1.52465544e-03 9.91525937e-01 -3.33264896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters 0.029132915773178187 Centerline is valid? [True, True] Translation: X:243.56, Y:-140.85, Z:-33.34 [[ 7.43654612e-01 6.61063131e-01 9.98666811e-02 2.43563354e+02] [-6.55324678e-01 7.50329850e-01 -8.69176823e-02 -1.40852072e+02] [-1.32391027e-01 -8.08365278e-04 9.91197237e-01 -3.33353554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters 0.029141988143693696 Centerline is valid? [True, True] Translation: X:243.61, Y:-140.89, Z:-33.34 [[ 7.46205379e-01 6.58134954e-01 1.00179414e-01 2.43612885e+02] [-6.52321312e-01 7.52899951e-01 -8.72844200e-02 -1.40890477e+02] [-1.32870003e-01 -2.17062898e-04 9.91133450e-01 -3.33416005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters 0.02914400739909225 Centerline is valid? [True, True] Translation: X:243.66, Y:-140.93, Z:-33.35 [[ 7.50405261e-01 6.53257799e-01 1.00728305e-01 2.43662613e+02] [-6.47323466e-01 7.57135209e-01 -8.78556006e-02 -1.40927022e+02] [-1.33657303e-01 7.23509253e-04 9.91027347e-01 -3.33481936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters 0.029145177114609334 Centerline is valid? [True, True] Translation: X:243.71, Y:-140.97, Z:-33.36 [[ 7.52843064e-01 6.50666170e-01 9.93018420e-02 2.43710490e+02] [-6.44866177e-01 7.59362907e-01 -8.66924986e-02 -1.40967071e+02] [-1.31814011e-01 1.22944708e-03 9.91273703e-01 -3.33562480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters 0.02926405254758509 Centerline is valid? [True, True] Translation: X:243.76, Y:-141.01, Z:-33.36 [[ 7.54195169e-01 6.49087492e-01 9.93734100e-02 2.43758346e+02] [-6.43253750e-01 7.60712133e-01 -8.68427534e-02 -1.41006829e+02] [-1.31963104e-01 1.57406645e-03 9.91253379e-01 -3.33625905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters 0.029320353055591775 Centerline is valid? [True, True] Translation: X:243.81, Y:-141.05, Z:-33.37 [[ 7.54240964e-01 6.49031459e-01 9.93918187e-02 2.43805330e+02] [-6.43184464e-01 7.60759790e-01 -8.69384110e-02 -1.41048367e+02] [-1.32039063e-01 1.64523729e-03 9.91243148e-01 -3.33692312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters 0.029337839275292356 Centerline is valid? [True, True] Translation: X:243.85, Y:-141.09, Z:-33.38 [[ 7.52213671e-01 6.51055692e-01 1.01494229e-01 2.43849487e+02] [-6.44963461e-01 7.59028695e-01 -8.88683024e-02 -1.41092287e+02] [-1.34895247e-01 1.38788249e-03 9.90858893e-01 -3.33770262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters 0.02920041239650822 Centerline is valid? [True, True] Translation: X:243.89, Y:-141.14, Z:-33.38 [[ 7.50849556e-01 6.52675165e-01 1.01193247e-01 2.43893854e+02] [-6.46623029e-01 7.57636981e-01 -8.86840621e-02 -1.41136079e+02] [-1.34549631e-01 1.15450504e-03 9.90906183e-01 -3.33841340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters 0.02921745964098398 Centerline is valid? [True, True] Translation: X:243.94, Y:-141.18, Z:-33.39 [[ 7.50591795e-01 6.52971439e-01 1.01194156e-01 2.43941796e+02] [-6.46910723e-01 7.57381638e-01 -8.87669488e-02 -1.41177246e+02] [-1.34604878e-01 1.16415910e-03 9.90898669e-01 -3.33910209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters 0.029141257629087935 Centerline is valid? [True, True] Translation: X:243.99, Y:-141.22, Z:-33.40 [[ 7.49742243e-01 6.54131197e-01 9.99947257e-02 2.43986022e+02] [-6.48212442e-01 7.56380429e-01 -8.78024833e-02 -1.41220154e+02] [-1.33068397e-01 1.01140543e-03 9.91106341e-01 -3.33979504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters 0.02907014031134307 Centerline is valid? [True, True] Translation: X:244.03, Y:-141.26, Z:-33.40 [[ 7.50269965e-01 6.53600138e-01 9.95079874e-02 2.44032642e+02] [-6.47723691e-01 7.56839157e-01 -8.74557628e-02 -1.41262228e+02] [-1.32472640e-01 1.16175115e-03 9.91185982e-01 -3.34039504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters 0.029031769832838807 Centerline is valid? [True, True] Translation: X:244.08, Y:-141.31, Z:-33.41 [[ 7.50581910e-01 6.53244141e-01 9.94931573e-02 2.44077420e+02] [-6.47354236e-01 7.57146234e-01 -8.75332752e-02 -1.41305469e+02] [-1.32511468e-01 1.29357611e-03 9.91180628e-01 -3.34114482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters 0.02916349306744205 Centerline is valid? [True, True] Translation: X:244.12, Y:-141.35, Z:-33.42 [[ 7.52503417e-01 6.51287365e-01 9.77925144e-02 2.44122527e+02] [-6.45569873e-01 7.58829331e-01 -8.61254046e-02 -1.41349158e+02] [-1.30300216e-01 1.67776016e-03 9.91473166e-01 -3.34188026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters 0.02928479678190985 Centerline is valid? [True, True] Translation: X:244.16, Y:-141.40, Z:-33.43 [[ 7.53644423e-01 6.49893829e-01 9.82756114e-02 2.44164272e+02] [-6.44096001e-01 7.60022386e-01 -8.66389895e-02 -1.41395162e+02] [-1.30997809e-01 1.99606293e-03 9.91380648e-01 -3.34251580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters 0.03023057124876354 Centerline is valid? [True, True] Translation: X:244.21, Y:-141.44, Z:-33.43 [[ 7.58226824e-01 6.44241703e-01 1.00223304e-01 2.44206765e+02] [-6.38151743e-01 7.64815717e-01 -8.84266443e-02 -1.41439764e+02] [-1.33620490e-01 3.08977723e-03 9.91027758e-01 -3.34331447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters 0.030702145716662393 Centerline is valid? [True, True] Translation: X:244.25, Y:-141.48, Z:-33.44 [[ 7.60503824e-01 6.41562851e-01 1.00155091e-01 2.44250187e+02] [-6.35453950e-01 7.67062107e-01 -8.83968374e-02 -1.41483453e+02] [-1.33537302e-01 3.58218461e-03 9.91037314e-01 -3.34413288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters 0.03115807797311707 Centerline is valid? [True, True] Translation: X:244.29, Y:-141.53, Z:-33.45 [[ 7.62065511e-01 6.39425398e-01 1.01937811e-01 2.44291462e+02] [-6.33067411e-01 7.68842306e-01 -9.00397747e-02 -1.41530018e+02] [-1.35947820e-01 4.08270087e-03 9.90707586e-01 -3.34464893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters 0.030849408366832577 Centerline is valid? [True, True] Translation: X:244.33, Y:-141.58, Z:-33.45 [[ 7.62110635e-01 6.39502024e-01 1.01116470e-01 2.44332761e+02] [-6.33242859e-01 7.68778688e-01 -8.93465698e-02 -1.41576143e+02] [-1.34873500e-01 4.06068828e-03 9.90854505e-01 -3.34542916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters 0.030839459343148034 Centerline is valid? [True, True] Translation: X:244.37, Y:-141.62, Z:-33.46 [[ 7.60472505e-01 6.40989121e-01 1.03992861e-01 2.44374195e+02] [-6.34369254e-01 7.67539692e-01 -9.19699410e-02 -1.41622105e+02] [-1.38770380e-01 3.97073790e-03 9.90316624e-01 -3.34615033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters 0.030867219979419425 Centerline is valid? [True, True] Translation: X:244.42, Y:-141.67, Z:-33.47 [[ 7.59463720e-01 6.42070461e-01 1.04691836e-01 2.44419459e+02] [-6.35359168e-01 7.66635892e-01 -9.26722004e-02 -1.41665649e+02] [-1.39762601e-01 3.86425647e-03 9.90177501e-01 -3.34684631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters 0.02997966749754858 Centerline is valid? [True, True] Translation: X:244.46, Y:-141.71, Z:-33.48 [[ 7.58259263e-01 6.43812424e-01 1.02705660e-01 2.44461818e+02] [-6.37358427e-01 7.65175153e-01 -9.10012151e-02 -1.41710701e+02] [-1.37175532e-01 3.54219644e-03 9.90540421e-01 -3.34752900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters 0.03014043781473413 Centerline is valid? [True, True] Translation: X:244.50, Y:-141.76, Z:-33.48 [[ 7.58838043e-01 6.43168735e-01 1.02463665e-01 2.44502357e+02] [-6.36728500e-01 7.65715487e-01 -9.08658903e-02 -1.41757776e+02] [-1.36900115e-01 3.71095858e-03 9.90577906e-01 -3.34820598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters 0.030338057100925075 Centerline is valid? [True, True] Translation: X:244.55, Y:-141.80, Z:-33.49 [[ 7.59552493e-01 6.42544501e-01 1.01077073e-01 2.44546119e+02] [-6.36261749e-01 7.66238782e-01 -8.97168690e-02 -1.41803030e+02] [-1.35096254e-01 3.83319607e-03 9.90825065e-01 -3.34881064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters 0.03011011390414128 Centerline is valid? [True, True] Translation: X:244.59, Y:-141.85, Z:-33.50 [[ 7.57774281e-01 6.44692682e-01 1.00744650e-01 2.44585734e+02] [-6.38458308e-01 7.64433810e-01 -8.95094375e-02 -1.41851792e+02] [-1.34718696e-01 3.50669077e-03 9.90877680e-01 -3.34956515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters 0.02977684127869048 Centerline is valid? [True, True] Translation: X:244.63, Y:-141.90, Z:-33.50 [[ 7.55379092e-01 6.47693494e-01 9.94764544e-02 2.44626671e+02] [-6.41631246e-01 7.61895122e-01 -8.84599789e-02 -1.41898659e+02] [-1.33085578e-01 2.99361721e-03 9.91100029e-01 -3.35026525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters 0.029497380632844034 Centerline is valid? [True, True] Translation: X:244.67, Y:-141.95, Z:-33.51 [[ 7.53226964e-01 6.50250975e-01 9.91100926e-02 2.44667234e+02] [-6.44245010e-01 7.59715044e-01 -8.82123580e-02 -1.41946274e+02] [-1.32655600e-01 2.59274404e-03 9.91158801e-01 -3.35089268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters 0.02922146598178032 Centerline is valid? [True, True] Translation: X:244.71, Y:-141.99, Z:-33.51 [[ 7.49053775e-01 6.54906756e-01 1.00077888e-01 2.44711348e+02] [-6.48812633e-01 7.55707431e-01 -8.91540586e-02 -1.41990400e+02] [-1.34017199e-01 1.84938594e-03 9.90977280e-01 -3.35148562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters 0.029084061361224087 Centerline is valid? [True, True] Translation: X:244.75, Y:-142.04, Z:-33.52 [[ 7.44890357e-01 6.59661406e-01 9.99258950e-02 2.44753679e+02] [-6.53617255e-01 7.51562182e-01 -8.90997764e-02 -1.42035262e+02] [-1.33876207e-01 1.05627502e-03 9.90997500e-01 -3.35227434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters 0.029371921002674987 Centerline is valid? [True, True] Translation: X:244.80, Y:-142.08, Z:-33.53 [[ 7.45541845e-01 6.58578018e-01 1.02187825e-01 2.44799157e+02] [-6.52233840e-01 7.52511253e-01 -9.12021495e-02 -1.42076757e+02] [-1.36961219e-01 1.34466110e-03 9.90575498e-01 -3.35290949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters 0.029635357416809217 Centerline is valid? [True, True] Translation: X:244.84, Y:-142.12, Z:-33.54 [[ 7.48398374e-01 6.55617822e-01 1.00325196e-01 2.44844795e+02] [-6.49465952e-01 7.55090457e-01 -8.96235343e-02 -1.42119086e+02] [-1.34513385e-01 1.91630806e-03 9.90909924e-01 -3.35355690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters 0.029795600241901646 Centerline is valid? [True, True] Translation: X:244.89, Y:-142.16, Z:-33.54 [[ 7.51085131e-01 6.52740341e-01 9.90008733e-02 2.44888292e+02] [-6.46713609e-01 7.57577689e-01 -8.85299566e-02 -1.42162490e+02] [-1.32787927e-01 2.46832195e-03 9.91141400e-01 -3.35420021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters 0.030283447531842714 Centerline is valid? [True, True] Translation: X:244.93, Y:-142.21, Z:-33.55 [[ 7.52270085e-01 6.51195424e-01 1.00171046e-01 2.44931212e+02] [-6.45001431e-01 7.58904816e-01 -8.96472762e-02 -1.42206352e+02] [-1.34398185e-01 2.82849633e-03 9.90923371e-01 -3.35491314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters 0.029875625236417017 Centerline is valid? [True, True] Translation: X:244.97, Y:-142.25, Z:-33.56 [[ 7.52334399e-01 6.51289328e-01 9.90715080e-02 2.44973056e+02] [-6.45226679e-01 7.58824295e-01 -8.87029963e-02 -1.42253053e+02] [-1.32949182e-01 2.81073530e-03 9.91118870e-01 -3.35555819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters 0.03030712891343281 Centerline is valid? [True, True] Translation: X:245.01, Y:-142.30, Z:-33.56 [[ 7.54471205e-01 6.48818245e-01 9.90357831e-02 2.45013016e+02] [-6.42733722e-01 7.60936373e-01 -8.87085066e-02 -1.42301375e+02] [-1.32915627e-01 3.27437647e-03 9.91121947e-01 -3.35632579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters 0.030645956058802958 Centerline is valid? [True, True] Translation: X:245.06, Y:-142.35, Z:-33.57 [[ 7.56253165e-01 6.46882928e-01 9.81000917e-02 2.45055733e+02] [-6.40886713e-01 7.62580634e-01 -8.79488337e-02 -1.42346517e+02] [-1.31701829e-01 3.64053848e-03 9.91282692e-01 -3.35695395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters 0.030302399216725454 Centerline is valid? [True, True] Translation: X:245.09, Y:-142.40, Z:-33.57 [[ 7.54168013e-01 6.49362564e-01 9.77694681e-02 2.45093440e+02] [-6.43417160e-01 7.60471992e-01 -8.77308862e-02 -1.42397430e+02] [-1.31320095e-01 3.25727463e-03 9.91334667e-01 -3.35748564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters 0.029550353264463057 Centerline is valid? [True, True] Translation: X:245.13, Y:-142.45, Z:-33.58 [[ 7.46917408e-01 6.57476949e-01 9.91889451e-02 2.45132993e+02] [-6.51416528e-01 7.53472197e-01 -8.90851014e-02 -1.42445316e+02] [-1.33307513e-01 1.92589480e-03 9.91072852e-01 -3.35847163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters 0.029599649158448656 Centerline is valid? [True, True] Translation: X:245.18, Y:-142.49, Z:-33.59 [[ 7.44144681e-01 6.60509091e-01 9.98821085e-02 2.45176910e+02] [-6.54379326e-01 7.50816638e-01 -8.97890520e-02 -1.42488726e+02] [-1.34299634e-01 1.45525858e-03 9.90939701e-01 -3.35920502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters 0.029542575824300546 Centerline is valid? [True, True] Translation: X:245.22, Y:-142.53, Z:-33.60 [[ 7.36839136e-01 6.68555301e-01 1.00508194e-01 2.45220617e+02] [-6.62410281e-01 7.43662427e-01 -9.04367970e-02 -1.42532635e+02] [-1.35206167e-01 5.97105424e-05 9.90817485e-01 -3.35971178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters 0.02998426969795761 Centerline is valid? [True, True] Translation: X:245.27, Y:-142.57, Z:-33.61 [[ 7.34414153e-01 6.71251262e-01 1.00287561e-01 2.45266731e+02] [-6.65146311e-01 7.41229793e-01 -9.03259553e-02 -1.42574508e+02] [-1.34967539e-01 -3.69241044e-04 9.90849952e-01 -3.36054490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters 0.030232090642024114 Centerline is valid? [True, True] Translation: X:245.31, Y:-142.61, Z:-33.61 [[ 7.34485638e-01 6.70851654e-01 1.02415365e-01 2.45313520e+02] [-6.64466022e-01 7.41591536e-01 -9.23412075e-02 -1.42614113e+02] [-1.37897620e-01 -2.28239690e-04 9.90446462e-01 -3.36131449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters 0.030148417661221175 Centerline is valid? [True, True] Translation: X:245.36, Y:-142.65, Z:-33.62 [[ 7.37147328e-01 6.68002752e-01 1.01912415e-01 2.45361666e+02] [-6.61640943e-01 7.44158711e-01 -9.19732290e-02 -1.42653921e+02] [-1.37277381e-01 3.68393847e-04 9.90532576e-01 -3.36199523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters 0.030349142807475766 Centerline is valid? [True, True] Translation: X:245.41, Y:-142.69, Z:-33.63 [[ 7.40559610e-01 6.64263896e-01 1.01611715e-01 2.45410004e+02] [-6.57890662e-01 7.47497282e-01 -9.18024536e-02 -1.42693361e+02] [-1.36935536e-01 1.13579068e-03 9.90579310e-01 -3.36284459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters 0.030533530008545754 Centerline is valid? [True, True] Translation: X:245.46, Y:-142.73, Z:-33.63 [[ 7.42552538e-01 6.62012378e-01 1.01761193e-01 2.45455865e+02] [-6.55585808e-01 7.49491137e-01 -9.20341452e-02 -1.42734396e+02] [-1.37196856e-01 1.62699385e-03 9.90542465e-01 -3.36345545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters 0.030794176817105896 Centerline is valid? [True, True] Translation: X:245.50, Y:-142.78, Z:-33.64 [[ 7.45249890e-01 6.58860394e-01 1.02496748e-01 2.45500636e+02] [-6.52298229e-01 7.52261747e-01 -9.27862332e-02 -1.42776221e+02] [-1.38237557e-01 2.29048312e-03 9.90396452e-01 -3.36426774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters 0.031029056964726996 Centerline is valid? [True, True] Translation: X:245.54, Y:-142.82, Z:-33.65 [[ 7.47719582e-01 6.56316841e-01 1.00814829e-01 2.45544363e+02] [-6.49934508e-01 7.54480266e-01 -9.13491243e-02 -1.42820663e+02] [-1.36016768e-01 2.78049244e-03 9.90702633e-01 -3.36495391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters 0.03139729427723045 Centerline is valid? [True, True] Translation: X:245.58, Y:-142.87, Z:-33.66 [[ 7.49152630e-01 6.54296197e-01 1.03280311e-01 2.45583272e+02] [-6.47564386e-01 7.56231200e-01 -9.36735698e-02 -1.42869652e+02] [-1.39394054e-01 3.29515003e-03 9.90231508e-01 -3.36573259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters 0.03108152686389496 Centerline is valid? [True, True] Translation: X:245.62, Y:-142.92, Z:-33.66 [[ 7.48424603e-01 6.55426640e-01 1.01373235e-01 2.45622837e+02] [-6.48946087e-01 7.55252632e-01 -9.19915133e-02 -1.42918743e+02] [-1.36856091e-01 3.06294794e-03 9.90586205e-01 -3.36639158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters 0.030901035318513313 Centerline is valid? [True, True] Translation: X:245.66, Y:-142.97, Z:-33.67 [[ 7.46221751e-01 6.57923909e-01 1.01435833e-01 2.45663038e+02] [-6.51452535e-01 7.53079789e-01 -9.20892290e-02 -1.42966191e+02] [-1.36976982e-01 2.63835493e-03 9.90570717e-01 -3.36705793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters 0.03044645053842831 Centerline is valid? [True, True] Translation: X:245.70, Y:-143.02, Z:-33.68 [[ 7.40589855e-01 6.64038250e-01 1.02858493e-01 2.45702751e+02] [-6.57429102e-01 7.47696893e-01 -9.34683432e-02 -1.43015986e+02] [-1.38973531e-01 1.59954012e-03 9.90294804e-01 -3.36760076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters 0.030016744911801042 Centerline is valid? [True, True] Translation: X:245.74, Y:-143.06, Z:-33.68 [[ 7.36672706e-01 6.68857114e-01 9.97170237e-02 2.45744216e+02] [-6.62679314e-01 7.43390624e-01 -9.07000955e-02 -1.43062648e+02] [-1.34794105e-01 7.35875939e-04 9.90873356e-01 -3.36811807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters 0.030138308057640978 Centerline is valid? [True, True] Translation: X:245.79, Y:-143.11, Z:-33.69 [[ 7.33778550e-01 6.71926629e-01 1.00417356e-01 2.45787893e+02] [-6.65677505e-01 7.40617680e-01 -9.14270875e-02 -1.43107521e+02] [-1.35803164e-01 2.41660593e-04 9.90735809e-01 -3.36889153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters 0.030025536822865857 Centerline is valid? [True, True] Translation: X:245.83, Y:-143.15, Z:-33.69 [[ 7.32328566e-01 6.73604341e-01 9.97600290e-02 2.45830524e+02] [-6.67438964e-01 7.39092140e-01 -9.09287488e-02 -1.43153256e+02] [-1.34981853e-01 5.98975171e-06 9.90848071e-01 -3.36944573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters 0.029881117173527736 Centerline is valid? [True, True] Translation: X:245.87, Y:-143.20, Z:-33.70 [[ 7.31485238e-01 6.74915493e-01 9.70485693e-02 2.45871409e+02] [-6.69081010e-01 7.37895015e-01 -8.85525188e-02 -1.43201005e+02] [-1.31377122e-01 -1.58494548e-04 9.91332450e-01 -3.37010980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters 0.029970437813207764 Centerline is valid? [True, True] Translation: X:245.92, Y:-143.24, Z:-33.71 [[ 7.27510712e-01 6.79407024e-01 9.55733183e-02 2.45916638e+02] [-6.73775305e-01 7.33761076e-01 -8.73013246e-02 -1.43244717e+02] [-1.29441114e-01 -8.82292897e-04 9.91586718e-01 -3.37068040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters 0.030239462208568053 Centerline is valid? [True, True] Translation: X:245.96, Y:-143.29, Z:-33.71 [[ 7.24642146e-01 6.82654522e-01 9.42155173e-02 2.45961506e+02] [-6.77197510e-01 7.30739984e-01 -8.61545645e-02 -1.43288854e+02] [-1.27660849e-01 -1.37128520e-03 9.91816932e-01 -3.37138804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters 0.03048486120636371 Centerline is valid? [True, True] Translation: X:246.01, Y:-143.33, Z:-33.72 [[ 7.22089749e-01 6.85544510e-01 9.28176656e-02 2.46007433e+02] [-6.80260950e-01 7.28028526e-01 -8.49676664e-02 -1.43331348e+02] [-1.25823026e-01 -1.78595252e-03 9.92051096e-01 -3.37212857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters 0.03060493640644864 Centerline is valid? [True, True] Translation: X:246.06, Y:-143.37, Z:-33.73 [[ 7.22982079e-01 6.84491803e-01 9.36369851e-02 2.46055249e+02] [-6.79093493e-01 7.29018911e-01 -8.58105776e-02 -1.43371377e+02] [-1.26999770e-01 -1.54875752e-03 9.91901537e-01 -3.37298191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters 0.030215288611707466 Centerline is valid? [True, True] Translation: X:246.10, Y:-143.41, Z:-33.73 [[ 7.26543753e-01 6.80762110e-01 9.32583823e-02 2.46104452e+02] [-6.75365079e-01 7.32504110e-01 -8.55554711e-02 -1.43410585e+02] [-1.26555071e-01 -8.23661687e-04 9.91959241e-01 -3.37348033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters 0.030035876756172548 Centerline is valid? [True, True] Translation: X:246.15, Y:-143.45, Z:-33.74 [[ 7.30560313e-01 6.76348005e-01 9.39947092e-02 2.46152011e+02] [-6.70816348e-01 7.36582226e-01 -8.63252650e-02 -1.43451934e+02] [-1.27620753e-01 1.26250859e-05 9.91823040e-01 -3.37421609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters 0.029683201103749616 Centerline is valid? [True, True] Translation: X:246.20, Y:-143.49, Z:-33.75 [[ 7.35213147e-01 6.71315012e-01 9.37964951e-02 2.46197551e+02] [-6.65753643e-01 7.41171531e-01 -8.62371690e-02 -1.43494771e+02] [-1.27411598e-01 9.57342095e-04 9.91849469e-01 -3.37470931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters 0.02945746565529836 Centerline is valid? [True, True] Translation: X:246.24, Y:-143.54, Z:-33.75 [[ 7.38382381e-01 6.67889208e-01 9.33566543e-02 2.46241873e+02] [-6.62340935e-01 7.44258967e-01 -8.59248308e-02 -1.43539733e+02] [-1.26869794e-01 1.61144748e-03 9.91918070e-01 -3.37523026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters 0.029552250494934075 Centerline is valid? [True, True] Translation: X:246.29, Y:-143.58, Z:-33.76 [[ 7.39315232e-01 6.66931040e-01 9.28222750e-02 2.46285855e+02] [-6.61427213e-01 7.45117187e-01 -8.55243736e-02 -1.43584336e+02] [-1.26202332e-01 1.83429339e-03 9.92002826e-01 -3.37587904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters 0.02905295803297923 Centerline is valid? [True, True] Translation: X:246.33, Y:-143.63, Z:-33.76 [[ 7.38138690e-01 6.68346030e-01 9.20046629e-02 2.46327014e+02] [-6.62938472e-01 7.43848688e-01 -8.48628967e-02 -1.43632308e+02] [-1.25155328e-01 1.64715674e-03 9.92135793e-01 -3.37635112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters 0.028888787673652647 Centerline is valid? [True, True] Translation: X:246.37, Y:-143.68, Z:-33.77 [[ 7.36364726e-01 6.70215833e-01 9.26160230e-02 2.46368450e+02] [-6.64738544e-01 7.42164908e-01 -8.55214448e-02 -1.43679639e+02] [-1.26054189e-01 1.40953490e-03 9.92022356e-01 -3.37699632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters 0.02871784042700222 Centerline is valid? [True, True] Translation: X:246.41, Y:-143.73, Z:-33.78 [[ 7.35628283e-01 6.71142669e-01 9.17526402e-02 2.46411774e+02] [-6.65762930e-01 7.41327058e-01 -8.48169482e-02 -1.43725358e+02] [-1.24942988e-01 1.30823946e-03 9.92163060e-01 -3.37766740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters 0.02838012886067231 Centerline is valid? [True, True] Translation: X:246.45, Y:-143.77, Z:-33.78 [[ 7.32645345e-01 6.74694479e-01 8.95441742e-02 2.46451606e+02] [-6.69586958e-01 7.38096737e-01 -8.28644218e-02 -1.43774811e+02] [-1.22000431e-01 7.52621729e-04 9.92529762e-01 -3.37826454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters 0.028346285392078844 Centerline is valid? [True, True] Translation: X:246.49, Y:-143.82, Z:-33.79 [[ 7.26781745e-01 6.80877109e-01 9.05243452e-02 2.46493747e+02] [-6.75692303e-01 7.32397649e-01 -8.38665347e-02 -1.43822904e+02] [-1.23402621e-01 -2.13936757e-04 9.92356663e-01 -3.37888211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters 0.02847750722822555 Centerline is valid? [True, True] Translation: X:246.54, Y:-143.87, Z:-33.80 [[ 7.21248324e-01 6.87093046e-01 8.77724378e-02 2.46537967e+02] [-6.82253450e-01 7.26568507e-01 -8.14152039e-02 -1.43868098e+02] [-1.19712510e-01 -1.16246909e-03 9.92807919e-01 -3.37952838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters 0.02854632034294242 Centerline is valid? [True, True] Translation: X:246.58, Y:-143.91, Z:-33.80 [[ 7.19336739e-01 6.89310915e-01 8.60529963e-02 2.46583920e+02] [-6.84664166e-01 7.24464226e-01 -7.99159867e-02 -1.43912024e+02] [-1.17429279e-01 -1.43089770e-03 9.93080217e-01 -3.38007020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters 0.02853511364504334 Centerline is valid? [True, True] Translation: X:246.63, Y:-143.95, Z:-33.81 [[ 7.17677662e-01 6.90843842e-01 8.75988485e-02 2.46631352e+02] [-6.86027299e-01 7.23002144e-01 -8.14521071e-02 -1.43954540e+02] [-1.19604842e-01 -1.63884362e-03 9.92820223e-01 -3.38073351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters 0.02804648020350583 Centerline is valid? [True, True] Translation: X:246.68, Y:-143.99, Z:-33.81 [[ 7.19373186e-01 6.88925351e-01 8.87923383e-02 2.46680215e+02] [-6.83949314e-01 7.24831196e-01 -8.26624067e-02 -1.43994283e+02] [-1.21307684e-01 -1.26434001e-03 9.92614148e-01 -3.38148545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters 0.02769008811730127 Centerline is valid? [True, True] Translation: X:246.73, Y:-144.04, Z:-33.82 [[ 7.21565187e-01 6.86777669e-01 8.76362654e-02 2.46727432e+02] [-6.81903478e-01 7.26867085e-01 -8.16816188e-02 -1.44037569e+02] [-1.19797029e-01 -8.20861655e-04 9.92798065e-01 -3.38200192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters 0.02718876864379379 Centerline is valid? [True, True] Translation: X:246.77, Y:-144.08, Z:-33.83 [[ 7.23867138e-01 6.84411544e-01 8.71619511e-02 2.46774019e+02] [-6.79563520e-01 7.29095812e-01 -8.13186295e-02 -1.44081287e+02] [-1.19204822e-01 -3.68198648e-04 9.92869616e-01 -3.38260102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters 0.027200542165634365 Centerline is valid? [True, True] Translation: X:246.82, Y:-144.13, Z:-33.83 [[ 7.24543820e-01 6.83579119e-01 8.80672544e-02 2.46819462e+02] [-6.78610232e-01 7.29876404e-01 -8.22714330e-02 -1.44125503e+02] [-1.20517245e-01 -1.54081556e-04 9.92711222e-01 -3.38335891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters 0.026894269635267195 Centerline is valid? [True, True] Translation: X:246.86, Y:-144.17, Z:-33.84 [[ 7.23704882e-01 6.84467005e-01 8.80690791e-02 2.46864249e+02] [-6.79491700e-01 7.29043804e-01 -8.23781639e-02 -1.44169897e+02] [-1.20591352e-01 -2.24728903e-04 9.92702209e-01 -3.38407054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters 0.026631445681549386 Centerline is valid? [True, True] Translation: X:246.91, Y:-144.21, Z:-33.85 [[ 7.22017678e-01 6.86391074e-01 8.69354120e-02 2.46909659e+02] [-6.81545484e-01 7.27232478e-01 -8.14166896e-02 -1.44214054e+02] [-1.19105944e-01 -4.66148226e-04 9.92881441e-01 -3.38479516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters 0.027009117115844854 Centerline is valid? [True, True] Translation: X:246.95, Y:-144.26, Z:-33.86 [[ 7.18549795e-01 6.89709786e-01 8.93678010e-02 2.46953209e+02] [-6.84600604e-01 7.24085269e-01 -8.38005743e-02 -1.44259574e+02] [-1.22507984e-01 -9.66365049e-04 9.92467057e-01 -3.38559317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters 0.027518742472779908 Centerline is valid? [True, True] Translation: X:247.00, Y:-144.30, Z:-33.86 [[ 7.14794302e-01 6.93201596e-01 9.24156524e-02 2.47000338e+02] [-6.87751602e-01 7.20742104e-01 -8.67672323e-02 -1.44302383e+02] [-1.26755036e-01 -1.53828968e-03 9.91932858e-01 -3.38622552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters 0.027466950371665765 Centerline is valid? [True, True] Translation: X:247.05, Y:-144.35, Z:-33.87 [[ 7.13641868e-01 6.94571942e-01 9.10225370e-02 2.47046869e+02] [-6.89283889e-01 7.19421291e-01 -8.55612410e-02 -1.44345764e+02] [-1.24911988e-01 -1.68028450e-03 9.92166403e-01 -3.38702106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters 0.027717880957762245 Centerline is valid? [True, True] Translation: X:247.09, Y:-144.39, Z:-33.88 [[ 7.12358186e-01 6.95779057e-01 9.18548788e-02 2.47093123e+02] [-6.90390257e-01 7.18253534e-01 -8.64474032e-02 -1.44389526e+02] [-1.26123384e-01 -1.83419806e-03 9.92012867e-01 -3.38768344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters 0.027751315635697566 Centerline is valid? [True, True] Translation: X:247.14, Y:-144.43, Z:-33.88 [[ 7.13071157e-01 6.94899275e-01 9.29759251e-02 2.47139260e+02] [-6.89356554e-01 7.19105253e-01 -8.76080910e-02 -1.44433096e+02] [-1.27738275e-01 -1.62276051e-03 9.91806584e-01 -3.38840007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters 0.027687737027040995 Centerline is valid? [True, True] Translation: X:247.18, Y:-144.48, Z:-33.89 [[ 7.11399046e-01 6.96598723e-01 9.30678085e-02 2.47184975e+02] [-6.91045998e-01 7.17458558e-01 -8.77989006e-02 -1.44477098e+02] [-1.27932898e-01 -1.85408240e-03 9.91781093e-01 -3.38921749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters 0.028373215235525155 Centerline is valid? [True, True] Translation: X:247.23, Y:-144.52, Z:-33.90 [[ 7.09151431e-01 6.98699522e-01 9.44628274e-02 2.47228699e+02] [-6.92982837e-01 7.15411900e-01 -8.92221997e-02 -1.44522580e+02] [-1.29919339e-01 -2.18906757e-03 9.91522150e-01 -3.39013245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters 0.028809637109322096 Centerline is valid? [True, True] Translation: X:247.27, Y:-144.57, Z:-33.91 [[ 7.06472972e-01 7.01487925e-01 9.38649577e-02 2.47274694e+02] [-6.95854244e-01 7.12676570e-01 -8.87636061e-02 -1.44566736e+02] [-1.29161954e-01 -2.60724054e-03 9.91620084e-01 -3.39088501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters 0.029637402163728538 Centerline is valid? [True, True] Translation: X:247.32, Y:-144.61, Z:-33.92 [[ 7.02157492e-01 7.05995367e-01 9.24413275e-02 2.47321135e+02] [-7.00556105e-01 7.08208761e-01 -8.75299668e-02 -1.44611468e+02] [-1.27263509e-01 -3.30051432e-03 9.91863451e-01 -3.39166808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters 0.03139107665489963 Centerline is valid? [True, True] Translation: X:247.37, Y:-144.65, Z:-33.92 [[ 6.93146285e-01 7.14750959e-01 9.31627322e-02 2.47368604e+02] [-7.09289113e-01 6.99362196e-01 -8.83259480e-02 -1.44653480e+02] [-1.28285549e-01 -4.85650897e-03 9.91725381e-01 -3.39231042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters 0.0333810445937352 Centerline is valid? [True, True] Translation: X:247.42, Y:-144.69, Z:-33.93 [[ 6.86475368e-01 7.21175472e-01 9.30457303e-02 2.47416607e+02] [-7.15772708e-01 6.92726670e-01 -8.83130270e-02 -1.44694564e+02] [-1.28144448e-01 -5.97487671e-03 9.91737516e-01 -3.39290079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters 0.03471765541071518 Centerline is valid? [True, True] Translation: X:247.47, Y:-144.73, Z:-33.94 [[ 6.80978926e-01 7.26390342e-01 9.28696587e-02 2.47472178e+02] [-7.21043085e-01 6.87248037e-01 -8.82440091e-02 -1.44728365e+02] [-1.27924087e-01 -6.87071475e-03 9.91760163e-01 -3.39367850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters 0.03457381158831694 Centerline is valid? [True, True] Translation: X:247.53, Y:-144.76, Z:-33.94 [[ 6.80548406e-01 7.26905464e-01 9.19908328e-02 2.47529453e+02] [-7.21651635e-01 6.86703536e-01 -8.75052623e-02 -1.44760401e+02] [-1.26778483e-01 -6.83376817e-03 9.91907514e-01 -3.39432534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters 0.03446501178784974 Centerline is valid? [True, True] Translation: X:247.58, Y:-144.80, Z:-33.95 [[ 6.80360903e-01 7.26991351e-01 9.26963690e-02 2.47582588e+02] [-7.21644817e-01 6.86612576e-01 -8.82719054e-02 -1.44795757e+02] [-1.27819404e-01 -6.83710096e-03 9.91773893e-01 -3.39495910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters 0.034258366668279486 Centerline is valid? [True, True] Translation: X:247.64, Y:-144.82, Z:-33.96 [[ 6.79358547e-01 7.27930181e-01 9.26801810e-02 2.47642085e+02] [-7.22583076e-01 6.85616007e-01 -8.83424607e-02 -1.44823950e+02] [-1.27850159e-01 -6.95292442e-03 9.91769123e-01 -3.39565382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters 0.03406461167018733 Centerline is valid? [True, True] Translation: X:247.70, Y:-144.85, Z:-33.96 [[ 6.79917297e-01 7.27206469e-01 9.42508397e-02 2.47699975e+02] [-7.21657521e-01 6.86384370e-01 -8.99272979e-02 -1.44853682e+02] [-1.30088016e-01 -6.87370191e-03 9.91478623e-01 -3.39649068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters 0.032102902018041155 Centerline is valid? [True, True] Translation: X:247.76, Y:-144.88, Z:-33.97 [[ 6.86616521e-01 7.20985216e-01 9.34776517e-02 2.47757063e+02] [-7.15458756e-01 6.92927951e-01 -8.92727509e-02 -1.44884722e+02] [-1.29137611e-01 -5.58325872e-03 9.91610964e-01 -3.39724338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters 0.030803704265540282 Centerline is valid? [True, True] Translation: X:247.81, Y:-144.92, Z:-33.98 [[ 6.91127849e-01 7.16582748e-01 9.40822079e-02 2.47809117e+02] [-7.10933054e-01 6.97486032e-01 -8.99301263e-02 -1.44920215e+02] [-1.30063403e-01 -4.73293669e-03 9.91494383e-01 -3.39791280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters 0.02919955886045616 Centerline is valid? [True, True] Translation: X:247.86, Y:-144.96, Z:-33.99 [[ 6.97100946e-01 7.10817050e-01 9.37517586e-02 2.47860559e+02] [-7.05147869e-01 7.03367722e-01 -8.96678901e-02 -1.44956102e+02] [-1.29679426e-01 -3.60128177e-03 9.91549433e-01 -3.39859121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters 0.02875963112548121 Centerline is valid? [True, True] Translation: X:247.91, Y:-145.00, Z:-33.99 [[ 6.99349252e-01 7.08669102e-01 9.32669691e-02 2.47908705e+02] [-7.03028881e-01 7.05534071e-01 -8.92864342e-02 -1.44995472e+02] [-1.29077562e-01 -3.12697187e-03 9.91629571e-01 -3.39924512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters 0.028570393246839035 Centerline is valid? [True, True] Translation: X:247.95, Y:-145.04, Z:-34.00 [[ 7.01070434e-01 7.06997805e-01 9.30287611e-02 2.47954126e+02] [-7.01361208e-01 7.07210381e-01 -8.91399594e-02 -1.45037448e+02] [-1.28812661e-01 -2.75337430e-03 9.91665124e-01 -3.40009605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters 0.02789451161674598 Centerline is valid? [True, True] Translation: X:248.00, Y:-145.08, Z:-34.01 [[ 7.00955180e-01 7.07321011e-01 9.14266006e-02 2.47999224e+02] [-7.01870207e-01 7.06887304e-01 -8.76843853e-02 -1.45079641e+02] [-1.26649311e-01 -2.70678303e-03 9.91943862e-01 -3.40081323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters 0.028354818035174232 Centerline is valid? [True, True] Translation: X:248.04, Y:-145.12, Z:-34.02 [[ 6.99412025e-01 7.08579541e-01 9.34764874e-02 2.48043439e+02] [-7.02880688e-01 7.05624818e-01 -8.97349123e-02 -1.45122518e+02] [-1.29543652e-01 -2.94114111e-03 9.91569358e-01 -3.40150396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters 0.02856349345919897 Centerline is valid? [True, True] Translation: X:248.09, Y:-145.16, Z:-34.02 [[ 6.96352967e-01 7.11768870e-01 9.20739985e-02 2.48088189e+02] [-7.06257542e-01 7.02405415e-01 -8.84698655e-02 -1.45164420e+02] [-1.27643371e-01 -3.42170262e-03 9.91814227e-01 -3.40225570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters 0.028836485101644 Centerline is valid? [True, True] Translation: X:248.13, Y:-145.21, Z:-34.03 [[ 6.95216313e-01 7.12913390e-01 9.18083619e-02 2.48133256e+02] [-7.07433413e-01 7.01243038e-01 -8.82959050e-02 -1.45206739e+02] [-1.27327308e-01 -3.56354928e-03 9.91854353e-01 -3.40307937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters 0.028527483818602952 Centerline is valid? [True, True] Translation: X:248.18, Y:-145.25, Z:-34.04 [[ 6.95697163e-01 7.12464147e-01 9.16531348e-02 2.48180544e+02] [-7.06988344e-01 7.01700194e-01 -8.82287842e-02 -1.45246758e+02] [-1.27172868e-01 -3.41718313e-03 9.91874682e-01 -3.40363946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters 0.02789222869599982 Centerline is valid? [True, True] Translation: X:248.23, Y:-145.29, Z:-34.04 [[ 6.98141157e-01 7.09688913e-01 9.45545933e-02 2.48226731e+02] [-7.03822804e-01 7.04509034e-01 -9.11069799e-02 -1.45287387e+02] [-1.31272179e-01 -2.94414657e-03 9.91341993e-01 -3.40427647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters 0.02747613570121536 Centerline is valid? [True, True] Translation: X:248.27, Y:-145.33, Z:-34.05 [[ 7.01363153e-01 7.06447770e-01 9.49803938e-02 2.48271998e+02] [-7.00487556e-01 7.07761485e-01 -9.16016620e-02 -1.45329085e+02] [-1.31935254e-01 -2.28655341e-03 9.91255699e-01 -3.40502108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters 0.02701981197222612 Centerline is valid? [True, True] Translation: X:248.32, Y:-145.37, Z:-34.06 [[ 7.04868418e-01 7.02899395e-01 9.53569827e-02 2.48315852e+02] [-6.96847655e-01 7.11287558e-01 -9.20508345e-02 -1.45372565e+02] [-1.32528711e-01 -1.56556361e-03 9.91177930e-01 -3.40575532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters 0.026973960694079546 Centerline is valid? [True, True] Translation: X:248.36, Y:-145.42, Z:-34.06 [[ 7.09059925e-01 6.98493714e-01 9.66465431e-02 2.48358301e+02] [-6.92223124e-01 7.15615863e-01 -9.33867395e-02 -1.45418856e+02] [-1.34391850e-01 -6.84177465e-04 9.90928031e-01 -3.40648583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters 0.02714570346836853 Centerline is valid? [True, True] Translation: X:248.40, Y:-145.47, Z:-34.07 [[ 7.09159316e-01 6.98460874e-01 9.61533781e-02 2.48398166e+02] [-6.92240457e-01 7.15647990e-01 -9.30113118e-02 -1.45467875e+02] [-1.33776734e-01 -6.01420126e-04 9.91011314e-01 -3.40714880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters 0.02725511265529627 Centerline is valid? [True, True] Translation: X:248.44, Y:-145.52, Z:-34.08 [[ 7.07127842e-01 7.00648345e-01 9.51951303e-02 2.48439673e+02] [-6.94559076e-01 7.13506145e-01 -9.21773877e-02 -1.45515741e+02] [-1.32506245e-01 -9.37444597e-04 9.91181727e-01 -3.40783756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters 0.027575431565575795 Centerline is valid? [True, True] Translation: X:248.48, Y:-145.57, Z:-34.08 [[ 7.03487545e-01 7.04514293e-01 9.36209647e-02 2.48478478e+02] [-6.98650832e-01 7.09688021e-01 -9.07189469e-02 -1.45565335e+02] [-1.30354472e-01 -1.58871570e-03 9.91466181e-01 -3.40841936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters 0.028429389454448863 Centerline is valid? [True, True] Translation: X:248.52, Y:-145.61, Z:-34.09 [[ 6.96636667e-01 7.11403750e-01 9.27472847e-02 2.48517918e+02] [-7.05697306e-01 7.02778056e-01 -8.99684160e-02 -1.45614751e+02] [-1.29184625e-01 -2.77621152e-03 9.91616673e-01 -3.40914982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters 0.03069796436739865 Centerline is valid? [True, True] Translation: X:248.56, Y:-145.66, Z:-34.10 [[ 6.84897119e-01 7.22821914e-01 9.18935068e-02 2.48560793e+02] [-7.17309238e-01 6.91017667e-01 -8.92302712e-02 -1.45660764e+02] [-1.27997632e-01 -4.80250566e-03 9.91762846e-01 -3.40972488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters 0.03452365769106151 Centerline is valid? [True, True] Translation: X:248.61, Y:-145.70, Z:-34.10 [[ 6.72178976e-01 7.34589506e-01 9.24861180e-02 2.48608291e+02] [-7.29102649e-01 6.78475586e-01 -8.98899684e-02 -1.45701148e+02] [-1.28781801e-01 -7.00972673e-03 9.91648179e-01 -3.41036926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters 0.03638352521925944 Centerline is valid? [True, True] Translation: X:248.66, Y:-145.74, Z:-34.11 [[ 6.64875991e-01 7.41252943e-01 9.21085890e-02 2.48657558e+02] [-7.35862680e-01 6.71175686e-01 -8.96064500e-02 -1.45740099e+02] [-1.28242090e-01 -8.20209590e-03 9.91708975e-01 -3.41107749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters 0.03799919735147168 Centerline is valid? [True, True] Translation: X:248.71, Y:-145.77, Z:-34.12 [[ 6.60613703e-01 7.45069186e-01 9.19861033e-02 2.48711885e+02] [-7.39719159e-01 6.66928150e-01 -8.95678964e-02 -1.45774009e+02] [-1.28082401e-01 -8.87410330e-03 9.91723827e-01 -3.41166281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters 0.03836415419053851 Centerline is valid? [True, True] Translation: X:248.77, Y:-145.80, Z:-34.13 [[ 6.59775734e-01 7.45533327e-01 9.42127394e-02 2.48768972e+02] [-7.39915896e-01 6.66405677e-01 -9.18038120e-02 -1.45803830e+02] [-1.31226706e-01 -9.13957616e-03 9.91310254e-01 -3.41256727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters 0.03760375817583148 Centerline is valid? [True, True] Translation: X:248.83, Y:-145.83, Z:-34.13 [[ 6.60555692e-01 7.44801992e-01 9.45313225e-02 2.48826059e+02] [-7.39128776e-01 6.67225201e-01 -9.21910158e-02 -1.45833445e+02] [-1.31737733e-01 -8.97352042e-03 9.91243989e-01 -3.41314695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters 0.03615850467119766 Centerline is valid? [True, True] Translation: X:248.88, Y:-145.87, Z:-34.14 [[ 6.64470197e-01 7.41243553e-01 9.50649913e-02 2.48880941e+02] [-7.35459360e-01 6.71185333e-01 -9.27888932e-02 -1.45865733e+02] [-1.32585397e-01 -8.26098349e-03 9.91137159e-01 -3.41392210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters 0.034683483328589795 Centerline is valid? [True, True] Translation: X:248.93, Y:-145.90, Z:-34.15 [[ 6.68240147e-01 7.37766463e-01 9.56856938e-02 2.48932879e+02] [-7.31860320e-01 6.75013624e-01 -9.34723515e-02 -1.45900396e+02] [-1.33549913e-01 -7.56658461e-03 9.91013202e-01 -3.41461291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters 0.03249701475304908 Centerline is valid? [True, True] Translation: X:248.99, Y:-145.93, Z:-34.15 [[ 6.74881565e-01 7.31694148e-01 9.57002938e-02 2.48985098e+02] [-7.25715192e-01 6.81603897e-01 -9.35606087e-02 -1.45934860e+02] [-1.33687443e-01 -6.30882709e-03 9.91003464e-01 -3.41524672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters 0.030512766318640024 Centerline is valid? [True, True] Translation: X:249.04, Y:-145.97, Z:-34.16 [[ 6.81135861e-01 7.25669800e-01 9.72485514e-02 2.49038694e+02] [-7.19424050e-01 6.88023796e-01 -9.51435365e-02 -1.45968106e+02] [-1.35952109e-01 -5.15727211e-03 9.90701987e-01 -3.41587101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters 0.029696986007828382 Centerline is valid? [True, True] Translation: X:249.09, Y:-146.01, Z:-34.17 [[ 6.85588489e-01 7.21382359e-01 9.78566087e-02 2.49085338e+02] [-7.15009697e-01 6.92523595e-01 -9.57716241e-02 -1.46007838e+02] [-1.36855971e-01 -4.30850108e-03 9.90581587e-01 -3.41659518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters 0.02978056521061277 Centerline is valid? [True, True] Translation: X:249.13, Y:-146.05, Z:-34.17 [[ 6.85437208e-01 7.21575732e-01 9.74899842e-02 2.49131820e+02] [-7.15243056e-01 6.92322280e-01 -9.54841944e-02 -1.46048433e+02] [-1.36393566e-01 -4.28061467e-03 9.90645482e-01 -3.41731197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters 0.029933162776413374 Centerline is valid? [True, True] Translation: X:249.18, Y:-146.09, Z:-34.18 [[ 6.84222200e-01 7.23001922e-01 9.54369016e-02 2.49178780e+02] [-7.16936606e-01 6.90831957e-01 -9.35580620e-02 -1.46088822e+02] [-1.33573520e-01 -4.40770532e-03 9.91029105e-01 -3.41802514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters 0.03010445384986806 Centerline is valid? [True, True] Translation: X:249.23, Y:-146.13, Z:-34.19 [[ 6.82962323e-01 7.24123142e-01 9.59590598e-02 2.49226120e+02] [-7.17990252e-01 6.89655410e-01 -9.41563219e-02 -1.46128480e+02] [-1.34359456e-01 -4.59244924e-03 9.90922018e-01 -3.41864273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters 0.029963991625384157 Centerline is valid? [True, True] Translation: X:249.27, Y:-146.17, Z:-34.19 [[ 6.84177365e-01 7.22977488e-01 9.59420946e-02 2.49273431e+02] [-7.16823886e-01 6.90858167e-01 -9.42258426e-02 -1.46168517e+02] [-1.34405543e-01 -4.30639639e-03 9.90917053e-01 -3.41932944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters 0.02935166473429135 Centerline is valid? [True, True] Translation: X:249.32, Y:-146.21, Z:-34.20 [[ 6.86613869e-01 7.21000501e-01 9.33791908e-02 2.49322355e+02] [-7.15144844e-01 6.92924331e-01 -9.17808517e-02 -1.46206170e+02] [-1.30878753e-01 -3.76164113e-03 9.91391246e-01 -3.42011612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters 0.02928050027261966 Centerline is valid? [True, True] Translation: X:249.37, Y:-146.25, Z:-34.21 [[ 6.88099639e-01 7.19475114e-01 9.42042863e-02 2.49371422e+02] [-7.13498093e-01 6.94509463e-01 -9.26125089e-02 -1.46245054e+02] [-1.32058164e-01 -3.48794470e-03 9.91235833e-01 -3.42082633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters 0.02904366947055774 Centerline is valid? [True, True] Translation: X:249.42, Y:-146.28, Z:-34.21 [[ 6.88191530e-01 7.19511681e-01 9.32489102e-02 2.49420468e+02] [-7.13650934e-01 6.94471861e-01 -9.17124767e-02 -1.46283876e+02] [-1.30746943e-01 -3.43142226e-03 9.91409836e-01 -3.42134346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters 0.029235961005459596 Centerline is valid? [True, True] Translation: X:249.47, Y:-146.33, Z:-34.22 [[ 6.87987193e-01 7.19676745e-01 9.34826515e-02 2.49467977e+02] [-7.13776293e-01 6.94300912e-01 -9.20306803e-02 -1.46325441e+02] [-1.31137431e-01 -3.40977112e-03 9.91358335e-01 -3.42207417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters 0.029176354193692824 Centerline is valid? [True, True] Translation: X:249.52, Y:-146.37, Z:-34.23 [[ 6.89318436e-01 7.18315103e-01 9.41461992e-02 2.49516309e+02] [-7.12304448e-01 6.95710988e-01 -9.27825177e-02 -1.46365048e+02] [-1.32145629e-01 -3.10405639e-03 9.91225452e-01 -3.42276307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters 0.028600606187545057 Centerline is valid? [True, True] Translation: X:249.56, Y:-146.40, Z:-34.23 [[ 6.93187082e-01 7.14653715e-01 9.36041493e-02 2.49564731e+02] [-7.08667482e-01 6.99474549e-01 -9.23350155e-02 -1.46404412e+02] [-1.31461282e-01 -2.32877689e-03 9.91318570e-01 -3.42328394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters 0.0287910481533447 Centerline is valid? [True, True] Translation: X:249.61, Y:-146.45, Z:-34.24 [[ 6.93878394e-01 7.13764288e-01 9.52539544e-02 2.49610834e+02] [-7.07543763e-01 7.00382739e-01 -9.40523412e-02 -1.46446173e+02] [-1.33845428e-01 -2.13545388e-03 9.90999920e-01 -3.42407013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters 0.028465673550592777 Centerline is valid? [True, True] Translation: X:249.66, Y:-146.49, Z:-34.25 [[ 6.96552388e-01 7.11249027e-01 9.45494230e-02 2.49657854e+02] [-7.05085773e-01 7.02938358e-01 -9.34436567e-02 -1.46486499e+02] [-1.32924126e-01 -1.57705083e-03 9.91124962e-01 -3.42479802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters 0.027972476264237222 Centerline is valid? [True, True] Translation: X:249.71, Y:-146.52, Z:-34.25 [[ 7.00787245e-01 7.07223579e-01 9.34454237e-02 2.49707165e+02] [-7.01156925e-01 7.06989576e-01 -9.24375757e-02 -1.46524591e+02] [-1.31438974e-01 -7.40832007e-04 9.91323987e-01 -3.42549347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters 0.027813581666125162 Centerline is valid? [True, True] Translation: X:249.76, Y:-146.56, Z:-34.26 [[ 7.06973298e-01 7.01222552e-01 9.20635063e-02 2.49756106e+02] [-6.95272623e-01 7.12942314e-01 -9.11550116e-02 -1.46563021e+02] [-1.29555919e-01 4.34923709e-04 9.91572022e-01 -3.42621232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters 0.027898112056772183 Centerline is valid? [True, True] Translation: X:249.80, Y:-146.60, Z:-34.27 [[ 7.11280705e-01 6.96895258e-01 9.17428899e-02 2.49802613e+02] [-6.90939859e-01 7.17171776e-01 -9.09216979e-02 -1.46603696e+02] [-1.29158311e-01 1.28202997e-03 9.91623158e-01 -3.42691874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters 0.028530079625229125 Centerline is valid? [True, True] Translation: X:249.85, Y:-146.64, Z:-34.28 [[ 7.17432629e-01 6.90239904e-01 9.41238441e-02 2.49848225e+02] [-6.83900980e-01 7.23575875e-01 -9.33670369e-02 -1.46644430e+02] [-1.32551397e-01 2.61316951e-03 9.91172688e-01 -3.42771762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters 0.028829102176700903 Centerline is valid? [True, True] Translation: X:249.89, Y:-146.69, Z:-34.28 [[ 7.18816419e-01 6.88911137e-01 9.32973761e-02 2.49891234e+02] [-6.82662198e-01 7.24840050e-01 -9.26241094e-02 -1.46689317e+02] [-1.31435455e-01 2.88913888e-03 9.91320520e-01 -3.42843894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters 0.028687913757094483 Centerline is valid? [True, True] Translation: X:249.93, Y:-146.74, Z:-34.29 [[ 7.19516939e-01 6.88243454e-01 9.28241488e-02 2.49931155e+02] [-6.82041619e-01 7.25473369e-01 -9.22367635e-02 -1.46737841e+02] [-1.30822797e-01 3.05598097e-03 9.91401058e-01 -3.42896466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters 0.028524307048335976 Centerline is valid? [True, True] Translation: X:249.97, Y:-146.79, Z:-34.30 [[ 7.19027785e-01 6.88766156e-01 9.27374115e-02 2.49970274e+02] [-6.82568187e-01 7.24977263e-01 -9.22422854e-02 -1.46786856e+02] [-1.30765879e-01 3.02515933e-03 9.91408661e-01 -3.42965949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters 0.027918911608417266 Centerline is valid? [True, True] Translation: X:250.01, Y:-146.84, Z:-34.30 [[ 7.16786000e-01 6.91152268e-01 9.23383593e-02 2.50009964e+02] [-6.85016633e-01 7.22704351e-01 -9.19273269e-02 -1.46835376e+02] [-1.30269115e-01 2.63890897e-03 9.91475161e-01 -3.43032177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters 0.026999866229817607 Centerline is valid? [True, True] Translation: X:250.05, Y:-146.89, Z:-34.31 [[ 7.10106733e-01 6.97775654e-01 9.41146380e-02 2.50047192e+02] [-6.91452704e-01 7.16314825e-01 -9.37348922e-02 -1.46885904e+02] [-1.32821636e-01 1.48595714e-03 9.91138842e-01 -3.43098995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters 0.0269179154767003 Centerline is valid? [True, True] Translation: X:250.09, Y:-146.93, Z:-34.32 [[ 7.07274543e-01 7.00566571e-01 9.47058640e-02 2.50089519e+02] [-6.94176684e-01 7.13586306e-01 -9.44103595e-02 -1.46932629e+02] [-1.33721549e-01 1.03144129e-03 9.91018407e-01 -3.43174904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters 0.026561556654264625 Centerline is valid? [True, True] Translation: X:250.13, Y:-146.98, Z:-34.32 [[ 7.06800609e-01 7.01240246e-01 9.32470724e-02 2.50131405e+02] [-6.95039990e-01 7.12924401e-01 -9.30495050e-02 -1.46978331e+02] [-1.31728171e-01 9.57002480e-04 9.91285415e-01 -3.43246147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters 0.02688395002362692 Centerline is valid? [True, True] Translation: X:250.17, Y:-147.02, Z:-34.33 [[ 7.08803635e-01 6.99032398e-01 9.46103266e-02 2.50173739e+02] [-6.92617317e-01 7.15088527e-01 -9.44968309e-02 -1.47023505e+02] [-1.33711105e-01 1.45094667e-03 9.91019291e-01 -3.43312262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters 0.026949988854761346 Centerline is valid? [True, True] Translation: X:250.22, Y:-147.07, Z:-34.34 [[ 7.10719984e-01 6.97253254e-01 9.33541921e-02 2.50215721e+02] [-6.90981370e-01 7.16822553e-01 -9.33283164e-02 -1.47070425e+02] [-1.31991863e-01 1.82429193e-03 9.91249121e-01 -3.43376213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters 0.027121162094280934 Centerline is valid? [True, True] Translation: X:250.29, Y:-147.36, Z:-32.47 [[ 7.44136060e-01 -6.65275531e-01 -6.05804663e-02 2.50285384e+02] [-6.62317002e-01 -7.46567096e-01 6.30377653e-02 -1.47362543e+02] [-8.71648655e-02 -6.78520148e-03 -9.96170792e-01 -3.24747495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters 0.02759976999756091 Centerline is valid? [True, True] Translation: X:250.27, Y:-147.16, Z:-34.35 [[ 7.64110806e-01 6.37051465e-01 1.01489444e-01 2.50269598e+02] [-6.31043340e-01 7.70816599e-01 -8.73273903e-02 -1.47159614e+02] [-1.33861790e-01 2.68356469e-03 9.90996377e-01 -3.43499841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters 0.027855754590399937 Centerline is valid? [True, True] Translation: X:250.31, Y:-147.21, Z:-34.36 [[ 7.67165214e-01 6.33541632e-01 1.00411823e-01 2.50309830e+02] [-6.27620035e-01 7.73701454e-01 -8.64820835e-02 -1.47207139e+02] [-1.32478774e-01 3.32557391e-03 9.91180264e-01 -3.43574951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters 0.027939626248395192 Centerline is valid? [True, True] Translation: X:250.35, Y:-147.25, Z:-34.36 [[ 7.66611144e-01 6.34007721e-01 1.01693476e-01 2.50351762e+02] [-6.27926614e-01 7.73319464e-01 -8.76651218e-02 -1.47253620e+02] [-1.34221908e-01 3.34901943e-03 9.90945641e-01 -3.43644123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters 0.027272374115214524 Centerline is valid? [True, True] Translation: X:250.39, Y:-147.30, Z:-34.37 [[ 7.61458280e-01 6.39875236e-01 1.03638651e-01 2.50389433e+02] [-6.33600601e-01 7.68474980e-01 -8.94230603e-02 -1.47303976e+02] [-1.36863312e-01 2.42641825e-03 9.90586971e-01 -3.43721341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters 0.026874311192447507 Centerline is valid? [True, True] Translation: X:250.43, Y:-147.35, Z:-34.38 [[ 7.57521228e-01 6.44500424e-01 1.03830590e-01 2.50428790e+02] [-6.38234201e-01 7.64602153e-01 -8.96696861e-02 -1.47353021e+02] [-1.37181244e-01 1.65845695e-03 9.90544575e-01 -3.43781661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters 0.026793555848430628 Centerline is valid? [True, True] Translation: X:250.47, Y:-147.40, Z:-34.39 [[ 7.54430214e-01 6.48087505e-01 1.04007874e-01 2.50469586e+02] [-6.41822120e-01 7.61565122e-01 -8.99051179e-02 -1.47400363e+02] [-1.37475153e-01 1.07258337e-03 9.90504635e-01 -3.43861183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters 0.02673967617514477 Centerline is valid? [True, True] Translation: X:250.51, Y:-147.45, Z:-34.39 [[ 7.52540436e-01 6.50185267e-01 1.04604070e-01 2.50512888e+02] [-6.43856487e-01 7.59775328e-01 -9.05001380e-02 -1.47445381e+02] [-1.38317448e-01 7.55004252e-04 9.90387658e-01 -3.43924340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters 0.026647841547877252 Centerline is valid? [True, True] Translation: X:250.56, Y:-147.49, Z:-34.40 [[ 7.47573248e-01 6.55890102e-01 1.04605992e-01 2.50555150e+02] [-6.49606727e-01 7.54856353e-01 -9.05703345e-02 -1.47492178e+02] [-1.38366684e-01 -2.44796986e-04 9.90381038e-01 -3.43996484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters 0.026979432040982906 Centerline is valid? [True, True] Translation: X:250.60, Y:-147.54, Z:-34.41 [[ 7.41676714e-01 6.62728884e-01 1.03470182e-01 2.50600188e+02] [-6.56634283e-01 7.48858059e-01 -8.96829199e-02 -1.47536665e+02] [-1.36919941e-01 -1.42633515e-03 9.90581090e-01 -3.44060972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters 0.027700278366742805 Centerline is valid? [True, True] Translation: X:250.65, Y:-147.58, Z:-34.41 [[ 7.37712760e-01 6.66954130e-01 1.04652149e-01 2.50647791e+02] [-6.60747434e-01 7.45095643e-01 -9.08036995e-02 -1.47576639e+02] [-1.38537762e-01 -2.16159101e-03 9.90354793e-01 -3.44129801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters 0.027987620878141942 Centerline is valid? [True, True] Translation: X:250.70, Y:-147.62, Z:-34.42 [[ 7.38047830e-01 6.66570760e-01 1.04732146e-01 2.50696719e+02] [-6.60338220e-01 7.45439015e-01 -9.09621357e-02 -1.47616275e+02] [-1.38704128e-01 -2.02423226e-03 9.90331797e-01 -3.44210793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters 0.027645914331933658 Centerline is valid? [True, True] Translation: X:250.75, Y:-147.65, Z:-34.43 [[ 7.41223649e-01 6.63191023e-01 1.03755330e-01 2.50747082e+02] [-6.57028466e-01 7.48449038e-01 -9.02088234e-02 -1.47652358e+02] [-1.37481259e-01 -1.30529201e-03 9.90503508e-01 -3.44266527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters 0.027787151443959376 Centerline is valid? [True, True] Translation: X:250.80, Y:-147.69, Z:-34.43 [[ 7.41879407e-01 6.62330341e-01 1.04563212e-01 2.50797374e+02] [-6.56049823e-01 7.49211145e-01 -9.10015926e-02 -1.47690672e+02] [-1.38613039e-01 -1.08646911e-03 9.90346023e-01 -3.44337963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters 0.028061527584801554 Centerline is valid? [True, True] Translation: X:250.84, Y:-147.73, Z:-34.44 [[ 7.41824886e-01 6.62477418e-01 1.04016875e-01 2.50843996e+02] [-6.56250534e-01 7.49081171e-01 -9.06235918e-02 -1.47731740e+02] [-1.37953165e-01 -1.03429382e-03 9.90438213e-01 -3.44409201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters 0.02803947151225564 Centerline is valid? [True, True] Translation: X:250.89, Y:-147.77, Z:-34.45 [[ 7.44872484e-01 6.59194692e-01 1.03088999e-01 2.50891277e+02] [-6.53035702e-01 7.51972228e-01 -8.99007247e-02 -1.47771703e+02] [-1.36782144e-01 -3.56220391e-04 9.90601089e-01 -3.44490199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters 0.027929028235469347 Centerline is valid? [True, True] Translation: X:250.94, Y:-147.81, Z:-34.46 [[ 7.46767736e-01 6.57222198e-01 1.01965346e-01 2.50937124e+02] [-6.51167361e-01 7.53696874e-01 -8.90061243e-02 -1.47813533e+02] [-1.35347763e-01 7.03965037e-05 9.90798152e-01 -3.44562946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters 0.027995012729896573 Centerline is valid? [True, True] Translation: X:250.98, Y:-147.86, Z:-34.46 [[ 7.48868584e-01 6.54962558e-01 1.01093480e-01 2.50982695e+02] [-6.48979063e-01 7.55661138e-01 -8.83313148e-02 -1.47856182e+02] [-1.34246118e-01 5.40994484e-04 9.90947873e-01 -3.44636196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters 0.028231078278315874 Centerline is valid? [True, True] Translation: X:251.03, Y:-147.90, Z:-34.47 [[ 7.50745671e-01 6.52837164e-01 1.00918656e-01 2.51027156e+02] [-6.46842223e-01 7.57497624e-01 -8.82750742e-02 -1.47900644e+02] [-1.34074891e-01 9.93681819e-04 9.90970704e-01 -3.44707046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters 0.028044398821008964 Centerline is valid? [True, True] Translation: X:251.07, Y:-147.94, Z:-34.48 [[ 7.50822747e-01 6.52899676e-01 9.99360572e-02 2.51071344e+02] [-6.47009727e-01 7.57443678e-01 -8.75070733e-02 -1.47943688e+02] [-1.32829275e-01 1.04270005e-03 9.91138384e-01 -3.44771692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters 0.02808581352530279 Centerline is valid? [True, True] Translation: X:251.12, Y:-147.99, Z:-34.49 [[ 7.49003286e-01 6.54940992e-01 1.00231601e-01 2.51115052e+02] [-6.49022723e-01 7.55679652e-01 -8.78508255e-02 -1.47988713e+02] [-1.33280089e-01 7.47969998e-04 9.91078129e-01 -3.44869549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters 0.02792101097052771 Centerline is valid? [True, True] Translation: X:251.16, Y:-148.04, Z:-34.49 [[ 7.46455844e-01 6.57883276e-01 9.99663328e-02 2.51156969e+02] [-6.52010207e-01 7.53119850e-01 -8.77107779e-02 -1.48035376e+02] [-1.32990084e-01 2.93153350e-04 9.91117325e-01 -3.44917164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters 0.027916230589967846 Centerline is valid? [True, True] Translation: X:251.20, Y:-148.08, Z:-34.50 [[ 7.43861716e-01 6.61025155e-01 9.85671919e-02 2.51199762e+02] [-6.55332722e-01 7.50363714e-01 -8.65639663e-02 -1.48079717e+02] [-1.31182203e-01 -2.02685649e-04 9.91358254e-01 -3.44980104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters 0.02788296997884576 Centerline is valid? [True, True] Translation: X:251.24, Y:-148.12, Z:-34.50 [[ 7.41221932e-01 6.63805615e-01 9.97604814e-02 2.51244816e+02] [-6.57987512e-01 7.47904872e-01 -8.76968447e-02 -1.48121885e+02] [-1.32825008e-01 -6.38326312e-04 9.91139299e-01 -3.45042169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters 0.027854717844423633 Centerline is valid? [True, True] Translation: X:251.29, Y:-148.17, Z:-34.51 [[ 7.39706209e-01 6.65316411e-01 1.00939575e-01 2.51289684e+02] [-6.59361616e-01 7.46561010e-01 -8.88195739e-02 -1.48165218e+02] [-1.34450671e-01 -8.55290998e-04 9.90919919e-01 -3.45101545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters 0.02791436449223617 Centerline is valid? [True, True] Translation: X:251.34, Y:-148.21, Z:-34.52 [[ 7.38466934e-01 6.66821507e-01 1.00078295e-01 2.51335360e+02] [-6.60970476e-01 7.45216724e-01 -8.81479682e-02 -1.48207528e+02] [-1.33358980e-01 -1.05443846e-03 9.91067238e-01 -3.45177941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters 0.027995971454462115 Centerline is valid? [True, True] Translation: X:251.38, Y:-148.25, Z:-34.52 [[ 7.37862553e-01 6.67569866e-01 9.95456077e-02 2.51382424e+02] [-6.61775141e-01 7.44546332e-01 -8.77748381e-02 -1.48249281e+02] [-1.32712154e-01 -1.11104253e-03 9.91153999e-01 -3.45228259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters 0.027962459190821493 Centerline is valid? [True, True] Translation: X:251.43, Y:-148.29, Z:-34.53 [[ 7.38107987e-01 6.67200259e-01 1.00201866e-01 2.51428588e+02] [-6.61311955e-01 7.44877747e-01 -8.84513477e-02 -1.48291251e+02] [-1.33652902e-01 -9.78045284e-04 9.91027722e-01 -3.45312146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters 0.027949863206874013 Centerline is valid? [True, True] Translation: X:251.47, Y:-148.33, Z:-34.54 [[ 7.38588811e-01 6.66677055e-01 1.00141264e-01 2.51474732e+02] [-6.60777984e-01 7.45346261e-01 -8.84952372e-02 -1.48333441e+02] [-1.33637661e-01 -8.09550314e-04 9.91029929e-01 -3.45384572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters 0.027653890765107547 Centerline is valid? [True, True] Translation: X:251.52, Y:-148.37, Z:-34.55 [[ 7.39190403e-01 6.65975346e-01 1.00371244e-01 2.51522499e+02] [-6.60029338e-01 7.45973502e-01 -8.87964364e-02 -1.48374228e+02] [-1.34010526e-01 -6.10491854e-04 9.90979720e-01 -3.45450399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters 0.027491432101824826 Centerline is valid? [True, True] Translation: X:251.57, Y:-148.42, Z:-34.55 [[ 7.40032102e-01 6.65094219e-01 1.00010842e-01 2.51568310e+02] [-6.59169873e-01 7.46759358e-01 -8.85750534e-02 -1.48417032e+02] [-1.33594788e-01 -3.75751177e-04 9.91035969e-01 -3.45525241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters 0.02741216947145695 Centerline is valid? [True, True] Translation: X:251.61, Y:-148.46, Z:-34.56 [[ 7.42675638e-01 6.62169679e-01 9.98209016e-02 2.51614685e+02] [-6.56228345e-01 7.49353899e-01 -8.85047689e-02 -1.48459945e+02] [-1.33406356e-01 2.25030743e-04 9.91061397e-01 -3.45581795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters 0.027723776976632798 Centerline is valid? [True, True] Translation: X:251.66, Y:-148.51, Z:-34.57 [[ 7.45932198e-01 6.58642508e-01 9.88696246e-02 2.51658141e+02] [-6.52770559e-01 7.52455445e-01 -8.77576250e-02 -1.48505967e+02] [-1.32195890e-01 9.22058066e-04 9.91223182e-01 -3.45651752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters 0.027835514179293537 Centerline is valid? [True, True] Translation: X:251.70, Y:-148.55, Z:-34.57 [[ 7.48338998e-01 6.55952638e-01 9.85640905e-02 2.51700223e+02] [-6.50081377e-01 7.54800630e-01 -8.75797499e-02 -1.48551246e+02] [-1.31844406e-01 1.46466273e-03 9.91269342e-01 -3.45716267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters 0.027669058187015195 Centerline is valid? [True, True] Translation: X:251.74, Y:-148.60, Z:-34.58 [[ 7.47307619e-01 6.57142928e-01 9.84606307e-02 2.51743942e+02] [-6.51282974e-01 7.53764840e-01 -8.75731288e-02 -1.48595574e+02] [-1.31764224e-01 1.31833395e-03 9.91280208e-01 -3.45791172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters 0.027365115486936112 Centerline is valid? [True, True] Translation: X:251.78, Y:-148.64, Z:-34.59 [[ 7.44439538e-01 6.60458857e-01 9.79993492e-02 2.51784524e+02] [-6.54670237e-01 7.50861811e-01 -8.72549201e-02 -1.48642729e+02] [-1.31212254e-01 7.98755264e-04 9.91353976e-01 -3.45852378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters 0.02722102268674616 Centerline is valid? [True, True] Translation: X:251.83, Y:-148.69, Z:-34.59 [[ 7.42358316e-01 6.62769342e-01 9.81882405e-02 2.51830697e+02] [-6.56966944e-01 7.48823471e-01 -8.75091086e-02 -1.48685737e+02] [-1.31524013e-01 4.56686200e-04 9.91312880e-01 -3.45919668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters 0.027364932311589305 Centerline is valid? [True, True] Translation: X:251.88, Y:-148.73, Z:-34.60 [[ 7.43636001e-01 6.61132379e-01 9.95463484e-02 2.51876255e+02] [-6.55139793e-01 7.50268809e-01 -8.88175967e-02 -1.48727971e+02] [-1.33406709e-01 8.31188289e-04 9.91061027e-01 -3.45982199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters 0.02749786802454487 Centerline is valid? [True, True] Translation: X:251.92, Y:-148.77, Z:-34.60 [[ 7.45795915e-01 6.58535858e-01 1.00593127e-01 2.51922088e+02] [-6.52380595e-01 7.52548092e-01 -8.98383445e-02 -1.48769002e+02] [-1.34862937e-01 1.37606641e-03 9.90863308e-01 -3.46044312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters 0.027734418482507576 Centerline is valid? [True, True] Translation: X:251.97, Y:-148.81, Z:-34.61 [[ 7.49641740e-01 6.54261391e-01 9.98964181e-02 2.51966987e+02] [-6.48142126e-01 7.56265303e-01 -8.93004815e-02 -1.48811402e+02] [-1.33974052e-01 2.19629154e-03 9.90982406e-01 -3.46105953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters 0.02772345971963375 Centerline is valid? [True, True] Translation: X:252.01, Y:-148.86, Z:-34.62 [[ 7.51197807e-01 6.52726940e-01 9.82313440e-02 2.52010224e+02] [-6.46786758e-01 7.57589158e-01 -8.78951543e-02 -1.48857156e+02] [-1.31790536e-01 2.49191465e-03 9.91274455e-01 -3.46185566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters 0.027709139897668912 Centerline is valid? [True, True] Translation: X:252.05, Y:-148.91, Z:-34.63 [[ 7.50632440e-01 6.53532985e-01 9.71883614e-02 2.52051675e+02] [-6.47713663e-01 7.56894250e-01 -8.70523088e-02 -1.48905046e+02] [-1.30452867e-01 2.39405739e-03 9.91451622e-01 -3.46253151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters 0.027304449020189393 Centerline is valid? [True, True] Translation: X:252.09, Y:-148.95, Z:-34.63 [[ 7.49234376e-01 6.55192922e-01 9.67992006e-02 2.52092641e+02] [-6.49422986e-01 7.55458512e-01 -8.67883692e-02 -1.48952917e+02] [-1.29990905e-01 2.16120364e-03 9.91512831e-01 -3.46308183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters 0.02721383779939423 Centerline is valid? [True, True] Translation: X:252.13, Y:-149.00, Z:-34.64 [[ 7.46750253e-01 6.58284999e-01 9.49995827e-02 2.52131621e+02] [-6.52742404e-01 7.52766971e-01 -8.52598438e-02 -1.49001882e+02] [-1.27637824e-01 1.65755387e-03 9.91819459e-01 -3.46390550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters 0.026963151358070498 Centerline is valid? [True, True] Translation: X:252.17, Y:-149.05, Z:-34.65 [[ 7.43585390e-01 6.61655960e-01 9.63958439e-02 2.52174654e+02] [-6.55965500e-01 7.49806671e-01 -8.65980314e-02 -1.49048362e+02] [-1.29576350e-01 1.16068299e-03 9.91568768e-01 -3.46452783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters 0.02667993468081978 Centerline is valid? [True, True] Translation: X:252.22, Y:-149.10, Z:-34.65 [[ 7.39631668e-01 6.66144504e-01 9.58983602e-02 2.52216894e+02] [-6.60538038e-01 7.45822567e-01 -8.62449930e-02 -1.49095197e+02] [-1.28974789e-01 4.45013356e-04 9.91647773e-01 -3.46495547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters 0.026727785102783987 Centerline is valid? [True, True] Translation: X:252.26, Y:-149.14, Z:-34.65 [[ 7.34339348e-01 6.72044302e-01 9.54053349e-02 2.52260691e+02] [-6.66532386e-01 7.40510765e-01 -8.58975250e-02 -1.49140955e+02] [-1.28375620e-01 -5.12812929e-04 9.91725485e-01 -3.46548800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters 0.027154547812945944 Centerline is valid? [True, True] Translation: X:252.31, Y:-149.18, Z:-34.66 [[ 7.30210977e-01 6.76672041e-01 9.43762554e-02 2.52307046e+02] [-6.71305013e-01 7.36283514e-01 -8.50656623e-02 -1.49183622e+02] [-1.27049236e-01 -1.23937289e-03 9.91895637e-01 -3.46620704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters 0.027530160112207724 Centerline is valid? [True, True] Translation: X:252.35, Y:-149.22, Z:-34.67 [[ 7.25102282e-01 6.82274349e-01 9.34258710e-02 2.52354654e+02] [-6.77049702e-01 7.31093144e-01 -8.43001480e-02 -1.49224591e+02] [-1.25818842e-01 -2.12772845e-03 9.92050952e-01 -3.46696424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters 0.027650419787693184 Centerline is valid? [True, True] Translation: X:252.40, Y:-149.27, Z:-34.68 [[ 7.23712665e-01 6.83731381e-01 9.35487938e-02 2.52402430e+02] [-6.78493519e-01 7.29730107e-01 -8.45015743e-02 -1.49265621e+02] [-1.26041749e-01 -2.31739079e-03 9.92022231e-01 -3.46762923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters 0.027602963316988482 Centerline is valid? [True, True] Translation: X:252.45, Y:-149.30, Z:-34.68 [[ 7.22136031e-01 6.85440574e-01 9.32243075e-02 2.52453719e+02] [-6.80242061e-01 7.28124139e-01 -8.42969613e-02 -1.49302363e+02] [-1.25659426e-01 -2.54122202e-03 9.92070184e-01 -3.46816411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters 0.02734499445198714 Centerline is valid? [True, True] Translation: X:252.51, Y:-149.34, Z:-34.69 [[ 7.24100953e-01 6.83059942e-01 9.54302152e-02 2.52507407e+02] [-6.77578852e-01 7.30359269e-01 -8.63842451e-02 -1.49335699e+02] [-1.28703960e-01 -2.11058148e-03 9.91680814e-01 -3.46899235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters 0.02688912162107988 Centerline is valid? [True, True] Translation: X:252.56, Y:-149.37, Z:-34.70 [[ 7.27366806e-01 6.79643116e-01 9.49882323e-02 2.52556778e+02] [-6.74172079e-01 7.33541538e-01 -8.60745041e-02 -1.49374642e+02] [-1.28177758e-01 -1.43067696e-03 9.91750178e-01 -3.46957333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters 0.02640373820425304 Centerline is valid? [True, True] Translation: X:252.61, Y:-149.41, Z:-34.70 [[ 7.31950966e-01 6.74839192e-01 9.40204715e-02 2.52605550e+02] [-6.69428862e-01 7.37964632e-01 -8.52830634e-02 -1.49413747e+02] [-1.26936136e-01 -5.16996603e-04 9.91910757e-01 -3.47032313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters 0.0264963845909871 Centerline is valid? [True, True] Translation: X:252.65, Y:-149.46, Z:-34.71 [[ 7.33356389e-01 6.73105537e-01 9.54847738e-02 2.52651065e+02] [-6.67498111e-01 7.39546423e-01 -8.67027107e-02 -1.49456385e+02] [-1.28975498e-01 -1.51919254e-04 9.91647769e-01 -3.47089527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters 0.026400517833814002 Centerline is valid? [True, True] Translation: X:252.69, Y:-149.50, Z:-34.72 [[ 7.32076739e-01 6.74650639e-01 9.43936597e-02 2.52692843e+02] [-6.69172051e-01 7.38137110e-01 -8.58042768e-02 -1.49502553e+02] [-1.27563373e-01 -3.50283632e-04 9.91830360e-01 -3.47162085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters 0.026538405425627475 Centerline is valid? [True, True] Translation: X:252.74, Y:-149.55, Z:-34.72 [[ 7.30748034e-01 6.76132302e-01 9.40873018e-02 2.52735500e+02] [-6.70689674e-01 7.36780035e-01 -8.56185789e-02 -1.49547971e+02] [-1.27211132e-01 -5.37773525e-04 9.91875516e-01 -3.47234262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters 0.02684446747618653 Centerline is valid? [True, True] Translation: X:252.78, Y:-149.59, Z:-34.73 [[ 7.26259972e-01 6.80811622e-01 9.50893739e-02 2.52778121e+02] [-6.75279201e-01 7.32457405e-01 -8.66265059e-02 -1.49594284e+02] [-1.28625248e-01 -1.29851268e-03 9.91692422e-01 -3.47296964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters 0.027635281603713042 Centerline is valid? [True, True] Translation: X:252.82, Y:-149.64, Z:-34.74 [[ 7.20183050e-01 6.87421470e-01 9.37448536e-02 2.52823820e+02] [-6.82088557e-01 7.26254845e-01 -8.54932777e-02 -1.49637489e+02] [-1.26852569e-01 -2.37148250e-03 9.91918748e-01 -3.47355667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters 0.028964787777271694 Centerline is valid? [True, True] Translation: X:252.87, Y:-149.68, Z:-34.74 [[ 7.12903909e-01 6.94868151e-01 9.44789328e-02 2.52870858e+02] [-6.89503601e-01 7.19127884e-01 -8.62546871e-02 -1.49678505e+02] [-1.27878070e-01 -3.65226070e-03 9.91783172e-01 -3.47429647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters 0.02955267186410363 Centerline is valid? [True, True] Translation: X:252.92, Y:-149.72, Z:-34.75 [[ 7.09836398e-01 6.97973026e-01 9.46886635e-02 2.52918824e+02] [-6.92600406e-01 7.16111992e-01 -8.65349208e-02 -1.49719073e+02] [-1.28206728e-01 -4.15577027e-03 9.91738758e-01 -3.47496658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters 0.02943797637428672 Centerline is valid? [True, True] Translation: X:252.97, Y:-149.76, Z:-34.76 [[ 7.09373202e-01 6.98428181e-01 9.48036728e-02 2.52968134e+02] [-6.93034976e-01 7.15667947e-01 -8.67289487e-02 -1.49757379e+02] [-1.28421892e-01 -4.17906916e-03 9.91710821e-01 -3.47565578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters 0.02898584414201912 Centerline is valid? [True, True] Translation: X:253.02, Y:-149.80, Z:-34.76 [[ 7.11472238e-01 6.96163045e-01 9.57301926e-02 2.53016488e+02] [-6.90631300e-01 7.17873953e-01 -8.76663887e-02 -1.49796670e+02] [-1.29752312e-01 -3.74206560e-03 9.91539376e-01 -3.47630969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters 0.02856912191247807 Centerline is valid? [True, True] Translation: X:253.06, Y:-149.84, Z:-34.77 [[ 7.12363925e-01 6.95248712e-01 9.57437550e-02 2.53064942e+02] [-6.89695926e-01 7.18760658e-01 -8.77647233e-02 -1.49836200e+02] [-1.29835155e-01 -3.51365498e-03 9.91529368e-01 -3.47705086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters 0.028312709098865532 Centerline is valid? [True, True] Translation: X:253.11, Y:-149.88, Z:-34.78 [[ 7.14222014e-01 6.93239275e-01 9.64687586e-02 2.53112301e+02] [-6.87571260e-01 7.20700816e-01 -8.85217292e-02 -1.49877205e+02] [-1.30891852e-01 -3.10497813e-03 9.91391790e-01 -3.47779300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters 0.027753922547061646 Centerline is valid? [True, True] Translation: X:253.16, Y:-149.92, Z:-34.78 [[ 7.17117164e-01 6.90200152e-01 9.67818386e-02 2.53158752e+02] [-6.84455219e-01 7.23614228e-01 -8.89016412e-02 -1.49918357e+02] [-1.31392642e-01 -2.48994171e-03 9.91327279e-01 -3.47842058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters 0.02717609921600082 Centerline is valid? [True, True] Translation: X:253.21, Y:-149.96, Z:-34.79 [[ 7.22717761e-01 6.84272905e-01 9.72092045e-02 2.53205481e+02] [-6.78411261e-01 7.29224775e-01 -8.93833847e-02 -1.49960015e+02] [-1.32049989e-01 -1.34885932e-03 9.91242141e-01 -3.47913878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters 0.026976162772000392 Centerline is valid? [True, True] Translation: X:253.25, Y:-150.00, Z:-34.80 [[ 7.26273004e-01 6.80295002e-01 9.86216667e-02 2.53251031e+02] [-6.74211449e-01 7.32938192e-01 -9.07773621e-02 -1.50002826e+02] [-1.34038972e-01 -5.62709258e-04 9.90975902e-01 -3.47981906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters 0.026966947054395438 Centerline is valid? [True, True] Translation: X:253.29, Y:-150.05, Z:-34.81 [[ 7.28628030e-01 6.78248301e-01 9.52913216e-02 2.53294161e+02] [-6.72540911e-01 7.34832791e-01 -8.78037151e-02 -1.50047163e+02] [-1.29575908e-01 -1.11064267e-04 9.91569499e-01 -3.48052233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters 0.027021239339751025 Centerline is valid? [True, True] Translation: X:253.34, Y:-150.09, Z:-34.81 [[ 7.28782387e-01 6.77967962e-01 9.61024205e-02 2.53338877e+02] [-6.72147817e-01 7.35091452e-01 -8.86446262e-02 -1.50091139e+02] [-1.30742284e-01 7.61002315e-06 9.91416388e-01 -3.48120559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters 0.02716373636342242 Centerline is valid? [True, True] Translation: X:253.38, Y:-150.14, Z:-34.82 [[ 7.28645582e-01 6.77925019e-01 9.74334898e-02 2.53380108e+02] [-6.71927998e-01 7.35131050e-01 -8.99728002e-02 -1.50138053e+02] [-1.32621196e-01 8.99935236e-05 9.91166792e-01 -3.48194198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters 0.026943300911068797 Centerline is valid? [True, True] Translation: X:253.42, Y:-150.18, Z:-34.83 [[ 7.27457157e-01 6.79402190e-01 9.60143126e-02 2.53421769e+02] [-6.73579490e-01 7.33766075e-01 -8.87582008e-02 -1.50184610e+02] [-1.30754561e-01 -1.05483219e-04 9.91414764e-01 -3.48265696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters 0.026956763480121788 Centerline is valid? [True, True] Translation: X:253.47, Y:-150.23, Z:-34.83 [[ 7.26887077e-01 6.80064698e-01 9.56409122e-02 2.53465757e+02] [-6.74280371e-01 7.33152087e-01 -8.85098779e-02 -1.50229112e+02] [-1.30311778e-01 -1.52103345e-04 9.91473054e-01 -3.48323042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters 0.027075898439373 Centerline is valid? [True, True] Translation: X:253.51, Y:-150.27, Z:-34.84 [[ 7.28014492e-01 6.78705138e-01 9.67172926e-02 2.53509257e+02] [-6.72764160e-01 7.34410858e-01 -8.96051172e-02 -1.50274155e+02] [-1.31845683e-01 1.65895761e-04 9.91270240e-01 -3.48390725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters 0.02704485329357946 Centerline is valid? [True, True] Translation: X:253.55, Y:-150.32, Z:-34.85 [[ 7.31534642e-01 6.74887062e-01 9.68737348e-02 2.53551295e+02] [-6.68880226e-01 7.37920449e-01 -8.98479498e-02 -1.50320665e+02] [-1.32122329e-01 9.29962107e-04 9.91232982e-01 -3.48459502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters 0.027332336072587827 Centerline is valid? [True, True] Translation: X:253.59, Y:-150.37, Z:-34.85 [[ 7.36722118e-01 6.69345396e-01 9.60065735e-02 2.53593310e+02] [-6.63385934e-01 7.42948724e-01 -8.91419938e-02 -1.50368309e+02] [-1.30994744e-01 1.98346800e-03 9.91381078e-01 -3.48526446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters 0.027490079148187352 Centerline is valid? [True, True] Translation: X:253.63, Y:-150.42, Z:-34.86 [[ 7.38130057e-01 6.67798951e-01 9.59613488e-02 2.53634997e+02] [-6.61817669e-01 7.44338021e-01 -8.92092122e-02 -1.50417264e+02] [-1.31001499e-01 2.33908470e-03 9.91379411e-01 -3.48593474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters 0.02756497093315546 Centerline is valid? [True, True] Translation: X:253.67, Y:-150.47, Z:-34.87 [[ 7.38030554e-01 6.67906814e-01 9.59759824e-02 2.53674521e+02] [-6.61910043e-01 7.44241032e-01 -8.93329839e-02 -1.50468114e+02] [-1.31095373e-01 2.40300497e-03 9.91366849e-01 -3.48658830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters 0.02774551868827074 Centerline is valid? [True, True] Translation: X:253.71, Y:-150.52, Z:-34.87 [[ 7.37842507e-01 6.68002649e-01 9.67517234e-02 2.53714948e+02] [-6.61894007e-01 7.44154731e-01 -9.01668449e-02 -1.50518347e+02] [-1.32229944e-01 2.48954499e-03 9.91215942e-01 -3.48727657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters 0.027990502106353395 Centerline is valid? [True, True] Translation: X:253.75, Y:-150.57, Z:-34.88 [[ 7.37613708e-01 6.68280737e-01 9.65757457e-02 2.53753517e+02] [-6.62181790e-01 7.43904905e-01 -9.01153099e-02 -1.50570703e+02] [-1.32065497e-01 2.51958774e-03 9.91237790e-01 -3.48800253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters 0.027969266433303733 Centerline is valid? [True, True] Translation: X:253.80, Y:-150.62, Z:-34.89 [[ 7.37858136e-01 6.68063848e-01 9.62084542e-02 2.53796369e+02] [-6.61993309e-01 7.44099269e-01 -8.98951416e-02 -1.50618788e+02] [-1.31644335e-01 2.64050864e-03 9.91293497e-01 -3.48862313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters 0.028090984451101 Centerline is valid? [True, True] Translation: X:253.84, Y:-150.66, Z:-34.89 [[ 7.37459793e-01 6.68446833e-01 9.66016817e-02 2.53841469e+02] [-6.62313092e-01 7.43755115e-01 -9.03863770e-02 -1.50663961e+02] [-1.32266482e-01 2.67576041e-03 9.91210582e-01 -3.48931695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters 0.02788227047541426 Centerline is valid? [True, True] Translation: X:253.88, Y:-150.71, Z:-34.90 [[ 7.35449597e-01 6.70629557e-01 9.67981816e-02 2.53882652e+02] [-6.64472866e-01 7.41788599e-01 -9.06944564e-02 -1.50714172e+02] [-1.32626171e-01 2.38143629e-03 9.91163270e-01 -3.48997582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters 0.02728965541409463 Centerline is valid? [True, True] Translation: X:253.92, Y:-150.76, Z:-34.91 [[ 7.31089835e-01 6.75630991e-01 9.50285040e-02 2.53923443e+02] [-6.69724374e-01 7.37238358e-01 -8.91564136e-02 -1.50764839e+02] [-1.30295494e-01 1.53844231e-03 9.91474012e-01 -3.49069845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters 0.027074035071053625 Centerline is valid? [True, True] Translation: X:253.97, Y:-150.81, Z:-34.92 [[ 7.24745553e-01 6.82347880e-01 9.56308179e-02 2.53966906e+02] [-6.76406753e-01 7.31027485e-01 -8.98483163e-02 -1.50812692e+02] [-1.31216564e-01 4.31836687e-04 9.91353634e-01 -3.49155308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters 0.027530915943886757 Centerline is valid? [True, True] Translation: X:254.01, Y:-150.86, Z:-34.92 [[ 7.18121661e-01 6.89156210e-01 9.67729235e-02 2.54010980e+02] [-6.83114125e-01 7.24612453e-01 -9.10597888e-02 -1.50860912e+02] [-1.32877284e-01 -7.14944234e-04 9.91132239e-01 -3.49237513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters 0.028054310081115873 Centerline is valid? [True, True] Translation: X:254.06, Y:-150.90, Z:-34.93 [[ 7.11843200e-01 6.95806945e-01 9.55612572e-02 2.54059035e+02] [-6.89957246e-01 7.18226531e-01 -9.00535897e-02 -1.50904725e+02] [-1.31294543e-01 -1.82914637e-03 9.91341716e-01 -3.49307860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters 0.028200400086963614 Centerline is valid? [True, True] Translation: X:254.11, Y:-150.95, Z:-34.94 [[ 7.09104354e-01 6.98796568e-01 9.40976701e-02 2.54107284e+02] [-6.93134993e-01 7.15316909e-01 -8.88009152e-02 -1.50949030e+02] [-1.29363429e-01 -2.25327220e-03 9.91594688e-01 -3.49362346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters 0.028634086662071165 Centerline is valid? [True, True] Translation: X:254.16, Y:-150.99, Z:-34.94 [[ 7.06350760e-01 7.01565818e-01 9.42019476e-02 2.54158223e+02] [-6.95899327e-01 7.12599657e-01 -8.90272750e-02 -1.50988989e+02] [-1.29586769e-01 -2.67058852e-03 9.91564490e-01 -3.49432193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters 0.02888612484169394 Centerline is valid? [True, True] Translation: X:254.21, Y:-151.03, Z:-34.95 [[ 7.04239567e-01 7.03566472e-01 9.50833993e-02 2.54209792e+02] [-6.97794629e-01 7.10623215e-01 -8.99850080e-02 -1.51028555e+02] [-1.30878905e-01 -2.97768241e-03 9.91393890e-01 -3.49513152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters 0.029462569439204445 Centerline is valid? [True, True] Translation: X:254.26, Y:-151.07, Z:-34.96 [[ 7.02440176e-01 7.05182671e-01 9.64116145e-02 2.54262433e+02] [-6.99245301e-01 7.09018307e-01 -9.13731274e-02 -1.51067471e+02] [-1.32792346e-01 -3.23121268e-03 9.91138614e-01 -3.49595726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters 0.029601708174242698 Centerline is valid? [True, True] Translation: X:254.31, Y:-151.11, Z:-34.97 [[ 7.00944817e-01 7.06603181e-01 9.68932821e-02 2.54314293e+02] [-7.00601864e-01 7.07601738e-01 -9.19609108e-02 -1.51107537e+02] [-1.33541727e-01 -3.42409026e-03 9.91037276e-01 -3.49668922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters 0.029419077293457566 Centerline is valid? [True, True] Translation: X:254.36, Y:-151.15, Z:-34.97 [[ 7.00529627e-01 7.07151218e-01 9.58926346e-02 2.54364458e+02] [-7.01261966e-01 7.07054161e-01 -9.11376323e-02 -1.51148570e+02] [-1.32249374e-01 -3.40124601e-03 9.91210641e-01 -3.49749715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters 0.029175131288649285 Centerline is valid? [True, True] Translation: X:254.41, Y:-151.19, Z:-34.98 [[ 7.01223689e-01 7.06631550e-01 9.46424354e-02 2.54413232e+02] [-7.00874333e-01 7.07574591e-01 -9.00742292e-02 -1.51191890e+02] [-1.30615875e-01 -3.17027055e-03 9.91427982e-01 -3.49824610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters 0.02910060238448807 Centerline is valid? [True, True] Translation: X:254.46, Y:-151.24, Z:-34.99 [[ 7.01738930e-01 7.06132778e-01 9.45461494e-02 2.54460346e+02] [-7.00366234e-01 7.08073156e-01 -9.01085142e-02 -1.51235536e+02] [-1.30574166e-01 -2.98427833e-03 9.91434053e-01 -3.49893658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters 0.029591031013805294 Centerline is valid? [True, True] Translation: X:254.51, Y:-151.28, Z:-35.00 [[ 6.99086428e-01 7.08796968e-01 9.42604082e-02 2.54507960e+02] [-7.03074170e-01 7.05404409e-01 -8.99518308e-02 -1.51278945e+02] [-1.30249293e-01 -3.38795417e-03 9.91475488e-01 -3.49956157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters 0.030239345646157142 Centerline is valid? [True, True] Translation: X:254.55, Y:-151.32, Z:-35.00 [[ 6.95177102e-01 7.12635279e-01 9.42324613e-02 2.54554731e+02] [-7.06935684e-01 7.01523184e-01 -9.00397773e-02 -1.51322354e+02] [-1.30271778e-01 -4.02269807e-03 9.91470162e-01 -3.50025126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters 0.03236078900269245 Centerline is valid? [True, True] Translation: X:254.60, Y:-151.36, Z:-35.01 [[ 6.86762237e-01 7.20798880e-01 9.38435081e-02 2.54603382e+02] [-7.15207009e-01 6.93122742e-01 -8.97763793e-02 -1.51363754e+02] [-1.29755783e-01 -5.46250769e-03 9.91530936e-01 -3.50079357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters 0.03552568846863812 Centerline is valid? [True, True] Translation: X:254.66, Y:-151.40, Z:-35.01 [[ 6.76867207e-01 7.30054061e-01 9.41905077e-02 2.54655329e+02] [-7.24494222e-01 6.83351704e-01 -9.02140298e-02 -1.51402667e+02] [-1.30226363e-01 -7.17756025e-03 9.91458308e-01 -3.50145659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters 0.037110018420966055 Centerline is valid? [True, True] Translation: X:254.71, Y:-151.44, Z:-35.02 [[ 6.70740118e-01 7.35466763e-01 9.58975149e-02 2.54711356e+02] [-7.29744168e-01 6.77509846e-01 -9.19448608e-02 -1.51437070e+02] [-1.32593900e-01 -8.30954547e-03 9.91135616e-01 -3.50207383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters 0.03795843374556589 Centerline is valid? [True, True] Translation: X:254.77, Y:-151.47, Z:-35.03 [[ 6.68812627e-01 7.37306241e-01 9.52322299e-02 2.54765293e+02] [-7.31667713e-01 6.75504656e-01 -9.14101631e-02 -1.51474211e+02] [-1.31727098e-01 -8.54207652e-03 9.91249214e-01 -3.50272929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters 0.03676285403815995 Centerline is valid? [True, True] Translation: X:254.82, Y:-151.50, Z:-35.03 [[ 6.70173873e-01 7.36136863e-01 9.47074414e-02 2.54824736e+02] [-7.30535222e-01 6.76783107e-01 -9.10105252e-02 -1.51502781e+02] [-1.31092599e-01 -8.19424554e-03 9.91336262e-01 -3.50341626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters 0.03477105089134713 Centerline is valid? [True, True] Translation: X:254.88, Y:-151.53, Z:-35.04 [[ 6.74354638e-01 7.31949898e-01 9.74431605e-02 2.54884874e+02] [-7.25962726e-01 6.81316823e-01 -9.37310302e-02 -1.51530503e+02] [-1.34996083e-01 -7.53214759e-03 9.90817503e-01 -3.50423159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters 0.03233323922346576 Centerline is valid? [True, True] Translation: X:254.95, Y:-151.56, Z:-35.05 [[ 6.82068411e-01 7.25004819e-01 9.56592681e-02 2.54945146e+02] [-7.19155335e-01 6.88717900e-01 -9.21046036e-02 -1.51558294e+02] [-1.32658532e-01 -5.97223245e-03 9.91143807e-01 -3.50494072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters 0.03081928036196529 Centerline is valid? [True, True] Translation: X:255.00, Y:-151.59, Z:-35.06 [[ 6.88631669e-01 7.18655385e-01 9.65446134e-02 2.54997919e+02] [-7.12622580e-01 6.95350334e-01 -9.30428429e-02 -1.51593677e+02] [-1.33998069e-01 -4.72762333e-03 9.90970316e-01 -3.50578528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters 0.028817812641319662 Centerline is valid? [True, True] Translation: X:255.05, Y:-151.63, Z:-35.07 [[ 6.98968986e-01 7.08434969e-01 9.77867617e-02 2.55052303e+02] [-7.02135521e-01 7.05770761e-01 -9.43045238e-02 -1.51626032e+02] [-1.35823660e-01 -2.74362150e-03 9.90729229e-01 -3.50656178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters 0.02777407912059045 Centerline is valid? [True, True] Translation: X:255.10, Y:-151.66, Z:-35.07 [[ 7.05775745e-01 7.01990485e-01 9.53412674e-02 2.55103762e+02] [-6.95932493e-01 7.12184958e-01 -9.20355952e-02 -1.51662127e+02] [-1.32508729e-01 -1.39459517e-03 9.91180857e-01 -3.50722946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters 0.027624601540842036 Centerline is valid? [True, True] Translation: X:255.15, Y:-151.70, Z:-35.08 [[ 7.08835761e-01 6.98988362e-01 9.46949560e-02 2.55150756e+02] [-6.92973714e-01 7.15132639e-01 -9.15026772e-02 -1.51701895e+02] [-1.31678760e-01 -7.60745544e-04 9.91292149e-01 -3.50795927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters 0.0276509306943654 Centerline is valid? [True, True] Translation: X:255.20, Y:-151.74, Z:-35.09 [[ 7.12792762e-01 6.94580316e-01 9.73892314e-02 2.55199104e+02] [-6.88163179e-01 7.19415158e-01 -9.41980403e-02 -1.51740192e+02] [-1.35491394e-01 1.23998307e-04 9.90778516e-01 -3.50877828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters 0.027597583057368234 Centerline is valid? [True, True] Translation: X:255.24, Y:-151.78, Z:-35.10 [[ 7.15391424e-01 6.92046269e-01 9.63694575e-02 2.55244762e+02] [-6.85728401e-01 7.21852840e-01 -9.33007907e-02 -1.51781734e+02] [-1.34133031e-01 6.63311533e-04 9.90963112e-01 -3.50951474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters 0.027595323351592437 Centerline is valid? [True, True] Translation: X:255.29, Y:-151.82, Z:-35.10 [[ 7.15541848e-01 6.91818256e-01 9.68884083e-02 2.55292260e+02] [-6.85417244e-01 7.22071255e-01 -9.38951767e-02 -1.51823054e+02] [-1.34918732e-01 7.76942411e-04 9.90856363e-01 -3.51010022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters 0.027686071919811057 Centerline is valid? [True, True] Translation: X:255.34, Y:-151.87, Z:-35.11 [[ 7.13197843e-01 6.94232754e-01 9.69005653e-02 2.55336628e+02] [-6.87838775e-01 7.19750463e-01 -9.40057977e-02 -1.51867158e+02] [-1.35006131e-01 3.92766017e-04 9.90844685e-01 -3.51086476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters 0.027736745650215312 Centerline is valid? [True, True] Translation: X:255.38, Y:-151.91, Z:-35.12 [[ 7.11981740e-01 6.95484938e-01 9.68643526e-02 2.55381995e+02] [-6.89093280e-01 7.18540638e-01 -9.40733877e-02 -1.51910497e+02] [-1.35027598e-01 2.29959826e-04 9.90841811e-01 -3.51156685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters 0.027775114476259202 Centerline is valid? [True, True] Translation: X:255.43, Y:-151.95, Z:-35.12 [[ 7.09246658e-01 6.98102975e-01 9.80888086e-02 2.55426337e+02] [-6.91558560e-01 7.15997345e-01 -9.53654013e-02 -1.51952908e+02] [-1.36806197e-01 -1.96563027e-04 9.90597812e-01 -3.51226473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters 0.027703437807664162 Centerline is valid? [True, True] Translation: X:255.47, Y:-152.00, Z:-35.13 [[ 7.06779494e-01 7.00850557e-01 9.62872935e-02 2.55471309e+02] [-6.94558823e-01 7.13307839e-01 -9.37014858e-02 -1.51995197e+02] [-1.34353220e-01 -6.50900506e-04 9.90933292e-01 -3.51270317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters 0.027499119549209434 Centerline is valid? [True, True] Translation: X:255.52, Y:-152.04, Z:-35.13 [[ 7.05104008e-01 7.02596927e-01 9.58430817e-02 2.55517169e+02] [-6.96367111e-01 7.11587468e-01 -9.33601767e-02 -1.52038370e+02] [-1.33795309e-01 -9.13335157e-04 9.91008568e-01 -3.51338867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters 0.02734755090664976 Centerline is valid? [True, True] Translation: X:255.56, Y:-152.08, Z:-35.14 [[ 7.04360689e-01 7.03629018e-01 9.37135256e-02 2.55561549e+02] [-6.97670508e-01 7.10566798e-01 -9.13820990e-02 -1.52081018e+02] [-1.30888816e-01 -1.01520481e-03 9.91396534e-01 -3.51394137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters 0.02751349601161731 Centerline is valid? [True, True] Translation: X:255.61, Y:-152.13, Z:-35.15 [[ 7.02859955e-01 7.04882776e-01 9.55413798e-02 2.55605098e+02] [-6.98687848e-01 7.09322784e-01 -9.32549140e-02 -1.52125094e+02] [-1.33503460e-01 -1.20845634e-03 9.91047610e-01 -3.51464014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters 0.027449594369293177 Centerline is valid? [True, True] Translation: X:255.65, Y:-152.17, Z:-35.15 [[ 7.01029798e-01 7.06857443e-01 9.43916182e-02 2.55647480e+02] [-7.00817229e-01 7.07354439e-01 -9.22220636e-02 -1.52171124e+02] [-1.31956182e-01 -1.50085772e-03 9.91254414e-01 -3.51539581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters 0.02791360861092616 Centerline is valid? [True, True] Translation: X:255.69, Y:-152.22, Z:-35.16 [[ 6.97402455e-01 7.10654721e-01 9.27344758e-02 2.55689550e+02] [-7.04846216e-01 7.03537787e-01 -9.06994722e-02 -1.52217553e+02] [-1.29698216e-01 -2.10950971e-03 9.91551271e-01 -3.51611101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters 0.028359135466976697 Centerline is valid? [True, True] Translation: X:255.73, Y:-152.26, Z:-35.17 [[ 6.94195280e-01 7.13846739e-01 9.22808066e-02 2.55732205e+02] [-7.08110762e-01 7.00297042e-01 -9.03504349e-02 -1.52262459e+02] [-1.29120339e-01 -2.62418690e-03 9.91625459e-01 -3.51676891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters 0.029041966315790247 Centerline is valid? [True, True] Translation: X:255.77, Y:-152.31, Z:-35.17 [[ 6.89614120e-01 7.18093076e-01 9.36733662e-02 2.55774775e+02] [-7.12209207e-01 6.95938732e-01 -9.18004694e-02 -1.52307570e+02] [-1.31112205e-01 -3.40813392e-03 9.91361677e-01 -3.51741509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters 0.030582390746997524 Centerline is valid? [True, True] Translation: X:255.82, Y:-152.35, Z:-35.18 [[ 6.84429817e-01 7.22876598e-01 9.48959910e-02 2.55819474e+02] [-7.16870854e-01 6.90963673e-01 -9.30880369e-02 -1.52351032e+02] [-1.32860846e-01 -4.31594201e-03 9.91125304e-01 -3.51825051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters 0.03114367180492357 Centerline is valid? [True, True] Translation: X:255.87, Y:-152.39, Z:-35.19 [[ 6.81084395e-01 7.26150842e-01 9.39627706e-02 2.55865804e+02] [-7.20281875e-01 6.87518380e-01 -9.22631947e-02 -1.52392654e+02] [-1.31598128e-01 -4.84065849e-03 9.91291330e-01 -3.51889328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters 0.03204324206374047 Centerline is valid? [True, True] Translation: X:255.91, Y:-152.43, Z:-35.19 [[ 6.76290124e-01 7.30649882e-01 9.37145589e-02 2.55913782e+02] [-7.24843589e-01 6.82729035e-01 -9.21023199e-02 -1.52432505e+02] [-1.31276199e-01 -5.64050784e-03 9.91329786e-01 -3.51948785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters 0.03229628092145092 Centerline is valid? [True, True] Translation: X:255.96, Y:-152.47, Z:-35.20 [[ 6.74742580e-01 7.32067594e-01 9.38055899e-02 2.55963457e+02] [-7.26256245e-01 6.81206587e-01 -9.22466884e-02 -1.52470631e+02] [-1.31431797e-01 -5.88412700e-03 9.91307752e-01 -3.52019543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters 0.03235475496134795 Centerline is valid? [True, True] Translation: X:256.01, Y:-152.51, Z:-35.21 [[ 6.74328080e-01 7.32184149e-01 9.58541230e-02 2.56012021e+02] [-7.26104895e-01 6.81080471e-01 -9.43454970e-02 -1.52508991e+02] [-1.34362649e-01 -5.98033003e-03 9.90914181e-01 -3.52100490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters 0.031270342601404294 Centerline is valid? [True, True] Translation: X:256.06, Y:-152.55, Z:-35.22 [[ 6.76655593e-01 7.30057607e-01 9.56718312e-02 2.56062658e+02] [-7.23969233e-01 6.83363559e-01 -9.42485813e-02 -1.52546220e+02] [-1.34185537e-01 -5.48963259e-03 9.90941020e-01 -3.52154018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters 0.030678518693868808 Centerline is valid? [True, True] Translation: X:256.11, Y:-152.59, Z:-35.22 [[ 6.80428107e-01 7.26856834e-01 9.32562833e-02 2.56108998e+02] [-7.21032771e-01 6.86773086e-01 -9.19482014e-02 -1.52587362e+02] [-1.30879084e-01 -4.67669576e-03 9.91387308e-01 -3.52222623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters 0.029758034891562958 Centerline is valid? [True, True] Translation: X:256.16, Y:-152.63, Z:-35.23 [[ 6.83935354e-01 7.23514005e-01 9.35944224e-02 2.56156648e+02] [-7.17604967e-01 6.90298164e-01 -9.23664190e-02 -1.52626783e+02] [-1.31436456e-01 -3.99116290e-03 9.91316563e-01 -3.52292935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters 0.029208735187339876 Centerline is valid? [True, True] Translation: X:256.20, Y:-152.67, Z:-35.24 [[ 6.87639581e-01 7.19945800e-01 9.39672859e-02 2.56204189e+02] [-7.13946212e-01 6.94022594e-01 -9.28086535e-02 -1.52667107e+02] [-1.32032620e-01 -3.26868420e-03 9.91239983e-01 -3.52362236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters 0.028686885332114182 Centerline is valid? [True, True] Translation: X:256.25, Y:-152.71, Z:-35.24 [[ 6.89677196e-01 7.17940665e-01 9.43746097e-02 2.56250778e+02] [-7.11864641e-01 6.96098392e-01 -9.32510729e-02 -1.52708188e+02] [-1.32642751e-01 -2.86880911e-03 9.91159760e-01 -3.52430991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters 0.028844285056822225 Centerline is valid? [True, True] Translation: X:256.30, Y:-152.75, Z:-35.25 [[ 6.89763346e-01 7.17943495e-01 9.37212048e-02 2.56296629e+02] [-7.11940409e-01 6.96095795e-01 -9.26903316e-02 -1.52749976e+02] [-1.31785357e-01 -2.78951961e-03 9.91274351e-01 -3.52510628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters 0.02867644960821059 Centerline is valid? [True, True] Translation: X:256.34, Y:-152.79, Z:-35.26 [[ 6.89132936e-01 7.18497782e-01 9.41102254e-02 2.56343460e+02] [-7.12437828e-01 6.95523430e-01 -9.31638372e-02 -1.52791625e+02] [-1.32393877e-01 -2.84541592e-03 9.91193102e-01 -3.52572558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters 0.028566024666094723 Centerline is valid? [True, True] Translation: X:256.39, Y:-152.84, Z:-35.26 [[ 6.89869119e-01 7.17938459e-01 9.29783183e-02 2.56387960e+02] [-7.12006401e-01 6.96101581e-01 -9.21383353e-02 -1.52835004e+02] [-1.30872009e-01 -2.63776559e-03 9.91395763e-01 -3.52636297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters 0.028406168969660844 Centerline is valid? [True, True] Translation: X:256.43, Y:-152.88, Z:-35.27 [[ 6.90858263e-01 7.16898940e-01 9.36523925e-02 2.56434630e+02] [-7.10858700e-01 6.97172986e-01 -9.28963806e-02 -1.52876765e+02] [-1.31889235e-01 -2.39538590e-03 9.91261566e-01 -3.52721426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters 0.028267039601842632 Centerline is valid? [True, True] Translation: X:256.48, Y:-152.92, Z:-35.28 [[ 6.92334550e-01 7.15412334e-01 9.41172831e-02 2.56479879e+02] [-7.09284802e-01 6.98699490e-01 -9.34563694e-02 -1.52918662e+02] [-1.32619537e-01 -2.05288503e-03 9.91164892e-01 -3.52785750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters 0.028179928763667088 Centerline is valid? [True, True] Translation: X:256.53, Y:-152.96, Z:-35.29 [[ 6.92988956e-01 7.14779360e-01 9.41104371e-02 2.56525986e+02] [-7.08635101e-01 6.99347534e-01 -9.35378069e-02 -1.52960151e+02] [-1.32674796e-01 -1.86929192e-03 9.91157860e-01 -3.52852795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters 0.028146085080928022 Centerline is valid? [True, True] Translation: X:256.57, Y:-153.00, Z:-35.29 [[ 6.95320210e-01 7.12395307e-01 9.49880622e-02 2.56570335e+02] [-7.06100628e-01 7.01777082e-01 -9.45030695e-02 -1.53004510e+02] [-1.33983988e-01 -1.36123623e-03 9.90982562e-01 -3.52918601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters 0.02822870881828859 Centerline is valid? [True, True] Translation: X:256.62, Y:-153.05, Z:-35.30 [[ 6.96952978e-01 7.10649112e-01 9.60957086e-02 2.56616069e+02] [-7.04175069e-01 7.03545957e-01 -9.57108079e-02 -1.53048010e+02] [-1.35624548e-01 -9.62269599e-04 9.90759838e-01 -3.52988344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters 0.02835506231084975 Centerline is valid? [True, True] Translation: X:256.66, Y:-153.09, Z:-35.31 [[ 6.98775951e-01 7.08755695e-01 9.68376717e-02 2.56660775e+02] [-7.02148066e-01 7.05453819e-01 -9.65557003e-02 -1.53091667e+02] [-1.36748908e-01 -5.23582535e-04 9.90605604e-01 -3.53065302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters 0.0283851299596269 Centerline is valid? [True, True] Translation: X:256.70, Y:-153.14, Z:-35.31 [[ 7.01441774e-01 7.06245229e-01 9.59015920e-02 2.56704972e+02] [-6.99729594e-01 7.07967285e-01 -9.57121671e-02 -1.53135559e+02] [-1.35491451e-01 3.13301934e-05 9.90778515e-01 -3.53134978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters 0.028125010289833927 Centerline is valid? [True, True] Translation: X:256.75, Y:-153.18, Z:-35.32 [[ 7.04899199e-01 7.03043872e-01 9.40554805e-02 2.56747316e+02] [-6.96743737e-01 7.11146168e-01 -9.39110962e-02 -1.53180489e+02] [-1.32910815e-01 6.65289604e-04 9.91127778e-01 -3.53203432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters 0.028338323117902582 Centerline is valid? [True, True] Translation: X:256.79, Y:-153.22, Z:-35.33 [[ 7.07891118e-01 6.99948416e-01 9.46698501e-02 2.56790057e+02] [-6.93525652e-01 7.14192182e-01 -9.46134058e-02 -1.53224485e+02] [-1.33836970e-01 1.32002003e-03 9.91002484e-01 -3.53265182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters 0.028577116444105582 Centerline is valid? [True, True] Translation: X:256.96, Y:-153.42, Z:-33.48 [[ 7.49559669e-01 -6.59355359e-01 -5.84021678e-02 2.56964684e+02] [-6.56554795e-01 -7.51793973e-01 6.11688090e-02 -1.53417274e+02] [-8.42383798e-02 -7.50544894e-03 -9.96417364e-01 -3.34784650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters 0.028713261741545263 Centerline is valid? [True, True] Translation: X:256.86, Y:-153.32, Z:-35.34 [[ 7.60513457e-01 6.41077922e-01 1.03142519e-01 2.56864319e+02] [-6.34958919e-01 7.67473862e-01 -8.83800974e-02 -1.53317634e+02] [-1.35817717e-01 1.72299101e-03 9.90732345e-01 -3.53391770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters 0.028749326497400966 Centerline is valid? [True, True] Translation: X:256.91, Y:-153.36, Z:-35.35 [[ 7.61555089e-01 6.39965233e-01 1.02363800e-01 2.56909515e+02] [-6.33914773e-01 7.68401299e-01 -8.78151730e-02 -1.53361014e+02] [-1.34855134e-01 1.98616699e-03 9.90863335e-01 -3.53468610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters 0.028570927941743336 Centerline is valid? [True, True] Translation: X:256.95, Y:-153.41, Z:-35.35 [[ 7.59260057e-01 6.42570628e-01 1.03088084e-01 2.56953105e+02] [-6.36444649e-01 7.66224772e-01 -8.85313972e-02 -1.53406561e+02] [-1.35876319e-01 1.60849452e-03 9.90724502e-01 -3.53534084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters 0.02805420391195529 Centerline is valid? [True, True] Translation: X:257.00, Y:-153.45, Z:-35.36 [[ 7.54339194e-01 6.48445209e-01 1.02426519e-01 2.56996014e+02] [-6.42439069e-01 7.61261077e-01 -8.80546201e-02 -1.53451243e+02] [-1.35071918e-01 6.20253791e-04 9.90835603e-01 -3.53600270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters 0.028190640178379044 Centerline is valid? [True, True] Translation: X:257.04, Y:-153.50, Z:-35.37 [[ 7.51343752e-01 6.51833801e-01 1.02933293e-01 2.57038404e+02] [-6.45787546e-01 7.58361847e-01 -8.85762670e-02 -1.53497294e+02] [-1.35797687e-01 7.81858046e-05 9.90736586e-01 -3.53681909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters 0.028658917567418254 Centerline is valid? [True, True] Translation: X:257.08, Y:-153.54, Z:-35.38 [[ 7.47812147e-01 6.55375552e-01 1.06112577e-01 2.57081407e+02] [-6.48969289e-01 7.55303006e-01 -9.14124240e-02 -1.53541864e+02] [-1.40056616e-01 -5.04482337e-04 9.90143368e-01 -3.53757668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters 0.0288882176388284 Centerline is valid? [True, True] Translation: X:257.12, Y:-153.59, Z:-35.38 [[ 7.45365824e-01 6.58104220e-01 1.06436007e-01 2.57124226e+02] [-6.51673683e-01 7.52926244e-01 -9.17795314e-02 -1.53586178e+02] [-1.40538960e-01 -9.52218630e-04 9.90074691e-01 -3.53844502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters 0.028994399346813107 Centerline is valid? [True, True] Translation: X:257.17, Y:-153.63, Z:-35.39 [[ 7.45093213e-01 6.58473982e-01 1.06057148e-01 2.57170188e+02] [-6.52080253e-01 7.52602892e-01 -9.15435998e-02 -1.53629030e+02] [-1.40097995e-01 -9.49256795e-04 9.90137188e-01 -3.53913516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters 0.029731747298015556 Centerline is valid? [True, True] Translation: X:257.21, Y:-153.68, Z:-35.40 [[ 7.44963805e-01 6.58223049e-01 1.08495840e-01 2.57211613e+02] [-6.51512960e-01 7.52822491e-01 -9.37505220e-02 -1.53675572e+02] [-1.43386863e-01 -8.45700514e-04 9.89666354e-01 -3.54009713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters 0.02990688858987456 Centerline is valid? [True, True] Translation: X:257.25, Y:-153.72, Z:-35.41 [[ 7.43918957e-01 6.59514777e-01 1.07818576e-01 2.57253913e+02] [-6.52889114e-01 7.51690908e-01 -9.32554777e-02 -1.53720656e+02] [-1.42549609e-01 -1.01905717e-03 9.89787134e-01 -3.54104414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters 0.02995509614588269 Centerline is valid? [True, True] Translation: X:257.30, Y:-153.77, Z:-35.42 [[ 7.44860836e-01 6.58692094e-01 1.06334664e-01 2.57295087e+02] [-6.52227377e-01 7.52412197e-01 -9.20615767e-02 -1.53768275e+02] [-1.40647731e-01 -7.81315970e-04 9.90059395e-01 -3.54169696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters 0.029989332125988484 Centerline is valid? [True, True] Translation: X:257.34, Y:-153.82, Z:-35.43 [[ 7.46813272e-01 6.56619480e-01 1.05455181e-01 2.57335455e+02] [-6.50227764e-01 7.54221957e-01 -9.13952694e-02 -1.53816650e+02] [-1.39548527e-01 -3.14686405e-04 9.90215183e-01 -3.54253782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters 0.030064926715129208 Centerline is valid? [True, True] Translation: X:257.38, Y:-153.86, Z:-35.43 [[ 7.49517947e-01 6.53599594e-01 1.05025795e-01 2.57377729e+02] [-6.47216842e-01 7.56840450e-01 -9.11202086e-02 -1.53863738e+02] [-1.39043901e-01 3.21768451e-04 9.90286166e-01 -3.54321983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters 0.030181551689011855 Centerline is valid? [True, True] Translation: X:257.42, Y:-153.91, Z:-35.44 [[ 7.50975643e-01 6.51888472e-01 1.05247344e-01 2.57420890e+02] [-6.45447622e-01 7.58314516e-01 -9.14136892e-02 -1.53909227e+02] [-1.39402119e-01 7.17806034e-04 9.90235595e-01 -3.54383613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters 0.030245363625400715 Centerline is valid? [True, True] Translation: X:257.46, Y:-153.96, Z:-35.45 [[ 7.50074985e-01 6.53101716e-01 1.04142524e-01 2.57462263e+02] [-6.46793958e-01 7.57269986e-01 -9.05524334e-02 -1.53956223e+02] [-1.38003957e-01 5.62359736e-04 9.90431518e-01 -3.54461104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters 0.030282577387509 Centerline is valid? [True, True] Translation: X:257.50, Y:-154.00, Z:-35.45 [[ 7.46879904e-01 6.56839130e-01 1.03599063e-01 2.57502953e+02] [-6.50619645e-01 7.54030738e-01 -9.01760703e-02 -1.54004989e+02] [-1.37348050e-01 -5.28909308e-05 9.90522847e-01 -3.54529208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters 0.030466817073339373 Centerline is valid? [True, True] Translation: X:257.55, Y:-154.05, Z:-35.46 [[ 7.42840087e-01 6.61555808e-01 1.02628058e-01 2.57545639e+02] [-6.55483924e-01 7.49895465e-01 -8.94293972e-02 -1.54050924e+02] [-1.36122852e-01 -8.39300811e-04 9.90691609e-01 -3.54585998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters 0.03051297571051583 Centerline is valid? [True, True] Translation: X:257.59, Y:-154.10, Z:-35.46 [[ 7.41034192e-01 6.63673742e-01 1.02007311e-01 2.57589897e+02] [-6.57682045e-01 7.48021290e-01 -8.89858337e-02 -1.54095745e+02] [-1.35361201e-01 -1.14683140e-03 9.90795655e-01 -3.54647140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters 0.030693839437187596 Centerline is valid? [True, True] Translation: X:257.64, Y:-154.14, Z:-35.47 [[ 7.39140404e-01 6.65788470e-01 1.01966544e-01 2.57636099e+02] [-6.59808377e-01 7.46139116e-01 -8.90467543e-02 -1.54138186e+02] [-1.35367530e-01 -1.46032623e-03 9.90794378e-01 -3.54711098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters 0.03087952681011368 Centerline is valid? [True, True] Translation: X:257.68, Y:-154.18, Z:-35.48 [[ 7.36607770e-01 6.68620193e-01 1.01764588e-01 2.57682059e+02] [-6.62677675e-01 7.43601648e-01 -8.89656552e-02 -1.54180148e+02] [-1.35156549e-01 -1.90432771e-03 9.90822426e-01 -3.54778669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters 0.03108780612356571 Centerline is valid? [True, True] Translation: X:257.73, Y:-154.22, Z:-35.48 [[ 7.34179584e-01 6.71445286e-01 1.00705346e-01 2.57728926e+02] [-6.65640164e-01 7.41050475e-01 -8.81326552e-02 -1.54222176e+02] [-1.33804000e-01 -2.32832693e-03 9.91005080e-01 -3.54829051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters 0.031105344638095996 Centerline is valid? [True, True] Translation: X:257.78, Y:-154.26, Z:-35.49 [[ 7.33020228e-01 6.72467445e-01 1.02317550e-01 2.57775112e+02] [-6.66470746e-01 7.40122535e-01 -8.96402703e-02 -1.54264149e+02] [-1.36007688e-01 -2.48352277e-03 9.90704669e-01 -3.54899869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters 0.031051882603738153 Centerline is valid? [True, True] Translation: X:257.82, Y:-154.31, Z:-35.50 [[ 7.32788833e-01 6.72921931e-01 1.00978220e-01 2.57822732e+02] [-6.67073542e-01 7.39709405e-01 -8.85600693e-02 -1.54305577e+02] [-1.34288552e-01 -2.46406924e-03 9.90939208e-01 -3.54960835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters 0.030947122918552224 Centerline is valid? [True, True] Translation: X:257.87, Y:-154.35, Z:-35.50 [[ 7.32408779e-01 6.73518614e-01 9.97499674e-02 2.57870102e+02] [-6.67804866e-01 7.39166135e-01 -8.75790264e-02 -1.54346407e+02] [-1.32717902e-01 -2.46986576e-03 9.91150775e-01 -3.55023880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters 0.030953319789152656 Centerline is valid? [True, True] Translation: X:257.92, Y:-154.39, Z:-35.51 [[ 7.31311936e-01 6.74615475e-01 1.00383332e-01 2.57919012e+02] [-6.68826205e-01 7.38164696e-01 -8.82291904e-02 -1.54385698e+02] [-1.33620209e-01 -2.61594276e-03 9.91029160e-01 -3.55085912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters 0.03074347826561435 Centerline is valid? [True, True] Translation: X:257.97, Y:-154.42, Z:-35.51 [[ 7.31405737e-01 6.74425002e-01 1.00978040e-01 2.57968283e+02] [-6.68552018e-01 7.38339037e-01 -8.88463058e-02 -1.54424017e+02] [-1.34476199e-01 -2.52637435e-03 9.90913603e-01 -3.55148699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters 0.030227284942131415 Centerline is valid? [True, True] Translation: X:258.02, Y:-154.46, Z:-35.52 [[ 7.32723533e-01 6.73224617e-01 9.94225268e-02 2.58016977e+02] [-6.67508905e-01 7.39434760e-01 -8.75676787e-02 -1.54462676e+02] [-1.32469189e-01 -2.20252306e-03 9.91184676e-01 -3.55209171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters 0.029458373040362716 Centerline is valid? [True, True] Translation: X:258.07, Y:-154.50, Z:-35.53 [[ 7.35224336e-01 6.70454899e-01 9.96764968e-02 2.58065959e+02] [-6.64672599e-01 7.41948472e-01 -8.78794640e-02 -1.54501417e+02] [-1.32874042e-01 -1.64111562e-03 9.91131573e-01 -3.55285141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters 0.029290090095131602 Centerline is valid? [True, True] Translation: X:258.11, Y:-154.54, Z:-35.54 [[ 7.35386799e-01 6.70159952e-01 1.00458423e-01 2.58113120e+02] [-6.64270608e-01 7.42215130e-01 -8.86637457e-02 -1.54543122e+02] [-1.33980653e-01 -1.52942944e-03 9.90982768e-01 -3.55359103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters 0.029459918824349684 Centerline is valid? [True, True] Translation: X:258.16, Y:-154.58, Z:-35.54 [[ 7.34203256e-01 6.71236895e-01 1.01914712e-01 2.58160750e+02] [-6.65171724e-01 7.41240995e-01 -9.00464596e-02 -1.54583658e+02] [-1.35985869e-01 -1.67838087e-03 9.90709355e-01 -3.55428617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters 0.02991201241341168 Centerline is valid? [True, True] Translation: X:258.21, Y:-154.62, Z:-35.55 [[ 7.31097871e-01 6.74519434e-01 1.02564299e-01 2.58208883e+02] [-6.68394952e-01 7.38253723e-01 -9.07173039e-02 -1.54623107e+02] [-1.36909060e-01 -2.23023219e-03 9.90581110e-01 -3.55512828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters 0.03003304155089301 Centerline is valid? [True, True] Translation: X:258.26, Y:-154.66, Z:-35.56 [[ 7.29286313e-01 6.76358977e-01 1.03344125e-01 2.58256590e+02] [-6.70145314e-01 7.36567832e-01 -9.15045788e-02 -1.54663533e+02] [-1.38009902e-01 -2.52254449e-03 9.90427637e-01 -3.55582472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters 0.03037320646287131 Centerline is valid? [True, True] Translation: X:258.31, Y:-154.70, Z:-35.57 [[ 7.27928260e-01 6.77628757e-01 1.04593095e-01 2.58308894e+02] [-6.71262480e-01 7.35399106e-01 -9.27083463e-02 -1.54699250e+02] [-1.39739510e-01 -2.72439531e-03 9.90184552e-01 -3.55654114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters 0.030022653870707433 Centerline is valid? [True, True] Translation: X:258.36, Y:-154.74, Z:-35.57 [[ 7.30333039e-01 6.75093556e-01 1.04222569e-01 2.58360108e+02] [-6.68733396e-01 7.37728966e-01 -9.24749594e-02 -1.54735843e+02] [-1.39317257e-01 -2.15959437e-03 9.90245443e-01 -3.55732637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters 0.02986906895480767 Centerline is valid? [True, True] Translation: X:258.41, Y:-154.77, Z:-35.58 [[ 7.32511019e-01 6.72617973e-01 1.04941264e-01 2.58412686e+02] [-6.66130734e-01 7.39988112e-01 -9.32064321e-02 -1.54770935e+02] [-1.40347609e-01 -1.62986238e-03 9.90100951e-01 -3.55804564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters 0.030079106216179142 Centerline is valid? [True, True] Translation: X:258.46, Y:-154.81, Z:-35.59 [[ 7.31966093e-01 6.73001520e-01 1.06276020e-01 2.58464904e+02] [-6.66337040e-01 7.39639256e-01 -9.44919030e-02 -1.54806219e+02] [-1.42199111e-01 -1.65077985e-03 9.89836698e-01 -3.55885048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters 0.03001652431771771 Centerline is valid? [True, True] Translation: X:258.52, Y:-154.84, Z:-35.59 [[ 7.31711452e-01 6.73456759e-01 1.05139647e-01 2.58515095e+02] [-6.66925826e-01 7.39224780e-01 -9.35770668e-02 -1.54843529e+02] [-1.40741940e-01 -1.64893449e-03 9.90044942e-01 -3.55948841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters 0.029951114049844973 Centerline is valid? [True, True] Translation: X:258.57, Y:-154.88, Z:-35.60 [[ 7.32580768e-01 6.72481824e-01 1.05326228e-01 2.58568612e+02] [-6.65903711e-01 7.40112329e-01 -9.38402299e-02 -1.54877638e+02] [-1.41059089e-01 -1.39157812e-03 9.90000201e-01 -3.56012563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters 0.02994120244530309 Centerline is valid? [True, True] Translation: X:258.62, Y:-154.91, Z:-35.61 [[ 7.32425262e-01 6.72806537e-01 1.04329279e-01 2.58619585e+02] [-6.66342291e-01 7.39817205e-01 -9.30508177e-02 -1.54913764e+02] [-1.39789794e-01 -1.36624140e-03 9.90180260e-01 -3.56076148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters 0.029942745330559076 Centerline is valid? [True, True] Translation: X:258.67, Y:-154.95, Z:-35.62 [[ 7.31254710e-01 6.74158948e-01 1.03808779e-01 2.58673232e+02] [-6.67759385e-01 7.38584679e-01 -9.26826659e-02 -1.54947798e+02] [-1.39154422e-01 -1.54465063e-03 9.90269489e-01 -3.56151188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters 0.0299128258208079 Centerline is valid? [True, True] Translation: X:258.73, Y:-154.98, Z:-35.62 [[ 7.34553300e-01 6.70696131e-01 1.02947311e-01 2.58726614e+02] [-6.64356520e-01 7.41731783e-01 -9.20020408e-02 -1.54981560e+02] [-1.38064705e-01 -8.13314455e-04 9.90422877e-01 -3.56211342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters 0.02987424233253441 Centerline is valid? [True, True] Translation: X:258.78, Y:-155.02, Z:-35.63 [[ 7.39757977e-01 6.65173837e-01 1.01498283e-01 2.58776668e+02] [-6.58952222e-01 7.46688488e-01 -9.07649215e-02 -1.55018615e+02] [-1.36162051e-01 2.61555517e-04 9.90686544e-01 -3.56281508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters 0.030177994734194365 Centerline is valid? [True, True] Translation: X:258.83, Y:-155.06, Z:-35.63 [[ 7.43944903e-01 6.60588260e-01 1.00842113e-01 2.58826681e+02] [-6.54392953e-01 7.50747493e-01 -9.02666316e-02 -1.55056578e+02] [-1.35336041e-01 1.16303238e-03 9.90799073e-01 -3.56347972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters 0.030550352160322713 Centerline is valid? [True, True] Translation: X:258.87, Y:-155.10, Z:-35.64 [[ 7.45398186e-01 6.58996342e-01 1.00525447e-01 2.58874181e+02] [-6.52812455e-01 7.52144605e-01 -9.00799161e-02 -1.55096898e+02] [-1.34972008e-01 1.52114182e-03 9.90848244e-01 -3.56415934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters 0.030654983828090364 Centerline is valid? [True, True] Translation: X:258.92, Y:-155.14, Z:-35.65 [[ 7.46024207e-01 6.58472827e-01 9.93046767e-02 2.58920429e+02] [-6.52421939e-01 7.52602659e-01 -8.90777849e-02 -1.55138048e+02] [-1.33392265e-01 1.66563412e-03 9.91061920e-01 -3.56471784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters 0.030653254427467195 Centerline is valid? [True, True] Translation: X:258.97, Y:-155.18, Z:-35.65 [[ 7.44652605e-01 6.59733121e-01 1.01216138e-01 2.58966699e+02] [-6.53445745e-01 7.51498409e-01 -9.08779400e-02 -1.55179723e+02] [-1.36018954e-01 1.53323982e-03 9.90705049e-01 -3.56532175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters 0.030760731140953106 Centerline is valid? [True, True] Translation: X:259.01, Y:-155.22, Z:-35.66 [[ 7.44732518e-01 6.59771976e-01 1.00371392e-01 2.59010845e+02] [-6.53578555e-01 7.51464206e-01 -9.02032088e-02 -1.55222644e+02] [-1.34939057e-01 1.57667365e-03 9.90852645e-01 -3.56593546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters 0.030713496817309435 Centerline is valid? [True, True] Translation: X:259.05, Y:-155.27, Z:-35.67 [[ 7.43312543e-01 6.61227826e-01 1.01312513e-01 2.59054072e+02] [-6.54918360e-01 7.50183859e-01 -9.11379172e-02 -1.55267977e+02] [-1.36265939e-01 1.39253194e-03 9.90671315e-01 -3.56669796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters 0.030443534064684686 Centerline is valid? [True, True] Translation: X:259.10, Y:-155.31, Z:-35.67 [[ 7.40377491e-01 6.64546437e-01 1.01090077e-01 2.59096639e+02] [-6.58282170e-01 7.47246481e-01 -9.10345078e-02 -1.55313212e+02] [-1.36035862e-01 8.54104980e-04 9.90703545e-01 -3.56729146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters 0.030384841197534915 Centerline is valid? [True, True] Translation: X:259.14, Y:-155.36, Z:-35.68 [[ 7.37224908e-01 6.68203737e-01 1.00016000e-01 2.59140759e+02] [-6.62094330e-01 7.43978298e-01 -9.01520429e-02 -1.55356805e+02] [-1.34649666e-01 2.42304775e-04 9.90893238e-01 -3.56800970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters 0.030194351193036394 Centerline is valid? [True, True] Translation: X:259.18, Y:-155.40, Z:-35.69 [[ 7.32206710e-01 6.73756940e-01 9.96238907e-02 2.59184700e+02] [-6.67734461e-01 7.38952695e-01 -8.98866175e-02 -1.55401070e+02] [-1.34179075e-01 -7.06720539e-04 9.90956849e-01 -3.56867888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters 0.03015231976291442 Centerline is valid? [True, True] Translation: X:259.23, Y:-155.44, Z:-35.69 [[ 7.29209763e-01 6.76916981e-01 1.00182446e-01 2.59228543e+02] [-6.70842704e-01 7.36058359e-01 -9.04884427e-02 -1.55444833e+02] [-1.34993291e-01 -1.22160733e-03 9.90845760e-01 -3.56944365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters 0.030308701732979254 Centerline is valid? [True, True] Translation: X:259.27, Y:-155.49, Z:-35.70 [[ 7.27544336e-01 6.78557318e-01 1.01188957e-01 2.59273332e+02] [-6.72363302e-01 7.34545975e-01 -9.14866143e-02 -1.55487078e+02] [-1.36406853e-01 -1.47517296e-03 9.90651803e-01 -3.57004509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters 0.030088282531359117 Centerline is valid? [True, True] Translation: X:259.32, Y:-155.53, Z:-35.71 [[ 7.26008251e-01 6.80306399e-01 1.00474989e-01 2.59319672e+02] [-6.74204510e-01 7.32925798e-01 -9.09288369e-02 -1.55529175e+02] [-1.35500181e-01 -1.72560510e-03 9.90775819e-01 -3.57090512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters 0.030495943856364484 Centerline is valid? [True, True] Translation: X:259.37, Y:-155.57, Z:-35.72 [[ 7.21383126e-01 6.84774153e-01 1.03396062e-01 2.59366333e+02] [-6.78341610e-01 7.28750843e-01 -9.36742680e-02 -1.55570629e+02] [-1.39495685e-01 -2.56281473e-03 9.90219363e-01 -3.57155127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters 0.030847757172134553 Centerline is valid? [True, True] Translation: X:259.41, Y:-155.61, Z:-35.72 [[ 7.18923042e-01 6.87341709e-01 1.03494127e-01 2.59411854e+02] [-6.80910064e-01 7.26328031e-01 -9.38566846e-02 -1.55612892e+02] [-1.39682299e-01 -2.99445917e-03 9.90191844e-01 -3.57229594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters 0.030974252055370577 Centerline is valid? [True, True] Translation: X:259.46, Y:-155.65, Z:-35.73 [[ 7.17718797e-01 6.88609996e-01 1.03421472e-01 2.59459372e+02] [-6.82187821e-01 7.25124958e-01 -9.38806230e-02 -1.55653063e+02] [-1.39640626e-01 -3.17298089e-03 9.90197166e-01 -3.57306342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters 0.030725087942876362 Centerline is valid? [True, True] Translation: X:259.51, Y:-155.69, Z:-35.74 [[ 7.18877735e-01 6.87611449e-01 1.02006359e-01 2.59505209e+02] [-6.81341622e-01 7.26073182e-01 -9.26894208e-02 -1.55694969e+02] [-1.37798388e-01 -2.86881692e-03 9.90456144e-01 -3.57369122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters 0.03068456413321574 Centerline is valid? [True, True] Translation: X:259.55, Y:-155.74, Z:-35.74 [[ 7.17770304e-01 6.89039040e-01 1.00154843e-01 2.59552893e+02] [-6.82998294e-01 7.24717914e-01 -9.10893793e-02 -1.55735133e+02] [-1.35348147e-01 -3.02433521e-03 9.90793486e-01 -3.57417552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters 0.031192401911251076 Centerline is valid? [True, True] Translation: X:259.60, Y:-155.77, Z:-35.75 [[ 7.13645304e-01 6.93179698e-01 1.01055858e-01 2.59600216e+02] [-6.87058546e-01 7.20754895e-01 -9.19942173e-02 -1.55774966e+02] [-1.36605028e-01 -3.78004980e-03 9.90618381e-01 -3.57495358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters 0.03129442419776639 Centerline is valid? [True, True] Translation: X:259.65, Y:-155.81, Z:-35.76 [[ 7.11950851e-01 6.95031443e-01 1.00285989e-01 2.59648659e+02] [-6.89010337e-01 7.18967980e-01 -9.13772382e-02 -1.55813352e+02] [-1.35612469e-01 -4.04198092e-03 9.90753713e-01 -3.57558482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters 0.031231424362722915 Centerline is valid? [True, True] Translation: X:259.70, Y:-155.85, Z:-35.76 [[ 7.11098607e-01 6.95917598e-01 1.00187167e-01 2.59699210e+02] [-6.89905510e-01 7.18109682e-01 -9.13721597e-02 -1.55850490e+02] [-1.35532869e-01 -4.14506330e-03 9.90764180e-01 -3.57626627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters 0.030916721305017884 Centerline is valid? [True, True] Translation: X:259.75, Y:-155.88, Z:-35.77 [[ 7.11138978e-01 6.95652341e-01 1.01730895e-01 2.59751981e+02] [-6.89436777e-01 7.18366964e-01 -9.28753781e-02 -1.55883982e+02] [-1.37689089e-01 -4.08971915e-03 9.90467056e-01 -3.57684926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters 0.030929532893335707 Centerline is valid? [True, True] Translation: X:259.80, Y:-155.92, Z:-35.78 [[ 7.11455269e-01 6.95356626e-01 1.01540944e-01 2.59800326e+02] [-6.89149672e-01 7.18653917e-01 -9.27861979e-02 -1.55922029e+02] [-1.37492294e-01 -3.96367858e-03 9.90494906e-01 -3.57757621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters 0.030665565615800357 Centerline is valid? [True, True] Translation: X:259.85, Y:-155.96, Z:-35.78 [[ 7.13197065e-01 6.93520523e-01 1.01878507e-01 2.59850341e+02] [-6.87241422e-01 7.20428079e-01 -9.31805294e-02 -1.55958329e+02] [-1.38018747e-01 -3.55905018e-03 9.90423222e-01 -3.57832030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters 0.029628184478126995 Centerline is valid? [True, True] Translation: X:259.90, Y:-155.99, Z:-35.79 [[ 7.18220876e-01 6.88825818e-01 9.83756305e-02 2.59902454e+02] [-6.82918471e-01 7.24922562e-01 -9.00535453e-02 -1.55993256e+02] [-1.33345921e-01 -2.50419891e-03 9.91066392e-01 -3.57876930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters 0.029261586478629052 Centerline is valid? [True, True] Translation: X:259.95, Y:-156.03, Z:-35.79 [[ 7.26408694e-01 6.80128956e-01 9.87674716e-02 2.59950161e+02] [-6.74084538e-01 7.33091996e-01 -9.04774094e-02 -1.56033024e+02] [-1.33941949e-01 -8.54048660e-04 9.90988812e-01 -3.57937151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters 0.029146891426898393 Centerline is valid? [True, True] Translation: X:260.00, Y:-156.08, Z:-35.80 [[ 7.32418557e-01 6.74037385e-01 9.61075469e-02 2.59995543e+02] [-6.68252176e-01 7.38697166e-01 -8.81222275e-02 -1.56075548e+02] [-1.30392048e-01 3.18277398e-04 9.91462461e-01 -3.58006258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters 0.029364420979442238 Centerline is valid? [True, True] Translation: X:260.04, Y:-156.12, Z:-35.81 [[ 7.33596054e-01 6.72591445e-01 9.72500781e-02 2.60037974e+02] [-6.66643035e-01 7.40013736e-01 -8.92565691e-02 -1.56120282e+02] [-1.31999598e-01 6.47179598e-04 9.91249558e-01 -3.58073334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters 0.02939828818084674 Centerline is valid? [True, True] Translation: X:260.08, Y:-156.17, Z:-35.81 [[ 7.33944758e-01 6.72140022e-01 9.77388464e-02 2.60081497e+02] [-6.66115717e-01 7.40423632e-01 -8.97925214e-02 -1.56165083e+02] [-1.32721299e-01 7.97368674e-04 9.91153076e-01 -3.58135256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters 0.0293201881471963 Centerline is valid? [True, True] Translation: X:260.13, Y:-156.21, Z:-35.82 [[ 7.35225941e-01 6.70960871e-01 9.61994046e-02 2.60125106e+02] [-6.65103397e-01 7.41491995e-01 -8.84708578e-02 -1.56209745e+02] [-1.30691572e-01 1.06351893e-03 9.91422504e-01 -3.58192161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters 0.02948266568958875 Centerline is valid? [True, True] Translation: X:260.17, Y:-156.26, Z:-35.83 [[ 7.37134322e-01 6.68937331e-01 9.56861436e-02 2.60168584e+02] [-6.63114380e-01 7.43317336e-01 -8.80832420e-02 -1.56255151e+02] [-1.30047338e-01 1.47832314e-03 9.91506684e-01 -3.58272882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters 0.02934031664142237 Centerline is valid? [True, True] Translation: X:260.21, Y:-156.30, Z:-35.83 [[ 7.36742040e-01 6.69200198e-01 9.68620748e-02 2.60211109e+02] [-6.63222242e-01 7.43080603e-01 -8.92607214e-02 -1.56300790e+02] [-1.31709621e-01 1.52104361e-03 9.91287174e-01 -3.58345636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters 0.0289481073967166 Centerline is valid? [True, True] Translation: X:260.25, Y:-156.35, Z:-35.84 [[ 7.35355618e-01 6.70485270e-01 9.84967913e-02 2.60251351e+02] [-6.64302690e-01 7.41921562e-01 -9.08533533e-02 -1.56347559e+02] [-1.33992728e-01 1.37784041e-03 9.90981357e-01 -3.58421523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters 0.028663495795834625 Centerline is valid? [True, True] Translation: X:260.29, Y:-156.39, Z:-35.85 [[ 7.33074576e-01 6.72905622e-01 9.89933791e-02 2.60294815e+02] [-6.66670196e-01 7.39727659e-01 -9.13993451e-02 -1.56392952e+02] [-1.34731274e-01 1.00660082e-03 9.90881663e-01 -3.58495457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters 0.028597285769859284 Centerline is valid? [True, True] Translation: X:260.34, Y:-156.44, Z:-35.86 [[ 7.27467043e-01 6.78783359e-01 1.00224010e-01 2.60337305e+02] [-6.72432463e-01 7.34338581e-01 -9.26360135e-02 -1.56438818e+02] [-1.36478142e-01 -4.23128434e-06 9.90643082e-01 -3.58577435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters 0.028670474601610155 Centerline is valid? [True, True] Translation: X:260.38, Y:-156.48, Z:-35.87 [[ 7.21745365e-01 6.84369315e-01 1.03548394e-01 2.60379567e+02] [-6.77629904e-01 7.29134837e-01 -9.58128473e-02 -1.56483831e+02] [-1.41072114e-01 -1.01500980e-03 9.89998802e-01 -3.58651433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters 0.028763164565445094 Centerline is valid? [True, True] Translation: X:260.42, Y:-156.53, Z:-35.87 [[ 7.19266376e-01 6.87364937e-01 1.00922363e-01 2.60422415e+02] [-6.80981496e-01 7.26310683e-01 -9.34718895e-02 -1.56528696e+02] [-1.37550289e-01 -1.49507415e-03 9.90493656e-01 -3.58729469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters 0.029069102396117617 Centerline is valid? [True, True] Translation: X:260.47, Y:-156.57, Z:-35.88 [[ 7.17713451e-01 6.88873866e-01 1.01686770e-01 2.60468000e+02] [-6.82394331e-01 7.24879173e-01 -9.42770445e-02 -1.56571455e+02] [-1.38655614e-01 -1.72657259e-03 9.90339154e-01 -3.58796711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters 0.029227147394353475 Centerline is valid? [True, True] Translation: X:260.51, Y:-156.62, Z:-35.89 [[ 7.15585947e-01 6.90826392e-01 1.03419770e-01 2.60511289e+02] [-6.84130074e-01 7.23017702e-01 -9.59762734e-02 -1.56615639e+02] [-1.41077267e-01 -2.07330270e-03 9.89996417e-01 -3.58864258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters 0.029668100370641767 Centerline is valid? [True, True] Translation: X:260.56, Y:-156.66, Z:-35.89 [[ 7.12743176e-01 6.93916339e-01 1.02358588e-01 2.60557866e+02] [-6.87379372e-01 7.20050916e-01 -9.50593364e-02 -1.56657356e+02] [-1.39666622e-01 -2.60628847e-03 9.90195154e-01 -3.58923540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters 0.029863901243725278 Centerline is valid? [True, True] Translation: X:260.60, Y:-156.70, Z:-35.90 [[ 7.10527423e-01 6.96195397e-01 1.02287585e-01 2.60604839e+02] [-6.89676895e-01 7.17846149e-01 -9.50930468e-02 -1.56698627e+02] [-1.39630090e-01 -2.97916649e-03 9.90199254e-01 -3.58985530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters 0.030044434411639606 Centerline is valid? [True, True] Translation: X:260.65, Y:-156.74, Z:-35.90 [[ 7.09044012e-01 6.97782623e-01 1.01764436e-01 2.60654204e+02] [-6.91333613e-01 7.16302410e-01 -9.47031821e-02 -1.56738340e+02] [-1.38976345e-01 -3.20445080e-03 9.90290516e-01 -3.59036874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters 0.029863615260026323 Centerline is valid? [True, True] Translation: X:260.70, Y:-156.77, Z:-35.91 [[ 7.09828255e-01 6.96934905e-01 1.02105764e-01 2.60704736e+02] [-6.90419906e-01 7.17128209e-01 -9.51182676e-02 -1.56774719e+02] [-1.39514165e-01 -2.97821834e-03 9.90215597e-01 -3.59089230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters 0.029775098381052113 Centerline is valid? [True, True] Translation: X:260.76, Y:-156.81, Z:-35.92 [[ 7.11150971e-01 6.95372499e-01 1.03544117e-01 2.60756773e+02] [-6.88642073e-01 7.18644629e-01 -9.65504694e-02 -1.56810784e+02] [-1.41549965e-01 -2.64287541e-03 9.89927585e-01 -3.59151321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters 0.029956083840380242 Centerline is valid? [True, True] Translation: X:260.81, Y:-156.85, Z:-35.92 [[ 7.12119452e-01 6.94412986e-01 1.03327106e-01 2.60806159e+02] [-6.87686802e-01 7.19572764e-01 -9.64463564e-02 -1.56848172e+02] [-1.41324974e-01 -2.37536076e-03 9.89960408e-01 -3.59221329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters 0.029490707466235118 Centerline is valid? [True, True] Translation: X:260.86, Y:-156.88, Z:-35.93 [[ 7.13996420e-01 6.92630239e-01 1.02335058e-01 2.60858539e+02] [-6.86002554e-01 7.21290229e-01 -9.56080630e-02 -1.56883239e+02] [-1.40034313e-01 -1.93829641e-03 9.90144754e-01 -3.59282282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters 0.02946069663774723 Centerline is valid? [True, True] Translation: X:260.91, Y:-156.92, Z:-35.93 [[ 7.15045131e-01 6.91479076e-01 1.02796639e-01 2.60911644e+02] [-6.84766184e-01 7.22394598e-01 -9.61317741e-02 -1.56918230e+02] [-1.40732847e-01 -1.65310540e-03 9.90046228e-01 -3.59346261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters 0.029291725946477234 Centerline is valid? [True, True] Translation: X:260.96, Y:-156.95, Z:-35.94 [[ 7.18951686e-01 6.87284300e-01 1.03676246e-01 2.60964412e+02] [-6.80396764e-01 7.26388129e-01 -9.70594137e-02 -1.56953700e+02] [-1.42016605e-01 -7.59953107e-04 9.89863984e-01 -3.59407626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters 0.029564077590830812 Centerline is valid? [True, True] Translation: X:261.01, Y:-156.99, Z:-35.95 [[ 7.25825133e-01 6.80356547e-01 1.01453654e-01 2.61013825e+02] [-6.73682489e-01 7.32880988e-01 -9.50650407e-02 -1.56991748e+02] [-1.39031577e-01 6.53045424e-04 9.90287733e-01 -3.59497517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters 0.030114138900544717 Centerline is valid? [True, True] Translation: X:261.06, Y:-157.03, Z:-35.96 [[ 7.29442555e-01 6.76382436e-01 1.02080161e-01 2.61062859e+02] [-6.69580043e-01 7.36549173e-01 -9.56968235e-02 -1.57029792e+02] [-1.39914709e-01 1.45449650e-03 9.90162491e-01 -3.59573469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters 0.031169692296644062 Centerline is valid? [True, True] Translation: X:261.11, Y:-157.07, Z:-35.97 [[ 7.34255726e-01 6.70986997e-01 1.03174508e-01 2.61107988e+02] [-6.63971371e-01 7.41464632e-01 -9.68102121e-02 -1.57071406e+02] [-1.41458642e-01 2.57853303e-03 9.89940808e-01 -3.59658660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters 0.0311515030132549 Centerline is valid? [True, True] Translation: X:261.15, Y:-157.11, Z:-35.97 [[ 7.34338305e-01 6.70849347e-01 1.03481437e-01 2.61152440e+02] [-6.63778915e-01 7.41588842e-01 -9.71778860e-02 -1.57114418e+02] [-1.41932401e-01 2.67264779e-03 9.89872745e-01 -3.59723423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters 0.03177843275171018 Centerline is valid? [True, True] Translation: X:261.19, Y:-157.16, Z:-35.98 [[ 7.35057133e-01 6.70037255e-01 1.03639219e-01 2.61194195e+02] [-6.62924509e-01 7.42321809e-01 -9.74136924e-02 -1.57159955e+02] [-1.42204456e-01 2.89965118e-03 9.89833059e-01 -3.59813728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters 0.03183170035510932 Centerline is valid? [True, True] Translation: X:261.24, Y:-157.20, Z:-35.99 [[ 7.35673958e-01 6.69460597e-01 1.02987072e-01 2.61238201e+02] [-6.62419193e-01 7.42841270e-01 -9.68899417e-02 -1.57203823e+02] [-1.41367046e-01 3.05879376e-03 9.89952525e-01 -3.59889477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters 0.03251244145634361 Centerline is valid? [True, True] Translation: X:261.28, Y:-157.25, Z:-36.00 [[ 7.38483339e-01 6.66303540e-01 1.03353526e-01 2.61277747e+02] [-6.59166887e-01 7.45671191e-01 -9.73318587e-02 -1.57252137e+02] [-1.41920309e-01 3.75073375e-03 9.89870980e-01 -3.59955001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters 0.03263522226036683 Centerline is valid? [True, True] Translation: X:261.32, Y:-157.30, Z:-36.00 [[ 7.39304639e-01 6.65527615e-01 1.02477531e-01 2.61317021e+02] [-6.58492029e-01 7.46362864e-01 -9.65956664e-02 -1.57301485e+02] [-1.40772507e-01 3.93298715e-03 9.90034157e-01 -3.60030588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters 0.03223808794430545 Centerline is valid? [True, True] Translation: X:261.35, Y:-157.35, Z:-36.01 [[ 7.38694608e-01 6.66376784e-01 1.01352154e-01 2.61354917e+02] [-6.59490371e-01 7.45605488e-01 -9.56290079e-02 -1.57351179e+02] [-1.39293673e-01 3.79986258e-03 9.90243825e-01 -3.60102438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters 0.0320313182596074 Centerline is valid? [True, True] Translation: X:261.39, Y:-157.40, Z:-36.02 [[ 7.37084320e-01 6.68237066e-01 1.00826225e-01 2.61394887e+02] [-6.61427741e-01 7.43940196e-01 -9.52172619e-02 -1.57398858e+02] [-1.38636385e-01 3.49388862e-03 9.90337188e-01 -3.60171889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters 0.031010108373162027 Centerline is valid? [True, True] Translation: X:261.43, Y:-157.45, Z:-36.02 [[ 7.32483533e-01 6.73354953e-01 1.00304440e-01 2.61433802e+02] [-6.66651935e-01 7.39314860e-01 -9.48089408e-02 -1.57447378e+02] [-1.37996633e-01 2.57783903e-03 9.90429343e-01 -3.60243898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters 0.03045133703370009 Centerline is valid? [True, True] Translation: X:261.47, Y:-157.49, Z:-36.03 [[ 7.28004153e-01 6.78368203e-01 9.91288804e-02 2.61474914e+02] [-6.71856604e-01 7.34720208e-01 -9.37812331e-02 -1.57493951e+02] [-1.36450198e-01 1.67273422e-03 9.90645520e-01 -3.60311397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters 0.0298271408529696 Centerline is valid? [True, True] Translation: X:261.52, Y:-157.54, Z:-36.04 [[ 7.23281254e-01 6.83552102e-01 9.80854267e-02 2.61515661e+02] [-6.77213084e-01 7.29901334e-01 -9.28788573e-02 -1.57541293e+02] [-1.35080222e-01 7.52802051e-04 9.90834379e-01 -3.60378650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters 0.029763640848040573 Centerline is valid? [True, True] Translation: X:261.56, Y:-157.59, Z:-36.05 [[ 7.19324748e-01 6.87683819e-01 9.82999152e-02 2.61560340e+02] [-6.81342844e-01 7.26010306e-01 -9.31717008e-02 -1.57585630e+02] [-1.35439422e-01 4.47664333e-05 9.90785628e-01 -3.60450965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters 0.029705447629379777 Centerline is valid? [True, True] Translation: X:261.60, Y:-157.63, Z:-36.05 [[ 7.16964462e-01 6.90347305e-01 9.68636101e-02 2.61604430e+02] [-6.84201858e-01 7.23478027e-01 -9.19095380e-02 -1.57630196e+02] [-1.33528195e-01 -3.78389494e-04 9.91044942e-01 -3.60523049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters 0.029695315265194425 Centerline is valid? [True, True] Translation: X:261.65, Y:-157.67, Z:-36.06 [[ 7.15616275e-01 6.91581073e-01 9.80253326e-02 2.61650056e+02] [-6.85284669e-01 7.22298639e-01 -9.31106807e-02 -1.57673006e+02] [-1.35197149e-01 -5.43739108e-04 9.90818568e-01 -3.60595059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters 0.029726856764871492 Centerline is valid? [True, True] Translation: X:261.70, Y:-157.72, Z:-36.07 [[ 7.15122380e-01 6.92244299e-01 9.69423123e-02 2.61695393e+02] [-6.86079909e-01 7.21662996e-01 -9.21785135e-02 -1.57715482e+02] [-1.33769730e-01 -5.91254820e-04 9.91012265e-01 -3.60680708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters 0.0299070145459706 Centerline is valid? [True, True] Translation: X:261.74, Y:-157.76, Z:-36.07 [[ 7.15030025e-01 6.92303288e-01 9.72019637e-02 2.61739808e+02] [-6.86092917e-01 7.21606454e-01 -9.25236996e-02 -1.57759603e+02] [-1.34196026e-01 -5.32355626e-04 9.90954663e-01 -3.60746762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters 0.029940537651315654 Centerline is valid? [True, True] Translation: X:261.78, Y:-157.80, Z:-36.08 [[ 7.14145088e-01 6.93648724e-01 9.40650874e-02 2.61782919e+02] [-6.87833711e-01 7.20313105e-01 -8.96315576e-02 -1.57803438e+02] [-1.29929131e-01 -6.91201610e-04 9.91523042e-01 -3.60834040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters 0.030097612343998083 Centerline is valid? [True, True] Translation: X:261.83, Y:-157.85, Z:-36.09 [[ 7.13446791e-01 6.94390822e-01 9.38885670e-02 2.61827563e+02] [-6.88592717e-01 7.19597670e-01 -8.95503429e-02 -1.57846896e+02] [-1.29744930e-01 -7.61578679e-04 9.91547111e-01 -3.60895439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters 0.02995512664856232 Centerline is valid? [True, True] Translation: X:261.87, Y:-157.89, Z:-36.10 [[ 7.14442777e-01 6.93536650e-01 9.26198351e-02 2.61871868e+02] [-6.87875357e-01 7.20421151e-01 -8.84356143e-02 -1.57890085e+02] [-1.28058628e-01 -5.28716301e-04 9.91766459e-01 -3.60965868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters 0.029945828802436597 Centerline is valid? [True, True] Translation: X:261.92, Y:-157.93, Z:-36.10 [[ 7.15865944e-01 6.91877434e-01 9.40296054e-02 2.61916241e+02] [-6.86014842e-01 7.22014951e-01 -8.98779583e-02 -1.57933690e+02] [-1.30075312e-01 -1.65135346e-04 9.91504103e-01 -3.61041977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters 0.029808213351218246 Centerline is valid? [True, True] Translation: X:261.96, Y:-157.98, Z:-36.11 [[ 7.15433164e-01 6.92556542e-01 9.23083078e-02 2.61961326e+02] [-6.86901075e-01 7.21363563e-01 -8.83262323e-02 -1.57977364e+02] [-1.27758760e-01 -2.15159972e-04 9.91805250e-01 -3.61103455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters 0.029716807435042576 Centerline is valid? [True, True] Translation: X:262.00, Y:-158.02, Z:-36.12 [[ 7.13357824e-01 6.94552275e-01 9.33689036e-02 2.62004034e+02] [-6.88770047e-01 7.19442060e-01 -8.94368208e-02 -1.58022552e+02] [-1.29292064e-01 -5.09248301e-04 9.91606425e-01 -3.61166913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters 0.029813423381326955 Centerline is valid? [True, True] Translation: X:262.05, Y:-158.07, Z:-36.12 [[ 7.11339127e-01 6.96755812e-01 9.23470892e-02 2.62046492e+02] [-6.91106096e-01 7.17307918e-01 -8.85534576e-02 -1.58068498e+02] [-1.27941435e-01 -8.30096986e-04 9.91781377e-01 -3.61237046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters 0.02968535158943114 Centerline is valid? [True, True] Translation: X:262.09, Y:-158.11, Z:-36.13 [[ 7.09166554e-01 6.99139969e-01 9.10280330e-02 2.62090217e+02] [-6.93658664e-01 7.14983865e-01 -8.73826683e-02 -1.58113023e+02] [-1.26176291e-01 -1.17351807e-03 9.92007140e-01 -3.61303840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters 0.029583047773810506 Centerline is valid? [True, True] Translation: X:262.13, Y:-158.16, Z:-36.14 [[ 7.04860250e-01 7.03274077e-01 9.26153382e-02 2.62133121e+02] [-6.97621819e-01 7.10916350e-01 -8.90041614e-02 -1.58158041e+02] [-1.28436078e-01 -1.87498523e-03 9.91716017e-01 -3.61367144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters 0.029928996049494505 Centerline is valid? [True, True] Translation: X:262.18, Y:-158.20, Z:-36.14 [[ 7.00878061e-01 7.07187516e-01 9.30363398e-02 2.62176164e+02] [-7.01505577e-01 7.07021490e-01 -8.95016163e-02 -1.58203382e+02] [-1.29073117e-01 -2.53579188e-03 9.91631837e-01 -3.61433714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters 0.03099021256969043 Centerline is valid? [True, True] Translation: X:262.22, Y:-158.25, Z:-36.15 [[ 6.93805736e-01 7.13748112e-01 9.59022098e-02 2.62222148e+02] [-7.07757847e-01 7.00392179e-01 -9.23559707e-02 -1.58245668e+02] [-1.33088057e-01 -3.79843937e-03 9.91096938e-01 -3.61518895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters 0.032218616175855086 Centerline is valid? [True, True] Translation: X:262.27, Y:-158.29, Z:-36.16 [[ 6.86000459e-01 7.21245653e-01 9.59587273e-02 2.62270052e+02] [-7.15307476e-01 6.92659993e-01 -9.25059419e-02 -1.58285564e+02] [-1.33186280e-01 -5.18087635e-03 9.91077481e-01 -3.61570964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters 0.033128822470385004 Centerline is valid? [True, True] Translation: X:262.32, Y:-158.33, Z:-36.16 [[ 6.81956209e-01 7.25122468e-01 9.55674406e-02 2.62318154e+02] [-7.19258540e-01 6.88595082e-01 -9.22169468e-02 -1.58325866e+02] [-1.32675850e-01 -5.84977840e-03 9.91142219e-01 -3.61633418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters 0.03394259865769457 Centerline is valid? [True, True] Translation: X:262.37, Y:-158.36, Z:-36.17 [[ 6.78615370e-01 7.27931750e-01 9.79619698e-02 2.62370826e+02] [-7.21785621e-01 6.85618795e-01 -9.46170511e-02 -1.58360788e+02] [-1.36039323e-01 -6.49895607e-03 9.90682122e-01 -3.61703854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters 0.03429672714844398 Centerline is valid? [True, True] Translation: X:262.43, Y:-158.39, Z:-36.18 [[ 6.77281029e-01 7.29443746e-01 9.59282483e-02 2.62426125e+02] [-7.23557990e-01 6.84008803e-01 -9.27134920e-02 -1.58394139e+02] [-1.33245043e-01 -6.61656126e-03 9.91061037e-01 -3.61761413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters 0.03438723278388325 Centerline is valid? [True, True] Translation: X:262.48, Y:-158.43, Z:-36.18 [[ 6.76249357e-01 7.30266225e-01 9.69435300e-02 2.62480945e+02] [-7.24250682e-01 6.83128944e-01 -9.37859066e-02 -1.58425718e+02] [-1.34713611e-01 -6.78875866e-03 9.90861320e-01 -3.61836590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters 0.033178314200201266 Centerline is valid? [True, True] Translation: X:262.54, Y:-158.46, Z:-36.19 [[ 6.79586199e-01 7.27375241e-01 9.53302533e-02 2.62537975e+02] [-7.21520325e-01 6.86213229e-01 -9.23028961e-02 -1.58455302e+02] [-1.32555722e-01 -6.05494099e-03 9.91157060e-01 -3.61895007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters 0.032251301239873006 Centerline is valid? [True, True] Translation: X:262.59, Y:-158.49, Z:-36.20 [[ 6.84671067e-01 7.22395951e-01 9.67967977e-02 2.62593015e+02] [-7.16298868e-01 6.91460720e-01 -9.37976784e-02 -1.58487483e+02] [-1.34690247e-01 -5.11488013e-03 9.90874551e-01 -3.61967640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters 0.03161643802055382 Centerline is valid? [True, True] Translation: X:262.64, Y:-158.52, Z:-36.20 [[ 6.87550262e-01 7.19428295e-01 9.84762236e-02 2.62643954e+02] [-7.13078100e-01 6.94551687e-01 -9.54860058e-02 -1.58523324e+02] [-1.37092162e-01 -4.56981011e-03 9.90547756e-01 -3.62045343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters 0.031235617867413707 Centerline is valid? [True, True] Translation: X:262.69, Y:-158.56, Z:-36.21 [[ 6.89786581e-01 7.17515155e-01 9.67805544e-02 2.62693270e+02] [-7.11352638e-01 6.96531078e-01 -9.39248680e-02 -1.58560965e+02] [-1.34803180e-01 -4.05698915e-03 9.90864089e-01 -3.62135154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters 0.030498652703923792 Centerline is valid? [True, True] Translation: X:262.74, Y:-158.60, Z:-36.22 [[ 6.94135547e-01 7.13356692e-01 9.64265099e-02 2.62743839e+02] [-7.07188068e-01 7.00793936e-01 -9.36637348e-02 -1.58597242e+02] [-1.34390765e-01 -3.17634947e-03 9.90923323e-01 -3.62185353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters 0.02976701928801562 Centerline is valid? [True, True] Translation: X:262.79, Y:-158.64, Z:-36.22 [[ 6.99319748e-01 7.08251907e-01 9.65977532e-02 2.62790807e+02] [-7.02001549e-01 7.05956559e-01 -9.39103953e-02 -1.58637858e+02] [-1.34706034e-01 -2.13837839e-03 9.90883299e-01 -3.62248480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters 0.02953174005166638 Centerline is valid? [True, True] Translation: X:262.84, Y:-158.68, Z:-36.23 [[ 7.06945131e-01 7.01007362e-01 9.39002721e-02 2.62835312e+02] [-6.95027416e-01 7.13153722e-01 -9.13709952e-02 -1.58680186e+02] [-1.31017069e-01 -6.68983345e-04 9.91379887e-01 -3.62313551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters 0.029566267720590463 Centerline is valid? [True, True] Translation: X:262.88, Y:-158.73, Z:-36.24 [[ 7.08162273e-01 6.99822384e-01 9.35672322e-02 2.62879778e+02] [-6.93864082e-01 7.14316792e-01 -9.11271443e-02 -1.58725107e+02] [-1.30609460e-01 -3.90136088e-04 9.91433819e-01 -3.62370877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters 0.02933182716269166 Centerline is valid? [True, True] Translation: X:262.92, Y:-158.77, Z:-36.24 [[ 7.04668607e-01 7.03310882e-01 9.37867663e-02 2.62923019e+02] [-6.97342306e-01 7.10881752e-01 -9.14376462e-02 -1.58769388e+02] [-1.30980392e-01 -9.68241118e-04 9.91384486e-01 -3.62426903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters 0.02936169836184973 Centerline is valid? [True, True] Translation: X:262.97, Y:-158.81, Z:-36.25 [[ 7.03380359e-01 7.04724046e-01 9.28444392e-02 2.62965817e+02] [-6.98876289e-01 7.09480571e-01 -9.06049238e-02 -1.58814543e+02] [-1.29722794e-01 -1.15705335e-03 9.91549625e-01 -3.62495905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters 0.02948144918781439 Centerline is valid? [True, True] Translation: X:263.01, Y:-158.86, Z:-36.26 [[ 7.02248782e-01 7.05710253e-01 9.39131919e-02 2.63009166e+02] [-6.99722326e-01 7.08499392e-01 -9.17457275e-02 -1.58858468e+02] [-1.31283340e-01 -1.28483164e-03 9.91344054e-01 -3.62560763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters 0.029880766104145223 Centerline is valid? [True, True] Translation: X:263.05, Y:-158.90, Z:-36.27 [[ 6.98240061e-01 7.09363530e-01 9.62507128e-02 2.63053206e+02] [-7.03094448e-01 7.04840096e-01 -9.41203265e-02 -1.58901256e+02] [-1.34606889e-01 -1.95475931e-03 9.90897151e-01 -3.62650925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters 0.03050417195201063 Centerline is valid? [True, True] Translation: X:263.10, Y:-158.94, Z:-36.27 [[ 6.92343277e-01 7.15256299e-01 9.52324218e-02 2.63098884e+02] [-7.09163022e-01 6.98855795e-01 -9.32115130e-02 -1.58942903e+02] [-1.33223852e-01 -3.00094764e-03 9.91081429e-01 -3.62716617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters 0.03127979711798087 Centerline is valid? [True, True] Translation: X:263.15, Y:-158.98, Z:-36.28 [[ 6.87586475e-01 7.19712223e-01 9.61205277e-02 2.63145772e+02] [-7.13535563e-01 6.94261903e-01 -9.41669259e-02 -1.58983403e+02] [-1.34505908e-01 -3.83751026e-03 9.90905361e-01 -3.62784217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters 0.03144209354570321 Centerline is valid? [True, True] Translation: X:263.20, Y:-159.02, Z:-36.29 [[ 6.87559896e-01 7.19787827e-01 9.57437941e-02 2.63196945e+02] [-7.13650327e-01 6.94183809e-01 -9.38725194e-02 -1.59019721e+02] [-1.34032088e-01 -3.78461041e-03 9.90969765e-01 -3.62853122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters 0.03126071528911197 Centerline is valid? [True, True] Translation: X:263.25, Y:-159.06, Z:-36.29 [[ 6.88403713e-01 7.18967447e-01 9.58443463e-02 2.63247144e+02] [-7.12797324e-01 6.95034590e-01 -9.40579268e-02 -1.59056654e+02] [-1.34239723e-01 -3.56776756e-03 9.90942464e-01 -3.62909825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters 0.031102664138041063 Centerline is valid? [True, True] Translation: X:263.30, Y:-159.09, Z:-36.30 [[ 6.91365106e-01 7.16251646e-01 9.48571031e-02 2.63298984e+02] [-7.10171528e-01 6.97835865e-01 -9.31746017e-02 -1.59091847e+02] [-1.32931150e-01 -2.94714540e-03 9.91120893e-01 -3.62967182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters 0.03057946796290969 Centerline is valid? [True, True] Translation: X:263.35, Y:-159.13, Z:-36.30 [[ 6.96991830e-01 7.10870896e-01 9.41539113e-02 2.63348538e+02] [-7.04820331e-01 7.03320111e-01 -9.25695501e-02 -1.59128911e+02] [-1.32025338e-01 -1.84137085e-03 9.91244631e-01 -3.63049687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters 0.030725963023909786 Centerline is valid? [True, True] Translation: X:263.40, Y:-159.17, Z:-36.31 [[ 7.00928802e-01 7.06990712e-01 9.41432345e-02 2.63398073e+02] [-7.00894825e-01 7.07222058e-01 -9.26466627e-02 -1.59166896e+02] [-1.32080502e-01 -1.04579163e-03 9.91238441e-01 -3.63119409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters 0.030748218101833827 Centerline is valid? [True, True] Translation: X:263.45, Y:-159.21, Z:-36.32 [[ 7.01916272e-01 7.06366719e-01 9.14308801e-02 2.63447116e+02] [-7.00602359e-01 7.07845570e-01 -9.00610002e-02 -1.59205829e+02] [-1.28335037e-01 -8.41408746e-04 9.91730513e-01 -3.63185352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters 0.03089161420294978 Centerline is valid? [True, True] Translation: X:263.49, Y:-159.25, Z:-36.33 [[ 7.00502944e-01 7.07742560e-01 9.16302078e-02 2.63493692e+02] [-7.01953459e-01 7.06469674e-01 -9.03434691e-02 -1.59247167e+02] [-1.28673881e-01 -1.03427524e-03 9.91686424e-01 -3.63268673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters 0.031081306965322086 Centerline is valid? [True, True] Translation: X:263.54, Y:-159.29, Z:-36.33 [[ 7.01432415e-01 7.06719586e-01 9.24120936e-02 2.63542692e+02] [-7.00809124e-01 7.07493331e-01 -9.12127079e-02 -1.59287516e+02] [-1.29842747e-01 -7.83688475e-04 9.91534289e-01 -3.63334162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters 0.031126403884406375 Centerline is valid? [True, True] Translation: X:263.59, Y:-159.33, Z:-36.34 [[ 7.03406073e-01 7.04578343e-01 9.37510262e-02 2.63590097e+02] [-6.98462555e-01 7.09626137e-01 -9.26326340e-02 -1.59326677e+02] [-1.31795126e-01 -3.23224001e-04 9.91276924e-01 -3.63411148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters 0.031187328444689338 Centerline is valid? [True, True] Translation: X:263.64, Y:-159.37, Z:-36.35 [[ 7.00540779e-01 7.07267261e-01 9.49507190e-02 2.63638033e+02] [-7.01006416e-01 7.06945836e-01 -9.39020210e-02 -1.59366649e+02] [-1.33538841e-01 -7.78868352e-04 9.91043274e-01 -3.63477320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters 0.03132406019450719 Centerline is valid? [True, True] Translation: X:263.68, Y:-159.41, Z:-36.36 [[ 6.96097844e-01 7.11294035e-01 9.75119847e-02 2.63684091e+02] [-7.04715808e-01 7.02892925e-01 -9.65254734e-02 -1.59407351e+02] [-1.37198478e-01 -1.52706307e-03 9.90542400e-01 -3.63551711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters 0.031942234658256116 Centerline is valid? [True, True] Translation: X:263.73, Y:-159.45, Z:-36.36 [[ 6.89030735e-01 7.17941798e-01 9.89758616e-02 2.63732271e+02] [-7.11219178e-01 6.96097393e-01 -9.80596825e-02 -1.59445671e+02] [-1.39297984e-01 -2.82739579e-03 9.90246473e-01 -3.63620922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters 0.03204988423954775 Centerline is valid? [True, True] Translation: X:263.78, Y:-159.48, Z:-36.37 [[ 6.86366018e-01 7.20465346e-01 9.91532932e-02 2.63782786e+02] [-7.13732379e-01 6.93483165e-01 -9.83218751e-02 -1.59482244e+02] [-1.39598643e-01 -3.28412189e-03 9.90202723e-01 -3.63685429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters 0.03170382754900549 Centerline is valid? [True, True] Translation: X:263.83, Y:-159.52, Z:-36.37 [[ 6.89517893e-01 7.17600859e-01 9.80514255e-02 2.63834468e+02] [-7.10975915e-01 6.96449712e-01 -9.73193086e-02 -1.59518239e+02] [-1.38124307e-01 -2.60879728e-03 9.90411465e-01 -3.63745518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters 0.03086071818800509 Centerline is valid? [True, True] Translation: X:263.88, Y:-159.56, Z:-36.38 [[ 6.97067869e-01 7.10517010e-01 9.62390969e-02 2.63882708e+02] [-7.04057594e-01 7.03679132e-01 -9.55959320e-02 -1.59556760e+02] [-1.35643980e-01 -1.12101445e-03 9.90757011e-01 -3.63811313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters 0.030718918378991586 Centerline is valid? [True, True] Translation: X:263.93, Y:-159.60, Z:-36.39 [[ 7.03567955e-01 7.04534347e-01 9.28627355e-02 2.63929050e+02] [-6.98465083e-01 7.09669888e-01 -9.22777190e-02 -1.59597578e+02] [-1.30914710e-01 6.22677850e-05 9.91393633e-01 -3.63865800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters 0.030994830411680652 Centerline is valid? [True, True] Translation: X:263.98, Y:-159.64, Z:-36.39 [[ 7.11916788e-01 6.96606704e-01 8.89583448e-02 2.63976041e+02] [-6.90966778e-01 7.17451592e-01 -8.84766908e-02 -1.59638820e+02] [-1.25456762e-01 1.52078059e-03 9.92097923e-01 -3.63926725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters 0.0312711711126178 Centerline is valid? [True, True] Translation: X:264.02, Y:-159.69, Z:-36.40 [[ 7.16014784e-01 6.92450131e-01 8.85191732e-02 2.64017369e+02] [-6.86824179e-01 7.21462082e-01 -8.81192984e-02 -1.59685400e+02] [-1.24881447e-01 2.29761197e-03 9.92169010e-01 -3.63974242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters 0.03116971846031514 Centerline is valid? [True, True] Translation: X:264.06, Y:-159.73, Z:-36.40 [[ 7.17301818e-01 6.91206678e-01 8.78147484e-02 2.64056541e+02] [-6.85651306e-01 7.22652630e-01 -8.74954969e-02 -1.59733470e+02] [-1.23937031e-01 2.55038209e-03 9.92286807e-01 -3.64041649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters 0.031165598677258866 Centerline is valid? [True, True] Translation: X:264.10, Y:-159.78, Z:-36.41 [[ 7.17472924e-01 6.91206242e-01 8.64091115e-02 2.64095254e+02] [-6.85818602e-01 7.22652997e-01 -8.61712910e-02 -1.59783764e+02] [-1.22005938e-01 2.56459206e-03 9.92526057e-01 -3.64102324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters 0.03054395927462251 Centerline is valid? [True, True] Translation: X:264.13, Y:-159.83, Z:-36.42 [[ 7.15261427e-01 6.93443737e-01 8.68151741e-02 2.64133569e+02] [-6.88010550e-01 7.20507241e-01 -8.66648692e-02 -1.59833427e+02] [-1.22648172e-01 2.25828239e-03 9.92447644e-01 -3.64173866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters 0.030262668209778534 Centerline is valid? [True, True] Translation: X:264.18, Y:-159.88, Z:-36.42 [[ 7.13607179e-01 6.94994440e-01 8.80200087e-02 2.64175674e+02] [-6.89410420e-01 7.19012105e-01 -8.79480842e-02 -1.59879498e+02] [-1.24410881e-01 2.07847307e-03 9.92228609e-01 -3.64242635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters 0.029941018315304487 Centerline is valid? [True, True] Translation: X:264.20, Y:-160.20, Z:-34.57 [[ 7.44862269e-01 -6.63985998e-01 -6.55956936e-02 2.64195330e+02] [-6.60606400e-01 -7.47714473e-01 6.72476895e-02 -1.60199094e+02] [-9.36983737e-02 -6.75733158e-03 -9.95577698e-01 -3.45701541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters 0.029588775969131387 Centerline is valid? [True, True] Translation: X:264.21, Y:-159.96, Z:-36.43 [[ 7.57730581e-01 6.45468133e-01 9.59961221e-02 2.64212692e+02] [-6.40154514e-01 7.63786287e-01 -8.26601817e-02 -1.59960617e+02] [-1.26675035e-01 1.18179667e-03 9.91943566e-01 -3.64343560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters 0.029051957029741976 Centerline is valid? [True, True] Translation: X:264.26, Y:-160.01, Z:-36.44 [[ 7.53321487e-01 6.50567895e-01 9.62712360e-02 2.64255697e+02] [-6.45255105e-01 7.59448000e-01 -8.29734017e-02 -1.60005230e+02] [-1.27092829e-01 3.86139937e-04 9.91890752e-01 -3.64400709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters 0.02874088380032384 Centerline is valid? [True, True] Translation: X:264.30, Y:-160.05, Z:-36.45 [[ 7.48759392e-01 6.55845487e-01 9.60524272e-02 2.64301829e+02] [-6.50589818e-01 7.54895024e-01 -8.28636898e-02 -1.60047849e+02] [-1.26855276e-01 -4.45765063e-04 9.91921136e-01 -3.64470678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters 0.028754025807778062 Centerline is valid? [True, True] Translation: X:264.35, Y:-160.09, Z:-36.45 [[ 7.44468595e-01 6.60749306e-01 9.57959545e-02 2.64348360e+02] [-6.55550955e-01 7.50605682e-01 -8.27288062e-02 -1.60087854e+02] [-1.26567989e-01 -1.21013135e-03 9.91957197e-01 -3.64537803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters 0.028752164474060773 Centerline is valid? [True, True] Translation: X:264.40, Y:-160.13, Z:-36.46 [[ 7.43947945e-01 6.61112434e-01 9.73232037e-02 2.64397391e+02] [-6.55739627e-01 7.50285828e-01 -8.41232282e-02 -1.60126026e+02] [-1.28635133e-01 -1.23537859e-03 9.91691220e-01 -3.64624091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters 0.02862856299654701 Centerline is valid? [True, True] Translation: X:264.45, Y:-160.17, Z:-36.47 [[ 7.44978791e-01 6.59990616e-01 9.70514740e-02 2.64445718e+02] [-6.54628167e-01 7.51273206e-01 -8.39674593e-02 -1.60165241e+02] [-1.28329907e-01 -9.78652204e-04 9.91731051e-01 -3.64693969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters 0.02852313973846824 Centerline is valid? [True, True] Translation: X:264.50, Y:-160.20, Z:-36.48 [[ 7.47134357e-01 6.57204325e-01 9.93616028e-02 2.64496094e+02] [-6.51546760e-01 7.53712329e-01 -8.60496687e-02 -1.60200772e+02] [-1.31442279e-01 -4.48066554e-04 9.91323724e-01 -3.64773694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters 0.02848766847232192 Centerline is valid? [True, True] Translation: X:264.54, Y:-160.24, Z:-36.49 [[ 7.47332699e-01 6.56652230e-01 1.01497218e-01 2.64543839e+02] [-6.50731178e-01 7.54193451e-01 -8.79839317e-02 -1.60240394e+02] [-1.34323382e-01 -2.94134719e-04 9.90937507e-01 -3.64854440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters 0.02860025827483075 Centerline is valid? [True, True] Translation: X:264.59, Y:-160.28, Z:-36.49 [[ 7.50355969e-01 6.53154951e-01 1.01757205e-01 2.64593172e+02] [-6.47159631e-01 7.57224174e-01 -8.82947456e-02 -1.60278675e+02] [-1.34723166e-01 3.99334024e-04 9.90883196e-01 -3.64923735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters 0.02906844583828794 Centerline is valid? [True, True] Translation: X:264.64, Y:-160.32, Z:-36.50 [[ 7.55422846e-01 6.47254174e-01 1.01972337e-01 2.64639519e+02] [-6.41166855e-01 7.62272716e-01 -8.85740932e-02 -1.60319842e+02] [-1.35060682e-01 1.52961101e-03 9.90836148e-01 -3.64996818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters 0.030079530772195294 Centerline is valid? [True, True] Translation: X:264.69, Y:-160.36, Z:-36.51 [[ 7.61081079e-01 6.40428705e-01 1.02988663e-01 2.64685418e+02] [-6.34144932e-01 7.68012388e-01 -8.95386918e-02 -1.60360567e+02] [-1.36439717e-01 2.83646562e-03 9.90644315e-01 -3.65062454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters 0.030503083657566238 Centerline is valid? [True, True] Translation: X:264.73, Y:-160.40, Z:-36.51 [[ 7.63230236e-01 6.37837330e-01 1.03165630e-01 2.64729780e+02] [-6.31497701e-01 7.70163759e-01 -8.97688047e-02 -1.60403796e+02] [-1.36712324e-01 3.36540762e-03 9.90605075e-01 -3.65132787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters 0.030238904908725946 Centerline is valid? [True, True] Translation: X:264.77, Y:-160.45, Z:-36.52 [[ 7.62607954e-01 6.38822678e-01 1.01659700e-01 2.64770768e+02] [-6.32665899e-01 7.69347346e-01 -8.85354268e-02 -1.60450831e+02] [-1.34770059e-01 3.20119532e-03 9.90871729e-01 -3.65190588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters 0.029801789824919985 Centerline is valid? [True, True] Translation: X:264.81, Y:-160.50, Z:-36.53 [[ 7.61905564e-01 6.39911670e-01 1.00064809e-01 2.64809050e+02] [-6.33946647e-01 7.68442540e-01 -8.72221935e-02 -1.60500816e+02] [-1.32708555e-01 3.01932465e-03 9.91150505e-01 -3.65255206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters 0.02954866308940767 Centerline is valid? [True, True] Translation: X:264.85, Y:-160.55, Z:-36.53 [[ 7.59901903e-01 6.42445470e-01 9.90601625e-02 2.64848411e+02] [-6.36611452e-01 7.66326958e-01 -8.64225194e-02 -1.60549512e+02] [-1.31434229e-01 2.60980310e-03 9.91321458e-01 -3.65304356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters 0.028823593783442954 Centerline is valid? [True, True] Translation: X:264.89, Y:-160.60, Z:-36.54 [[ 7.55472590e-01 6.47470546e-01 1.00215061e-01 2.64887976e+02] [-6.41532144e-01 7.62088302e-01 -8.75095879e-02 -1.60597816e+02] [-1.33032606e-01 1.81991221e-03 9.91109991e-01 -3.65379807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters 0.028549879137191925 Centerline is valid? [True, True] Translation: X:264.93, Y:-160.64, Z:-36.55 [[ 7.51428636e-01 6.52054340e-01 1.00896688e-01 2.64930923e+02] [-6.46064544e-01 7.58171467e-01 -8.81852146e-02 -1.60643235e+02] [-1.33998542e-01 1.07912304e-03 9.90980941e-01 -3.65452615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters 0.028545141173618078 Centerline is valid? [True, True] Translation: X:264.98, Y:-160.69, Z:-36.55 [[ 7.44481572e-01 6.60154502e-01 9.97157113e-02 2.64976607e+02] [-6.54365684e-01 7.51129775e-01 -8.72330936e-02 -1.60685387e+02] [-1.32486759e-01 -3.07109017e-04 9.91184728e-01 -3.65520145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters 0.028550021060960228 Centerline is valid? [True, True] Translation: X:265.02, Y:-160.73, Z:-36.56 [[ 7.40872940e-01 6.64230139e-01 9.95269283e-02 2.65024348e+02] [-6.58488498e-01 7.47527514e-01 -8.71522444e-02 -1.60725386e+02] [-1.32288265e-01 -9.68597930e-04 9.91210814e-01 -3.65584184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters 0.029006945887702976 Centerline is valid? [True, True] Translation: X:265.08, Y:-160.76, Z:-36.57 [[ 7.37812408e-01 6.67419042e-01 1.00919138e-01 2.65076154e+02] [-6.61531577e-01 7.44680874e-01 -8.84667701e-02 -1.60760045e+02] [-1.34196959e-01 -1.48931588e-03 9.90953560e-01 -3.65656506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters 0.028702084607123285 Centerline is valid? [True, True] Translation: X:265.13, Y:-160.80, Z:-36.57 [[ 7.40504832e-01 6.64682686e-01 9.92447520e-02 2.65126338e+02] [-6.58954461e-01 7.47125217e-01 -8.70800050e-02 -1.60797412e+02] [-1.32028829e-01 -9.14607662e-04 9.91245455e-01 -3.65709077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters 0.02871284822566698 Centerline is valid? [True, True] Translation: X:265.18, Y:-160.83, Z:-36.58 [[ 7.46234688e-01 6.58543201e-01 9.72349890e-02 2.65177453e+02] [-6.52983941e-01 7.52542890e-01 -8.53883585e-02 -1.60833595e+02] [-1.29405422e-01 2.26868776e-04 9.91591743e-01 -3.65777131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters 0.028620217016225406 Centerline is valid? [True, True] Translation: X:265.23, Y:-160.87, Z:-36.58 [[ 7.50615188e-01 6.53738417e-01 9.59318577e-02 2.65225092e+02] [-6.48283675e-01 7.56719851e-01 -8.42813348e-02 -1.60873660e+02] [-1.27691487e-01 1.07179269e-03 9.91813357e-01 -3.65842726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters 0.028951595908551717 Centerline is valid? [True, True] Translation: X:265.27, Y:-160.91, Z:-36.59 [[ 7.53605428e-01 6.50308481e-01 9.58005145e-02 2.65271207e+02] [-6.44829672e-01 7.59668298e-01 -8.42542044e-02 -1.60914867e+02] [-1.27567838e-01 1.71941144e-03 9.91828357e-01 -3.65911096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters 0.029137546310031993 Centerline is valid? [True, True] Translation: X:265.32, Y:-160.96, Z:-36.60 [[ 7.55340064e-01 6.48274270e-01 9.59263170e-02 2.65315506e+02] [-6.42754593e-01 7.61403935e-01 -8.44427678e-02 -1.60957497e+02] [-1.27780749e-01 2.12592475e-03 9.91800162e-01 -3.65976938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters 0.02913489603131119 Centerline is valid? [True, True] Translation: X:265.36, Y:-161.00, Z:-36.60 [[ 7.56773040e-01 6.46713660e-01 9.51630631e-02 2.65357822e+02] [-6.41259780e-01 7.62729009e-01 -8.38471989e-02 -1.61003175e+02] [-1.26808758e-01 2.42905461e-03 9.91924210e-01 -3.66045213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters 0.028914619514066292 Centerline is valid? [True, True] Translation: X:265.40, Y:-161.05, Z:-36.61 [[ 7.55840962e-01 6.47780507e-01 9.53145074e-02 2.65400276e+02] [-6.42307626e-01 7.61823511e-01 -8.40586199e-02 -1.61049980e+02] [-1.27064368e-01 2.31371316e-03 9.91891775e-01 -3.66097026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters 0.028619510710454186 Centerline is valid? [True, True] Translation: X:265.44, Y:-161.10, Z:-36.62 [[ 7.53569634e-01 6.50257108e-01 9.64287317e-02 2.65440974e+02] [-6.44663732e-01 7.59711622e-01 -8.51288720e-02 -1.61096853e+02] [-1.28613682e-01 1.98642687e-03 9.91692782e-01 -3.66167456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters 0.028209845137502146 Centerline is valid? [True, True] Translation: X:265.48, Y:-161.14, Z:-36.62 [[ 7.50689546e-01 6.53595798e-01 9.63210201e-02 2.65481959e+02] [-6.48032125e-01 7.56842363e-01 -8.51117064e-02 -1.61143314e+02] [-1.28528482e-01 1.47335281e-03 9.91704723e-01 -3.66235466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters 0.028002380943600635 Centerline is valid? [True, True] Translation: X:265.52, Y:-161.19, Z:-36.63 [[ 7.48403563e-01 6.56384971e-01 9.51360957e-02 2.65524963e+02] [-6.50970347e-01 7.54425400e-01 -8.41422759e-02 -1.61188346e+02] [-1.27002812e-01 1.04160177e-03 9.91901810e-01 -3.66310216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters 0.02816293530427228 Centerline is valid? [True, True] Translation: X:265.57, Y:-161.23, Z:-36.64 [[ 7.45568758e-01 6.59452963e-01 9.61718070e-02 2.65569948e+02] [-6.53934006e-01 7.51745598e-01 -8.51403057e-02 -1.61232121e+02] [-1.28442759e-01 5.87936996e-04 9.91716750e-01 -3.66391207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters 0.02832205642625237 Centerline is valid? [True, True] Translation: X:265.61, Y:-161.28, Z:-36.65 [[ 7.42880499e-01 6.62201014e-01 9.80733517e-02 2.65612737e+02] [-6.56472141e-01 7.49326219e-01 -8.69168876e-02 -1.61276782e+02] [-1.31045385e-01 1.86437684e-04 9.91376353e-01 -3.66467847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters 0.02864042448698417 Centerline is valid? [True, True] Translation: X:265.66, Y:-161.32, Z:-36.65 [[ 7.42208281e-01 6.62735297e-01 9.95429248e-02 2.65657605e+02] [-6.56826029e-01 7.48853725e-01 -8.83043956e-02 -1.61318997e+02] [-1.33065530e-01 1.57869627e-04 9.91107229e-01 -3.66543658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters 0.028823037518878037 Centerline is valid? [True, True] Translation: X:265.70, Y:-161.36, Z:-36.66 [[ 7.43541678e-01 6.61245016e-01 9.95027697e-02 2.65702841e+02] [-6.55315638e-01 7.50169840e-01 -8.83551167e-02 -1.61361790e+02] [-1.33068357e-01 4.89990758e-04 9.91106741e-01 -3.66621054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters 0.029072985770800287 Centerline is valid? [True, True] Translation: X:265.75, Y:-161.41, Z:-36.67 [[ 7.44060604e-01 6.60344455e-01 1.01582568e-01 2.65745527e+02] [-6.54141698e-01 7.50962485e-01 -9.02994170e-02 -1.61406454e+02] [-1.35913417e-01 7.38845307e-04 9.90720444e-01 -3.66682558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters 0.029139914934152772 Centerline is valid? [True, True] Translation: X:265.79, Y:-161.45, Z:-36.68 [[ 7.45035918e-01 6.59178282e-01 1.02007224e-01 2.65788509e+02] [-6.52900568e-01 7.51986004e-01 -9.07628727e-02 -1.61451046e+02] [-1.36536919e-01 1.02102582e-03 9.90634457e-01 -3.66750616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters 0.02931277675159097 Centerline is valid? [True, True] Translation: X:265.83, Y:-161.50, Z:-36.68 [[ 7.44597392e-01 6.59666003e-01 1.02056300e-01 2.65832512e+02] [-6.53374621e-01 7.51558226e-01 -9.08946557e-02 -1.61495817e+02] [-1.36661366e-01 9.98927361e-04 9.90617319e-01 -3.66816799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters 0.029312549340590875 Centerline is valid? [True, True] Translation: X:265.88, Y:-161.54, Z:-36.69 [[ 7.44134430e-01 6.60099278e-01 1.02629882e-01 2.65875298e+02] [-6.53726861e-01 7.51177704e-01 -9.15054617e-02 -1.61541458e+02] [-1.37495969e-01 1.00045375e-03 9.90501821e-01 -3.66882718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters 0.029165988092592115 Centerline is valid? [True, True] Translation: X:265.92, Y:-161.59, Z:-36.69 [[ 7.44130934e-01 6.60451344e-01 1.00365210e-01 2.65918255e+02] [-6.54350017e-01 7.50868207e-01 -8.95711487e-02 -1.61587011e+02] [-1.34518431e-01 9.78685864e-04 9.90910608e-01 -3.66936542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters 0.02906418221420496 Centerline is valid? [True, True] Translation: X:265.96, Y:-161.63, Z:-36.70 [[ 7.41476633e-01 6.63249665e-01 1.01549423e-01 2.65960051e+02] [-6.57020900e-01 7.48398030e-01 -9.06858679e-02 -1.61634129e+02] [-1.36146760e-01 5.21358429e-04 9.90688542e-01 -3.67020133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters 0.029054571878776546 Centerline is valid? [True, True] Translation: X:266.00, Y:-161.68, Z:-36.71 [[ 7.38168580e-01 6.67093078e-01 1.00468771e-01 2.65999448e+02] [-6.61019145e-01 7.44974371e-01 -8.98157953e-02 -1.61683288e+02] [-1.34762155e-01 -1.12582992e-04 9.90877969e-01 -3.67083264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters 0.029295754715570624 Centerline is valid? [True, True] Translation: X:266.04, Y:-161.73, Z:-36.72 [[ 7.32881243e-01 6.72951787e-01 1.00104824e-01 2.66039327e+02] [-6.66964081e-01 7.39685505e-01 -8.95782780e-02 -1.61732105e+02] [-1.34327950e-01 -1.11608242e-03 9.90936303e-01 -3.67162536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters 0.029822838815371785 Centerline is valid? [True, True] Translation: X:266.08, Y:-161.78, Z:-36.72 [[ 7.26438618e-01 6.80095613e-01 9.87769804e-02 2.66080736e+02] [-6.74318967e-01 7.33119726e-01 -8.84838885e-02 -1.61777932e+02] [-1.32592857e-01 -2.32907775e-03 9.91167851e-01 -3.67238756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters 0.03081195209463769 Centerline is valid? [True, True] Translation: X:266.13, Y:-161.82, Z:-36.73 [[ 7.20154604e-01 6.86564840e-01 1.00030329e-01 2.66125963e+02] [-6.80689814e-01 7.27060173e-01 -8.96932722e-02 -1.61820715e+02] [-1.34308315e-01 -3.49660287e-03 9.90933424e-01 -3.67315448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters 0.032681340605905856 Centerline is valid? [True, True] Translation: X:266.17, Y:-161.86, Z:-36.74 [[ 7.10728072e-01 6.96550400e-01 9.84029871e-02 2.66172151e+02] [-6.90948086e-01 7.17488881e-01 -8.83201395e-02 -1.61862437e+02] [-1.32122478e-01 -5.21975316e-03 9.91219655e-01 -3.67360745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters 0.03317576019082947 Centerline is valid? [True, True] Translation: X:266.22, Y:-161.90, Z:-36.74 [[ 7.07149958e-01 7.00003157e-01 9.96720496e-02 2.66221590e+02] [-6.94278416e-01 7.14115497e-01 -8.95351211e-02 -1.61900096e+02] [-1.33852223e-01 -5.88539560e-03 9.90983827e-01 -3.67434745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters 0.03463305701578406 Centerline is valid? [True, True] Translation: X:266.27, Y:-161.94, Z:-36.75 [[ 7.01490549e-01 7.05683730e-01 9.96066408e-02 2.66274105e+02] [-7.00015892e-01 7.08493147e-01 -8.95277146e-02 -1.61935167e+02] [-1.33748874e-01 -6.92338585e-03 9.90991072e-01 -3.67499728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters 0.035252899993483744 Centerline is valid? [True, True] Translation: X:266.33, Y:-161.97, Z:-36.76 [[ 6.98887801e-01 7.08410203e-01 9.85435244e-02 2.66328699e+02] [-7.02880762e-01 7.05763049e-01 -8.86405819e-02 -1.61967416e+02] [-1.32342271e-01 -7.31452615e-03 9.91177089e-01 -3.67553885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters 0.03435614844412358 Centerline is valid? [True, True] Translation: X:266.39, Y:-162.00, Z:-36.76 [[ 6.99321750e-01 7.07722826e-01 1.00386712e-01 2.66385208e+02] [-7.01964998e-01 7.06452898e-01 -9.03849778e-02 -1.61998297e+02] [-1.34885996e-01 -7.25977755e-03 9.90834529e-01 -3.67612572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters 0.03452313393118398 Centerline is valid? [True, True] Translation: X:266.44, Y:-162.03, Z:-36.77 [[ 7.00194658e-01 7.06722314e-01 1.01346006e-01 2.66439438e+02] [-7.00830868e-01 7.07455690e-01 -9.13375126e-02 -1.62030082e+02] [-1.36248067e-01 -7.07237113e-03 9.90649507e-01 -3.67686658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters 0.033209663518814415 Centerline is valid? [True, True] Translation: X:266.50, Y:-162.06, Z:-36.77 [[ 7.03333999e-01 7.03926821e-01 9.90369397e-02 2.66495226e+02] [-6.98264101e-01 7.10244353e-01 -8.93319904e-02 -1.62059876e+02] [-1.33223611e-01 -6.32371355e-03 9.91065830e-01 -3.67743517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters 0.03191296482568691 Centerline is valid? [True, True] Translation: X:266.55, Y:-162.09, Z:-36.78 [[ 7.07721739e-01 6.99597890e-01 9.84516759e-02 2.66547963e+02] [-6.93951859e-01 7.14516158e-01 -8.88677521e-02 -1.62092856e+02] [-1.32517005e-01 -5.42708352e-03 9.91165874e-01 -3.67817150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters 0.029869245189955273 Centerline is valid? [True, True] Translation: X:266.60, Y:-162.12, Z:-36.79 [[ 7.16931986e-01 6.89942117e-01 9.99419941e-02 2.66602100e+02] [-6.84024047e-01 7.23855282e-01 -9.02476236e-02 -1.62125000e+02] [-1.34609177e-01 -3.66131922e-03 9.90892004e-01 -3.67892796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters 0.028780469724348758 Centerline is valid? [True, True] Translation: X:266.65, Y:-162.16, Z:-36.80 [[ 7.26101529e-01 6.79975808e-01 1.02026814e-01 2.66653038e+02] [-6.73703255e-01 7.33232301e-01 -9.21646176e-02 -1.62160497e+02] [-1.37479066e-01 -1.81492675e-03 9.90503010e-01 -3.67961862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters 0.028314936074826613 Centerline is valid? [True, True] Translation: X:266.70, Y:-162.20, Z:-36.80 [[ 7.30976864e-01 6.75045223e-01 9.99338328e-02 2.66702151e+02] [-6.68978744e-01 7.37775868e-01 -9.03006606e-02 -1.62198996e+02] [-1.34685800e-01 -8.45916219e-04 9.90887996e-01 -3.68033264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters 0.027946435276173683 Centerline is valid? [True, True] Translation: X:266.75, Y:-162.24, Z:-36.81 [[ 7.32277704e-01 6.73753878e-01 9.91215203e-02 2.66748719e+02] [-6.67768863e-01 7.38955603e-01 -8.96067136e-02 -1.62240363e+02] [-1.33619274e-01 -5.73266369e-04 9.91032573e-01 -3.68091834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters 0.02795052164427525 Centerline is valid? [True, True] Translation: X:266.80, Y:-162.28, Z:-36.82 [[ 7.31548027e-01 6.74397539e-01 1.00127136e-01 2.66796419e+02] [-6.68284204e-01 7.38368172e-01 -9.06016809e-02 -1.62280414e+02] [-1.35032241e-01 -6.33902669e-04 9.90841002e-01 -3.68153467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters 0.02772629728286805 Centerline is valid? [True, True] Translation: X:266.84, Y:-162.32, Z:-36.82 [[ 7.31228736e-01 6.74881564e-01 9.91938054e-02 2.66842179e+02] [-6.68875259e-01 7.37925774e-01 -8.98411990e-02 -1.62321498e+02] [-1.33829834e-01 -6.53815869e-04 9.91004111e-01 -3.68228485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters 0.027842297279206365 Centerline is valid? [True, True] Translation: X:266.89, Y:-162.36, Z:-36.83 [[ 7.30054217e-01 6.75992517e-01 1.00274414e-01 2.66888702e+02] [-6.69852844e-01 7.36908048e-01 -9.09048774e-02 -1.62361617e+02] [-1.35344039e-01 -8.03612243e-04 9.90798337e-01 -3.68292403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters 0.027726106229178253 Centerline is valid? [True, True] Translation: X:266.94, Y:-162.40, Z:-36.84 [[ 7.30193158e-01 6.75821649e-01 1.00414398e-01 2.66936092e+02] [-6.69651754e-01 7.37064850e-01 -9.11149568e-02 -1.62403430e+02] [-1.35589384e-01 -7.11159987e-04 9.90764863e-01 -3.68352303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters 0.027863260166812644 Centerline is valid? [True, True] Translation: X:266.98, Y:-162.44, Z:-36.84 [[ 7.31100277e-01 6.74900850e-01 1.00006136e-01 2.66982996e+02] [-6.68759681e-01 7.37908277e-01 -9.08397744e-02 -1.62444098e+02] [-1.35103196e-01 -4.67087272e-04 9.90831423e-01 -3.68431945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters 0.027930337055912906 Centerline is valid? [True, True] Translation: X:267.03, Y:-162.49, Z:-36.85 [[ 7.30822591e-01 6.75202318e-01 1.00000851e-01 2.67029353e+02] [-6.69052436e-01 7.37632443e-01 -9.09242399e-02 -1.62486628e+02] [-1.35156130e-01 -4.56324471e-04 9.90824209e-01 -3.68503493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters 0.027942235608873725 Centerline is valid? [True, True] Translation: X:267.08, Y:-162.53, Z:-36.86 [[ 7.31255135e-01 6.74737932e-01 9.99732488e-02 2.67077662e+02] [-6.68573690e-01 7.38057339e-01 -9.09977221e-02 -1.62526273e+02] [-1.35185605e-01 -2.96932228e-04 9.90820248e-01 -3.68564788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters 0.027953058114194757 Centerline is valid? [True, True] Translation: X:267.12, Y:-162.57, Z:-36.86 [[ 7.32944708e-01 6.72992073e-01 9.93666176e-02 2.67124023e+02] [-6.66873841e-01 7.39649687e-01 -9.05407106e-02 -1.62566463e+02] [-1.34429668e-01 9.63366976e-05 9.90923133e-01 -3.68634631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters 0.02830294050822329 Centerline is valid? [True, True] Translation: X:267.17, Y:-162.60, Z:-36.87 [[ 7.36259913e-01 6.69379655e-01 9.92583415e-02 2.67174265e+02] [-6.63230121e-01 7.42920050e-01 -9.05295864e-02 -1.62604589e+02] [-1.34339675e-01 8.22183533e-04 9.90935001e-01 -3.68690544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters 0.02870080243242098 Centerline is valid? [True, True] Translation: X:267.22, Y:-162.64, Z:-36.88 [[ 7.37172260e-01 6.68213453e-01 1.00338628e-01 2.67222354e+02] [-6.61904716e-01 7.43968770e-01 -9.16112254e-02 -1.62642967e+02] [-1.35864659e-01 1.11864269e-03 9.90726775e-01 -3.68778429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters 0.02929290390688401 Centerline is valid? [True, True] Translation: X:267.27, Y:-162.68, Z:-36.88 [[ 7.41665617e-01 6.63228349e-01 1.00300897e-01 2.67270982e+02] [-6.56867110e-01 7.48414161e-01 -9.16615686e-02 -1.62680903e+02] [-1.35859163e-01 2.09787321e-03 9.90725939e-01 -3.68842763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters 0.03077987525046776 Centerline is valid? [True, True] Translation: X:267.32, Y:-162.72, Z:-36.89 [[ 7.48649533e-01 6.55683293e-01 9.79964069e-02 2.67318583e+02] [-6.49536939e-01 7.55028146e-01 -8.96340552e-02 -1.62719973e+02] [-1.32761598e-01 3.45220751e-03 9.91141988e-01 -3.68902157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters 0.03193497512546804 Centerline is valid? [True, True] Translation: X:267.36, Y:-162.76, Z:-36.90 [[ 7.53129070e-01 6.50549831e-01 9.78852451e-02 2.67364847e+02] [-6.44364245e-01 7.59450761e-01 -8.96061398e-02 -1.62760534e+02] [-1.32632283e-01 4.41123673e-03 9.91155497e-01 -3.68957482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters 0.032465899339570385 Centerline is valid? [True, True] Translation: X:267.41, Y:-162.81, Z:-36.90 [[ 7.54118882e-01 6.49232682e-01 9.90032129e-02 2.67407181e+02] [-6.42882848e-01 7.60574992e-01 -9.07045999e-02 -1.62805983e+02] [-1.34187759e-01 4.75458405e-03 9.90944519e-01 -3.69032913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters 0.03291044819822395 Centerline is valid? [True, True] Translation: X:267.45, Y:-162.85, Z:-36.91 [[ 7.55443250e-01 6.47913082e-01 9.75404241e-02 2.67452163e+02] [-6.41729243e-01 7.61698043e-01 -8.94408784e-02 -1.62848706e+02] [-1.32246265e-01 4.97296542e-03 9.91204416e-01 -3.69100466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters 0.03313916954115804 Centerline is valid? [True, True] Translation: X:267.49, Y:-162.90, Z:-36.92 [[ 7.55666551e-01 6.47766897e-01 9.67786756e-02 2.67493443e+02] [-6.41668160e-01 7.61822064e-01 -8.88206953e-02 -1.62896164e+02] [-1.31263237e-01 5.01903381e-03 9.91334844e-01 -3.69163639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters 0.032544159551747956 Centerline is valid? [True, True] Translation: X:267.54, Y:-162.94, Z:-36.92 [[ 7.54198765e-01 6.49420991e-01 9.71421648e-02 2.67538013e+02] [-6.43278240e-01 7.60413824e-01 -8.92408071e-02 -1.62939728e+02] [-1.31823098e-01 4.81586567e-03 9.91261559e-01 -3.69225021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters 0.03160017005485549 Centerline is valid? [True, True] Translation: X:267.58, Y:-162.99, Z:-36.93 [[ 7.50811444e-01 6.53439744e-01 9.64296497e-02 2.67578005e+02] [-6.47410346e-01 7.56967230e-01 -8.86592118e-02 -1.62985943e+02] [-1.30927538e-01 4.13679794e-03 9.91383310e-01 -3.69287158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters 0.03105508566111155 Centerline is valid? [True, True] Translation: X:267.62, Y:-163.03, Z:-36.93 [[ 7.47939787e-01 6.56591372e-01 9.73336784e-02 2.67622868e+02] [-6.50465722e-01 7.54237567e-01 -8.95546627e-02 -1.63028802e+02] [-1.32213536e-01 3.66927399e-03 9.91214466e-01 -3.69340297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters 0.030856467924165305 Centerline is valid? [True, True] Translation: X:267.67, Y:-163.07, Z:-36.94 [[ 7.46423372e-01 6.58160073e-01 9.83741194e-02 2.67666457e+02] [-6.51904579e-01 7.52869930e-01 -9.05940902e-02 -1.63073572e+02] [-1.33688329e-01 3.49100746e-03 9.91017277e-01 -3.69411665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters 0.03020227681837463 Centerline is valid? [True, True] Translation: X:267.71, Y:-163.12, Z:-36.95 [[ 7.42840138e-01 6.62193293e-01 9.84305408e-02 2.67711901e+02] [-6.55953554e-01 7.49327698e-01 -9.07355276e-02 -1.63115392e+02] [-1.33841188e-01 2.83612889e-03 9.90998735e-01 -3.69471783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters 0.030006629540057356 Centerline is valid? [True, True] Translation: X:267.76, Y:-163.16, Z:-36.96 [[ 7.40088886e-01 6.64926565e-01 1.00703046e-01 2.67756366e+02] [-6.58406997e-01 7.46904675e-01 -9.29173391e-02 -1.63159595e+02] [-1.36998783e-01 2.46349963e-03 9.90568152e-01 -3.69553117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters 0.029976558589292976 Centerline is valid? [True, True] Translation: X:267.80, Y:-163.20, Z:-36.96 [[ 7.40145056e-01 6.65051815e-01 9.94554195e-02 2.67801181e+02] [-6.58682142e-01 7.46793104e-01 -9.18580219e-02 -1.63202264e+02] [-1.35362966e-01 2.47875197e-03 9.90792977e-01 -3.69609630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters 0.03052839326494311 Centerline is valid? [True, True] Translation: X:267.85, Y:-163.24, Z:-36.97 [[ 7.41457568e-01 6.63635980e-01 9.91360749e-02 2.67846003e+02] [-6.57283543e-01 7.48050466e-01 -9.16452090e-02 -1.63244311e+02] [-1.34977845e-01 2.79052317e-03 9.90844687e-01 -3.69696141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters 0.03088953483614334 Centerline is valid? [True, True] Translation: X:267.89, Y:-163.29, Z:-36.98 [[ 7.40592738e-01 6.64179410e-01 1.01922065e-01 2.67890655e+02] [-6.57456121e-01 7.47567844e-01 -9.43067727e-02 -1.63287559e+02] [-1.38830275e-01 2.83362555e-03 9.90312135e-01 -3.69768282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters 0.03132755633505021 Centerline is valid? [True, True] Translation: X:267.94, Y:-163.33, Z:-36.98 [[ 7.40616583e-01 6.64302279e-01 1.00943343e-01 2.67935625e+02] [-6.57697770e-01 7.47458617e-01 -9.34840025e-02 -1.63329944e+02] [-1.37552607e-01 2.84559103e-03 9.90490375e-01 -3.69848120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters 0.03158399177007215 Centerline is valid? [True, True] Translation: X:267.98, Y:-163.37, Z:-36.99 [[ 7.41932241e-01 6.62859740e-01 1.00764653e-01 2.67980696e+02] [-6.56253925e-01 7.48736879e-01 -9.34016728e-02 -1.63372694e+02] [-1.37358420e-01 3.17051342e-03 9.90516336e-01 -3.69919550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters 0.031866426229281625 Centerline is valid? [True, True] Translation: X:268.03, Y:-163.42, Z:-37.00 [[ 7.42531031e-01 6.62167557e-01 1.00904878e-01 2.68025217e+02] [-6.55525276e-01 7.49348246e-01 -9.36152711e-02 -1.63415641e+02] [-1.37601888e-01 3.36654589e-03 9.90481896e-01 -3.69993409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters 0.03224373928650429 Centerline is valid? [True, True] Translation: X:268.07, Y:-163.46, Z:-37.01 [[ 7.43709742e-01 6.60901888e-01 1.00521217e-01 2.68068531e+02] [-6.54287328e-01 7.50463441e-01 -9.33419371e-02 -1.63460209e+02] [-1.37127361e-01 3.64954932e-03 9.90546701e-01 -3.70053388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters 0.03281864536038863 Centerline is valid? [True, True] Translation: X:268.11, Y:-163.51, Z:-37.01 [[ 7.45676974e-01 6.58718018e-01 1.00281718e-01 2.68110090e+02] [-6.52104173e-01 7.52378716e-01 -9.32009410e-02 -1.63505374e+02] [-1.36842970e-01 4.10366882e-03 9.90584253e-01 -3.70128995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters 0.032778053797058775 Centerline is valid? [True, True] Translation: X:268.15, Y:-163.56, Z:-37.02 [[ 7.46295119e-01 6.58122927e-01 9.95881938e-02 2.68149602e+02] [-6.51584611e-01 7.52898539e-01 -9.26352282e-02 -1.63555452e+02] [-1.35945173e-01 4.24308414e-03 9.90707276e-01 -3.70175776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters 0.03234007315588845 Centerline is valid? [True, True] Translation: X:268.19, Y:-163.61, Z:-37.02 [[ 7.45187562e-01 6.59634742e-01 9.78647233e-02 2.68186794e+02] [-6.53322932e-01 7.51575872e-01 -9.11200036e-02 -1.63606550e+02] [-1.33658685e-01 3.96422549e-03 9.91019496e-01 -3.70238102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters 0.031546528157980085 Centerline is valid? [True, True] Translation: X:268.22, Y:-163.66, Z:-37.03 [[ 7.40522605e-01 6.64621417e-01 9.95220731e-02 2.68221845e+02] [-6.58127533e-01 7.47173537e-01 -9.27354051e-02 -1.63659991e+02] [-1.35994196e-01 3.17444740e-03 9.90704548e-01 -3.70322662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters 0.030688836090682337 Centerline is valid? [True, True] Translation: X:268.26, Y:-163.71, Z:-37.04 [[ 7.35290733e-01 6.70337259e-01 9.99774851e-02 2.68261879e+02] [-6.63830062e-01 7.42053426e-01 -9.32006530e-02 -1.63708487e+02] [-1.36664506e-01 2.16151635e-03 9.90615032e-01 -3.70368985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters 0.030318982260800823 Centerline is valid? [True, True] Translation: X:268.30, Y:-163.76, Z:-37.04 [[ 7.27111336e-01 6.79147912e-01 1.00335530e-01 2.68302473e+02] [-6.72664463e-01 7.34001211e-01 -9.36202053e-02 -1.63755941e+02] [-1.37228367e-01 5.80167466e-04 9.90539267e-01 -3.70444388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters 0.030188817827555062 Centerline is valid? [True, True] Translation: X:268.35, Y:-163.80, Z:-37.05 [[ 7.21840458e-01 6.84932189e-01 9.90668941e-02 2.68347789e+02] [-6.78654533e-01 7.28606682e-01 -9.25220373e-02 -1.63797769e+02] [-1.35552123e-01 -4.46046961e-04 9.90770116e-01 -3.70510535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters 0.03039235280382172 Centerline is valid? [True, True] Translation: X:268.40, Y:-163.84, Z:-37.06 [[ 7.17378655e-01 6.89764925e-01 9.79398496e-02 2.68396197e+02] [-6.83662575e-01 7.24032264e-01 -9.15574384e-02 -1.63837971e+02] [-1.34064721e-01 -1.27645785e-03 9.90971756e-01 -3.70560498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters 0.030510211174444166 Centerline is valid? [True, True] Translation: X:268.44, Y:-163.88, Z:-37.06 [[ 7.15934381e-01 6.91078293e-01 9.92408885e-02 2.68442804e+02] [-6.84810874e-01 7.22778411e-01 -9.28732234e-02 -1.63878320e+02] [-1.35911840e-01 -1.47010583e-03 9.90719845e-01 -3.70641706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters 0.030855788812334247 Centerline is valid? [True, True] Translation: X:268.49, Y:-163.92, Z:-37.07 [[ 7.14635551e-01 6.92168695e-01 1.00987759e-01 2.68493288e+02] [-6.85675719e-01 7.21733888e-01 -9.45991701e-02 -1.63915181e+02] [-1.38364872e-01 -1.64092384e-03 9.90379962e-01 -3.70717726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters 0.030535833902573854 Centerline is valid? [True, True] Translation: X:268.54, Y:-163.95, Z:-37.08 [[ 7.17217739e-01 6.89585566e-01 1.00351692e-01 2.68543333e+02] [-6.83136981e-01 7.24203427e-01 -9.40917731e-02 -1.63952162e+02] [-1.37559368e-01 -1.06966311e-03 9.90492946e-01 -3.70783578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters 0.030328402357199954 Centerline is valid? [True, True] Translation: X:268.59, Y:-163.99, Z:-37.09 [[ 7.22060213e-01 6.84485085e-01 1.00544606e-01 2.68592806e+02] [-6.77949189e-01 7.29026864e-01 -9.43648702e-02 -1.63990965e+02] [-1.37891065e-01 -2.70157859e-05 9.90447401e-01 -3.70856521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters 0.030597303572541788 Centerline is valid? [True, True] Translation: X:268.64, Y:-164.03, Z:-37.09 [[ 7.24777460e-01 6.81681020e-01 1.00043096e-01 2.68640911e+02] [-6.75169623e-01 7.31649267e-01 -9.39964331e-02 -1.64031776e+02] [-1.37272042e-01 5.80436878e-04 9.90533215e-01 -3.70932784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters 0.030654752359766925 Centerline is valid? [True, True] Translation: X:268.69, Y:-164.07, Z:-37.10 [[ 7.29147888e-01 6.77105667e-01 9.93542842e-02 2.68688447e+02] [-6.70628075e-01 7.35884261e-01 -9.34469843e-02 -1.64071996e+02] [-1.36386737e-01 1.50689886e-03 9.90654525e-01 -3.71003401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters 0.030886593364417025 Centerline is valid? [True, True] Translation: X:268.73, Y:-164.11, Z:-37.11 [[ 7.31553769e-01 6.74344069e-01 1.00444809e-01 2.68733132e+02] [-6.67684484e-01 7.38414260e-01 -9.45611427e-02 -1.64114250e+02] [-1.37936625e-01 2.11112011e-03 9.90438807e-01 -3.71067651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters 0.030620109000146584 Centerline is valid? [True, True] Translation: X:268.77, Y:-164.16, Z:-37.11 [[ 7.33061643e-01 6.72884232e-01 9.92342627e-02 2.68774921e+02] [-6.66359600e-01 7.39743837e-01 -9.35090319e-02 -1.64161122e+02] [-1.36328687e-01 2.42218090e-03 9.90660700e-01 -3.71143622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters 0.030075703277197795 Centerline is valid? [True, True] Translation: X:268.82, Y:-164.21, Z:-37.12 [[ 7.31966144e-01 6.74144957e-01 9.87630540e-02 2.68815684e+02] [-6.67680926e-01 7.38595645e-01 -9.31592967e-02 -1.64207633e+02] [-1.35748832e-01 2.24724383e-03 9.90740735e-01 -3.71210979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters 0.029695813789449684 Centerline is valid? [True, True] Translation: X:268.86, Y:-164.25, Z:-37.13 [[ 7.28626951e-01 6.77505216e-01 1.00446250e-01 2.68858294e+02] [-6.70836910e-01 7.35515963e-01 -9.48372753e-02 -1.64253506e+02] [-1.38132569e-01 1.71794257e-03 9.90412259e-01 -3.71269370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters 0.029179873631358044 Centerline is valid? [True, True] Translation: X:268.90, Y:-164.30, Z:-37.13 [[ 7.24173260e-01 6.82342876e-01 9.99064070e-02 2.68899271e+02] [-6.75780116e-01 7.31031782e-01 -9.44127553e-02 -1.64300622e+02] [-1.37456630e-01 8.56429384e-04 9.90507416e-01 -3.71349822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters 0.028834950589746364 Centerline is valid? [True, True] Translation: X:268.94, Y:-164.35, Z:-37.14 [[ 7.18782806e-01 6.87932026e-01 1.00502764e-01 2.68941369e+02] [-6.81337704e-01 7.25775101e-01 -9.50233498e-02 -1.64347824e+02] [-1.38312009e-01 -1.75172414e-04 9.90388690e-01 -3.71412761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters 0.029173652469123696 Centerline is valid? [True, True] Translation: X:268.99, Y:-164.39, Z:-37.15 [[ 7.12784700e-01 6.94131054e-01 1.00598471e-01 2.68986763e+02] [-6.87571005e-01 7.19847474e-01 -9.52141128e-02 -1.64390280e+02] [-1.38506628e-01 -1.30142881e-03 9.90360652e-01 -3.71467638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters 0.02972202839181382 Centerline is valid? [True, True] Translation: X:269.03, Y:-164.43, Z:-37.15 [[ 7.06212857e-01 7.00906160e-01 9.99697742e-02 2.69034248e+02] [-6.94482709e-01 7.13248966e-01 -9.47083913e-02 -1.64429767e+02] [-1.37685033e-01 -2.54299604e-03 9.90472799e-01 -3.71539602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters 0.03025763988468165 Centerline is valid? [True, True] Translation: X:269.09, Y:-164.47, Z:-37.16 [[ 7.01775523e-01 7.05101785e-01 1.01698514e-01 2.69085778e+02] [-6.98483797e-01 7.09098160e-01 -9.64374674e-02 -1.64465483e+02] [-1.40112460e-01 -3.35731031e-03 9.90129904e-01 -3.71600079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters 0.030253816855569788 Centerline is valid? [True, True] Translation: X:269.14, Y:-164.50, Z:-37.16 [[ 7.00244033e-01 7.06825208e-01 1.00281697e-01 2.69136487e+02] [-7.00396253e-01 7.07379155e-01 -9.51830860e-02 -1.64502886e+02] [-1.38214987e-01 -3.58553714e-03 9.90395760e-01 -3.71649822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters 0.030253806896897998 Centerline is valid? [True, True] Translation: X:269.19, Y:-164.53, Z:-37.17 [[ 7.00546101e-01 7.06427035e-01 1.00975265e-01 2.69193252e+02] [-6.99890142e-01 7.07777419e-01 -9.59422452e-02 -1.64533937e+02] [-1.39244208e-01 -3.45962685e-03 9.90252029e-01 -3.71731781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters 0.02958914271772281 Centerline is valid? [True, True] Translation: X:269.25, Y:-164.57, Z:-37.18 [[ 7.04816087e-01 7.02240361e-01 1.00462720e-01 2.69248805e+02] [-6.95713730e-01 7.11935386e-01 -9.55531916e-02 -1.64565621e+02] [-1.38624273e-01 -2.54586686e-03 9.90341774e-01 -3.71794668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters 0.02914330470252214 Centerline is valid? [True, True] Translation: X:269.30, Y:-164.60, Z:-37.19 [[ 7.12932329e-01 6.94185020e-01 9.91698162e-02 2.69302708e+02] [-6.87737499e-01 7.19796041e-01 -9.43969883e-02 -1.64597920e+02] [-1.36911016e-01 -9.04136659e-04 9.90582938e-01 -3.71872288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters 0.029397457008153525 Centerline is valid? [True, True] Translation: X:269.35, Y:-164.63, Z:-37.20 [[ 7.21316957e-01 6.85478298e-01 9.91027212e-02 2.69354787e+02] [-6.78951536e-01 7.28092635e-01 -9.43712182e-02 -1.64633484e+02] [-1.36845383e-01 7.85615207e-04 9.90592108e-01 -3.71960677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters 0.030070925118723866 Centerline is valid? [True, True] Translation: X:269.40, Y:-164.67, Z:-37.20 [[ 7.26602884e-01 6.79844345e-01 9.92971099e-02 2.69403571e+02] [-6.73225304e-01 7.33353905e-01 -9.46559042e-02 -1.64672213e+02] [-1.37171204e-01 1.92792601e-03 9.90545478e-01 -3.72037097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters 0.030409742406273362 Centerline is valid? [True, True] Translation: X:269.45, Y:-164.72, Z:-37.21 [[ 7.28108321e-01 6.78040330e-01 1.00596142e-01 2.69447247e+02] [-6.71216710e-01 7.35020902e-01 -9.59812534e-02 -1.64715007e+02] [-1.39019428e-01 2.36293781e-03 9.90286835e-01 -3.72114271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters 0.030922716611931283 Centerline is valid? [True, True] Translation: X:269.49, Y:-164.76, Z:-37.22 [[ 7.31397993e-01 6.74610161e-01 9.97903181e-02 2.69489258e+02] [-6.67853135e-01 7.38167885e-01 -9.52909369e-02 -1.64759765e+02] [-1.37946242e-01 3.05032316e-03 9.90435020e-01 -3.72189920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters 0.03096945841106613 Centerline is valid? [True, True] Translation: X:269.53, Y:-164.81, Z:-37.23 [[ 7.32704296e-01 6.73375661e-01 9.85374745e-02 2.69528940e+02] [-6.66765886e-01 7.39293124e-01 -9.41749989e-02 -1.64809710e+02] [-1.36263229e-01 3.30099977e-03 9.90667167e-01 -3.72251672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters 0.031268959643013926 Centerline is valid? [True, True] Translation: X:269.57, Y:-164.86, Z:-37.23 [[ 7.32107027e-01 6.73963594e-01 9.89564307e-02 2.69570226e+02] [-6.67289248e-01 7.38757290e-01 -9.46716753e-02 -1.64856940e+02] [-1.36910047e-01 3.27723648e-03 9.90578063e-01 -3.72327083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters 0.030485662936966827 Centerline is valid? [True, True] Translation: X:269.61, Y:-164.91, Z:-37.24 [[ 7.28332232e-01 6.78108022e-01 9.84970580e-02 2.69609456e+02] [-6.71521945e-01 7.34957829e-01 -9.43147178e-02 -1.64906118e+02] [-1.36346751e-01 2.54951292e-03 9.90657894e-01 -3.72388598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters 0.029697609867457408 Centerline is valid? [True, True] Translation: X:269.65, Y:-164.95, Z:-37.25 [[ 7.23797114e-01 6.82901554e-01 9.88089304e-02 2.69651797e+02] [-6.76311922e-01 7.30508472e-01 -9.46549343e-02 -1.64951560e+02] [-1.36820763e-01 1.68531065e-03 9.90594387e-01 -3.72451284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters 0.02917592051304073 Centerline is valid? [True, True] Translation: X:269.70, Y:-165.00, Z:-37.25 [[ 7.16714591e-01 6.90481592e-01 9.77515560e-02 2.69695087e+02] [-6.84090790e-01 7.23349901e-01 -9.37267970e-02 -1.64995980e+02] [-1.35425206e-01 3.04423859e-04 9.90787526e-01 -3.72521763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters 0.02943436322656738 Centerline is valid? [True, True] Translation: X:269.74, Y:-165.04, Z:-37.26 [[ 7.10673621e-01 6.96601231e-01 9.84364243e-02 2.69740446e+02] [-6.90165872e-01 7.17458073e-01 -9.44721284e-02 -1.65037833e+02] [-1.36433408e-01 -7.98611038e-04 9.90648922e-01 -3.72595375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters 0.029544865551422994 Centerline is valid? [True, True] Translation: X:269.79, Y:-165.08, Z:-37.26 [[ 7.05592222e-01 7.01699104e-01 9.87825124e-02 2.69788249e+02] [-6.95255218e-01 7.12471332e-01 -9.48935331e-02 -1.65078144e+02] [-1.36966415e-01 -1.72291836e-03 9.90574193e-01 -3.72641273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters 0.02959860545838335 Centerline is valid? [True, True] Translation: X:269.84, Y:-165.12, Z:-37.27 [[ 7.02738627e-01 7.04805269e-01 9.69946142e-02 2.69836616e+02] [-6.98610921e-01 7.09397349e-01 -9.32640402e-02 -1.65117719e+02] [-1.34540709e-01 -2.22125324e-03 9.90905578e-01 -3.72709008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters 0.02973747890028277 Centerline is valid? [True, True] Translation: X:269.88, Y:-165.16, Z:-37.28 [[ 7.02448461e-01 7.04967886e-01 9.79103632e-02 2.69884639e+02] [-6.98643347e-01 7.09235806e-01 -9.42446046e-02 -1.65156852e+02] [-1.35880955e-01 -2.20244631e-03 9.90722724e-01 -3.72778141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters 0.029662037622919375 Centerline is valid? [True, True] Translation: X:269.93, Y:-165.20, Z:-37.28 [[ 7.02371349e-01 7.05039904e-01 9.79449939e-02 2.69932598e+02] [-6.98698955e-01 7.09164371e-01 -9.43698274e-02 -1.65196877e+02] [-1.35993594e-01 -2.15140190e-03 9.90707381e-01 -3.72835781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters 0.02953434182229989 Centerline is valid? [True, True] Translation: X:269.98, Y:-165.24, Z:-37.29 [[ 7.03793692e-01 7.03431589e-01 9.92896697e-02 2.69982983e+02] [-6.96883952e-01 7.10760714e-01 -9.57703760e-02 -1.65235160e+02] [-1.37939104e-01 -1.79079093e-03 9.90439093e-01 -3.72930427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters 0.02954337208251641 Centerline is valid? [True, True] Translation: X:270.03, Y:-165.27, Z:-37.30 [[ 7.05159150e-01 7.02014465e-01 9.96306398e-02 2.70032415e+02] [-6.95392833e-01 7.12161224e-01 -9.62039501e-02 -1.65274641e+02] [-1.38489643e-01 -1.44333712e-03 9.90362830e-01 -3.72986233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters 0.02923505239689644 Centerline is valid? [True, True] Translation: X:270.08, Y:-165.31, Z:-37.30 [[ 7.09072606e-01 6.98481341e-01 9.66429279e-02 2.70081283e+02] [-6.92206839e-01 7.15627963e-01 -9.34147217e-02 -1.65312721e+02] [-1.34408822e-01 -6.59075509e-04 9.90925746e-01 -3.73041633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters 0.029279812142165896 Centerline is valid? [True, True] Translation: X:270.13, Y:-165.35, Z:-37.31 [[ 7.11939042e-01 6.95643519e-01 9.60359055e-02 2.70129749e+02] [-6.89410349e-01 7.18387146e-01 -9.29154451e-02 -1.65350790e+02] [-1.33626987e-01 -5.80141428e-05 9.91031697e-01 -3.73118468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters 0.02953772798267296 Centerline is valid? [True, True] Translation: X:270.18, Y:-165.39, Z:-37.32 [[ 7.14772218e-01 6.92579587e-01 9.71297696e-02 2.70176630e+02] [-6.86162557e-01 7.21341231e-01 -9.40626048e-02 -1.65391062e+02] [-1.35209548e-01 5.86525562e-04 9.90816852e-01 -3.73184520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters 0.02991395814745116 Centerline is valid? [True, True] Translation: X:270.22, Y:-165.43, Z:-37.33 [[ 7.17779508e-01 6.89412488e-01 9.74833310e-02 2.70221270e+02] [-6.82907158e-01 7.24367897e-01 -9.44931871e-02 -1.65433243e+02] [-1.35758579e-01 1.25320879e-03 9.90741156e-01 -3.73266293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters 0.03054895348416921 Centerline is valid? [True, True] Translation: X:270.26, Y:-165.48, Z:-37.33 [[ 7.21700110e-01 6.85172169e-01 9.84278969e-02 2.70263729e+02] [-6.78487825e-01 7.28378011e-01 -9.54973573e-02 -1.65478130e+02] [-1.37124847e-01 2.13832358e-03 9.90551465e-01 -3.73348226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters 0.030922627402013337 Centerline is valid? [True, True] Translation: X:270.31, Y:-165.52, Z:-37.34 [[ 7.24285255e-01 6.82459425e-01 9.82853143e-02 2.70306478e+02] [-6.75757702e-01 7.30918447e-01 -9.54450220e-02 -1.65523493e+02] [-1.36975904e-01 2.71236393e-03 9.90570666e-01 -3.73412273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters 0.03101954807825668 Centerline is valid? [True, True] Translation: X:270.35, Y:-165.57, Z:-37.35 [[ 7.24317601e-01 6.82577863e-01 9.72186888e-02 2.70346098e+02] [-6.76011127e-01 7.30807808e-01 -9.44928782e-02 -1.65571184e+02] [-1.35546924e-01 2.72193938e-03 9.90767189e-01 -3.73487670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters 0.030499674676825073 Centerline is valid? [True, True] Translation: X:270.39, Y:-165.62, Z:-37.36 [[ 7.18577366e-01 6.88152985e-01 1.00459134e-01 2.70385034e+02] [-6.81179644e-01 7.25563389e-01 -9.77346473e-02 -1.65620475e+02] [-1.40145859e-01 1.79918803e-03 9.90129235e-01 -3.73561416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters 0.02998354791290077 Centerline is valid? [True, True] Translation: X:270.43, Y:-165.67, Z:-37.36 [[ 7.11879562e-01 6.95137965e-01 1.00053483e-01 2.70425158e+02] [-6.88275342e-01 7.18876179e-01 -9.74376339e-02 -1.65667929e+02] [-1.39658664e-01 4.99514535e-04 9.90199580e-01 -3.73628674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters 0.029969093371878218 Centerline is valid? [True, True] Translation: X:270.47, Y:-165.71, Z:-37.37 [[ 7.06287976e-01 7.00855159e-01 9.97964967e-02 2.70466913e+02] [-6.94071288e-01 7.13303395e-01 -9.72795644e-02 -1.65714197e+02] [-1.39364065e-01 -5.58496308e-04 9.90241054e-01 -3.73702208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters 0.030093548905016303 Centerline is valid? [True, True] Translation: X:270.51, Y:-165.76, Z:-37.38 [[ 7.03310139e-01 7.03898750e-01 9.94052248e-02 2.70511983e+02] [-6.97183895e-01 7.10299500e-01 -9.70012179e-02 -1.65758320e+02] [-1.38886517e-01 -1.08178177e-03 9.90307712e-01 -3.73758161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters 0.03048363042274077 Centerline is valid? [True, True] Translation: X:270.56, Y:-165.80, Z:-37.38 [[ 6.98133141e-01 7.09074343e-01 9.91145436e-02 2.70557400e+02] [-7.02436364e-01 7.05130807e-01 -9.68178630e-02 -1.65799928e+02] [-1.38539781e-01 -2.02990076e-03 9.90354789e-01 -3.73839459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters 0.030779972910822476 Centerline is valid? [True, True] Translation: X:270.60, Y:-165.84, Z:-37.39 [[ 6.96114054e-01 7.10983947e-01 9.96345890e-02 2.70603268e+02] [-7.04282282e-01 7.03204289e-01 -9.74176363e-02 -1.65841158e+02] [-1.39325846e-01 -2.35708993e-03 9.90243785e-01 -3.73921633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters 0.03075459782748415 Centerline is valid? [True, True] Translation: X:270.65, Y:-165.88, Z:-37.40 [[ 6.94309269e-01 7.12810747e-01 9.91739769e-02 2.70651946e+02] [-7.06176537e-01 7.01351445e-01 -9.70610594e-02 -1.65881393e+02] [-1.38741978e-01 -2.64394236e-03 9.90325034e-01 -3.73988858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters 0.03130859483262067 Centerline is valid? [True, True] Translation: X:270.70, Y:-165.92, Z:-37.41 [[ 6.92025039e-01 7.14891476e-01 1.00157493e-01 2.70702176e+02] [-7.08131457e-01 6.99228907e-01 -9.81263240e-02 -1.65918543e+02] [-1.40182687e-01 -3.01879801e-03 9.90121054e-01 -3.74066228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters 0.031455363935088 Centerline is valid? [True, True] Translation: X:270.75, Y:-165.95, Z:-37.41 [[ 6.90699461e-01 7.16148124e-01 1.00330049e-01 2.70753114e+02] [-7.09364758e-01 6.97940923e-01 -9.83875401e-02 -1.65954321e+02] [-1.40484499e-01 -3.21437996e-03 9.90077660e-01 -3.74142268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters 0.031018402989520216 Centerline is valid? [True, True] Translation: X:270.80, Y:-165.99, Z:-37.42 [[ 6.95807054e-01 7.11502615e-01 9.80641177e-02 2.70803820e+02] [-7.04967164e-01 7.02680103e-01 -9.62391321e-02 -1.65990370e+02] [-1.37382099e-01 -2.16811591e-03 9.90515754e-01 -3.74206876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters 0.03083643452338115 Centerline is valid? [True, True] Translation: X:270.85, Y:-166.03, Z:-37.43 [[ 7.01868488e-01 7.05521212e-01 9.80838640e-02 2.70854609e+02] [-6.98919768e-01 7.08688141e-01 -9.62926584e-02 -1.66027332e+02] [-1.37447384e-01 -9.67968904e-04 9.90508596e-01 -3.74275195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters 0.03098148399457381 Centerline is valid? [True, True] Translation: X:270.90, Y:-166.07, Z:-37.44 [[ 7.03742932e-01 7.03706965e-01 9.76851789e-02 2.70902302e+02] [-6.97129437e-01 7.10490119e-01 -9.59913475e-02 -1.66067250e+02] [-1.36954134e-01 -5.45981486e-04 9.90577239e-01 -3.74351809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters 0.030973417788213418 Centerline is valid? [True, True] Translation: X:270.95, Y:-166.11, Z:-37.44 [[ 7.02999607e-01 7.04597364e-01 9.66131833e-02 2.70949154e+02] [-6.98160444e-01 7.09607028e-01 -9.50255740e-02 -1.66108143e+02] [-1.35512163e-01 -6.48561773e-04 9.90775471e-01 -3.74437839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters 0.031048486752161195 Centerline is valid? [True, True] Translation: X:271.00, Y:-166.15, Z:-37.45 [[ 7.02230201e-01 7.05435458e-01 9.60914140e-02 2.70997694e+02] [-6.99063753e-01 7.08773775e-01 -9.46023498e-02 -1.66148276e+02] [-1.34842926e-01 -7.41397417e-04 9.90866709e-01 -3.74497687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters 0.031236059853044028 Centerline is valid? [True, True] Translation: X:271.04, Y:-166.19, Z:-37.46 [[ 7.04420178e-01 7.03094057e-01 9.72160469e-02 2.71044849e+02] [-6.96535496e-01 7.11096827e-01 -9.58102594e-02 -1.66188625e+02] [-1.36493646e-01 -2.23747446e-04 9.90640921e-01 -3.74578995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters 0.03146672110224519 Centerline is valid? [True, True] Translation: X:271.09, Y:-166.23, Z:-37.47 [[ 7.07870177e-01 6.99562820e-01 9.76302847e-02 2.71093049e+02] [-6.92901874e-01 7.14570909e-01 -9.63089279e-02 -1.66228000e+02] [-1.37137907e-01 5.26010687e-04 9.90551825e-01 -3.74653644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters 0.031839352456008246 Centerline is valid? [True, True] Translation: X:271.14, Y:-166.27, Z:-37.47 [[ 7.12611709e-01 6.94869288e-01 9.66500143e-02 2.71139546e+02] [-6.88286504e-01 7.19134531e-01 -9.54317266e-02 -1.66269763e+02] [-1.35816939e-01 1.48286533e-03 9.90732840e-01 -3.74715065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters 0.03201183259617345 Centerline is valid? [True, True] Translation: X:271.18, Y:-166.31, Z:-37.48 [[ 7.14799281e-01 6.92563362e-01 9.70462708e-02 2.71184364e+02] [-6.85891563e-01 7.21354273e-01 -9.59206781e-02 -1.66312846e+02] [-1.36435889e-01 2.00081326e-03 9.90646882e-01 -3.74782728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters 0.032289748958609345 Centerline is valid? [True, True] Translation: X:271.23, Y:-166.36, Z:-37.48 [[ 7.18033886e-01 6.89478093e-01 9.51172887e-02 2.71228984e+02] [-6.83031511e-01 7.24301875e-01 -9.40996697e-02 -1.66356593e+02] [-1.33773291e-01 2.59864599e-03 9.91008554e-01 -3.74844522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters 0.032396665302313186 Centerline is valid? [True, True] Translation: X:271.27, Y:-166.40, Z:-37.49 [[ 7.20497060e-01 6.87064651e-01 9.39476025e-02 2.71268527e+02] [-6.80743598e-01 7.26589772e-01 -9.30347078e-02 -1.66404843e+02] [-1.32182226e-01 3.07700442e-03 9.91220657e-01 -3.74906080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters 0.03282262655489535 Centerline is valid? [True, True] Translation: X:271.31, Y:-166.46, Z:-37.50 [[ 7.24154819e-01 6.83164559e-01 9.42654942e-02 2.71305556e+02] [-6.76757776e-01 7.30254278e-01 -9.34216384e-02 -1.66455159e+02] [-1.32660133e-01 3.85682352e-03 9.91154082e-01 -3.74958109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters 0.03277916459930175 Centerline is valid? [True, True] Translation: X:271.34, Y:-166.51, Z:-37.50 [[ 7.25190200e-01 6.82125372e-01 9.38304342e-02 2.71340733e+02] [-6.75764885e-01 7.31224014e-01 -9.30229126e-02 -1.66506865e+02] [-1.32064356e-01 4.05199207e-03 9.91232862e-01 -3.75018870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters 0.03199811669575843 Centerline is valid? [True, True] Translation: X:271.38, Y:-166.56, Z:-37.51 [[ 7.22687948e-01 6.84946628e-01 9.25756284e-02 2.71376513e+02] [-6.78768982e-01 7.28584625e-01 -9.18537605e-02 -1.66558887e+02] [-1.30364103e-01 3.54414067e-03 9.91459853e-01 -3.75082857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters 0.03085067186130397 Centerline is valid? [True, True] Translation: X:271.41, Y:-166.61, Z:-37.51 [[ 7.17633847e-01 6.90344389e-01 9.17948111e-02 2.71412800e+02] [-6.84304619e-01 7.23476234e-01 -9.11555083e-02 -1.66609197e+02] [-1.29340058e-01 2.60066478e-03 9.91596887e-01 -3.75143970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters 0.029519063178073516 Centerline is valid? [True, True] Translation: X:271.45, Y:-166.66, Z:-37.52 [[ 7.06558266e-01 7.01573632e-01 9.25735172e-02 2.71446410e+02] [-6.95516248e-01 7.12596704e-01 -9.19950347e-02 -1.66663059e+02] [-1.30508874e-01 6.13466870e-04 9.91446951e-01 -3.75198609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters 0.028951774608248645 Centerline is valid? [True, True] Translation: X:271.49, Y:-166.71, Z:-37.53 [[ 6.96375765e-01 7.11923752e-01 9.06937994e-02 2.71487317e+02] [-7.06187130e-01 7.02255691e-01 -9.02035585e-02 -1.66709349e+02] [-1.27908293e-01 -1.23122185e-03 9.91785235e-01 -3.75255217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters 0.02972845411274544 Centerline is valid? [True, True] Translation: X:271.53, Y:-166.75, Z:-37.53 [[ 6.85881075e-01 7.21753040e-01 9.29499899e-02 2.71530389e+02] [-7.15804438e-01 6.92143849e-01 -9.25251228e-02 -1.66753728e+02] [-1.31115052e-01 -3.07278459e-03 9.91362396e-01 -3.75316515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters 0.030626240257768955 Centerline is valid? [True, True] Translation: X:271.58, Y:-166.79, Z:-37.54 [[ 6.78498327e-01 7.28886005e-01 9.14615311e-02 2.71578562e+02] [-7.23187441e-01 6.84621239e-01 -9.10696661e-02 -1.66793438e+02] [-1.28995912e-01 -4.35321453e-03 9.91635570e-01 -3.75360427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters 0.03156878403189412 Centerline is valid? [True, True] Translation: X:271.63, Y:-166.83, Z:-37.54 [[ 6.73573884e-01 7.33453221e-01 9.13487613e-02 2.71628994e+02] [-7.27805479e-01 6.79720091e-01 -9.09933152e-02 -1.66830406e+02] [-1.28830928e-01 -5.19340824e-03 9.91652974e-01 -3.75425812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters 0.03187177199084664 Centerline is valid? [True, True] Translation: X:271.68, Y:-166.86, Z:-37.55 [[ 6.71187897e-01 7.35362315e-01 9.35364826e-02 2.71682281e+02] [-7.29454937e-01 6.77650366e-01 -9.31959042e-02 -1.66864250e+02] [-1.31917788e-01 -5.67868604e-03 9.91244395e-01 -3.75494452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters 0.031315447010397846 Centerline is valid? [True, True] Translation: X:271.73, Y:-166.90, Z:-37.56 [[ 6.73495996e-01 7.33469005e-01 9.17952216e-02 2.71734816e+02] [-7.27759930e-01 6.79703075e-01 -9.14834108e-02 -1.66898797e+02] [-1.29493741e-01 -5.19117322e-03 9.91566651e-01 -3.75560933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters 0.03055013224302079 Centerline is valid? [True, True] Translation: X:271.79, Y:-166.94, Z:-37.56 [[ 6.76652130e-01 7.30326137e-01 9.36249371e-02 2.71786005e+02] [-7.24352251e-01 6.83082726e-01 -9.33370559e-02 -1.66935194e+02] [-1.32120069e-01 -4.66071623e-03 9.91222763e-01 -3.75620915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters 0.029205189227208682 Centerline is valid? [True, True] Translation: X:271.84, Y:-166.97, Z:-37.57 [[ 6.84339842e-01 7.23198812e-01 9.30723320e-02 2.71840258e+02] [-7.17219216e-01 6.90632473e-01 -9.28621716e-02 -1.66967092e+02] [-1.31436587e-01 -3.20398119e-03 9.91319403e-01 -3.75684224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters 0.028301156000058 Centerline is valid? [True, True] Translation: X:271.89, Y:-167.00, Z:-37.58 [[ 6.92423061e-01 7.15560955e-01 9.23191488e-02 2.71889901e+02] [-7.09605591e-01 6.98548210e-01 -9.21428458e-02 -1.67003357e+02] [-1.30423199e-01 -1.70835279e-03 9.91456943e-01 -3.75751265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters 0.028076456797085494 Centerline is valid? [True, True] Translation: X:271.94, Y:-167.04, Z:-37.58 [[ 6.99339670e-01 7.08737394e-01 9.28188174e-02 2.71939423e+02] [-7.02653343e-01 7.05472278e-01 -9.26668462e-02 -1.67041512e+02] [-1.31157562e-01 -4.13850750e-04 9.91361449e-01 -3.75821042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters 0.02791261403110718 Centerline is valid? [True, True] Translation: X:271.99, Y:-167.08, Z:-37.59 [[ 7.03675199e-01 7.04502363e-01 9.22910286e-02 2.71985665e+02] [-6.98439444e-01 7.09701505e-01 -9.22286109e-02 -1.67083971e+02] [-1.30474356e-01 4.39291493e-04 9.91451587e-01 -3.75896808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters 0.027811126062090488 Centerline is valid? [True, True] Translation: X:272.00, Y:-167.42, Z:-35.74 [[ 7.51962405e-01 -6.56319966e-01 -6.16169201e-02 2.71996319e+02] [-6.53258687e-01 -7.54443260e-01 6.37844509e-02 -1.67419049e+02] [-8.83494787e-02 -7.71172084e-03 -9.96059686e-01 -3.57415527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters 0.02773508262973717 Centerline is valid? [True, True] Translation: X:272.04, Y:-167.15, Z:-37.60 [[ 7.51218117e-01 6.52646853e-01 9.86074333e-02 2.72040174e+02] [-6.47085216e-01 7.57662248e-01 -8.50214179e-02 -1.67153254e+02] [-1.30200090e-01 6.22172154e-05 9.91487737e-01 -3.75992838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters 0.02798113206182012 Centerline is valid? [True, True] Translation: X:272.09, Y:-167.19, Z:-37.61 [[ 7.49094062e-01 6.55151161e-01 9.81582557e-02 2.72089240e+02] [-6.49649871e-01 7.55497760e-01 -8.47241360e-02 -1.67192093e+02] [-1.29665458e-01 -3.02151087e-04 9.91557753e-01 -3.76069749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters 0.028054622224834482 Centerline is valid? [True, True] Translation: X:272.14, Y:-167.23, Z:-37.61 [[ 7.47977684e-01 6.56276976e-01 9.91459296e-02 2.72138800e+02] [-6.50661764e-01 7.54519942e-01 -8.56675335e-02 -1.67228823e+02] [-1.31029211e-01 -4.33062146e-04 9.91378413e-01 -3.76135175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters 0.028074959025215517 Centerline is valid? [True, True] Translation: X:272.19, Y:-167.27, Z:-37.62 [[ 7.48201665e-01 6.55916996e-01 9.98356813e-02 2.72188687e+02] [-6.50208742e-01 7.54832961e-01 -8.63469297e-02 -1.67266800e+02] [-1.31995682e-01 -3.09116259e-04 9.91250243e-01 -3.76198133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters 0.028314098520165414 Centerline is valid? [True, True] Translation: X:272.24, Y:-167.30, Z:-37.63 [[ 7.49506249e-01 6.54366215e-01 1.00225937e-01 2.72243987e+02] [-6.48586773e-01 7.56177793e-01 -8.67775487e-02 -1.67299121e+02] [-1.32572924e-01 3.50980158e-05 9.91173254e-01 -3.76279967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters 0.028568810840463452 Centerline is valid? [True, True] Translation: X:272.29, Y:-167.34, Z:-37.63 [[ 7.50959375e-01 6.52760008e-01 9.98217835e-02 2.72293554e+02] [-6.47000910e-01 7.57564665e-01 -8.65193654e-02 -1.67337602e+02] [-1.32097838e-01 3.87743754e-04 9.91236607e-01 -3.76348298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters 0.029086614161421543 Centerline is valid? [True, True] Translation: X:272.34, Y:-167.37, Z:-37.64 [[ 7.54414825e-01 6.48687993e-01 1.00310315e-01 2.72343730e+02] [-6.42824192e-01 7.61053548e-01 -8.70319181e-02 -1.67373399e+02] [-1.32798082e-01 1.17627194e-03 9.91142415e-01 -3.76416899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters 0.030291316722422905 Centerline is valid? [True, True] Translation: X:272.39, Y:-167.41, Z:-37.65 [[ 7.60668710e-01 6.41391316e-01 1.00001467e-01 2.72390411e+02] [-6.35491383e-01 7.67209833e-01 -8.68318695e-02 -1.67413330e+02] [-1.32415316e-01 2.50021555e-03 9.91191169e-01 -3.76484998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters 0.030925357397546503 Centerline is valid? [True, True] Translation: X:272.44, Y:-167.46, Z:-37.65 [[ 7.64718320e-01 6.36710471e-01 9.90235731e-02 2.72435828e+02] [-6.30880639e-01 7.71095835e-01 -8.60280960e-02 -1.67455715e+02] [-1.31131654e-01 3.31520595e-03 9.91359420e-01 -3.76533529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters 0.03072024599587296 Centerline is valid? [True, True] Translation: X:272.48, Y:-167.50, Z:-37.66 [[ 7.63494348e-01 6.38431885e-01 9.73709884e-02 2.72479282e+02] [-6.32800224e-01 7.69672382e-01 -8.46658250e-02 -1.67500713e+02] [-1.28997123e-01 3.02549557e-03 9.91640353e-01 -3.76581170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters 0.029943923576073766 Centerline is valid? [True, True] Translation: X:272.52, Y:-167.55, Z:-37.67 [[ 7.58927271e-01 6.43731564e-01 9.81787697e-02 2.72522318e+02] [-6.38040394e-01 7.65248219e-01 -8.54378062e-02 -1.67545964e+02] [-1.30130141e-01 2.19906022e-03 9.91494483e-01 -3.76661081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters 0.029511573349381783 Centerline is valid? [True, True] Translation: X:272.57, Y:-167.59, Z:-37.67 [[ 7.55142849e-01 6.48008629e-01 9.92174055e-02 2.72568314e+02] [-6.42226019e-01 7.61631483e-01 -8.63899522e-02 -1.67587895e+02] [-1.31548534e-01 1.51675527e-03 9.91308571e-01 -3.76721586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters 0.029191630964533612 Centerline is valid? [True, True] Translation: X:272.62, Y:-167.63, Z:-37.68 [[ 7.52411264e-01 6.51380667e-01 9.78801172e-02 2.72616671e+02] [-6.45771958e-01 7.58750472e-01 -8.53012251e-02 -1.67627077e+02] [-1.29830154e-01 9.73367614e-04 9.91535770e-01 -3.76777028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters 0.029016027804233194 Centerline is valid? [True, True] Translation: X:272.67, Y:-167.66, Z:-37.68 [[ 7.49192226e-01 6.54761131e-01 9.99943532e-02 2.72666234e+02] [-6.48925394e-01 7.55835730e-01 -8.72248934e-02 -1.67663902e+02] [-1.32690775e-01 4.59336946e-04 9.91157378e-01 -3.76848409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters 0.029077239970812255 Centerline is valid? [True, True] Translation: X:272.72, Y:-167.70, Z:-37.69 [[ 7.48302306e-01 6.55882650e-01 9.93056242e-02 2.72716237e+02] [-6.50126623e-01 7.54862800e-01 -8.67036755e-02 -1.67700530e+02] [-1.31829558e-01 3.19330269e-04 9.91272347e-01 -3.76901895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters 0.029109933142993906 Centerline is valid? [True, True] Translation: X:272.77, Y:-167.74, Z:-37.70 [[ 7.48105446e-01 6.56209830e-01 9.86250570e-02 2.72765938e+02] [-6.50525225e-01 7.54578397e-01 -8.61880171e-02 -1.67737657e+02] [-1.30977761e-01 3.19637509e-04 9.91385255e-01 -3.76966603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters 0.029016910067673173 Centerline is valid? [True, True] Translation: X:272.82, Y:-167.77, Z:-37.70 [[ 7.48159674e-01 6.56312106e-01 9.75270342e-02 2.72815953e+02] [-6.50744674e-01 7.54489425e-01 -8.53057880e-02 -1.67774086e+02] [-1.29570337e-01 3.57152518e-04 9.91570169e-01 -3.77023780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters 0.02917811993283374 Centerline is valid? [True, True] Translation: X:272.87, Y:-167.81, Z:-37.71 [[ 7.48762241e-01 6.55656716e-01 9.73107250e-02 2.72866841e+02] [-6.50098169e-01 7.55058931e-01 -8.51961274e-02 -1.67811492e+02] [-1.29334745e-01 5.30119158e-04 9.91600848e-01 -3.77090589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters 0.02894528513048348 Centerline is valid? [True, True] Translation: X:272.92, Y:-167.85, Z:-37.71 [[ 7.50544924e-01 6.53808570e-01 9.60034970e-02 2.72919087e+02] [-6.48372692e-01 7.56659459e-01 -8.41386664e-02 -1.67848165e+02] [-1.27652535e-01 9.03803220e-04 9.91818539e-01 -3.77135436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters 0.02904819934625138 Centerline is valid? [True, True] Translation: X:272.97, Y:-167.89, Z:-37.72 [[ 7.52939618e-01 6.51259709e-01 9.45659729e-02 2.72967945e+02] [-6.45955167e-01 7.58853664e-01 -8.29640842e-02 -1.67887442e+02] [-1.25792900e-01 1.38156702e-03 9.92055562e-01 -3.77201516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters 0.029076364499470788 Centerline is valid? [True, True] Translation: X:273.02, Y:-167.92, Z:-37.73 [[ 7.53795740e-01 6.50122040e-01 9.55683791e-02 2.73018688e+02] [-6.44683735e-01 7.59828003e-01 -8.39302504e-02 -1.67923427e+02] [-1.27180436e-01 1.65488566e-03 9.91878217e-01 -3.77273168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters 0.029073571567244914 Centerline is valid? [True, True] Translation: X:273.07, Y:-167.96, Z:-37.73 [[ 7.54533237e-01 6.49372886e-01 9.48390725e-02 2.73066275e+02] [-6.44002091e-01 7.60467964e-01 -8.33653592e-02 -1.67963897e+02] [-1.26257280e-01 1.82537335e-03 9.91995850e-01 -3.77337061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters 0.029341356307040926 Centerline is valid? [True, True] Translation: X:273.11, Y:-168.00, Z:-37.74 [[ 7.57158387e-01 6.46125153e-01 9.60909071e-02 2.73114305e+02] [-6.40573995e-01 7.63227497e-01 -8.45502510e-02 -1.68002293e+02] [-1.27969266e-01 2.46459544e-03 9.91775072e-01 -3.77397664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters 0.02958647087170564 Centerline is valid? [True, True] Translation: X:273.16, Y:-168.04, Z:-37.75 [[ 7.58258537e-01 6.44824908e-01 9.61500321e-02 2.73159927e+02] [-6.39247237e-01 7.64325405e-01 -8.46737507e-02 -1.68044834e+02] [-1.28089656e-01 2.74095192e-03 9.91758805e-01 -3.77462003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters 0.029623758704344198 Centerline is valid? [True, True] Translation: X:273.21, Y:-168.09, Z:-37.75 [[ 7.57484474e-01 6.45646098e-01 9.67387558e-02 2.73205067e+02] [-6.39996307e-01 7.63632076e-01 -8.52688638e-02 -1.68087577e+02] [-1.28926326e-01 2.67739397e-03 9.91650560e-01 -3.77549417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters 0.029494876661215898 Centerline is valid? [True, True] Translation: X:273.25, Y:-168.13, Z:-37.76 [[ 7.57699124e-01 6.45176674e-01 9.81789074e-02 2.73247708e+02] [-6.39341276e-01 7.64028041e-01 -8.66249703e-02 -1.68133192e+02] [-1.30899848e-01 2.86583610e-03 9.91391455e-01 -3.77627402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters 0.029701369382913664 Centerline is valid? [True, True] Translation: X:273.29, Y:-168.18, Z:-37.77 [[ 7.58569112e-01 6.44206480e-01 9.78310470e-02 2.73291980e+02] [-6.38394659e-01 7.64845425e-01 -8.63929198e-02 -1.68176138e+02] [-1.30480507e-01 3.08018255e-03 9.91446090e-01 -3.77696344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters 0.02918645746514556 Centerline is valid? [True, True] Translation: X:273.34, Y:-168.22, Z:-37.78 [[ 7.57574372e-01 6.45450983e-01 9.73349852e-02 2.73336221e+02] [-6.39699712e-01 7.63796180e-01 -8.60213568e-02 -1.68220283e+02] [-1.29866659e-01 2.90241328e-03 9.91527219e-01 -3.77758404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters 0.02848163243287748 Centerline is valid? [True, True] Translation: X:273.38, Y:-168.26, Z:-37.78 [[ 7.54377582e-01 6.49203453e-01 9.72077180e-02 2.73379868e+02] [-6.43493601e-01 7.60611380e-01 -8.59436656e-02 -1.68264324e+02] [-1.29732221e-01 2.28143006e-03 9.91546442e-01 -3.77841042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters 0.02802950813293229 Centerline is valid? [True, True] Translation: X:273.43, Y:-168.31, Z:-37.79 [[ 7.50380827e-01 6.53684736e-01 9.81064743e-02 2.73425553e+02] [-6.47896045e-01 7.56765329e-01 -8.68156211e-02 -1.68306243e+02] [-1.30993625e-01 1.58198081e-03 9.91381948e-01 -3.77901693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters 0.028020304517846345 Centerline is valid? [True, True] Translation: X:273.47, Y:-168.35, Z:-37.80 [[ 7.51216381e-01 6.52958207e-01 9.65377033e-02 2.73473344e+02] [-6.47338190e-01 7.57391944e-01 -8.55026952e-02 -1.68346262e+02] [-1.28946565e-01 1.73848314e-03 9.91650019e-01 -3.77956971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters 0.02876167337646936 Centerline is valid? [True, True] Translation: X:273.52, Y:-168.39, Z:-37.80 [[ 7.55681410e-01 6.47878704e-01 9.59103299e-02 2.73520294e+02] [-6.42281790e-01 7.61738926e-01 -8.50171230e-02 -1.68385649e+02] [-1.28139415e-01 2.64440100e-03 9.91752639e-01 -3.78023941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters 0.02971192513480635 Centerline is valid? [True, True] Translation: X:273.57, Y:-168.43, Z:-37.81 [[ 7.59381143e-01 6.43375719e-01 9.69946593e-02 2.73565362e+02] [-6.37608339e-01 7.65542666e-01 -8.60234434e-02 -1.68427332e+02] [-1.29598945e-01 3.47997715e-03 9.91560388e-01 -3.78084577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters 0.030527388170972176 Centerline is valid? [True, True] Translation: X:273.61, Y:-168.47, Z:-37.82 [[ 7.61035955e-01 6.41178560e-01 9.85613026e-02 2.73608447e+02] [-6.35195683e-01 7.67381468e-01 -8.74764374e-02 -1.68471926e+02] [-1.31722133e-01 3.96700016e-03 9.91278741e-01 -3.78152499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters 0.030497291040647325 Centerline is valid? [True, True] Translation: X:273.65, Y:-168.52, Z:-37.82 [[ 7.61410898e-01 6.40686151e-01 9.88670825e-02 2.73651722e+02] [-6.34657616e-01 7.67791986e-01 -8.77791325e-02 -1.68516181e+02] [-1.32148228e-01 4.08924117e-03 9.91221531e-01 -3.78213000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters 0.03032438378827767 Centerline is valid? [True, True] Translation: X:273.69, Y:-168.56, Z:-37.83 [[ 7.61089554e-01 6.41165321e-01 9.82329965e-02 2.73692763e+02] [-6.35208342e-01 7.67392162e-01 -8.72905091e-02 -1.68562948e+02] [-1.31350879e-01 4.03747585e-03 9.91327718e-01 -3.78291620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters 0.03012437038720097 Centerline is valid? [True, True] Translation: X:273.73, Y:-168.61, Z:-37.84 [[ 7.59508369e-01 6.43228173e-01 9.69770863e-02 2.73733473e+02] [-6.37430268e-01 7.65665658e-01 -8.62482080e-02 -1.68609524e+02] [-1.29729302e-01 3.69010565e-03 9.91542582e-01 -3.78369481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters 0.029411893115645425 Centerline is valid? [True, True] Translation: X:273.77, Y:-168.66, Z:-37.84 [[ 7.55459690e-01 6.47718479e-01 9.86986767e-02 2.73773546e+02] [-6.41739446e-01 7.61873721e-01 -8.78573615e-02 -1.68658134e+02] [-1.32102765e-01 3.03386098e-03 9.91231383e-01 -3.78426932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters 0.028538675064643918 Centerline is valid? [True, True] Translation: X:273.81, Y:-168.71, Z:-37.85 [[ 7.52399107e-01 6.51481063e-01 9.73036907e-02 2.73813922e+02] [-6.45691904e-01 7.58661107e-01 -8.66907745e-02 -1.68705487e+02] [-1.30297924e-01 2.39785607e-03 9.91471987e-01 -3.78482721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters 0.027841105649638504 Centerline is valid? [True, True] Translation: X:273.85, Y:-168.75, Z:-37.85 [[ 7.47757797e-01 6.56909133e-01 9.65850294e-02 2.73854088e+02] [-6.51240404e-01 7.53968259e-01 -8.61266574e-02 -1.68753075e+02] [-1.29399434e-01 1.50180607e-03 9.91591413e-01 -3.78540568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters 0.027559431851738918 Centerline is valid? [True, True] Translation: X:273.90, Y:-168.80, Z:-37.86 [[ 7.44430011e-01 6.60761954e-01 9.60083298e-02 2.73895754e+02] [-6.55182689e-01 7.50595000e-01 -8.56900820e-02 -1.68799987e+02] [-1.28684118e-01 8.87272959e-04 9.91685238e-01 -3.78594636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters 0.02772855404839888 Centerline is valid? [True, True] Translation: X:273.94, Y:-168.85, Z:-37.87 [[ 7.42272101e-01 6.63259161e-01 9.54956216e-02 2.73937880e+02] [-6.57749967e-01 7.48389620e-01 -8.53109415e-02 -1.68845424e+02] [-1.28051196e-01 5.11689758e-04 9.91767427e-01 -3.78683692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters 0.027664107836808425 Centerline is valid? [True, True] Translation: X:273.98, Y:-168.89, Z:-37.88 [[ 7.40510860e-01 6.65340159e-01 9.46897048e-02 2.73984428e+02] [-6.59930766e-01 7.46540306e-01 -8.46696797e-02 -1.68886837e+02] [-1.27023819e-01 2.10167825e-04 9.91899645e-01 -3.78752011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters 0.027401616659887953 Centerline is valid? [True, True] Translation: X:274.03, Y:-168.93, Z:-37.88 [[ 7.37973179e-01 6.68363186e-01 9.31999953e-02 2.74028264e+02] [-6.63138438e-01 7.43835055e-01 -8.34075742e-02 -1.68931354e+02] [-1.25071976e-01 -2.51946691e-04 9.92147639e-01 -3.78817031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters 0.027705946045150996 Centerline is valid? [True, True] Translation: X:274.07, Y:-168.97, Z:-37.89 [[ 7.37876443e-01 6.68087432e-01 9.59037934e-02 2.74074613e+02] [-6.62546635e-01 7.44082757e-01 -8.58650540e-02 -1.68971902e+02] [-1.28725722e-01 -1.82934859e-04 9.91680218e-01 -3.78901063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters 0.027554878502328458 Centerline is valid? [True, True] Translation: X:274.12, Y:-169.02, Z:-37.90 [[ 7.40826950e-01 6.64880560e-01 9.54425011e-02 2.74120389e+02] [-6.59355891e-01 7.46949564e-01 -8.55345368e-02 -1.69015138e+02] [-1.28160985e-01 4.35714641e-04 9.91753282e-01 -3.78959262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters 0.02778476512950825 Centerline is valid? [True, True] Translation: X:274.17, Y:-169.06, Z:-37.90 [[ 7.43364527e-01 6.61923886e-01 9.62597967e-02 2.74167075e+02] [-6.56267122e-01 7.49570358e-01 -8.63582268e-02 -1.69056499e+02] [-1.29316063e-01 1.02350268e-03 9.91602898e-01 -3.79019115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters 0.02790738936298155 Centerline is valid? [True, True] Translation: X:274.21, Y:-169.10, Z:-37.91 [[ 7.44149153e-01 6.61055599e-01 9.61640926e-02 2.74212347e+02] [-6.55392285e-01 7.50335905e-01 -8.63538258e-02 -1.69100539e+02] [-1.29240051e-01 1.23492201e-03 9.91612568e-01 -3.79085648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters 0.027994692387670196 Centerline is valid? [True, True] Translation: X:274.26, Y:-169.14, Z:-37.92 [[ 7.44009865e-01 6.61205166e-01 9.62135590e-02 2.74257145e+02] [-6.55525366e-01 7.50204035e-01 -8.64893079e-02 -1.69144546e+02] [-1.29366977e-01 1.27846982e-03 9.91595961e-01 -3.79151093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters 0.02791451568696347 Centerline is valid? [True, True] Translation: X:274.30, Y:-169.19, Z:-37.92 [[ 7.43939530e-01 6.61157706e-01 9.70796755e-02 2.74299812e+02] [-6.55362427e-01 7.50245706e-01 -8.73582836e-02 -1.69189282e+02] [-1.30591212e-01 1.36690866e-03 9.91435357e-01 -3.79223643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters 0.027798687662372992 Centerline is valid? [True, True] Translation: X:274.34, Y:-169.23, Z:-37.93 [[ 7.43793044e-01 6.61535098e-01 9.56201958e-02 2.74341984e+02] [-6.55906424e-01 7.49913007e-01 -8.61234280e-02 -1.69234601e+02] [-1.28680499e-01 1.34010604e-03 9.91685199e-01 -3.79289649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters 0.027680264025896448 Centerline is valid? [True, True] Translation: X:274.38, Y:-169.28, Z:-37.94 [[ 7.43919376e-01 6.61318017e-01 9.61376219e-02 2.74382328e+02] [-6.55615741e-01 7.50104252e-01 -8.66695501e-02 -1.69282135e+02] [-1.29429374e-01 1.44581941e-03 9.91587589e-01 -3.79352880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters 0.027481367764780485 Centerline is valid? [True, True] Translation: X:274.42, Y:-169.33, Z:-37.94 [[ 7.41821545e-01 6.63508978e-01 9.72452134e-02 2.74424012e+02] [-6.57681665e-01 7.48167453e-01 -8.77512967e-02 -1.69328880e+02] [-1.30979477e-01 1.13940860e-03 9.91384425e-01 -3.79430071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters 0.02686317235260865 Centerline is valid? [True, True] Translation: X:274.46, Y:-169.38, Z:-37.95 [[ 7.38338306e-01 6.67647834e-01 9.54091988e-02 2.74464752e+02] [-6.62063254e-01 7.44477104e-01 -8.61747586e-02 -1.69377072e+02] [-1.28564355e-01 4.59200734e-04 9.91701062e-01 -3.79481519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters 0.026543094796249778 Centerline is valid? [True, True] Translation: X:274.51, Y:-169.43, Z:-37.95 [[ 7.32843140e-01 6.73609680e-01 9.58693445e-02 2.74505119e+02] [-6.68016189e-01 7.39087065e-01 -8.66295686e-02 -1.69426269e+02] [-1.29210308e-01 -5.56389123e-04 9.91617056e-01 -3.79528720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters 0.026988591290929887 Centerline is valid? [True, True] Translation: X:274.55, Y:-169.47, Z:-37.96 [[ 7.27219740e-01 6.79561590e-01 9.66824496e-02 2.74547717e+02] [-6.73912987e-01 7.33616803e-01 -8.74509716e-02 -1.69470721e+02] [-1.30356191e-01 -1.55948554e-03 9.91466001e-01 -3.79583077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters 0.027324302799541757 Centerline is valid? [True, True] Translation: X:274.59, Y:-169.51, Z:-37.97 [[ 7.22532101e-01 6.84614565e-01 9.61782740e-02 2.74593815e+02] [-6.79062703e-01 7.28901261e-01 -8.70447999e-02 -1.69512010e+02] [-1.29696603e-01 -2.41841660e-03 9.91550777e-01 -3.79653564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters 0.02760340086052638 Centerline is valid? [True, True] Translation: X:274.64, Y:-169.55, Z:-37.97 [[ 7.20306732e-01 6.86933702e-01 9.63343218e-02 2.74642326e+02] [-6.81373431e-01 7.26714776e-01 -8.72690196e-02 -1.69549970e+02] [-1.29955606e-01 -2.77918513e-03 9.91515919e-01 -3.79728098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters 0.027501220693573844 Centerline is valid? [True, True] Translation: X:274.69, Y:-169.59, Z:-37.98 [[ 7.20311833e-01 6.86876932e-01 9.67002829e-02 2.74693162e+02] [-6.81262457e-01 7.26768668e-01 -8.76856155e-02 -1.69586663e+02] [-1.30507962e-01 -2.71728595e-03 9.91443538e-01 -3.79786488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters 0.02771625588398269 Centerline is valid? [True, True] Translation: X:274.74, Y:-169.62, Z:-37.99 [[ 7.20017641e-01 6.86895897e-01 9.87351232e-02 2.74744218e+02] [-6.81028771e-01 7.26750779e-01 -8.96276668e-02 -1.69621554e+02] [-1.33320704e-01 -2.70795849e-03 9.91069249e-01 -3.79869283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters 0.02745517139256758 Centerline is valid? [True, True] Translation: X:274.80, Y:-169.66, Z:-38.00 [[ 7.20695202e-01 6.86104335e-01 9.92938417e-02 2.74797418e+02] [-6.80150828e-01 7.27498822e-01 -9.02236959e-02 -1.69656665e+02] [-1.34139022e-01 -2.51100391e-03 9.90959342e-01 -3.79953627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters 0.02724656627179341 Centerline is valid? [True, True] Translation: X:274.85, Y:-169.70, Z:-38.00 [[ 7.22410923e-01 6.84378139e-01 9.87371330e-02 2.74846403e+02] [-6.78464015e-01 7.29124193e-01 -8.98025195e-02 -1.69695548e+02] [-1.33450514e-01 -2.11527073e-03 9.91053221e-01 -3.80016202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters 0.026707677115541287 Centerline is valid? [True, True] Translation: X:274.90, Y:-169.73, Z:-38.01 [[ 7.29688977e-01 6.76619702e-01 9.86903053e-02 2.74897613e+02] [-6.70634430e-01 7.36332360e-01 -8.98004273e-02 -1.69730423e+02] [-1.33429604e-01 -6.58734740e-04 9.91058074e-01 -3.80108605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters 0.026662151671294657 Centerline is valid? [True, True] Translation: X:274.94, Y:-169.77, Z:-38.02 [[ 7.32523280e-01 6.73536970e-01 9.87805388e-02 2.74943322e+02] [-6.67500807e-01 7.39153536e-01 -8.99706811e-02 -1.69772645e+02] [-1.33612564e-01 -3.04709837e-05 9.91033643e-01 -3.80193559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters 0.02663216329847277 Centerline is valid? [True, True] Translation: X:274.99, Y:-169.82, Z:-38.03 [[ 7.32329713e-01 6.73651722e-01 9.94311299e-02 2.74988134e+02] [-6.67523090e-01 7.39048954e-01 -9.06618299e-02 -1.69816231e+02] [-1.34558970e-01 2.17768259e-05 9.90905587e-01 -3.80264897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters 0.026826818353604495 Centerline is valid? [True, True] Translation: X:275.03, Y:-169.86, Z:-38.04 [[ 7.29000074e-01 6.77097135e-01 1.00490607e-01 2.75031165e+02] [-6.70855761e-01 7.35893450e-01 -9.17244664e-02 -1.69860364e+02] [-1.36056753e-01 -5.47560160e-04 9.90700893e-01 -3.80350231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters 0.02709439380544234 Centerline is valid? [True, True] Translation: X:275.08, Y:-169.90, Z:-38.04 [[ 7.27125582e-01 6.78734827e-01 1.02992342e-01 2.75075867e+02] [-6.72181208e-01 7.34382992e-01 -9.40959383e-02 -1.69902178e+02] [-1.39502014e-01 -8.09952831e-04 9.90221456e-01 -3.80433961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters 0.027201651577238327 Centerline is valid? [True, True] Translation: X:275.12, Y:-169.94, Z:-38.05 [[ 7.27231884e-01 6.78751278e-01 1.02129768e-01 2.75121346e+02] [-6.72296163e-01 7.34367855e-01 -9.33901639e-02 -1.69944459e+02] [-1.38389512e-01 -7.45146064e-04 9.90377599e-01 -3.80494837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters 0.027471952826711013 Centerline is valid? [True, True] Translation: X:275.17, Y:-169.99, Z:-38.06 [[ 7.27435252e-01 6.78467661e-01 1.02565040e-01 2.75168213e+02] [-6.71941525e-01 7.34630003e-01 -9.38794240e-02 -1.69986689e+02] [-1.39041509e-01 -6.26507203e-04 9.90286356e-01 -3.80569863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters 0.027623503289771603 Centerline is valid? [True, True] Translation: X:275.21, Y:-170.03, Z:-38.06 [[ 7.25847284e-01 6.79896774e-01 1.04336459e-01 2.75212030e+02] [-6.73142259e-01 7.33307350e-01 -9.56024527e-02 -1.70029907e+02] [-1.41510492e-01 -8.40499267e-04 9.89936399e-01 -3.80643998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters 0.028200485465714787 Centerline is valid? [True, True] Translation: X:275.26, Y:-170.07, Z:-38.07 [[ 7.23362592e-01 6.82634783e-01 1.03712648e-01 2.75258088e+02] [-6.75976109e-01 7.30758554e-01 -9.51222160e-02 -1.70072297e+02] [-1.40722638e-01 -1.29941965e-03 9.90048206e-01 -3.80721468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters 0.028558047322673627 Centerline is valid? [True, True] Translation: X:275.30, Y:-170.11, Z:-38.08 [[ 7.21622590e-01 6.84558327e-01 1.03153935e-01 2.75303857e+02] [-6.77976775e-01 7.28956354e-01 -9.47107474e-02 -1.70114152e+02] [-1.40029747e-01 -1.59055726e-03 9.90146020e-01 -3.80823555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters 0.028898140880943328 Centerline is valid? [True, True] Translation: X:275.35, Y:-170.15, Z:-38.09 [[ 7.20016246e-01 6.86201895e-01 1.03458032e-01 2.75350391e+02] [-6.79583971e-01 7.27408802e-01 -9.50897508e-02 -1.70154224e+02] [-1.40507051e-01 -1.84225515e-03 9.90077964e-01 -3.80910673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters 0.02923523899396338 Centerline is valid? [True, True] Translation: X:275.40, Y:-170.19, Z:-38.10 [[ 7.19248127e-01 6.86956538e-01 1.03792327e-01 2.75397439e+02] [-6.80290217e-01 7.26695945e-01 -9.54893970e-02 -1.70194632e+02] [-1.41022529e-01 -1.92833494e-03 9.90004509e-01 -3.80999199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters 0.029393325834093074 Centerline is valid? [True, True] Translation: X:275.44, Y:-170.24, Z:-38.11 [[ 7.19233895e-01 6.86912511e-01 1.04181606e-01 2.75444449e+02] [-6.80180625e-01 7.26737762e-01 -9.59507313e-02 -1.70235781e+02] [-1.41622465e-01 -1.85129174e-03 9.89919012e-01 -3.81083448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters 0.02948060041697942 Centerline is valid? [True, True] Translation: X:275.49, Y:-170.27, Z:-38.12 [[ 7.18721458e-01 6.87136836e-01 1.06218805e-01 2.75492426e+02] [-6.80125160e-01 7.26525648e-01 -9.79298145e-02 -1.70274755e+02] [-1.44461869e-01 -1.85782302e-03 9.89508624e-01 -3.81153469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters 0.029319447234263576 Centerline is valid? [True, True] Translation: X:275.54, Y:-170.31, Z:-38.12 [[ 7.17974192e-01 6.88335001e-01 1.03479404e-01 2.75542315e+02] [-6.81682025e-01 7.25390245e-01 -9.54914091e-02 -1.70312318e+02] [-1.40793029e-01 -1.97968254e-03 9.90037072e-01 -3.81223166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters 0.029555838143448396 Centerline is valid? [True, True] Translation: X:275.59, Y:-170.35, Z:-38.13 [[ 7.19476375e-01 6.86362900e-01 1.06111804e-01 2.75590036e+02] [-6.79330344e-01 7.27257531e-01 -9.80141148e-02 -1.70351577e+02] [-1.44443861e-01 -1.56612859e-03 9.89511758e-01 -3.81328644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters 0.02956333561299968 Centerline is valid? [True, True] Translation: X:275.64, Y:-170.39, Z:-38.14 [[ 7.23781909e-01 6.81720417e-01 1.06756834e-01 2.75639398e+02] [-6.74536966e-01 7.31612567e-01 -9.87062957e-02 -1.70390553e+02] [-1.45394739e-01 -5.69600075e-04 9.89373562e-01 -3.81406615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters 0.029591286824096983 Centerline is valid? [True, True] Translation: X:275.69, Y:-170.43, Z:-38.15 [[ 7.27711294e-01 6.77661655e-01 1.05881797e-01 2.75685816e+02] [-6.70538472e-01 7.35373770e-01 -9.79978319e-02 -1.70430989e+02] [-1.44272070e-01 3.16310288e-04 9.89538008e-01 -3.81491719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters 0.029661471379533535 Centerline is valid? [True, True] Translation: X:275.73, Y:-170.47, Z:-38.16 [[ 7.27599077e-01 6.77698859e-01 1.06413531e-01 2.75731651e+02] [-6.70490454e-01 7.35339454e-01 -9.85821355e-02 -1.70472414e+02] [-1.45059068e-01 3.79014212e-04 9.89422924e-01 -3.81562442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters 0.029759178950010734 Centerline is valid? [True, True] Translation: X:275.78, Y:-170.51, Z:-38.16 [[ 7.27770742e-01 6.77649648e-01 1.05549523e-01 2.75777227e+02] [-6.70544987e-01 7.35384763e-01 -9.78706826e-02 -1.70514458e+02] [-1.43941545e-01 4.51715573e-04 9.89586089e-01 -3.81616977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters 0.029650481330598395 Centerline is valid? [True, True] Translation: X:275.82, Y:-170.56, Z:-38.17 [[ 7.27097450e-01 6.78713281e-01 1.03332376e-01 2.75821709e+02] [-6.71903874e-01 7.34403290e-01 -9.59009504e-02 -1.70557373e+02] [-1.40976886e-01 2.99912727e-04 9.90012842e-01 -3.81683937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters 0.03010527358680469 Centerline is valid? [True, True] Translation: X:275.87, Y:-170.60, Z:-38.18 [[ 7.27035020e-01 6.78609531e-01 1.04447040e-01 2.75867578e+02] [-6.71637682e-01 7.34499117e-01 -9.70251108e-02 -1.70599378e+02] [-1.42558424e-01 3.90085605e-04 9.89786312e-01 -3.81758099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters 0.03080881775388645 Centerline is valid? [True, True] Translation: X:275.91, Y:-170.64, Z:-38.18 [[ 7.27686583e-01 6.77393325e-01 1.07752119e-01 2.75913251e+02] [-6.69946054e-01 7.35620680e-01 -1.00172354e-01 -1.70640999e+02] [-1.47120771e-01 7.05970804e-04 9.89118284e-01 -3.81838228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters 0.031299419372142805 Centerline is valid? [True, True] Translation: X:275.96, Y:-170.68, Z:-38.19 [[ 7.29504749e-01 6.75418271e-01 1.07856296e-01 2.75956995e+02] [-6.67928529e-01 7.37433972e-01 -1.00312598e-01 -1.70683880e+02] [-1.47289858e-01 1.13821964e-03 9.89092717e-01 -3.81930915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters 0.03185593627228457 Centerline is valid? [True, True] Translation: X:276.00, Y:-170.73, Z:-38.20 [[ 7.32221240e-01 6.72488870e-01 1.07753310e-01 2.76001231e+02] [-6.64968284e-01 7.40105059e-01 -1.00307942e-01 -1.70726668e+02] [-1.47204745e-01 1.79507224e-03 9.89104414e-01 -3.82006347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters 0.03188799337279038 Centerline is valid? [True, True] Translation: X:276.04, Y:-170.77, Z:-38.21 [[ 7.32891086e-01 6.71693560e-01 1.08159220e-01 2.76044022e+02] [-6.64093616e-01 7.40826320e-01 -1.00777142e-01 -1.70771621e+02] [-1.47818554e-01 2.03082152e-03 9.89012412e-01 -3.82088708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters 0.03196339481159147 Centerline is valid? [True, True] Translation: X:276.09, Y:-170.82, Z:-38.22 [[ 7.33080623e-01 6.71490733e-01 1.08134157e-01 2.76089254e+02] [-6.63878095e-01 7.41009858e-01 -1.00847736e-01 -1.70815367e+02] [-1.47846796e-01 2.14162341e-03 9.89007957e-01 -3.82168675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters 0.03202784203727961 Centerline is valid? [True, True] Translation: X:276.13, Y:-170.86, Z:-38.22 [[ 7.32311251e-01 6.72310233e-01 1.08255170e-01 2.76129233e+02] [-6.64673787e-01 7.40266656e-01 -1.01064508e-01 -1.70864184e+02] [-1.48084395e-01 2.05630264e-03 9.88972590e-01 -3.82244843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters 0.031515340489188914 Centerline is valid? [True, True] Translation: X:276.17, Y:-170.91, Z:-38.23 [[ 7.29040865e-01 6.75998211e-01 1.07358443e-01 2.76171169e+02] [-6.68513397e-01 7.36901987e-01 -1.00325968e-01 -1.70909689e+02] [-1.46932824e-01 1.37117285e-03 9.89145523e-01 -3.82310339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters 0.03137872559868718 Centerline is valid? [True, True] Translation: X:276.21, Y:-170.96, Z:-38.24 [[ 7.22677222e-01 6.82643353e-01 1.08331372e-01 2.76213119e+02] [-6.75080770e-01 7.30751698e-01 -1.01330699e-01 -1.70956769e+02] [-1.48336062e-01 9.69619205e-05 9.88937007e-01 -3.82384732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters 0.03116553516089955 Centerline is valid? [True, True] Translation: X:276.26, Y:-171.00, Z:-38.25 [[ 7.16258743e-01 6.89658020e-01 1.06513984e-01 2.76257427e+02] [-6.82410121e-01 7.24134135e-01 -9.97305456e-02 -1.71000145e+02] [-1.45910382e-01 -1.25334533e-03 9.89297018e-01 -3.82452725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters 0.03163710533700904 Centerline is valid? [True, True] Translation: X:276.30, Y:-171.04, Z:-38.25 [[ 7.12061668e-01 6.93990220e-01 1.06516456e-01 2.76304348e+02] [-6.86776375e-01 7.19981446e-01 -9.98244884e-02 -1.71040376e+02] [-1.45967091e-01 -2.07179372e-03 9.89287277e-01 -3.82527595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters 0.03181850941022267 Centerline is valid? [True, True] Translation: X:276.35, Y:-171.08, Z:-38.26 [[ 7.10283168e-01 6.95887048e-01 1.06014329e-01 2.76353365e+02] [-6.88748335e-01 7.18147305e-01 -9.94493790e-02 -1.71079531e+02] [-1.45339439e-01 -2.37997254e-03 9.89378989e-01 -3.82607042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters 0.031803400275279656 Centerline is valid? [True, True] Translation: X:276.40, Y:-171.12, Z:-38.27 [[ 7.10447305e-01 6.95773837e-01 1.05656968e-01 2.76402691e+02] [-6.88667210e-01 7.18257332e-01 -9.92163253e-02 -1.71117748e+02] [-1.44921016e-01 -2.27451881e-03 9.89440613e-01 -3.82676556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters 0.03186181042539297 Centerline is valid? [True, True] Translation: X:276.45, Y:-171.16, Z:-38.27 [[ 7.11322031e-01 6.94604819e-01 1.07448190e-01 2.76451638e+02] [-6.87226423e-01 7.19388724e-01 -1.00993599e-01 -1.71155464e+02] [-1.47447657e-01 -2.00226294e-03 9.89067834e-01 -3.82747830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters 0.03153630992829054 Centerline is valid? [True, True] Translation: X:276.50, Y:-171.19, Z:-38.28 [[ 7.12652772e-01 6.93338002e-01 1.06810309e-01 2.76500294e+02] [-6.86019414e-01 7.20610613e-01 -1.00487351e-01 -1.71193305e+02] [-1.46640341e-01 -1.66135677e-03 9.89188481e-01 -3.82818492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters 0.031604521769724496 Centerline is valid? [True, True] Translation: X:276.55, Y:-171.23, Z:-38.29 [[ 7.11080964e-01 6.95004280e-01 1.06456156e-01 2.76550045e+02] [-6.87738709e-01 7.19003014e-01 -1.00250356e-01 -1.71232033e+02] [-1.46216724e-01 -1.92789957e-03 9.89250703e-01 -3.82893177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters 0.031860451635606676 Centerline is valid? [True, True] Translation: X:276.60, Y:-171.27, Z:-38.30 [[ 7.08472217e-01 6.97745151e-01 1.05918943e-01 2.76597377e+02] [-6.90567909e-01 7.16342048e-01 -9.98500578e-02 -1.71272304e+02] [-1.45544086e-01 -2.40323088e-03 9.89348848e-01 -3.82977036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters 0.031608964428722824 Centerline is valid? [True, True] Translation: X:276.65, Y:-171.31, Z:-38.31 [[ 7.05536135e-01 7.01014171e-01 1.03912917e-01 2.76650045e+02] [-6.94128379e-01 7.13141259e-01 -9.80578281e-02 -1.71306424e+02] [-1.42844516e-01 -2.94556386e-03 9.89740758e-01 -3.83060966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters 0.03139202454919528 Centerline is valid? [True, True] Translation: X:276.70, Y:-171.34, Z:-38.31 [[ 7.04133920e-01 7.02268755e-01 1.04947691e-01 2.76698537e+02] [-6.95244846e-01 7.11904889e-01 -9.91263491e-02 -1.71344621e+02] [-1.44326112e-01 -3.16611653e-03 9.89525113e-01 -3.83141347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters 0.031045089690953785 Centerline is valid? [True, True] Translation: X:276.75, Y:-171.38, Z:-38.32 [[ 7.04220282e-01 7.02189872e-01 1.04896030e-01 2.76751920e+02] [-6.95158151e-01 7.11983074e-01 -9.91728121e-02 -1.71379405e+02] [-1.44322342e-01 -3.07982430e-03 9.89525935e-01 -3.83233281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters 0.031025044529707554 Centerline is valid? [True, True] Translation: X:276.80, Y:-171.42, Z:-38.33 [[ 7.05175447e-01 7.01072389e-01 1.05948545e-01 2.76804052e+02] [-6.93869747e-01 7.13084602e-01 -1.00275247e-01 -1.71415191e+02] [-1.45850483e-01 -2.80284836e-03 9.89302674e-01 -3.83319896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters 0.030806038624286308 Centerline is valid? [True, True] Translation: X:276.86, Y:-171.45, Z:-38.34 [[ 7.08615948e-01 6.97537917e-01 1.06321644e-01 2.76855608e+02] [-6.90229132e-01 7.16545065e-01 -1.00731899e-01 -1.71450232e+02] [-1.46448569e-01 -2.00606602e-03 9.89216252e-01 -3.83412029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters 0.03033435743734272 Centerline is valid? [True, True] Translation: X:276.91, Y:-171.48, Z:-38.35 [[ 7.13218802e-01 6.93100728e-01 1.04548181e-01 2.76907913e+02] [-6.85974141e-01 7.20840042e-01 -9.91418806e-02 -1.71484949e+02] [-1.44077825e-01 -1.00749525e-03 9.89565847e-01 -3.83506655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters 0.03052655474733898 Centerline is valid? [True, True] Translation: X:276.96, Y:-171.52, Z:-38.36 [[ 7.17406995e-01 6.88677446e-01 1.05121733e-01 2.76958802e+02] [-6.81410607e-01 7.25067841e-01 -9.97808188e-02 -1.71522359e+02] [-1.44937188e-01 -4.76066301e-05 9.89440857e-01 -3.83587327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters 0.03063975289506558 Centerline is valid? [True, True] Translation: X:277.01, Y:-171.56, Z:-38.37 [[ 7.20563417e-01 6.85486189e-01 1.04388921e-01 2.77007447e+02] [-6.78272850e-01 7.28085326e-01 -9.91851770e-02 -1.71560761e+02] [-1.43994111e-01 6.65038937e-04 9.89578321e-01 -3.83660018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters 0.03131992917430905 Centerline is valid? [True, True] Translation: X:277.06, Y:-171.60, Z:-38.38 [[ 7.24157966e-01 6.81549645e-01 1.05286856e-01 2.77055811e+02] [-6.74156317e-01 7.31770282e-01 -1.00127490e-01 -1.71598606e+02] [-1.45287648e-01 1.52832049e-03 9.89388277e-01 -3.83751718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters 0.03139510032760063 Centerline is valid? [True, True] Translation: X:277.10, Y:-171.64, Z:-38.38 [[ 7.24965743e-01 6.80729763e-01 1.05031715e-01 2.77104686e+02] [-6.73351139e-01 7.32532537e-01 -9.99716283e-02 -1.71638088e+02] [-1.44992811e-01 1.75278093e-03 9.89431156e-01 -3.83831668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters 0.031248352238764293 Centerline is valid? [True, True] Translation: X:277.15, Y:-171.68, Z:-38.39 [[ 7.22144034e-01 6.83707907e-01 1.05126073e-01 2.77149700e+02] [-6.76334977e-01 7.29754762e-01 -1.00144823e-01 -1.71680999e+02] [-1.45186060e-01 1.21854596e-03 9.89403620e-01 -3.83912360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters 0.031066986067152934 Centerline is valid? [True, True] Translation: X:277.20, Y:-171.72, Z:-38.40 [[ 7.19591608e-01 6.86395453e-01 1.05115172e-01 2.77196789e+02] [-6.79045799e-01 7.27228146e-01 -1.00179969e-01 -1.71721549e+02] [-1.45205787e-01 7.10649050e-04 9.89401220e-01 -3.83987762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters 0.030940765657917303 Centerline is valid? [True, True] Translation: X:277.24, Y:-171.76, Z:-38.41 [[ 7.18877904e-01 6.87191575e-01 1.04796459e-01 2.77241438e+02] [-6.79882205e-01 7.26475989e-01 -9.99641168e-02 -1.71764251e+02] [-1.44826610e-01 6.12747105e-04 9.89456860e-01 -3.84067939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters 0.030971078177638816 Centerline is valid? [True, True] Translation: X:277.29, Y:-171.81, Z:-38.41 [[ 7.18671096e-01 6.87585795e-01 1.03622539e-01 2.77287511e+02] [-6.80431548e-01 7.26102902e-01 -9.89317108e-02 -1.71805294e+02] [-1.43264665e-01 5.91316166e-04 9.89684235e-01 -3.84145667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters 0.030875429212957824 Centerline is valid? [True, True] Translation: X:277.33, Y:-171.85, Z:-38.42 [[ 7.17974389e-01 6.88166816e-01 1.04590677e-01 2.77332470e+02] [-6.80870521e-01 7.25552296e-01 -9.99459815e-02 -1.71847785e+02] [-1.44665514e-01 5.45946252e-04 9.89480465e-01 -3.84215238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters 0.031052823664961263 Centerline is valid? [True, True] Translation: X:277.38, Y:-171.89, Z:-38.43 [[ 7.15560049e-01 6.90654430e-01 1.04739074e-01 2.77380515e+02] [-6.83350067e-01 7.23184932e-01 -1.00181043e-01 -1.71888163e+02] [-1.44936201e-01 1.12098598e-04 9.89440996e-01 -3.84298142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters 0.031370584507728685 Centerline is valid? [True, True] Translation: X:277.43, Y:-171.93, Z:-38.44 [[ 7.14138930e-01 6.92284375e-01 1.03672235e-01 2.77429743e+02] [-6.85133422e-01 7.21624778e-01 -9.92465285e-02 -1.71926415e+02] [-1.43519274e-01 -1.53503224e-04 9.89647510e-01 -3.84389783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters 0.03091227019419428 Centerline is valid? [True, True] Translation: X:277.48, Y:-171.97, Z:-38.45 [[ 7.14420647e-01 6.92256060e-01 1.01905280e-01 2.77477513e+02] [-6.85341332e-01 7.21651948e-01 -9.75998181e-02 -1.71966335e+02] [-1.41104210e-01 -1.12575379e-04 9.89994742e-01 -3.84463194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters 0.030903635049978662 Centerline is valid? [True, True] Translation: X:277.52, Y:-172.01, Z:-38.45 [[ 7.16212259e-01 6.90544445e-01 1.00937455e-01 2.77523835e+02] [-6.83732000e-01 7.23289906e-01 -9.67587948e-02 -1.72006528e+02] [-1.39823290e-01 2.85667347e-04 9.90176432e-01 -3.84549449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters 0.030804631582820402 Centerline is valid? [True, True] Translation: X:277.57, Y:-172.05, Z:-38.46 [[ 7.20205256e-01 6.86660942e-01 9.90007068e-02 2.77570605e+02] [-6.80060381e-01 7.26977014e-01 -9.49857822e-02 -1.72046776e+02] [-1.37194265e-01 1.08280123e-03 9.90543569e-01 -3.84601477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters 0.031157842505283834 Centerline is valid? [True, True] Translation: X:277.62, Y:-172.09, Z:-38.47 [[ 7.22631199e-01 6.83917880e-01 1.00301968e-01 2.77616865e+02] [-6.77103264e-01 7.29557043e-01 -9.63207678e-02 -1.72087753e+02] [-1.39051502e-01 1.68960200e-03 9.90283709e-01 -3.84689793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters 0.031281881364075614 Centerline is valid? [True, True] Translation: X:277.66, Y:-172.13, Z:-38.47 [[ 7.25260551e-01 6.81450135e-01 9.80961127e-02 2.77661330e+02] [-6.74899646e-01 7.31861313e-01 -9.42840726e-02 -1.72131152e+02] [-1.36042644e-01 2.17548667e-03 9.90700594e-01 -3.84748946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters 0.03133665461329995 Centerline is valid? [True, True] Translation: X:277.70, Y:-172.18, Z:-38.48 [[ 7.25338573e-01 6.81464684e-01 9.74158003e-02 2.77704119e+02] [-6.74994286e-01 7.31847640e-01 -9.37109671e-02 -1.72175093e+02] [-1.35154238e-01 2.21707058e-03 9.90822091e-01 -3.84838632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters 0.031048223128501647 Centerline is valid? [True, True] Translation: X:277.75, Y:-172.22, Z:-38.49 [[ 7.23435347e-01 6.83491253e-01 9.73704528e-02 2.77747702e+02] [-6.77034011e-01 7.29956234e-01 -9.37488367e-02 -1.72218895e+02] [-1.35152679e-01 1.89811398e-03 9.90822966e-01 -3.84923579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters 0.030765597348120014 Centerline is valid? [True, True] Translation: X:277.79, Y:-172.26, Z:-38.50 [[ 7.20253176e-01 6.87004152e-01 9.62323106e-02 2.77790775e+02] [-6.80717941e-01 7.26652355e-01 -9.27331643e-02 -1.72263618e+02] [-1.33635504e-01 1.28429584e-03 9.91029718e-01 -3.84988015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters 0.030444701697411213 Centerline is valid? [True, True] Translation: X:277.83, Y:-172.31, Z:-38.51 [[ 7.15966350e-01 6.91673298e-01 9.47641019e-02 2.77833348e+02] [-6.85608218e-01 7.22210379e-01 -9.13977002e-02 -1.72308684e+02] [-1.31656967e-01 4.66630687e-04 9.91295226e-01 -3.85081291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters 0.030208523779048452 Centerline is valid? [True, True] Translation: X:277.88, Y:-172.35, Z:-38.51 [[ 7.10291008e-01 6.97564287e-01 9.42907720e-02 2.77880829e+02] [-6.91600268e-01 7.16521984e-01 -9.10237044e-02 -1.72350184e+02] [-1.31056297e-01 -5.58204496e-04 9.91374770e-01 -3.85142822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters 0.030077109262236792 Centerline is valid? [True, True] Translation: X:277.93, Y:-172.39, Z:-38.52 [[ 7.03741754e-01 7.04456162e-01 9.21360906e-02 2.77929648e+02] [-6.98809309e-01 7.09745396e-01 -8.90338328e-02 -1.72390193e+02] [-1.28113598e-01 -1.72873216e-03 9.91757993e-01 -3.85205612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters 0.03073764641504395 Centerline is valid? [True, True] Translation: X:277.98, Y:-172.43, Z:-38.53 [[ 6.97184454e-01 7.11117686e-01 9.08045903e-02 2.77980741e+02] [-7.05677961e-01 7.03067254e-01 -8.78353672e-02 -1.72426680e+02] [-1.26303017e-01 -2.84134556e-03 9.91987638e-01 -3.85269827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters 0.030845196378793495 Centerline is valid? [True, True] Translation: X:278.04, Y:-172.46, Z:-38.53 [[ 6.93311609e-01 7.15076605e-01 8.93558136e-02 2.78035952e+02] [-7.09832598e-01 6.99037592e-01 -8.65108495e-02 -1.72459207e+02] [-1.24324957e-01 -3.44869304e-03 9.92235563e-01 -3.85329081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters 0.030727261253718167 Centerline is valid? [True, True] Translation: X:278.09, Y:-172.49, Z:-38.54 [[ 6.94441128e-01 7.13869250e-01 9.02342146e-02 2.78092375e+02] [-7.08500960e-01 7.00271663e-01 -8.74413381e-02 -1.72490043e+02] [-1.25610146e-01 -3.20816624e-03 9.92074493e-01 -3.85411102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters 0.029930897514091073 Centerline is valid? [True, True] Translation: X:278.15, Y:-172.52, Z:-38.55 [[ 6.98807363e-01 7.09796946e-01 8.86372626e-02 2.78146237e+02] [-7.04576269e-01 7.04402321e-01 -8.59630795e-02 -1.72521680e+02] [-1.23452625e-01 -2.38007880e-03 9.92347613e-01 -3.85474659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters 0.029676950451975756 Centerline is valid? [True, True] Translation: X:278.20, Y:-172.56, Z:-38.56 [[ 7.01697402e-01 7.06525456e-01 9.18832729e-02 2.78197666e+02] [-7.00883788e-01 7.07685186e-01 -8.91268369e-02 -1.72558427e+02] [-1.27994810e-01 -1.85942657e-03 9.91773095e-01 -3.85566240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters 0.02941092095451643 Centerline is valid? [True, True] Translation: X:278.25, Y:-172.59, Z:-38.57 [[ 7.08262662e-01 7.00144794e-01 9.03397413e-02 2.78251525e+02] [-6.94635170e-01 7.14000579e-01 -8.76650061e-02 -1.72591935e+02] [-1.25880825e-01 -6.63310948e-04 9.92045149e-01 -3.85658567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters 0.029164231831260237 Centerline is valid? [True, True] Translation: X:278.30, Y:-172.63, Z:-38.57 [[ 7.11566596e-01 6.97048479e-01 8.82972063e-02 2.78300934e+02] [-6.91757345e-01 7.17023996e-01 -8.57226039e-02 -1.72630667e+02] [-1.23064026e-01 -8.28995006e-05 9.92398730e-01 -3.85720940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters 0.029506596886846655 Centerline is valid? [True, True] Translation: X:278.35, Y:-172.67, Z:-38.58 [[ 7.16734015e-01 6.91586935e-01 8.94419468e-02 2.78350318e+02] [-6.86111030e-01 7.22292683e-01 -8.68615826e-02 -1.72668245e+02] [-1.24675599e-01 8.89544603e-04 9.92197160e-01 -3.85791743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters 0.029910902625505466 Centerline is valid? [True, True] Translation: X:278.40, Y:-172.71, Z:-38.59 [[ 7.21339973e-01 6.87048156e-01 8.73697618e-02 2.78396852e+02] [-6.81788022e-01 7.26610006e-01 -8.48704467e-02 -1.72709190e+02] [-1.21793827e-01 1.65278858e-03 9.92554045e-01 -3.85879004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters 0.029740283350437585 Centerline is valid? [True, True] Translation: X:278.44, Y:-172.75, Z:-38.59 [[ 7.22357442e-01 6.86164740e-01 8.58933969e-02 2.78443368e+02] [-6.81072831e-01 7.27443991e-01 -8.34568128e-02 -1.72750416e+02] [-1.19747758e-01 1.78599076e-03 9.92802742e-01 -3.85939812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters 0.029699244246261663 Centerline is valid? [True, True] Translation: X:278.49, Y:-172.79, Z:-38.60 [[ 7.20019541e-01 6.88429242e-01 8.73901592e-02 2.78490769e+02] [-6.83171982e-01 7.25302063e-01 -8.49291550e-02 -1.72786647e+02] [-1.21851977e-01 1.44814295e-03 9.92547227e-01 -3.85981118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters 0.02951914990815025 Centerline is valid? [True, True] Translation: X:278.53, Y:-172.83, Z:-38.61 [[ 7.19027629e-01 6.89432185e-01 8.76500502e-02 2.78534447e+02] [-6.84152054e-01 7.24349112e-01 -8.51723573e-02 -1.72828372e+02] [-1.22209800e-01 1.27531623e-03 9.92503470e-01 -3.86061551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters 0.02984839868307371 Centerline is valid? [True, True] Translation: X:278.58, Y:-172.87, Z:-38.61 [[ 7.20781566e-01 6.87594408e-01 8.76804655e-02 2.78576215e+02] [-6.82297165e-01 7.26093253e-01 -8.52007488e-02 -1.72870370e+02] [-1.22247753e-01 1.58699611e-03 9.92498347e-01 -3.86135472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters 0.03065253493044128 Centerline is valid? [True, True] Translation: X:278.62, Y:-172.91, Z:-38.62 [[ 7.25854751e-01 6.82117695e-01 8.86020939e-02 2.78617360e+02] [-6.76668338e-01 7.31238018e-01 -8.60867157e-02 -1.72914435e+02] [-1.23510492e-01 2.53222002e-03 9.92340036e-01 -3.86196627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters 0.031057013808763002 Centerline is valid? [True, True] Translation: X:278.66, Y:-172.96, Z:-38.63 [[ 7.28164949e-01 6.79928936e-01 8.64433279e-02 2.78659312e+02] [-6.74727253e-01 7.33272535e-01 -8.39912099e-02 -1.72960610e+02] [-1.20494572e-01 2.83378591e-03 9.92709941e-01 -3.86260514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters 0.031520574589068574 Centerline is valid? [True, True] Translation: X:278.70, Y:-173.01, Z:-38.63 [[ 7.30728364e-01 6.77267045e-01 8.57053521e-02 2.78699540e+02] [-6.72133422e-01 7.35730060e-01 -8.32943050e-02 -1.73008156e+02] [-1.19468492e-01 3.26007960e-03 9.92832640e-01 -3.86344066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters 0.0313388202324413 Centerline is valid? [True, True] Translation: X:278.74, Y:-173.06, Z:-38.64 [[ 7.30358833e-01 6.77549993e-01 8.66139838e-02 2.78736075e+02] [-6.72305871e-01 7.35469477e-01 -8.41989605e-02 -1.73060594e+02] [-1.20750946e-01 3.26436479e-03 9.92677467e-01 -3.86418673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters 0.030066648076862396 Centerline is valid? [True, True] Translation: X:278.77, Y:-173.11, Z:-38.65 [[ 7.24590860e-01 6.83868532e-01 8.53927211e-02 2.78771193e+02] [-6.78811630e-01 7.29601925e-01 -8.30409635e-02 -1.73112944e+02] [-1.19091795e-01 2.20515097e-03 9.92880799e-01 -3.86461740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters 0.029150822522465016 Centerline is valid? [True, True] Translation: X:278.81, Y:-173.16, Z:-38.65 [[ 7.14274336e-01 6.94482414e-01 8.66391920e-02 2.78808756e+02] [-6.89350245e-01 7.19509524e-01 -8.42750520e-02 -1.73162187e+02] [-1.20865265e-01 4.70758632e-04 9.92668810e-01 -3.86545578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters 0.029169711657308434 Centerline is valid? [True, True] Translation: X:278.85, Y:-173.21, Z:-38.66 [[ 7.07654977e-01 7.01158168e-01 8.71874788e-02 2.78852739e+02] [-6.96007708e-01 7.13005469e-01 -8.48320173e-02 -1.73207437e+02] [-1.21645811e-01 -6.51358047e-04 9.92573359e-01 -3.86606681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters 0.02958682808524768 Centerline is valid? [True, True] Translation: X:278.90, Y:-173.25, Z:-38.67 [[ 7.01972210e-01 7.07247680e-01 8.38792918e-02 2.78897711e+02] [-7.02515704e-01 7.06964085e-01 -8.16912994e-02 -1.73249287e+02] [-1.17075629e-01 -1.58149772e-03 9.93121743e-01 -3.86667886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters 0.029635469651289076 Centerline is valid? [True, True] Translation: X:278.94, Y:-173.29, Z:-38.68 [[ 7.01007834e-01 7.08053110e-01 8.51399468e-02 2.78944663e+02] [-7.03178474e-01 7.06157105e-01 -8.29588900e-02 -1.73288956e+02] [-1.18861478e-01 -1.71374608e-03 9.92909367e-01 -3.86755137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters 0.029535175989808444 Centerline is valid? [True, True] Translation: X:278.99, Y:-173.33, Z:-38.68 [[ 7.01104093e-01 7.07873414e-01 8.58386858e-02 2.78993597e+02] [-7.02914032e-01 7.06337316e-01 -8.36627764e-02 -1.73329471e+02] [-1.19853722e-01 -1.68090171e-03 9.92790139e-01 -3.86809253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters 0.029796643253890105 Centerline is valid? [True, True] Translation: X:279.04, Y:-173.37, Z:-38.69 [[ 7.00487050e-01 7.08499676e-01 8.57094108e-02 2.79041796e+02] [-7.03555981e-01 7.05708938e-01 -8.35695882e-02 -1.73369968e+02] [-1.19694923e-01 -1.76195436e-03 9.92809156e-01 -3.86866612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters 0.02935168077143476 Centerline is valid? [True, True] Translation: X:279.09, Y:-173.41, Z:-38.69 [[ 7.03404720e-01 7.05817958e-01 8.39214500e-02 2.79087860e+02] [-7.01056350e-01 7.08392147e-01 -8.18569462e-02 -1.73411261e+02] [-1.17225399e-01 -1.25510319e-03 9.93104542e-01 -3.86916673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters 0.029188761166430252 Centerline is valid? [True, True] Translation: X:279.13, Y:-173.45, Z:-38.70 [[ 7.07592982e-01 7.01702230e-01 8.32235080e-02 2.79131860e+02] [-6.96988761e-01 7.12470123e-01 -8.11972351e-02 -1.73454592e+02] [-1.16270544e-01 -5.51255991e-04 9.93217427e-01 -3.86991870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters 0.029042444472169044 Centerline is valid? [True, True] Translation: X:279.17, Y:-173.50, Z:-38.71 [[ 7.09895907e-01 6.99355764e-01 8.33625584e-02 2.79173930e+02] [-6.94607812e-01 7.14773735e-01 -8.13541389e-02 -1.73499472e+02] [-1.16480853e-01 -1.51314072e-04 9.93192926e-01 -3.87067990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters 0.02886603152756479 Centerline is valid? [True, True] Translation: X:279.21, Y:-173.55, Z:-38.71 [[ 7.10600225e-01 6.98848606e-01 8.15962368e-02 2.79214355e+02] [-6.94294705e-01 7.15269615e-01 -7.96507402e-02 -1.73547364e+02] [-1.14027118e-01 -5.20011889e-05 9.93477636e-01 -3.87109669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters 0.028914329014961115 Centerline is valid? [True, True] Translation: X:279.26, Y:-173.59, Z:-38.72 [[ 7.06532402e-01 7.03177964e-01 7.97039196e-02 2.79257103e+02] [-6.98858546e-01 7.11013528e-01 -7.78234954e-02 -1.73594301e+02] [-1.11394332e-01 -7.16944159e-04 9.93776025e-01 -3.87158234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters 0.029298950362066083 Centerline is valid? [True, True] Translation: X:279.30, Y:-173.64, Z:-38.72 [[ 7.00200551e-01 7.09417795e-01 8.02843758e-02 2.79297549e+02] [-7.05072090e-01 7.04786149e-01 -7.84208619e-02 -1.73641649e+02] [-1.12216471e-01 -1.69594195e-03 9.93682337e-01 -3.87205110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters 0.029552814119093815 Centerline is valid? [True, True] Translation: X:279.34, Y:-173.69, Z:-38.73 [[ 6.97313995e-01 7.12405620e-01 7.89393709e-02 2.79341303e+02] [-7.08221548e-01 7.01764716e-01 -7.71266669e-02 -1.73685427e+02] [-1.10342336e-01 -2.12505923e-03 9.93891369e-01 -3.87260327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters 0.029647605369807158 Centerline is valid? [True, True] Translation: X:279.39, Y:-173.73, Z:-38.73 [[ 6.96087928e-01 7.13807159e-01 7.70774732e-02 2.79386293e+02] [-7.09825159e-01 7.00338599e-01 -7.53265585e-02 -1.73728548e+02] [-1.07748966e-01 -2.27762170e-03 9.94175524e-01 -3.87302744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters 0.030031292867323846 Centerline is valid? [True, True] Translation: X:279.43, Y:-173.77, Z:-38.73 [[ 6.93382783e-01 7.16427523e-01 7.71486891e-02 2.79433993e+02] [-7.12452082e-01 6.97656406e-01 -7.54159823e-02 -1.73768975e+02] [-1.07853363e-01 -2.67260048e-03 9.94163221e-01 -3.87342393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters 0.029826401733721395 Centerline is valid? [True, True] Translation: X:279.48, Y:-173.81, Z:-38.74 [[ 6.92676597e-01 7.17260223e-01 7.57423555e-02 2.79480606e+02] [-7.13431709e-01 6.96800029e-01 -7.40602219e-02 -1.73810298e+02] [-1.05897727e-01 -2.73721559e-03 9.94373259e-01 -3.87394803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters 0.029558247145303383 Centerline is valid? [True, True] Translation: X:279.53, Y:-173.85, Z:-38.75 [[ 6.95203135e-01 7.14781029e-01 7.60307943e-02 2.79527000e+02] [-7.10906270e-01 6.99344364e-01 -7.43621937e-02 -1.73849007e+02] [-1.06324393e-01 -2.35393818e-03 9.94328709e-01 -3.87471204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters 0.0290375181995674 Centerline is valid? [True, True] Translation: X:279.57, Y:-173.89, Z:-38.75 [[ 6.99838655e-01 7.10302363e-01 7.54745597e-02 2.79572584e+02] [-7.06458089e-01 7.03894738e-01 -7.38184733e-02 -1.73887133e+02] [-1.05559581e-01 -1.65859211e-03 9.94411597e-01 -3.87534184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters 0.02893217013450313 Centerline is valid? [True, True] Translation: X:279.62, Y:-173.92, Z:-38.76 [[ 7.01777851e-01 7.08219818e-01 7.70229598e-02 2.79617386e+02] [-7.04204224e-01 7.05990642e-01 -7.53234728e-02 -1.73924274e+02] [-1.07723065e-01 -1.37954869e-03 9.94179983e-01 -3.87588233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters 0.028816749200801742 Centerline is valid? [True, True] Translation: X:279.66, Y:-173.97, Z:-38.76 [[ 7.01467953e-01 7.08330872e-01 7.88041011e-02 2.79658849e+02] [-7.04135508e-01 7.05879015e-01 -7.69935202e-02 -1.73967479e+02] [-1.10163049e-01 -1.48027878e-03 9.93912426e-01 -3.87635286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters 0.028735984644542023 Centerline is valid? [True, True] Translation: X:279.70, Y:-174.01, Z:-38.77 [[ 7.01954682e-01 7.07827362e-01 7.89939861e-02 2.79700935e+02] [-7.03608500e-01 7.06384068e-01 -7.71791821e-02 -1.74011244e+02] [-1.10429630e-01 -1.40455188e-03 9.93882953e-01 -3.87709619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters 0.0285026330787759 Centerline is valid? [True, True] Translation: X:279.74, Y:-174.06, Z:-38.78 [[ 7.02819026e-01 7.06916075e-01 7.94674774e-02 2.79743779e+02] [-7.02639348e-01 7.07296311e-01 -7.76522707e-02 -1.74056071e+02] [-1.11100692e-01 -1.26148325e-03 9.93808354e-01 -3.87776789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters 0.02872756276908972 Centerline is valid? [True, True] Translation: X:279.79, Y:-174.10, Z:-38.78 [[ 7.01218478e-01 7.08362594e-01 8.07160563e-02 2.79787277e+02] [-7.03957149e-01 7.05847142e-01 -7.88932516e-02 -1.74099818e+02] [-1.12858226e-01 -1.49923909e-03 9.93609970e-01 -3.87830963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters 0.02909824042510034 Centerline is valid? [True, True] Translation: X:279.83, Y:-174.14, Z:-38.79 [[ 6.96390034e-01 7.13237394e-01 7.95822816e-02 2.79830999e+02] [-7.08984478e-01 7.00918970e-01 -7.78049356e-02 -1.74143425e+02] [-1.11274120e-01 -2.24002062e-03 9.93787227e-01 -3.87887384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters 0.02950882239135904 Centerline is valid? [True, True] Translation: X:279.88, Y:-174.19, Z:-38.80 [[ 6.93671925e-01 7.15746648e-01 8.07836416e-02 2.79875599e+02] [-7.11378487e-01 6.98354938e-01 -7.90001793e-02 -1.74186343e+02] [-1.12959769e-01 -2.66753832e-03 9.93595982e-01 -3.87954716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters 0.029257692820343847 Centerline is valid? [True, True] Translation: X:279.92, Y:-174.23, Z:-38.80 [[ 6.94410043e-01 7.15029756e-01 8.07907155e-02 2.79921005e+02] [-7.10653668e-01 6.99089417e-01 -7.90275359e-02 -1.74226600e+02] [-1.12986974e-01 -2.53670369e-03 9.93593231e-01 -3.88016014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters 0.028966278185071782 Centerline is valid? [True, True] Translation: X:279.97, Y:-174.27, Z:-38.81 [[ 6.95519195e-01 7.14012934e-01 8.02407609e-02 2.79965895e+02] [-7.09688501e-01 7.00128572e-01 -7.84997667e-02 -1.74268060e+02] [-1.12228698e-01 -2.34785079e-03 9.93679630e-01 -3.88074900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters 0.028192449976356074 Centerline is valid? [True, True] Translation: X:280.01, Y:-174.31, Z:-38.81 [[ 7.01242465e-01 7.08119803e-01 8.26156758e-02 2.80010432e+02] [-7.03492560e-01 7.06090845e-01 -8.08327723e-02 -1.74307649e+02] [-1.15573459e-01 -1.43614079e-03 9.93297897e-01 -3.88146259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters 0.02801399094177655 Centerline is valid? [True, True] Translation: X:280.05, Y:-174.35, Z:-38.82 [[ 7.04297148e-01 7.05174534e-01 8.18193432e-02 2.80054718e+02] [-7.00617496e-01 7.09033128e-01 -8.00446586e-02 -1.74351486e+02] [-1.14458080e-01 -9.48838663e-04 9.93427626e-01 -3.88190491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters 0.027786491748270727 Centerline is valid? [True, True] Translation: X:280.10, Y:-174.39, Z:-38.83 [[ 7.05982800e-01 7.03507636e-01 8.16412414e-02 2.80099669e+02] [-6.98956967e-01 7.10687391e-01 -7.98911212e-02 -1.74394038e+02] [-1.14225415e-01 -6.61957036e-04 9.93454637e-01 -3.88260935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters 0.027877902569306355 Centerline is valid? [True, True] Translation: X:280.15, Y:-174.44, Z:-38.83 [[ 7.13802190e-01 6.95408519e-01 8.30266587e-02 2.80145203e+02] [-6.90643907e-01 7.18614324e-01 -8.12677464e-02 -1.74435173e+02] [-1.16178429e-01 6.67239323e-04 9.93228135e-01 -3.88315349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters 0.028092042993107105 Centerline is valid? [True, True] Translation: X:280.19, Y:-174.48, Z:-38.84 [[ 7.17967356e-01 6.91020582e-01 8.37462250e-02 2.80188364e+02] [-6.86141454e-01 7.22833726e-01 -8.19835918e-02 -1.74479518e+02] [-1.17186945e-01 1.39978603e-03 9.93108887e-01 -3.88367252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters 0.028782571505761488 Centerline is valid? [True, True] Translation: X:280.23, Y:-174.53, Z:-38.84 [[ 7.22331809e-01 6.86407478e-01 8.41518400e-02 2.80229401e+02] [-6.81446818e-01 7.27213885e-01 -8.24026622e-02 -1.74525270e+02] [-1.17758190e-01 2.17706047e-03 9.93039913e-01 -3.88431497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters 0.029402905625947193 Centerline is valid? [True, True] Translation: X:280.27, Y:-174.57, Z:-38.85 [[ 7.23730902e-01 6.84880487e-01 8.45712701e-02 2.80267897e+02] [-6.79855855e-01 7.28651260e-01 -8.28453847e-02 -1.74574175e+02] [-1.18362150e-01 2.46149188e-03 9.92967443e-01 -3.88489171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters 0.029781779022036083 Centerline is valid? [True, True] Translation: X:280.31, Y:-174.62, Z:-38.86 [[ 7.24436414e-01 6.84130506e-01 8.46010237e-02 2.80305782e+02] [-6.79094272e-01 7.29354972e-01 -8.28993069e-02 -1.74623742e+02] [-1.18418122e-01 2.60320601e-03 9.92960408e-01 -3.88573171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters 0.029836886976892567 Centerline is valid? [True, True] Translation: X:280.34, Y:-174.68, Z:-38.86 [[ 7.23485574e-01 6.85175315e-01 8.42817430e-02 2.80340734e+02] [-6.80175803e-01 7.28373985e-01 -8.26572139e-02 -1.74677093e+02] [-1.18023312e-01 2.47489959e-03 9.93007741e-01 -3.88629543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters 0.029498741465349806 Centerline is valid? [True, True] Translation: X:280.38, Y:-174.73, Z:-38.87 [[ 7.20810542e-01 6.87934224e-01 8.47270120e-02 2.80377774e+02] [-6.82891900e-01 7.25770037e-01 -8.31655356e-02 -1.74728152e+02] [-1.18704745e-01 2.08720453e-03 9.92927403e-01 -3.88696181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters 0.029171639293176736 Centerline is valid? [True, True] Translation: X:280.41, Y:-174.78, Z:-38.88 [[ 7.15792510e-01 6.92853727e-01 8.71481204e-02 2.80412464e+02] [-6.87545346e-01 7.21076872e-01 -8.56127438e-02 -1.74781785e+02] [-1.22157603e-01 1.36267625e-03 9.92509780e-01 -3.88760600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters 0.028769600790082554 Centerline is valid? [True, True] Translation: X:280.45, Y:-174.83, Z:-38.88 [[ 7.09516414e-01 6.99375878e-01 8.63703627e-02 2.80447582e+02] [-6.94206041e-01 7.14754021e-01 -8.48802812e-02 -1.74834451e+02] [-1.21096785e-01 2.65125179e-04 9.92640669e-01 -3.88807057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters 0.02901504413152368 Centerline is valid? [True, True] Translation: X:280.49, Y:-174.88, Z:-38.89 [[ 7.02235504e-01 7.06788274e-01 8.55314780e-02 2.80487930e+02] [-7.01763790e-01 7.07424517e-01 -8.41316568e-02 -1.74883470e+02] [-1.19970333e-01 -9.42657716e-04 9.92777030e-01 -3.88854144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters 0.029170413215965828 Centerline is valid? [True, True] Translation: X:280.53, Y:-174.93, Z:-38.89 [[ 6.96899417e-01 7.12173183e-01 8.45018422e-02 2.80530634e+02] [-7.07298313e-01 7.02001552e-01 -8.32040769e-02 -1.74928858e+02] [-1.18576137e-01 -1.78313774e-03 9.92943362e-01 -3.88905547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters 0.029153904169421634 Centerline is valid? [True, True] Translation: X:280.58, Y:-174.97, Z:-38.90 [[ 6.97285753e-01 7.11595731e-01 8.61631889e-02 2.80575612e+02] [-7.06512441e-01 7.02587186e-01 -8.49200564e-02 -1.74972625e+02] [-1.20965902e-01 -1.66181948e-03 9.92655272e-01 -3.88973246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters 0.029052173394794847 Centerline is valid? [True, True] Translation: X:280.62, Y:-175.02, Z:-38.90 [[ 6.97886087e-01 7.10995231e-01 8.62600129e-02 2.80619320e+02] [-7.05884836e-01 7.03195240e-01 -8.51061291e-02 -1.75017504e+02] [-1.21167682e-01 -1.49525157e-03 9.92630927e-01 -3.89041921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters 0.029140165295896574 Centerline is valid? [True, True] Translation: X:280.66, Y:-175.06, Z:-38.91 [[ 6.98123613e-01 7.10771133e-01 8.61847887e-02 2.80664070e+02] [-7.05657031e-01 7.03421965e-01 -8.51216416e-02 -1.75061302e+02] [-1.21126279e-01 -1.39147413e-03 9.92636131e-01 -3.89109611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters 0.029208432102781345 Centerline is valid? [True, True] Translation: X:280.71, Y:-175.10, Z:-38.92 [[ 6.96584825e-01 7.12255289e-01 8.63827815e-02 2.80708336e+02] [-7.07118004e-01 7.01918710e-01 -8.54063955e-02 -1.75104031e+02] [-1.21464847e-01 -1.59002094e-03 9.92594460e-01 -3.89180527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters 0.02895210538466045 Centerline is valid? [True, True] Translation: X:280.75, Y:-175.15, Z:-38.92 [[ 6.97687037e-01 7.11094010e-01 8.70523247e-02 2.80753873e+02] [-7.05857440e-01 7.03095663e-01 -8.61496594e-02 -1.75147154e+02] [-1.22466619e-01 -1.34103042e-03 9.92471727e-01 -3.89248120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters 0.028601218915167675 Centerline is valid? [True, True] Translation: X:280.80, Y:-175.19, Z:-38.93 [[ 7.04338338e-01 7.04667928e-01 8.57357453e-02 2.80800341e+02] [-6.99530677e-01 7.09537235e-01 -8.49337631e-02 -1.75188047e+02] [-1.20682803e-01 -1.52678422e-04 9.92691109e-01 -3.89305414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters 0.028536478899946843 Centerline is valid? [True, True] Translation: X:280.85, Y:-175.23, Z:-38.94 [[ 7.09961427e-01 6.98931964e-01 8.63069102e-02 2.80846229e+02] [-6.93673467e-01 7.15187611e-01 -8.55792108e-02 -1.75229481e+02] [-1.21539679e-01 8.89124925e-04 9.92586176e-01 -3.89378619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters 0.02908481760615089 Centerline is valid? [True, True] Translation: X:280.89, Y:-175.27, Z:-38.94 [[ 7.12374742e-01 6.96249438e-01 8.80848856e-02 2.80890662e+02] [-6.90740578e-01 7.17798484e-01 -8.74230582e-02 -1.75272810e+02] [-1.24095452e-01 1.43417375e-03 9.92269249e-01 -3.89438048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters 0.029189046057119486 Centerline is valid? [True, True] Translation: X:280.93, Y:-175.32, Z:-38.95 [[ 7.14874685e-01 6.93821711e-01 8.69805653e-02 2.80934494e+02] [-6.88423319e-01 7.20144340e-01 -8.64029137e-02 -1.75316440e+02] [-1.22586779e-01 1.88780619e-03 9.92456003e-01 -3.89488758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters 0.029448861718514248 Centerline is valid? [True, True] Translation: X:280.97, Y:-175.37, Z:-38.96 [[ 7.16467220e-01 6.92362666e-01 8.54907123e-02 2.80973944e+02] [-6.87128872e-01 7.21546461e-01 -8.49977566e-02 -1.75366215e+02] [-1.20534794e-01 2.15496971e-03 9.92706764e-01 -3.89567742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters 0.029275980572773724 Centerline is valid? [True, True] Translation: X:281.01, Y:-175.41, Z:-38.96 [[ 7.14720221e-01 6.94081282e-01 8.61752820e-02 2.81014274e+02] [-6.88764955e-01 7.19894020e-01 -8.57638405e-02 -1.75413747e+02] [-1.21564147e-01 1.94263684e-03 9.92581676e-01 -3.89619031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters 0.028804146045152315 Centerline is valid? [True, True] Translation: X:281.05, Y:-175.46, Z:-38.97 [[ 7.11375903e-01 6.97620891e-01 8.52608769e-02 2.81052539e+02] [-6.92433441e-01 7.16465765e-01 -8.49278316e-02 -1.75463629e+02] [-1.20333929e-01 1.37813046e-03 9.92732515e-01 -3.89684062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters 0.028882392771255056 Centerline is valid? [True, True] Translation: X:281.09, Y:-175.51, Z:-38.98 [[ 7.09205144e-01 6.99607632e-01 8.70472553e-02 2.81091732e+02] [-6.94204611e-01 7.14526349e-01 -8.67874054e-02 -1.75513399e+02] [-1.22914689e-01 1.12146836e-03 9.92416607e-01 -3.89761156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters 0.028687639109338386 Centerline is valid? [True, True] Translation: X:281.13, Y:-175.56, Z:-38.98 [[ 7.06868554e-01 7.02170730e-01 8.53997252e-02 2.81128808e+02] [-6.96979265e-01 7.12008245e-01 -8.52300624e-02 -1.75563800e+02] [-1.20651364e-01 7.24613239e-04 9.92694678e-01 -3.89817685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters 0.028565804809154764 Centerline is valid? [True, True] Translation: X:281.17, Y:-175.61, Z:-38.99 [[ 7.02574274e-01 7.06345022e-01 8.64066000e-02 2.81170210e+02] [-7.01051364e-01 7.07867718e-01 -8.63150022e-02 -1.75611029e+02] [-1.22132615e-01 6.72351900e-05 9.92513788e-01 -3.89872634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters 0.02844280761464932 Centerline is valid? [True, True] Translation: X:281.21, Y:-175.66, Z:-38.99 [[ 6.99548672e-01 7.09322865e-01 8.65605494e-02 2.81210497e+02] [-7.04021608e-01 7.04883624e-01 -8.65601071e-02 -1.75659266e+02] [-1.22414177e-01 -3.87489151e-04 9.92479027e-01 -3.89934000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters 0.028265869229252776 Centerline is valid? [True, True] Translation: X:281.22, Y:-176.00, Z:-37.10 [[ 7.56544584e-01 -6.50408563e-01 -6.78895661e-02 2.81215516e+02] [-6.46772003e-01 -7.59537629e-01 6.91994700e-02 -1.76004871e+02] [-9.65726079e-02 -8.44341362e-03 -9.95290129e-01 -3.70979629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters 0.028260265457038344 Centerline is valid? [True, True] Translation: X:281.25, Y:-175.74, Z:-39.00 [[ 7.46864122e-01 6.58575038e-01 9.20483784e-02 2.81254091e+02] [-6.53756628e-01 7.52514654e-01 -7.95233679e-02 -1.75739230e+02] [-1.21639859e-01 -7.84087238e-04 9.92573992e-01 -3.90048289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters 0.028373684948394515 Centerline is valid? [True, True] Translation: X:281.30, Y:-175.78, Z:-39.01 [[ 7.44006589e-01 6.61646468e-01 9.31565691e-02 2.81297526e+02] [-6.56724134e-01 7.49814926e-01 -8.05666672e-02 -1.75783006e+02] [-1.23156837e-01 -1.23603592e-03 9.92386450e-01 -3.90106832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters 0.02879677497444403 Centerline is valid? [True, True] Translation: X:281.34, Y:-175.82, Z:-39.02 [[ 7.41199101e-01 6.64887088e-01 9.24610923e-02 2.81343797e+02] [-6.60054617e-01 7.46941929e-01 -8.00353469e-02 -1.75824204e+02] [-1.22277535e-01 -1.70724369e-03 9.92494478e-01 -3.90176087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters 0.028998562158029366 Centerline is valid? [True, True] Translation: X:281.39, Y:-175.86, Z:-39.03 [[ 7.40247901e-01 6.65759794e-01 9.37920138e-02 2.81390793e+02] [-6.60783875e-01 7.46163914e-01 -8.12655187e-02 -1.75864156e+02] [-1.24087531e-01 -1.81962069e-03 9.92269607e-01 -3.90254863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters 0.028992543102293013 Centerline is valid? [True, True] Translation: X:281.44, Y:-175.90, Z:-39.03 [[ 7.43019086e-01 6.62562056e-01 9.45206867e-02 2.81442141e+02] [-6.57472453e-01 7.49006005e-01 -8.19754735e-02 -1.75900035e+02] [-1.25110400e-01 -1.23540634e-03 9.92142057e-01 -3.90306767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters 0.028994223984987914 Centerline is valid? [True, True] Translation: X:281.49, Y:-175.94, Z:-39.04 [[ 7.48541930e-01 6.56063439e-01 9.62587281e-02 2.81491874e+02] [-6.50719653e-01 7.54705742e-01 -8.35654039e-02 -1.75937370e+02] [-1.27471221e-01 -8.52373962e-05 9.91842266e-01 -3.90393852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters 0.02916800092988567 Centerline is valid? [True, True] Translation: X:281.54, Y:-175.98, Z:-39.05 [[ 7.51792150e-01 6.52329789e-01 9.63037353e-02 2.81541017e+02] [-6.46938416e-01 7.57934998e-01 -8.36972194e-02 -1.75975978e+02] [-1.27590161e-01 6.20326621e-04 9.91826782e-01 -3.90466355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters 0.029335646566360785 Centerline is valid? [True, True] Translation: X:281.59, Y:-176.02, Z:-39.05 [[ 7.53854191e-01 6.49951623e-01 9.62639481e-02 2.81588355e+02] [-6.44534171e-01 7.59974803e-01 -8.37496356e-02 -1.76015590e+02] [-1.27591387e-01 1.08960981e-03 9.91826220e-01 -3.90531204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters 0.02915439128707642 Centerline is valid? [True, True] Translation: X:281.63, Y:-176.06, Z:-39.06 [[ 7.54240439e-01 6.49564044e-01 9.58536038e-02 2.81634591e+02] [-6.44179770e-01 7.60305918e-01 -8.34705694e-02 -1.76057709e+02] [-1.27097543e-01 1.20992645e-03 9.91889485e-01 -3.90587188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters 0.02961480763765898 Centerline is valid? [True, True] Translation: X:281.68, Y:-176.10, Z:-39.07 [[ 7.55996171e-01 6.47237499e-01 9.77415472e-02 2.81678563e+02] [-6.41607234e-01 7.62286513e-01 -8.52022890e-02 -1.76100436e+02] [-1.29653180e-01 1.70092046e-03 9.91557946e-01 -3.90664127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters 0.02945492146236957 Centerline is valid? [True, True] Translation: X:281.72, Y:-176.15, Z:-39.07 [[ 7.55579369e-01 6.47836650e-01 9.69922201e-02 2.81720946e+02] [-6.42288357e-01 7.61777515e-01 -8.46208301e-02 -1.76145797e+02] [-1.28706968e-01 1.64077980e-03 9.91681312e-01 -3.90734586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters 0.0295849346261778 Centerline is valid? [True, True] Translation: X:281.77, Y:-176.19, Z:-39.08 [[ 7.54034868e-01 6.49281053e-01 9.93253837e-02 2.81765561e+02] [-6.43463203e-01 7.60547102e-01 -8.67364539e-02 -1.76189038e+02] [-1.31857969e-01 1.49008100e-03 9.91267500e-01 -3.90804937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters 0.029482494815532067 Centerline is valid? [True, True] Translation: X:281.81, Y:-176.23, Z:-39.09 [[ 7.51413457e-01 6.52295574e-01 9.94399338e-02 2.81810205e+02] [-6.46479843e-01 7.57964007e-01 -8.69159232e-02 -1.76232561e+02] [-1.32066763e-01 1.02388155e-03 9.91240295e-01 -3.90873111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters 0.02948348245063985 Centerline is valid? [True, True] Translation: X:281.85, Y:-176.28, Z:-39.09 [[ 7.50575954e-01 6.53405420e-01 9.84738272e-02 2.81853379e+02] [-6.47701847e-01 7.57007650e-01 -8.61494914e-02 -1.76276742e+02] [-1.30835985e-01 8.80056953e-04 9.91403637e-01 -3.90932021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters 0.029305737462089237 Centerline is valid? [True, True] Translation: X:281.90, Y:-176.32, Z:-39.10 [[ 7.50483537e-01 6.53703272e-01 9.71930666e-02 2.81899927e+02] [-6.48140054e-01 7.56750463e-01 -8.51070292e-02 -1.76318398e+02] [-1.29185642e-01 8.76704901e-04 9.91620039e-01 -3.90969629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters 0.02935309278513157 Centerline is valid? [True, True] Translation: X:281.95, Y:-176.36, Z:-39.11 [[ 7.51180171e-01 6.52956876e-01 9.68280409e-02 2.81945996e+02] [-6.47418952e-01 7.57394342e-01 -8.48676115e-02 -1.76360149e+02] [-1.28751901e-01 1.06255819e-03 9.91676267e-01 -3.91054365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters 0.029718501572417528 Centerline is valid? [True, True] Translation: X:281.99, Y:-176.40, Z:-39.11 [[ 7.55539661e-01 6.47923241e-01 9.67227727e-02 2.81992564e+02] [-6.42344732e-01 7.61703041e-01 -8.48629642e-02 -1.76400707e+02] [-1.28658717e-01 1.98797165e-03 9.91686938e-01 -3.91124166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters 0.030371805192100542 Centerline is valid? [True, True] Translation: X:282.04, Y:-176.45, Z:-39.12 [[ 7.60301473e-01 6.42482381e-01 9.56977540e-02 2.82035889e+02] [-6.36969067e-01 7.66294821e-01 -8.40395984e-02 -1.76445446e+02] [-1.27326655e-01 2.93892140e-03 9.91856484e-01 -3.91189007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters 0.03081913107846361 Centerline is valid? [True, True] Translation: X:282.08, Y:-176.49, Z:-39.13 [[ 7.62719268e-01 6.39695228e-01 9.51279898e-02 2.82081001e+02] [-6.34216495e-01 7.68620952e-01 -8.36138196e-02 -1.76487735e+02] [-1.26604727e-01 3.44213100e-03 9.91947274e-01 -3.91253778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters 0.03124286723243507 Centerline is valid? [True, True] Translation: X:282.12, Y:-176.53, Z:-39.13 [[ 7.63960476e-01 6.38083252e-01 9.59903888e-02 2.82123535e+02] [-6.32482581e-01 7.69958011e-01 -8.44419673e-02 -1.76531964e+02] [-1.27789574e-01 3.79807665e-03 9.91794031e-01 -3.91331110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters 0.030930029232084124 Centerline is valid? [True, True] Translation: X:282.16, Y:-176.58, Z:-39.14 [[ 7.61932520e-01 6.40461610e-01 9.62692122e-02 2.82161699e+02] [-6.34841242e-01 7.67982461e-01 -8.47321457e-02 -1.76582240e+02] [-1.28200753e-01 3.44451100e-03 9.91742256e-01 -3.91400379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters 0.030027760304498684 Centerline is valid? [True, True] Translation: X:282.20, Y:-176.63, Z:-39.14 [[ 7.58818078e-01 6.44534108e-01 9.36531251e-02 2.82201939e+02] [-6.39238334e-01 7.64570666e-01 -8.24987814e-02 -1.76629567e+02] [-1.24777711e-01 2.73489909e-03 9.92180953e-01 -3.91447230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters 0.029642545201610145 Centerline is valid? [True, True] Translation: X:282.24, Y:-176.68, Z:-39.15 [[ 7.56361523e-01 6.47434533e-01 9.35188355e-02 2.82244633e+02] [-6.42168923e-01 7.62117609e-01 -8.24367937e-02 -1.76675239e+02] [-1.24644778e-01 2.29712893e-03 9.92198772e-01 -3.91516886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters 0.029376041199900612 Centerline is valid? [True, True] Translation: X:282.29, Y:-176.72, Z:-39.16 [[ 7.53081133e-01 6.51139037e-01 9.42696273e-02 2.82288260e+02] [-6.45811130e-01 7.58956486e-01 -8.31446749e-02 -1.76719580e+02] [-1.25685289e-01 1.73431147e-03 9.92068647e-01 -3.91583786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters 0.029121295474577834 Centerline is valid? [True, True] Translation: X:282.33, Y:-176.77, Z:-39.17 [[ 7.51266086e-01 6.53115654e-01 9.50747648e-02 2.82331477e+02] [-6.47701626e-01 7.57256735e-01 -8.39335453e-02 -1.76765490e+02] [-1.26814318e-01 1.47634630e-03 9.91925375e-01 -3.91653780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters 0.028895994190156066 Centerline is valid? [True, True] Translation: X:282.38, Y:-176.81, Z:-39.17 [[ 7.50057217e-01 6.54411961e-01 9.57034793e-02 2.82378710e+02] [-6.48924740e-01 7.56137028e-01 -8.45782231e-02 -1.76807314e+02] [-1.27713945e-01 1.33415121e-03 9.91810147e-01 -3.91726613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters 0.02869677396269671 Centerline is valid? [True, True] Translation: X:282.42, Y:-176.85, Z:-39.18 [[ 7.47587365e-01 6.57209536e-01 9.58580066e-02 2.82423096e+02] [-6.51715984e-01 7.53707350e-01 -8.48027527e-02 -1.76850391e+02] [-1.27982062e-01 9.25271388e-04 9.91776051e-01 -3.91781044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters 0.02892059095187125 Centerline is valid? [True, True] Translation: X:282.47, Y:-176.89, Z:-39.19 [[ 7.43111655e-01 6.62084097e-01 9.71067236e-02 2.82469596e+02] [-6.56476323e-01 7.49429533e-01 -8.59896062e-02 -1.76892257e+02] [-1.29706997e-01 1.51613782e-04 9.91552355e-01 -3.91854803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters 0.028981445852432924 Centerline is valid? [True, True] Translation: X:282.51, Y:-176.94, Z:-39.19 [[ 7.40847125e-01 6.64589145e-01 9.72975080e-02 2.82514778e+02] [-6.58968487e-01 7.47208954e-01 -8.62514442e-02 -1.76936138e+02] [-1.30023343e-01 -2.16857149e-04 9.91510909e-01 -3.91927277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters 0.02871610546441183 Centerline is valid? [True, True] Translation: X:282.56, Y:-176.98, Z:-39.20 [[ 7.38516736e-01 6.67509787e-01 9.49932385e-02 2.82561725e+02] [-6.62165963e-01 7.44600743e-01 -8.42969226e-02 -1.76976014e+02] [-1.27001057e-01 -6.46601101e-04 9.91902371e-01 -3.91993073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters 0.029309399490546575 Centerline is valid? [True, True] Translation: X:282.61, Y:-177.01, Z:-39.20 [[ 7.33916972e-01 6.72136017e-01 9.79747605e-02 2.82610649e+02] [-6.66479797e-01 7.40426320e-01 -8.70261195e-02 -1.77013373e+02] [-1.31036481e-01 -1.42825233e-03 9.91376518e-01 -3.92048288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters 0.029294038592656613 Centerline is valid? [True, True] Translation: X:282.66, Y:-177.05, Z:-39.21 [[ 7.32929511e-01 6.73431895e-01 9.64562844e-02 2.82663890e+02] [-6.67951726e-01 7.39247587e-01 -8.57525312e-02 -1.77046626e+02] [-1.29053565e-01 -1.57758089e-03 9.91636369e-01 -3.92125942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters 0.029388252122994347 Centerline is valid? [True, True] Translation: X:282.71, Y:-177.08, Z:-39.22 [[ 7.40121469e-01 6.65229089e-01 9.84401838e-02 2.82713718e+02] [-6.59435749e-01 7.46639306e-01 -8.76027380e-02 -1.77084637e+02] [-1.31775200e-01 -7.83092014e-05 9.91279623e-01 -3.92216644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters 0.02967994318899526 Centerline is valid? [True, True] Translation: X:282.76, Y:-177.12, Z:-39.23 [[ 7.46575041e-01 6.58104232e-01 9.75936844e-02 2.82761959e+02] [-6.52337274e-01 7.52925807e-01 -8.69414126e-02 -1.77122968e+02] [-1.30697315e-01 1.24429063e-03 9.91421537e-01 -3.92300705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters 0.03023093184492071 Centerline is valid? [True, True] Translation: X:282.81, Y:-177.16, Z:-39.24 [[ 7.52141033e-01 6.51870978e-01 9.66855457e-02 2.82807049e+02] [-6.46149367e-01 7.58326192e-01 -8.62112645e-02 -1.77164618e+02] [-1.29517803e-01 2.36972537e-03 9.91574265e-01 -3.92361527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters 0.030541613054270982 Centerline is valid? [True, True] Translation: X:282.85, Y:-177.21, Z:-39.24 [[ 7.52279765e-01 6.51289898e-01 9.94817815e-02 2.82851165e+02] [-6.45215381e-01 7.58824549e-01 -8.87829741e-02 -1.77207641e+02] [-1.33312672e-01 2.60245930e-03 9.91070612e-01 -3.92443010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters 0.030141663705663745 Centerline is valid? [True, True] Translation: X:282.90, Y:-177.25, Z:-39.25 [[ 7.50825469e-01 6.53401708e-01 9.65780688e-02 2.82895112e+02] [-6.47685620e-01 7.57008112e-01 -8.62673498e-02 -1.77251033e+02] [-1.29477615e-01 2.21949706e-03 9.91579861e-01 -3.92511875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters 0.0295481882390814 Centerline is valid? [True, True] Translation: X:282.94, Y:-177.30, Z:-39.26 [[ 7.47022269e-01 6.57707836e-01 9.68407547e-02 2.82936126e+02] [-6.51986082e-01 7.53271555e-01 -8.65800991e-02 -1.77298315e+02] [-1.29891796e-01 1.53843785e-03 9.91526981e-01 -3.92556879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters 0.02950546552172827 Centerline is valid? [True, True] Translation: X:282.98, Y:-177.34, Z:-39.26 [[ 7.45780251e-01 6.59206405e-01 9.62223057e-02 2.82978180e+02] [-6.53560049e-01 7.51960870e-01 -8.61052393e-02 -1.77343727e+02] [-1.29116534e-01 1.32853217e-03 9.91628537e-01 -3.92640728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters 0.029505521580748057 Centerline is valid? [True, True] Translation: X:283.02, Y:-177.39, Z:-39.27 [[ 7.45298860e-01 6.59551634e-01 9.75769031e-02 2.83020110e+02] [-6.53736618e-01 7.51658049e-01 -8.73991537e-02 -1.77389758e+02] [-1.30988719e-01 1.34889505e-03 9.91382941e-01 -3.92696357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters 0.029322896561517053 Centerline is valid? [True, True] Translation: X:283.06, Y:-177.44, Z:-39.28 [[ 7.43266294e-01 6.61826456e-01 9.76778298e-02 2.83060847e+02] [-6.56008171e-01 7.49656402e-01 -8.75703071e-02 -1.77437240e+02] [-1.31181156e-01 1.01060315e-03 9.91357898e-01 -3.92763842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters 0.02916731032675847 Centerline is valid? [True, True] Translation: X:283.10, Y:-177.48, Z:-39.28 [[ 7.39562101e-01 6.66048096e-01 9.70970254e-02 2.83102945e+02] [-6.60324616e-01 7.45908727e-01 -8.71296242e-02 -1.77482645e+02] [-1.30458039e-01 3.22211895e-04 9.91453779e-01 -3.92831032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters 0.029187018381726233 Centerline is valid? [True, True] Translation: X:283.15, Y:-177.53, Z:-39.29 [[ 7.36541399e-01 6.69319602e-01 9.75604341e-02 2.83146580e+02] [-6.63558395e-01 7.42974584e-01 -8.76300362e-02 -1.77527960e+02] [-1.31137424e-01 -1.93895626e-04 9.91364181e-01 -3.92911498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters 0.029403143197566206 Centerline is valid? [True, True] Translation: X:283.19, Y:-177.58, Z:-39.30 [[ 7.32510518e-01 6.73809134e-01 9.70030573e-02 2.83188525e+02] [-6.68140364e-01 7.38904870e-01 -8.72241193e-02 -1.77575840e+02] [-1.30448440e-01 -9.19073287e-04 9.91454669e-01 -3.92965828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters 0.029596764145425822 Centerline is valid? [True, True] Translation: X:283.23, Y:-177.62, Z:-39.30 [[ 7.30145660e-01 6.76312057e-01 9.74131302e-02 2.83233399e+02] [-6.70604739e-01 7.36614084e-01 -8.76868074e-02 -1.77618497e+02] [-1.31059529e-01 -1.30156485e-03 9.91373646e-01 -3.93032824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters 0.029655113375737622 Centerline is valid? [True, True] Translation: X:283.28, Y:-177.66, Z:-39.31 [[ 7.28306476e-01 6.78285163e-01 9.74623781e-02 2.83277668e+02] [-6.72578492e-01 7.34797043e-01 -8.78150225e-02 -1.77661116e+02] [-1.31178694e-01 -1.59484967e-03 9.91357457e-01 -3.93094502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters 0.02980661544029747 Centerline is valid? [True, True] Translation: X:283.32, Y:-177.70, Z:-39.32 [[ 7.26617982e-01 6.80013618e-01 9.80193244e-02 2.83324190e+02] [-6.74245561e-01 7.33197136e-01 -8.84018272e-02 -1.77702456e+02] [-1.31981934e-01 -1.85473710e-03 9.91250387e-01 -3.93163760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters 0.030124114816987305 Centerline is valid? [True, True] Translation: X:283.37, Y:-177.74, Z:-39.32 [[ 7.22865760e-01 6.84161551e-01 9.68920248e-02 2.83373633e+02] [-6.78551985e-01 7.29326146e-01 -8.74675747e-02 -1.77740286e+02] [-1.30507839e-01 -2.51896091e-03 9.91444078e-01 -3.93228746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters 0.030525714734125936 Centerline is valid? [True, True] Translation: X:283.42, Y:-177.78, Z:-39.33 [[ 7.18644417e-01 6.88585467e-01 9.69549166e-02 2.83422211e+02] [-6.82997491e-01 7.25147858e-01 -8.76071441e-02 -1.77778399e+02] [-1.30631656e-01 -3.26157977e-03 9.91425606e-01 -3.93291240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters 0.031071275361694524 Centerline is valid? [True, True] Translation: X:283.47, Y:-177.81, Z:-39.34 [[ 7.15360039e-01 6.92220899e-01 9.53427539e-02 2.83473507e+02] [-6.86839635e-01 7.21675679e-01 -8.62295135e-02 -1.77813539e+02] [-1.28496418e-01 -3.80003414e-03 9.91702692e-01 -3.93358893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters 0.030836536594254574 Centerline is valid? [True, True] Translation: X:283.53, Y:-177.85, Z:-39.34 [[ 7.16015503e-01 6.91699877e-01 9.41970265e-02 2.83525982e+02] [-6.86433027e-01 7.22176083e-01 -8.52725312e-02 -1.77847209e+02] [-1.27009839e-01 -3.60349567e-03 9.91894912e-01 -3.93434043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters 0.030463859700394936 Centerline is valid? [True, True] Translation: X:283.58, Y:-177.88, Z:-39.35 [[ 7.18059722e-01 6.89436868e-01 9.52210101e-02 2.83579689e+02] [-6.84024148e-01 7.24338800e-01 -8.62801691e-02 -1.77879613e+02] [-1.28457002e-01 -3.17915606e-03 9.91709984e-01 -3.93496679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters 0.02996247045858756 Centerline is valid? [True, True] Translation: X:283.63, Y:-177.92, Z:-39.36 [[ 7.21142445e-01 6.85989263e-01 9.68106651e-02 2.83629714e+02] [-6.80351521e-01 7.27607208e-01 -8.78040957e-02 -1.77915970e+02] [-1.30672805e-01 -2.54602297e-03 9.91422279e-01 -3.93563916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters 0.029552950346301822 Centerline is valid? [True, True] Translation: X:283.68, Y:-177.95, Z:-39.37 [[ 7.27871329e-01 6.78643456e-01 9.82160260e-02 2.83680942e+02] [-6.72761479e-01 7.34466934e-01 -8.91645403e-02 -1.77951261e+02] [-1.32647355e-01 -1.17564645e-03 9.91162599e-01 -3.93665544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters 0.029440691538178465 Centerline is valid? [True, True] Translation: X:283.73, Y:-177.99, Z:-39.37 [[ 7.31056579e-01 6.75109289e-01 9.89127212e-02 2.83729829e+02] [-6.69098900e-01 7.37717579e-01 -8.98856859e-02 -1.77990862e+02] [-1.33652315e-01 -4.70870984e-04 9.91028172e-01 -3.93721677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters 0.029512144335398685 Centerline is valid? [True, True] Translation: X:283.78, Y:-178.03, Z:-39.38 [[ 7.31477122e-01 6.74576362e-01 9.94381803e-02 2.83781210e+02] [-6.68483359e-01 7.38205012e-01 -9.04619171e-02 -1.78028331e+02] [-1.34429234e-01 -3.01946021e-04 9.90923150e-01 -3.93782738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters 0.029570818110036916 Centerline is valid? [True, True] Translation: X:283.83, Y:-178.07, Z:-39.39 [[ 7.29597627e-01 6.76834684e-01 9.78882716e-02 2.83828996e+02] [-6.70938799e-01 7.36134774e-01 -8.91443944e-02 -1.78066810e+02] [-1.32394979e-01 -6.37500803e-04 9.91196834e-01 -3.93869939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters 0.02954746008610593 Centerline is valid? [True, True] Translation: X:283.88, Y:-178.11, Z:-39.39 [[ 7.29901340e-01 6.76763846e-01 9.60975077e-02 2.83878040e+02] [-6.71071440e-01 7.36199967e-01 -8.75941309e-02 -1.78105153e+02] [-1.30027523e-01 -5.53219377e-04 9.91510231e-01 -3.93930218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters 0.029575805770717025 Centerline is valid? [True, True] Translation: X:283.93, Y:-178.14, Z:-39.40 [[ 7.32361607e-01 6.73963189e-01 9.70571869e-02 2.83927427e+02] [-6.68120035e-01 7.38764929e-01 -8.85550579e-02 -1.78143390e+02] [-1.31385295e-01 8.47331869e-06 9.91331380e-01 -3.94005437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters 0.029840847558277275 Centerline is valid? [True, True] Translation: X:283.98, Y:-178.18, Z:-39.41 [[ 7.33218666e-01 6.73222293e-01 9.57190277e-02 2.83977167e+02] [-6.67521600e-01 7.39440127e-01 -8.74254647e-02 -1.78180491e+02] [-1.29635262e-01 2.07464058e-04 9.91561726e-01 -3.94088088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters 0.030103262078033495 Centerline is valid? [True, True] Translation: X:284.02, Y:-178.22, Z:-39.42 [[ 7.31033276e-01 6.75418082e-01 9.69575384e-02 2.84023141e+02] [-6.69576355e-01 7.37435014e-01 -8.86403092e-02 -1.78222224e+02] [-1.31369151e-01 -1.21459488e-04 9.91333512e-01 -3.94155944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters 0.030180499765940907 Centerline is valid? [True, True] Translation: X:284.07, Y:-178.26, Z:-39.42 [[ 7.30034335e-01 6.76513014e-01 9.68504617e-02 2.84071502e+02] [-6.70682632e-01 7.36430633e-01 -8.86269178e-02 -1.78262380e+02] [-1.31280910e-01 -2.55229547e-04 9.91345176e-01 -3.94226674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters 0.030386450777277568 Centerline is valid? [True, True] Translation: X:284.12, Y:-178.30, Z:-39.43 [[ 7.30240205e-01 6.76589383e-01 9.47420146e-02 2.84119841e+02] [-6.71000192e-01 7.36360488e-01 -8.67869508e-02 -1.78301235e+02] [-1.28483406e-01 -1.96589157e-04 9.91711639e-01 -3.94275003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters 0.030419950179161964 Centerline is valid? [True, True] Translation: X:284.17, Y:-178.34, Z:-39.44 [[ 7.30581258e-01 6.76135298e-01 9.53524251e-02 2.84168060e+02] [-6.70458764e-01 7.36777481e-01 -8.74299119e-02 -1.78341886e+02] [-1.29367969e-01 -5.52141339e-05 9.91596655e-01 -3.94353600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters 0.030378919879974063 Centerline is valid? [True, True] Translation: X:284.21, Y:-178.38, Z:-39.44 [[ 7.29267930e-01 6.77680637e-01 9.44311395e-02 2.84214986e+02] [-6.72114976e-01 7.35356299e-01 -8.66750932e-02 -1.78382554e+02] [-1.28178566e-01 -2.59217258e-04 9.91751072e-01 -3.94416096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters 0.03039116718092926 Centerline is valid? [True, True] Translation: X:284.26, Y:-178.42, Z:-39.45 [[ 7.24835656e-01 6.82715888e-01 9.22620571e-02 2.84264591e+02] [-6.77434561e-01 7.30683163e-01 -8.47616069e-02 -1.78420482e+02] [-1.25282427e-01 -1.06327119e-03 9.92120549e-01 -3.94465182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters 0.03057354522335963 Centerline is valid? [True, True] Translation: X:284.31, Y:-178.46, Z:-39.45 [[ 7.23028394e-01 6.84584893e-01 9.25930113e-02 2.84311259e+02] [-6.79270628e-01 7.28931922e-01 -8.51449794e-02 -1.78460567e+02] [-1.25782968e-01 -1.33347525e-03 9.92056887e-01 -3.94542964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters 0.03069353227750635 Centerline is valid? [True, True] Translation: X:284.36, Y:-178.50, Z:-39.46 [[ 7.21437199e-01 6.86032507e-01 9.42749546e-02 2.84360011e+02] [-6.80524303e-01 7.27569229e-01 -8.67737875e-02 -1.78499382e+02] [-1.28121195e-01 -1.55455963e-03 9.91757300e-01 -3.94593881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters 0.03063840181065545 Centerline is valid? [True, True] Translation: X:284.41, Y:-178.54, Z:-39.47 [[ 7.24210993e-01 6.82880394e-01 9.58791144e-02 2.84407500e+02] [-6.77143462e-01 7.30529578e-01 -8.83361027e-02 -1.78539972e+02] [-1.30365522e-01 -9.49938819e-04 9.91465546e-01 -3.94679043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters 0.03039898024813364 Centerline is valid? [True, True] Translation: X:284.45, Y:-178.58, Z:-39.47 [[ 7.25544352e-01 6.81658804e-01 9.44810438e-02 2.84454122e+02] [-6.76066397e-01 7.31669905e-01 -8.71399828e-02 -1.78581170e+02] [-1.28528673e-01 -6.51536552e-04 9.91705579e-01 -3.94744586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters 0.03030769277700899 Centerline is valid? [True, True] Translation: X:284.50, Y:-178.62, Z:-39.48 [[ 7.23412404e-01 6.84077211e-01 9.33427194e-02 2.84500365e+02] [-6.78628897e-01 7.29408908e-01 -8.61711422e-02 -1.78624510e+02] [-1.27032726e-01 -1.00779354e-03 9.91898014e-01 -3.94794763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters 0.030410818965039776 Centerline is valid? [True, True] Translation: X:284.55, Y:-178.67, Z:-39.49 [[ 7.19544295e-01 6.88307845e-01 9.21320726e-02 2.84546018e+02] [-6.83023671e-01 7.25416803e-01 -8.51418002e-02 -1.78666041e+02] [-1.25437923e-01 -1.66508987e-03 9.92100073e-01 -3.94852147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters 0.03068102313930672 Centerline is valid? [True, True] Translation: X:284.59, Y:-178.71, Z:-39.49 [[ 7.15812746e-01 6.92110122e-01 9.27129527e-02 2.84591525e+02] [-6.86780201e-01 7.21788302e-01 -8.57589831e-02 -1.78707783e+02] [-1.26273785e-01 -2.28604711e-03 9.91992795e-01 -3.94926905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters 0.030882423814157522 Centerline is valid? [True, True] Translation: X:284.64, Y:-178.75, Z:-39.50 [[ 7.13522471e-01 6.94601121e-01 9.17331263e-02 2.84636557e+02] [-6.89394159e-01 7.19390238e-01 -8.49316160e-02 -1.78750355e+02] [-1.24985511e-01 -2.63966495e-03 9.92155056e-01 -3.94993925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters 0.030697610603434396 Centerline is valid? [True, True] Translation: X:284.68, Y:-178.79, Z:-39.51 [[ 7.13712618e-01 6.94701662e-01 8.94645174e-02 2.84683044e+02] [-6.89741394e-01 7.19293524e-01 -8.29073956e-02 -1.78791885e+02] [-1.21947153e-01 -2.53532649e-03 9.92533357e-01 -3.95054110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters 0.030332499242486186 Centerline is valid? [True, True] Translation: X:284.73, Y:-178.83, Z:-39.51 [[ 7.14393655e-01 6.93877801e-01 9.04173876e-02 2.84731000e+02] [-6.88794288e-01 7.20088897e-01 -8.38713832e-02 -1.78831828e+02] [-1.23305048e-01 -2.36179621e-03 9.92366005e-01 -3.95119041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters 0.03054652997274371 Centerline is valid? [True, True] Translation: X:284.78, Y:-178.87, Z:-39.52 [[ 7.11505497e-01 6.96831842e-01 9.04727114e-02 2.84776871e+02] [-6.91754592e-01 7.17229036e-01 -8.40124646e-02 -1.78873960e+02] [-1.23432216e-01 -2.80958315e-03 9.92349028e-01 -3.95181374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters 0.03102222400782813 Centerline is valid? [True, True] Translation: X:284.83, Y:-178.91, Z:-39.52 [[ 7.07965577e-01 7.00489265e-01 8.99974011e-02 2.84825656e+02] [-6.95485028e-01 7.13654976e-01 -8.36489756e-02 -1.78912345e+02] [-1.22822303e-01 -3.37124973e-03 9.92422953e-01 -3.95245882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters 0.03044090502641056 Centerline is valid? [True, True] Translation: X:284.88, Y:-178.95, Z:-39.53 [[ 7.10319164e-01 6.98107537e-01 8.99586130e-02 2.84875686e+02] [-6.93078830e-01 7.15987048e-01 -8.36915925e-02 -1.78948690e+02] [-1.22834933e-01 -2.90066817e-03 9.92422876e-01 -3.95319121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters 0.029960952732726517 Centerline is valid? [True, True] Translation: X:284.92, Y:-178.99, Z:-39.54 [[ 7.14940297e-01 6.93182082e-01 9.14274207e-02 2.84923080e+02] [-6.87937463e-01 7.20759651e-01 -8.51326761e-02 -1.78989207e+02] [-1.24909641e-01 -2.03156714e-03 9.92166042e-01 -3.95381493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters 0.029454862437557204 Centerline is valid? [True, True] Translation: X:284.97, Y:-179.03, Z:-39.55 [[ 7.20489974e-01 6.87255566e-01 9.25958107e-02 2.84970512e+02] [-6.81821654e-01 7.26415043e-01 -8.62578532e-02 -1.79029029e+02] [-1.26544180e-01 -9.85910382e-04 9.91960482e-01 -3.95454299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters 0.029116629584297858 Centerline is valid? [True, True] Translation: X:285.02, Y:-179.07, Z:-39.55 [[ 7.23102051e-01 6.84283911e-01 9.42282008e-02 2.85017973e+02] [-6.78619564e-01 7.29215580e-01 -8.78642481e-02 -1.79070063e+02] [-1.28836763e-01 -4.10282544e-04 9.91665730e-01 -3.95531297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters 0.02895676842896202 Centerline is valid? [True, True] Translation: X:285.06, Y:-179.11, Z:-39.56 [[ 7.23010942e-01 6.84629474e-01 9.23994639e-02 2.85062350e+02] [-6.79176165e-01 7.28891159e-01 -8.62404526e-02 -1.79113732e+02] [-1.26391908e-01 -4.02722607e-04 9.91980304e-01 -3.95602949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters 0.028775241027547048 Centerline is valid? [True, True] Translation: X:285.11, Y:-179.16, Z:-39.57 [[ 7.21181786e-01 6.86543119e-01 9.24952813e-02 2.85106732e+02] [-6.81089292e-01 7.27088743e-01 -8.63674454e-02 -1.79158992e+02] [-1.26547253e-01 -7.10917131e-04 9.91960325e-01 -3.95653570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters 0.028705810348242548 Centerline is valid? [True, True] Translation: X:285.15, Y:-179.20, Z:-39.57 [[ 7.21589641e-01 6.86158663e-01 9.21665843e-02 2.85149462e+02] [-6.80728993e-01 7.27451689e-01 -8.61514908e-02 -1.79204416e+02] [-1.26160329e-01 -5.74442823e-04 9.92009698e-01 -3.95730355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters 0.02871074631149752 Centerline is valid? [True, True] Translation: X:285.19, Y:-179.25, Z:-39.58 [[ 7.22838718e-01 6.84596574e-01 9.39772206e-02 2.85192817e+02] [-6.78925285e-01 7.28922131e-01 -8.79373850e-02 -1.79248318e+02] [-1.28703708e-01 -2.38964668e-04 9.91683063e-01 -3.95797086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters 0.02871153453443485 Centerline is valid? [True, True] Translation: X:285.24, Y:-179.29, Z:-39.59 [[ 7.22804348e-01 6.84682433e-01 9.36153904e-02 2.85235425e+02] [-6.79044773e-01 7.28841498e-01 -8.76827575e-02 -1.79294216e+02] [-1.28265625e-01 -1.91563235e-04 9.91739831e-01 -3.95875580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters 0.028808581395584423 Centerline is valid? [True, True] Translation: X:285.28, Y:-179.34, Z:-39.60 [[ 7.23254719e-01 6.84346627e-01 9.25867500e-02 2.85278917e+02] [-6.78818363e-01 7.29156835e-01 -8.68097910e-02 -1.79338312e+02] [-1.26918249e-01 -6.39950326e-05 9.91913179e-01 -3.95955087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters 0.02879326461476257 Centerline is valid? [True, True] Translation: X:285.32, Y:-179.38, Z:-39.60 [[ 7.24840514e-01 6.82638518e-01 9.27948422e-02 2.85322389e+02] [-6.77060649e-01 7.30756160e-01 -8.70879546e-02 -1.79383096e+02] [-1.27259995e-01 2.97141688e-04 9.91869349e-01 -3.96011819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters 0.028895453821356432 Centerline is valid? [True, True] Translation: X:285.37, Y:-179.43, Z:-39.61 [[ 7.26354299e-01 6.81034953e-01 9.27406318e-02 2.85367172e+02] [-6.75438740e-01 7.32250623e-01 -8.71294026e-02 -1.79426914e+02] [-1.27247554e-01 6.46200683e-04 9.91870779e-01 -3.96085697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters 0.029003423132831194 Centerline is valid? [True, True] Translation: X:285.41, Y:-179.47, Z:-39.61 [[ 7.24276638e-01 6.83067152e-01 9.40351933e-02 2.85410846e+02] [-6.77317852e-01 7.30355485e-01 -8.84386377e-02 -1.79470440e+02] [-1.29088648e-01 3.62324011e-04 9.91632991e-01 -3.96139662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters 0.028915994031758388 Centerline is valid? [True, True] Translation: X:285.45, Y:-179.51, Z:-39.62 [[ 7.20923483e-01 6.86442959e-01 9.52123747e-02 2.85454999e+02] [-6.80566371e-01 7.27183630e-01 -8.96291457e-02 -1.79513454e+02] [-1.30762176e-01 -1.82584438e-04 9.91413748e-01 -3.96197071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters 0.029026675291497644 Centerline is valid? [True, True] Translation: X:285.50, Y:-179.56, Z:-39.63 [[ 7.17766508e-01 6.89706901e-01 9.54758167e-02 2.85500816e+02] [-6.83815037e-01 7.24088308e-01 -8.99617570e-02 -1.79555301e+02] [-1.31180167e-01 -7.16262940e-04 9.91358286e-01 -3.96278724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters 0.028722451386948445 Centerline is valid? [True, True] Translation: X:285.55, Y:-179.60, Z:-39.63 [[ 7.20069700e-01 6.87681684e-01 9.27012870e-02 2.85546402e+02] [-6.82101001e-01 7.26012277e-01 -8.74322477e-02 -1.79597586e+02] [-1.27427828e-01 -2.74328365e-04 9.91847808e-01 -3.96345002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters 0.02887196895025128 Centerline is valid? [True, True] Translation: X:285.59, Y:-179.64, Z:-39.64 [[ 7.21662584e-01 6.86071383e-01 9.22451803e-02 2.85592472e+02] [-6.80522022e-01 7.27534228e-01 -8.70845831e-02 -1.79640302e+02] [-1.26857766e-01 7.08086122e-05 9.91920915e-01 -3.96415564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters 0.028956239503816695 Centerline is valid? [True, True] Translation: X:285.64, Y:-179.68, Z:-39.65 [[ 7.22287970e-01 6.85249189e-01 9.34539312e-02 2.85636972e+02] [-6.79533851e-01 7.28308634e-01 -8.83191841e-02 -1.79682900e+02] [-1.28583954e-01 2.86774434e-04 9.91698585e-01 -3.96487201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters 0.028885731820038497 Centerline is valid? [True, True] Translation: X:285.68, Y:-179.73, Z:-39.66 [[ 7.20404162e-01 6.87217317e-01 9.35425190e-02 2.85679505e+02] [-6.81496553e-01 7.26451897e-01 -8.84877928e-02 -1.79728845e+02] [-1.28764484e-01 -1.93003928e-06 9.91675203e-01 -3.96556126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters 0.0289989369216642 Centerline is valid? [True, True] Translation: X:285.72, Y:-179.77, Z:-39.66 [[ 7.17790162e-01 6.89906381e-01 9.38427906e-02 2.85724251e+02] [-6.84159183e-01 7.23898482e-01 -8.88661903e-02 -1.79773462e+02] [-1.29242005e-01 -4.16129787e-04 9.91612995e-01 -3.96620657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters 0.028774697169649432 Centerline is valid? [True, True] Translation: X:285.77, Y:-179.82, Z:-39.67 [[ 7.16938368e-01 6.90850783e-01 9.34054175e-02 2.85770163e+02] [-6.85153059e-01 7.22997186e-01 -8.85457857e-02 -1.79816656e+02] [-1.28703779e-01 -5.15136386e-04 9.91682949e-01 -3.96678772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters 0.029010346713726938 Centerline is valid? [True, True] Translation: X:285.82, Y:-179.86, Z:-39.67 [[ 7.14031590e-01 6.93993796e-01 9.23661156e-02 2.85816954e+02] [-6.88436792e-01 7.19980284e-01 -8.76537189e-02 -1.79859203e+02] [-1.27332919e-01 -1.00070798e-03 9.91859530e-01 -3.96742842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters 0.029171423552489497 Centerline is valid? [True, True] Translation: X:285.86, Y:-179.90, Z:-39.68 [[ 7.11512264e-01 6.96616056e-01 9.20671921e-02 2.85864212e+02] [-6.91105008e-01 7.17442763e-01 -8.74628463e-02 -1.79900294e+02] [-1.26980964e-01 -1.39720978e-03 9.91904170e-01 -3.96811406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters 0.029218135720990843 Centerline is valid? [True, True] Translation: X:285.91, Y:-179.94, Z:-39.69 [[ 7.10219012e-01 6.98015830e-01 9.14486566e-02 2.85911285e+02] [-6.92578583e-01 7.16080610e-01 -8.69681913e-02 -1.79941930e+02] [-1.26189784e-01 -1.56891814e-03 9.92004877e-01 -3.96869356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters 0.029315039333310762 Centerline is valid? [True, True] Translation: X:285.96, Y:-179.98, Z:-39.69 [[ 7.11601849e-01 6.96328075e-01 9.35415445e-02 2.85957925e+02] [-6.90611132e-01 7.17722578e-01 -8.90537205e-02 -1.79982581e+02] [-1.29147484e-01 -1.23003975e-03 9.91624634e-01 -3.96949082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters 0.029259892677530368 Centerline is valid? [True, True] Translation: X:286.00, Y:-180.03, Z:-39.70 [[ 7.16849319e-01 6.91082626e-01 9.23680565e-02 2.86001162e+02] [-6.85454559e-01 7.22775731e-01 -8.80186927e-02 -1.80027503e+02] [-1.27589579e-01 -2.17965529e-04 9.91827027e-01 -3.97009964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters 0.02937195079638891 Centerline is valid? [True, True] Translation: X:286.04, Y:-180.07, Z:-39.71 [[ 7.17817277e-01 6.89930936e-01 9.34540518e-02 2.86044686e+02] [-6.84148434e-01 7.23875197e-01 -8.91382040e-02 -1.80071101e+02] [-1.29148275e-01 4.84997083e-05 9.91625293e-01 -3.97074455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters 0.029555000172946697 Centerline is valid? [True, True] Translation: X:286.09, Y:-180.12, Z:-39.71 [[ 7.15665567e-01 6.91711210e-01 9.67388142e-02 2.86088187e+02] [-6.85517317e-01 7.22174186e-01 -9.23604485e-02 -1.80115450e+02] [-1.33749032e-01 -2.16939653e-04 9.91015211e-01 -3.97144230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters 0.02947828287089226 Centerline is valid? [True, True] Translation: X:286.13, Y:-180.16, Z:-39.72 [[ 7.11017249e-01 6.96567531e-01 9.61672837e-02 2.86131067e+02] [-6.90479133e-01 7.17490458e-01 -9.19021795e-02 -1.80161406e+02] [-1.33015183e-01 -1.05746776e-03 9.91113436e-01 -3.97203830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters 0.02949268101105362 Centerline is valid? [True, True] Translation: X:286.17, Y:-180.21, Z:-39.73 [[ 7.10184592e-01 6.97533906e-01 9.53115650e-02 2.86170660e+02] [-6.91550062e-01 7.16550839e-01 -9.11778892e-02 -1.80209261e+02] [-1.31895251e-01 -1.15958652e-03 9.91262981e-01 -3.97265811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters 0.029649259345437256 Centerline is valid? [True, True] Translation: X:286.21, Y:-180.25, Z:-39.73 [[ 7.14322389e-01 6.93294539e-01 9.53215924e-02 2.86213797e+02] [-6.87260352e-01 7.20654275e-01 -9.12722591e-02 -1.80253553e+02] [-1.31972472e-01 -3.12932928e-04 9.91253332e-01 -3.97343039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters 0.02970740212982406 Centerline is valid? [True, True] Translation: X:286.25, Y:-180.30, Z:-39.74 [[ 7.16304647e-01 6.91204665e-01 9.56230321e-02 2.86254904e+02] [-6.85101584e-01 7.22659043e-01 -9.16500291e-02 -1.80300630e+02] [-1.32451776e-01 1.37851043e-04 9.91189441e-01 -3.97420635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters 0.030077398943475345 Centerline is valid? [True, True] Translation: X:286.30, Y:-180.35, Z:-39.75 [[ 7.11974843e-01 6.95538919e-01 9.65268655e-02 2.86297194e+02] [-6.89345670e-01 7.18488170e-01 -9.26136944e-02 -1.80346217e+02] [-1.33769840e-01 -6.01756295e-04 9.91012244e-01 -3.97507982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters 0.030429127051198546 Centerline is valid? [True, True] Translation: X:286.34, Y:-180.39, Z:-39.76 [[ 7.08293251e-01 6.99145055e-01 9.75544118e-02 2.86342234e+02] [-6.92840686e-01 7.14978793e-01 -9.36862310e-02 -1.80388156e+02] [-1.35249601e-01 -1.23234041e-03 9.90810793e-01 -3.97560483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters 0.03050270392427274 Centerline is valid? [True, True] Translation: X:286.39, Y:-180.43, Z:-39.76 [[ 7.07967646e-01 6.99571573e-01 9.68577627e-02 2.86389206e+02] [-6.93350287e-01 7.14561448e-01 -9.30984289e-02 -1.80428013e+02] [-1.34339838e-01 -1.24568197e-03 9.90934537e-01 -3.97630780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters 0.030836763451104258 Centerline is valid? [True, True] Translation: X:286.44, Y:-180.47, Z:-39.77 [[ 7.10214860e-01 6.96772062e-01 1.00516395e-01 2.86437318e+02] [-6.90028617e-01 7.17292295e-01 -9.67071442e-02 -1.80466380e+02] [-1.39482472e-01 -6.76338080e-04 9.90224309e-01 -3.97706096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters 0.03076414288793188 Centerline is valid? [True, True] Translation: X:286.48, Y:-180.51, Z:-39.78 [[ 7.12496805e-01 6.94714014e-01 9.85938273e-02 2.86483689e+02] [-6.88196232e-01 7.19286032e-01 -9.49397185e-02 -1.80507621e+02] [-1.36873116e-01 -2.07654385e-04 9.90588566e-01 -3.97787311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters 0.031009086735484335 Centerline is valid? [True, True] Translation: X:286.53, Y:-180.55, Z:-39.78 [[ 7.10648417e-01 6.96552428e-01 9.89623261e-02 2.86529268e+02] [-6.89990585e-01 7.17505727e-01 -9.53861873e-02 -1.80550301e+02] [-1.37447516e-01 -4.97030280e-04 9.90508926e-01 -3.97843207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters 0.030988463337642307 Centerline is valid? [True, True] Translation: X:286.57, Y:-180.60, Z:-39.79 [[ 7.09141192e-01 6.98310278e-01 9.73731276e-02 2.86572018e+02] [-6.91961822e-01 7.15794794e-01 -9.39502554e-02 -1.80595582e+02] [-1.35305607e-01 -7.54490667e-04 9.90803625e-01 -3.97901754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters 0.03134398680933236 Centerline is valid? [True, True] Translation: X:286.61, Y:-180.64, Z:-39.80 [[ 7.05250930e-01 7.02222520e-01 9.74918351e-02 2.86614189e+02] [-6.95883563e-01 7.11956075e-01 -9.41520831e-02 -1.80640207e+02] [-1.35525617e-01 -1.44212143e-03 9.90772793e-01 -3.97988607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters 0.031536377361056855 Centerline is valid? [True, True] Translation: X:286.66, Y:-180.68, Z:-39.80 [[ 7.01996812e-01 7.05548091e-01 9.69658051e-02 2.86659860e+02] [-6.99297252e-01 7.08659195e-01 -9.37309856e-02 -1.80682425e+02] [-1.34847427e-01 -2.00906801e-03 9.90864337e-01 -3.98046128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters 0.03175619425278319 Centerline is valid? [True, True] Translation: X:286.71, Y:-180.72, Z:-39.81 [[ 7.00233343e-01 7.07194148e-01 9.77225774e-02 2.86705397e+02] [-7.00848732e-01 7.07015723e-01 -9.45506306e-02 -1.80724111e+02] [-1.35957051e-01 -2.28124039e-03 9.90712106e-01 -3.98113901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters 0.031903540055421786 Centerline is valid? [True, True] Translation: X:286.75, Y:-180.76, Z:-39.82 [[ 6.98762013e-01 7.08952039e-01 9.54916535e-02 2.86752198e+02] [-7.02899258e-01 7.05252257e-01 -9.24764093e-02 -1.80764914e+02] [-1.32907043e-01 -2.50201046e-03 9.91125349e-01 -3.98172606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters 0.03210856197552105 Centerline is valid? [True, True] Translation: X:286.80, Y:-180.80, Z:-39.82 [[ 6.97713477e-01 7.09567158e-01 9.85411139e-02 2.86802309e+02] [-7.03113346e-01 7.04632869e-01 -9.55203809e-02 -1.80801468e+02] [-1.37213433e-01 -2.63971517e-03 9.90537988e-01 -3.98249622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters 0.032018977110192366 Centerline is valid? [True, True] Translation: X:286.85, Y:-180.84, Z:-39.83 [[ 6.98620837e-01 7.08842410e-01 9.73209370e-02 2.86853234e+02] [-7.02530302e-01 7.05362767e-01 -9.44168518e-02 -1.80838349e+02] [-1.35573234e-01 -2.40932722e-03 9.90764398e-01 -3.98326091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters 0.03197520694682922 Centerline is valid? [True, True] Translation: X:286.90, Y:-180.88, Z:-39.84 [[ 6.99315662e-01 7.08257919e-01 9.65832547e-02 2.86902446e+02] [-7.02028522e-01 7.05950216e-01 -9.37563200e-02 -1.80876514e+02] [-1.34586626e-01 -2.23893648e-03 9.90899302e-01 -3.98393569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters 0.031844124685263375 Centerline is valid? [True, True] Translation: X:286.95, Y:-180.91, Z:-39.85 [[ 7.02933158e-01 7.04578467e-01 9.72325009e-02 2.86954288e+02] [-6.98217374e-01 7.09624544e-01 -9.44748874e-02 -1.80911314e+02] [-1.35563540e-01 -1.47989058e-03 9.90767549e-01 -3.98460494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters 0.03144488158715115 Centerline is valid? [True, True] Translation: X:287.01, Y:-180.95, Z:-39.85 [[ 7.09155524e-01 6.98563568e-01 9.54326127e-02 2.87005040e+02] [-6.92372059e-01 7.15547952e-01 -9.28011890e-02 -1.80948340e+02] [-1.33114140e-01 -2.64398662e-04 9.91100679e-01 -3.98529542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters 0.03157060819882793 Centerline is valid? [True, True] Translation: X:287.05, Y:-180.99, Z:-39.86 [[ 7.10870149e-01 6.96684968e-01 9.64037645e-02 2.87051883e+02] [-6.90343240e-01 7.17377196e-01 -9.37879033e-02 -1.80988762e+02] [-1.34498485e-01 1.19333743e-04 9.90913792e-01 -3.98595991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters 0.031599206935932204 Centerline is valid? [True, True] Translation: X:287.10, Y:-181.03, Z:-39.87 [[ 7.10834235e-01 6.96862966e-01 9.53766039e-02 2.87100384e+02] [-6.90646290e-01 7.17204284e-01 -9.28747411e-02 -1.81028354e+02] [-1.33125477e-01 1.47047957e-04 9.91099181e-01 -3.98651732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters 0.03130297416905554 Centerline is valid? [True, True] Translation: X:287.15, Y:-181.07, Z:-39.87 [[ 7.09681847e-01 6.98092634e-01 9.49649950e-02 2.87145863e+02] [-6.91928719e-01 7.16007454e-01 -9.25633521e-02 -1.81071728e+02] [-1.32613439e-01 -1.84766009e-05 9.91167834e-01 -3.98721998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters 0.03144097311320249 Centerline is valid? [True, True] Translation: X:287.19, Y:-181.11, Z:-39.88 [[ 7.10314015e-01 6.97373590e-01 9.55200301e-02 2.87192101e+02] [-6.91117349e-01 7.16707779e-01 -9.32028401e-02 -1.81114796e+02] [-1.33457148e-01 1.87733611e-04 9.91054567e-01 -3.98776575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters 0.031387234376629186 Centerline is valid? [True, True] Translation: X:287.24, Y:-181.16, Z:-39.89 [[ 7.10412395e-01 6.97250577e-01 9.56862665e-02 2.87237569e+02] [-6.90957920e-01 7.16827422e-01 -9.34644317e-02 -1.81157783e+02] [-1.33758669e-01 2.83107089e-04 9.91013894e-01 -3.98857575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters 0.031145463890385045 Centerline is valid? [True, True] Translation: X:287.28, Y:-181.20, Z:-39.89 [[ 7.10967715e-01 6.97044349e-01 9.30273278e-02 2.87283033e+02] [-6.91085372e-01 7.17027918e-01 -9.09503888e-02 -1.81200715e+02] [-1.30099646e-01 3.72964600e-04 9.91500854e-01 -3.98912996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters 0.031046253267380333 Centerline is valid? [True, True] Translation: X:287.33, Y:-181.24, Z:-39.90 [[ 7.10305981e-01 6.97755177e-01 9.27530339e-02 2.87328697e+02] [-6.91832185e-01 7.16336261e-01 -9.07225905e-02 -1.81243129e+02] [-1.29744519e-01 2.71264536e-04 9.91547420e-01 -3.98973846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters 0.03104323697997645 Centerline is valid? [True, True] Translation: X:287.37, Y:-181.29, Z:-39.90 [[ 7.09074431e-01 6.98815465e-01 9.41827830e-02 2.87373751e+02] [-6.92704219e-01 7.15301981e-01 -9.22168203e-02 -1.81285431e+02] [-1.31811671e-01 1.47778302e-04 9.91274766e-01 -3.99027598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters 0.030764997966243598 Centerline is valid? [True, True] Translation: X:287.42, Y:-181.33, Z:-39.91 [[ 7.07366637e-01 7.00608872e-01 9.36997853e-02 2.87420903e+02] [-6.94564752e-01 7.13545509e-01 -9.18292561e-02 -1.81327556e+02] [-1.31195453e-01 -1.23616088e-04 9.91356514e-01 -3.99098265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters 0.03086626161670052 Centerline is valid? [True, True] Translation: X:287.47, Y:-181.37, Z:-39.92 [[ 7.07223464e-01 7.00701657e-01 9.40859180e-02 2.87466964e+02] [-6.94595287e-01 7.13454402e-01 -9.23049529e-02 -1.81369813e+02] [-1.31804246e-01 -7.14066963e-05 9.91275762e-01 -3.99175623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters 0.03085458918020876 Centerline is valid? [True, True] Translation: X:287.52, Y:-181.41, Z:-39.92 [[ 7.05892767e-01 7.02006613e-01 9.43510304e-02 2.87515218e+02] [-6.95864286e-01 7.12170383e-01 -9.26619756e-02 -1.81409675e+02] [-1.32243329e-01 -2.46094057e-04 9.91217252e-01 -3.99241961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters 0.030539609505197785 Centerline is valid? [True, True] Translation: X:287.56, Y:-181.45, Z:-39.93 [[ 7.06851274e-01 7.01231833e-01 9.29257407e-02 2.87561683e+02] [-6.95255665e-01 7.12933318e-01 -9.13545005e-02 -1.81450416e+02] [-1.30310540e-01 -3.31026164e-05 9.91473228e-01 -3.99291719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters 0.030590494621092316 Centerline is valid? [True, True] Translation: X:287.61, Y:-181.49, Z:-39.94 [[ 7.06953727e-01 7.00857564e-01 9.49478997e-02 2.87609064e+02] [-6.94602312e-01 7.13301245e-01 -9.34289210e-02 -1.81490265e+02] [-1.33206821e-01 9.88932727e-05 9.91088257e-01 -3.99362037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters 0.030496023331675483 Centerline is valid? [True, True] Translation: X:287.66, Y:-181.53, Z:-39.94 [[ 7.06783627e-01 7.00994951e-01 9.51997060e-02 2.87655406e+02] [-6.94695728e-01 7.13166222e-01 -9.37645177e-02 -1.81533383e+02] [-1.33621668e-01 1.36396826e-04 9.91032407e-01 -3.99423102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters 0.03039053661713706 Centerline is valid? [True, True] Translation: X:287.70, Y:-181.58, Z:-39.95 [[ 7.05674087e-01 7.01993014e-01 9.60723268e-02 2.87700164e+02] [-6.95573303e-01 7.12183831e-01 -9.47204926e-02 -1.81575847e+02] [-1.34914282e-01 1.64514981e-05 9.90857273e-01 -3.99493137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters 0.030402940332841407 Centerline is valid? [True, True] Translation: X:287.74, Y:-181.62, Z:-39.96 [[ 7.04191564e-01 7.03364648e-01 9.69144606e-02 2.87742971e+02] [-6.96832182e-01 7.10829190e-01 -9.56387584e-02 -1.81620849e+02] [-1.36158549e-01 -1.85108169e-04 9.90687042e-01 -3.99556429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters 0.030294521549159348 Centerline is valid? [True, True] Translation: X:287.79, Y:-181.66, Z:-39.96 [[ 7.02395545e-01 7.05202900e-01 9.65886527e-02 2.87788235e+02] [-6.98719587e-01 7.09005390e-01 -9.54059521e-02 -1.81663696e+02] [-1.35762430e-01 -4.75667840e-04 9.90741307e-01 -3.99626443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters 0.0303228464968329 Centerline is valid? [True, True] Translation: X:287.83, Y:-181.71, Z:-39.97 [[ 7.02765005e-01 7.04977694e-01 9.55395093e-02 2.87834624e+02] [-6.98620246e-01 7.09229385e-01 -9.44639136e-02 -1.81705096e+02] [-1.34354379e-01 -3.59902764e-04 9.90933283e-01 -3.99681686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters 0.03037484474886942 Centerline is valid? [True, True] Translation: X:287.88, Y:-181.75, Z:-39.98 [[ 7.03350908e-01 7.04363132e-01 9.57605244e-02 2.87880821e+02] [-6.97958339e-01 7.09839803e-01 -9.47713637e-02 -1.81747440e+02] [-1.34728086e-01 -1.79331827e-04 9.90882592e-01 -3.99753757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters 0.030408177935284466 Centerline is valid? [True, True] Translation: X:287.92, Y:-181.79, Z:-39.98 [[ 7.08333625e-01 6.99512363e-01 9.45829285e-02 2.87924182e+02] [-6.93208707e-01 7.14620042e-01 -9.37010336e-02 -1.81790863e+02] [-1.33135888e-01 8.05883166e-04 9.91097465e-01 -3.99833464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters 0.030612045150558216 Centerline is valid? [True, True] Translation: X:287.97, Y:-181.83, Z:-39.99 [[ 7.12934938e-01 6.94968650e-01 9.35005272e-02 2.87968218e+02] [-6.88758881e-01 7.19038031e-01 -9.27119930e-02 -1.81834713e+02] [-1.31662364e-01 1.69830055e-03 9.91293164e-01 -3.99897487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters 0.030821745434695857 Centerline is valid? [True, True] Translation: X:288.01, Y:-181.88, Z:-40.00 [[ 7.15320486e-01 6.92685851e-01 9.22112489e-02 2.88009916e+02] [-6.86617170e-01 7.21236225e-01 -9.15159555e-02 -1.81882088e+02] [-1.29897901e-01 2.14941097e-03 9.91525045e-01 -3.99957810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters 0.030906996184103936 Centerline is valid? [True, True] Translation: X:288.05, Y:-181.93, Z:-40.00 [[ 7.15396219e-01 6.92528845e-01 9.28011269e-02 2.88053124e+02] [-6.86368544e-01 7.21386649e-01 -9.21928624e-02 -1.81925948e+02] [-1.30791710e-01 2.25865085e-03 9.91407296e-01 -4.00021120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters 0.03125588801587154 Centerline is valid? [True, True] Translation: X:288.09, Y:-181.98, Z:-40.01 [[ 7.15161806e-01 6.92404926e-01 9.54935101e-02 2.88089875e+02] [-6.85867638e-01 7.21505100e-01 -9.49524871e-02 -1.81975943e+02] [-1.34644624e-01 2.41048402e-03 9.90891021e-01 -4.00094149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters 0.03121346187254747 Centerline is valid? [True, True] Translation: X:288.13, Y:-182.02, Z:-40.02 [[ 7.15495619e-01 6.92245119e-01 9.41419897e-02 2.88129069e+02] [-6.85880782e-01 7.21658255e-01 -9.36851933e-02 -1.82023964e+02] [-1.32791462e-01 2.46116381e-03 9.91140944e-01 -4.00162852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters 0.030759778005091658 Centerline is valid? [True, True] Translation: X:288.17, Y:-182.07, Z:-40.02 [[ 7.13246744e-01 6.94778042e-01 9.25340707e-02 2.88167996e+02] [-6.88640868e-01 7.19221397e-01 -9.21647257e-02 -1.82073010e+02] [-1.30586511e-01 2.01344779e-03 9.91434874e-01 -4.00196667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters 0.030478250263734054 Centerline is valid? [True, True] Translation: X:288.20, Y:-182.12, Z:-40.03 [[ 7.08579144e-01 6.99831424e-01 9.02860688e-02 2.88204565e+02] [-6.94020671e-01 7.14307172e-01 -9.00031796e-02 -1.82124076e+02] [-1.27479040e-01 1.11397790e-03 9.91840639e-01 -4.00257972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters 0.030386986374808262 Centerline is valid? [True, True] Translation: X:288.25, Y:-182.17, Z:-40.03 [[ 7.07690837e-01 7.00737523e-01 9.02252951e-02 2.88245176e+02] [-6.94931345e-01 7.13418464e-01 -9.00251104e-02 -1.82172210e+02] [-1.27452364e-01 1.00956005e-03 9.91844179e-01 -4.00327483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters 0.03029493699086741 Centerline is valid? [True, True] Translation: X:288.29, Y:-182.22, Z:-40.04 [[ 7.06386953e-01 7.02111501e-01 8.97603060e-02 2.88288495e+02] [-6.96364637e-01 7.12066544e-01 -8.96522718e-02 -1.82216546e+02] [-1.26861202e-01 8.23292207e-04 9.91920137e-01 -4.00382603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters 0.03029869668756666 Centerline is valid? [True, True] Translation: X:288.33, Y:-182.26, Z:-40.04 [[ 7.00979608e-01 7.07383812e-01 9.07509316e-02 2.88332430e+02] [-7.01541446e-01 7.06829638e-01 -9.07274090e-02 -1.82261606e+02] [-1.28324549e-01 -6.74762151e-05 9.91732225e-01 -4.00447152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters 0.030184649045194994 Centerline is valid? [True, True] Translation: X:288.37, Y:-182.59, Z:-38.17 [[ 7.57663714e-01 -6.49514380e-01 -6.38495618e-02 2.88366613e+02] [-6.46239927e-01 -7.60301689e-01 6.56909252e-02 -1.82587903e+02] [-9.12121303e-02 -8.50949418e-03 -9.95795127e-01 -3.81720808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters 0.030107560138744414 Centerline is valid? [True, True] Translation: X:288.40, Y:-182.33, Z:-40.05 [[ 7.48736721e-01 6.56050162e-01 9.48235597e-02 2.88401019e+02] [-6.50945679e-01 7.54717075e-01 -8.16814551e-02 -1.82330603e+02] [-1.25152091e-01 -5.67081616e-04 9.92137406e-01 -4.00533184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters 0.03000966536819538 Centerline is valid? [True, True] Translation: X:288.45, Y:-182.37, Z:-40.06 [[ 7.50497718e-01 6.53882753e-01 9.58672005e-02 2.88450006e+02] [-6.48635656e-01 7.56595880e-01 -8.26707937e-02 -1.82369940e+02] [-1.26589735e-01 -1.38642459e-04 9.91955150e-01 -4.00605303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters 0.029870677236633426 Centerline is valid? [True, True] Translation: X:288.50, Y:-182.41, Z:-40.07 [[ 7.53841038e-01 6.50147314e-01 9.50376720e-02 2.88498765e+02] [-6.44950126e-01 7.59807978e-01 -8.20437148e-02 -1.82408837e+02] [-1.25550882e-01 5.53360616e-04 9.92087027e-01 -4.00673799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters 0.029795707309987252 Centerline is valid? [True, True] Translation: X:288.55, Y:-182.45, Z:-40.07 [[ 7.55290583e-01 6.48677221e-01 9.35628009e-02 2.88545116e+02] [-6.43618809e-01 7.61063163e-01 -8.08559879e-02 -1.82451148e+02] [-1.23656639e-01 8.50987815e-04 9.92324701e-01 -4.00733842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters 0.02954238039938764 Centerline is valid? [True, True] Translation: X:288.59, Y:-182.49, Z:-40.08 [[ 7.54372117e-01 6.50061953e-01 9.13354603e-02 2.88591423e+02] [-6.45242628e-01 7.59880916e-01 -7.90123029e-02 -1.82493174e+02] [-1.20766965e-01 6.71145766e-04 9.92680658e-01 -4.00773802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters 0.029370168797749042 Centerline is valid? [True, True] Translation: X:288.64, Y:-182.53, Z:-40.08 [[ 7.53159170e-01 6.51309692e-01 9.24497206e-02 2.88639431e+02] [-6.46371590e-01 7.58811834e-01 -8.00522843e-02 -1.82533980e+02] [-1.22290771e-01 5.35238972e-04 9.92494172e-01 -4.00839324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters 0.029403951234738313 Centerline is valid? [True, True] Translation: X:288.68, Y:-182.58, Z:-40.09 [[ 7.53006057e-01 6.51748962e-01 9.05823861e-02 2.88683996e+02] [-6.47002458e-01 7.58434588e-01 -7.85162108e-02 -1.82577801e+02] [-1.19873674e-01 5.16155935e-04 9.92789019e-01 -4.00897303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters 0.029096617924452804 Centerline is valid? [True, True] Translation: X:288.73, Y:-182.62, Z:-40.10 [[ 7.54353427e-01 6.50090840e-01 9.12842066e-02 2.88727645e+02] [-6.45249077e-01 7.59856032e-01 -7.91987352e-02 -1.82621599e+02] [-1.20849227e-01 8.42787277e-04 9.92670516e-01 -4.00951209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters 0.02909609068308723 Centerline is valid? [True, True] Translation: X:288.77, Y:-182.67, Z:-40.10 [[ 7.53538512e-01 6.50957079e-01 9.18400402e-02 2.88772979e+02] [-6.46053042e-01 7.59114151e-01 -7.97569630e-02 -1.82665568e+02] [-1.21635434e-01 7.66405846e-04 9.92574548e-01 -4.01016390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters 0.029089892142298332 Centerline is valid? [True, True] Translation: X:288.82, Y:-182.71, Z:-40.11 [[ 7.50828517e-01 6.53985689e-01 9.25162542e-02 2.88818901e+02] [-6.49021100e-01 7.56506841e-01 -8.04301612e-02 -1.82707912e+02] [-1.22589354e-01 3.44257545e-04 9.92457421e-01 -4.01094193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters 0.029354219458762702 Centerline is valid? [True, True] Translation: X:288.87, Y:-182.75, Z:-40.12 [[ 7.45820978e-01 6.59456825e-01 9.41688142e-02 2.88865441e+02] [-6.54344847e-01 7.51742276e-01 -8.19534679e-02 -1.82747855e+02] [-1.24835452e-01 -4.96262809e-04 9.92177335e-01 -4.01162130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters 0.02974198649741362 Centerline is valid? [True, True] Translation: X:288.92, Y:-182.79, Z:-40.12 [[ 7.41233400e-01 6.64623687e-01 9.40659443e-02 2.88915105e+02] [-6.59555115e-01 7.47177116e-01 -8.19353839e-02 -1.82785245e+02] [-1.24740118e-01 -1.30843158e-03 9.92188586e-01 -4.01217379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters 0.02985801821864834 Centerline is valid? [True, True] Translation: X:288.97, Y:-182.82, Z:-40.13 [[ 7.41288209e-01 6.64566127e-01 9.40406986e-02 2.88967153e+02] [-6.59489980e-01 7.47228430e-01 -8.19917049e-02 -1.82821076e+02] [-1.24758793e-01 -1.23941433e-03 9.92186327e-01 -4.01294612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters 0.02960264904756244 Centerline is valid? [True, True] Translation: X:289.02, Y:-182.86, Z:-40.14 [[ 7.43705862e-01 6.61655565e-01 9.54646754e-02 2.89018739e+02] [-6.56388298e-01 7.49807597e-01 -8.33244834e-02 -1.82857778e+02] [-1.26712247e-01 -6.92989062e-04 9.91939275e-01 -4.01356659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters 0.029787812924759335 Centerline is valid? [True, True] Translation: X:289.07, Y:-182.89, Z:-40.14 [[ 7.46012200e-01 6.58821024e-01 9.70600649e-02 2.89067793e+02] [-6.53339666e-01 7.52299699e-01 -8.48082759e-02 -1.82894992e+02] [-1.28891733e-01 -1.45181929e-04 9.91658661e-01 -4.01448996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters 0.029605138021354362 Centerline is valid? [True, True] Translation: X:289.12, Y:-182.94, Z:-40.15 [[ 7.45750508e-01 6.59134344e-01 9.69437784e-02 2.89115021e+02] [-6.53658194e-01 7.52025198e-01 -8.47883679e-02 -1.82935973e+02] [-1.28791089e-01 -1.37126710e-04 9.91671738e-01 -4.01530191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters 0.029602091373882373 Centerline is valid? [True, True] Translation: X:289.16, Y:-182.98, Z:-40.16 [[ 7.42562101e-01 6.62884112e-01 9.58445650e-02 2.89161070e+02] [-6.57551514e-01 7.48721677e-01 -8.39157660e-02 -1.82978514e+02] [-1.27387331e-01 -7.10071397e-04 9.91852793e-01 -4.01599344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters 0.0296419237996243 Centerline is valid? [True, True] Translation: X:289.21, Y:-183.02, Z:-40.17 [[ 7.40793144e-01 6.64673664e-01 9.71310376e-02 2.89205776e+02] [-6.59199980e-01 7.47133182e-01 -8.51316339e-02 -1.83021198e+02] [-1.29154576e-01 -9.63847355e-04 9.91624005e-01 -4.01664789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters 0.029598434677573383 Centerline is valid? [True, True] Translation: X:289.25, Y:-183.06, Z:-40.17 [[ 7.40129319e-01 6.65386646e-01 9.73098275e-02 2.89253484e+02] [-6.59888141e-01 7.46498194e-01 -8.53702947e-02 -1.83061598e+02] [-1.29445865e-01 -1.02854312e-03 9.91585957e-01 -4.01733518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters 0.029361970111304155 Centerline is valid? [True, True] Translation: X:289.30, Y:-183.10, Z:-40.18 [[ 7.41439516e-01 6.64034512e-01 9.65692012e-02 2.89302092e+02] [-6.58596704e-01 7.47701578e-01 -8.48099741e-02 -1.83100630e+02] [-1.28521694e-01 -7.18691371e-04 9.91706437e-01 -4.01800323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters 0.029398497930240346 Centerline is valid? [True, True] Translation: X:289.35, Y:-183.14, Z:-40.19 [[ 7.42252185e-01 6.63045038e-01 9.71234803e-02 2.89350441e+02] [-6.57525332e-01 7.48579346e-01 -8.53779852e-02 -1.83140051e+02] [-1.29314081e-01 -4.89152526e-04 9.91603565e-01 -4.01856823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters 0.02916695050828633 Centerline is valid? [True, True] Translation: X:289.40, Y:-183.18, Z:-40.19 [[ 7.44927360e-01 6.60180421e-01 9.61511270e-02 2.89398327e+02] [-6.54736557e-01 7.51107054e-01 -8.46063484e-02 -1.83179019e+02] [-1.28075244e-01 7.19258520e-05 9.91764451e-01 -4.01928423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters 0.02939463606706426 Centerline is valid? [True, True] Translation: X:289.44, Y:-183.22, Z:-40.20 [[ 7.48907558e-01 6.55352595e-01 9.82366871e-02 2.89443977e+02] [-6.49616479e-01 7.55322456e-01 -8.65240900e-02 -1.83220016e+02] [-1.30904163e-01 9.82374086e-04 9.91394541e-01 -4.02007880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters 0.02928825411449445 Centerline is valid? [True, True] Translation: X:289.49, Y:-183.26, Z:-40.21 [[ 7.49940426e-01 6.54171699e-01 9.82280292e-02 2.89490171e+02] [-6.48415615e-01 7.56345042e-01 -8.65988936e-02 -1.83262648e+02] [-1.30944828e-01 1.25142317e-03 9.91388867e-01 -4.02066233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters 0.029276160628800795 Centerline is valid? [True, True] Translation: X:289.53, Y:-183.31, Z:-40.21 [[ 7.50442859e-01 6.54021357e-01 9.53497754e-02 2.89533718e+02] [-6.48587094e-01 7.56474960e-01 -8.41452097e-02 -1.83306812e+02] [-1.27162482e-01 1.30353797e-03 9.91881043e-01 -4.02137469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters 0.029332040528684513 Centerline is valid? [True, True] Translation: X:289.58, Y:-183.35, Z:-40.22 [[ 7.48634042e-01 6.56062849e-01 9.55437574e-02 2.89576504e+02] [-6.50612698e-01 7.54705571e-01 -8.43956022e-02 -1.83353704e+02] [-1.27476225e-01 1.01943897e-03 9.91841103e-01 -4.02207484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters 0.029071297140101 Centerline is valid? [True, True] Translation: X:289.62, Y:-183.40, Z:-40.23 [[ 7.47170941e-01 6.57936555e-01 9.41014082e-02 2.89618704e+02] [-6.52654351e-01 7.53072985e-01 -8.32068325e-02 -1.83399872e+02] [-1.25610045e-01 7.54033856e-04 9.92079406e-01 -4.02268904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters 0.02901220911628677 Centerline is valid? [True, True] Translation: X:289.66, Y:-183.44, Z:-40.23 [[ 7.44578988e-01 6.61068111e-01 9.26881000e-02 2.89662189e+02] [-6.55958788e-01 7.50325846e-01 -8.20316589e-02 -1.83443924e+02] [-1.23774791e-01 2.79475799e-04 9.92310296e-01 -4.02303355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters 0.02915940100047222 Centerline is valid? [True, True] Translation: X:289.71, Y:-183.49, Z:-40.24 [[ 7.43637070e-01 6.62107048e-01 9.28340720e-02 2.89706993e+02] [-6.56979849e-01 7.49409254e-01 -8.22389736e-02 -1.83488079e+02] [-1.24021717e-01 1.65834822e-04 9.92279490e-01 -4.02362817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters 0.029034791852924575 Centerline is valid? [True, True] Translation: X:289.75, Y:-183.53, Z:-40.24 [[ 7.44185533e-01 6.61689883e-01 9.14023525e-02 2.89750465e+02] [-6.56706603e-01 7.49777574e-01 -8.10556988e-02 -1.83532472e+02] [-1.22165170e-01 2.95949945e-04 9.92509740e-01 -4.02430173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters 0.028795297159266185 Centerline is valid? [True, True] Translation: X:289.79, Y:-183.58, Z:-40.25 [[ 7.42607353e-01 6.63460511e-01 9.14027899e-02 2.89793493e+02] [-6.58480967e-01 7.48211298e-01 -8.11336526e-02 -1.83578456e+02] [-1.22217575e-01 6.34495219e-05 9.92503330e-01 -4.02487020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters 0.028282121149891933 Centerline is valid? [True, True] Translation: X:289.84, Y:-183.62, Z:-40.26 [[ 7.39889042e-01 6.66601558e-01 9.05901103e-02 2.89838381e+02] [-6.61723360e-01 7.45414122e-01 -8.04983332e-02 -1.83622998e+02] [-1.21187462e-01 -3.85757490e-04 9.92629563e-01 -4.02550367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters 0.02818813198929263 Centerline is valid? [True, True] Translation: X:289.88, Y:-183.67, Z:-40.26 [[ 7.38352777e-01 6.68393529e-01 8.99181124e-02 2.89882933e+02] [-6.63590496e-01 7.43807581e-01 -7.99870928e-02 -1.83668024e+02] [-1.20344629e-01 -6.10112768e-04 9.92731987e-01 -4.02613584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters 0.028315855708655926 Centerline is valid? [True, True] Translation: X:289.93, Y:-183.71, Z:-40.27 [[ 7.36723869e-01 6.70100693e-01 9.05704229e-02 2.89927563e+02] [-6.65229503e-01 7.42269744e-01 -8.06556568e-02 -1.83711955e+02] [-1.21275096e-01 -8.29169906e-04 9.92618589e-01 -4.02692090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters 0.028403245214740483 Centerline is valid? [True, True] Translation: X:289.97, Y:-183.75, Z:-40.27 [[ 7.34261172e-01 6.72854383e-01 9.01527022e-02 2.89973751e+02] [-6.68038187e-01 7.39773958e-01 -8.03708385e-02 -1.83754174e+02] [-1.20770492e-01 -1.21226162e-03 9.92679716e-01 -4.02743351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters 0.02892580327165827 Centerline is valid? [True, True] Translation: X:290.02, Y:-183.80, Z:-40.28 [[ 7.29028207e-01 6.78573092e-01 8.97576336e-02 2.90019485e+02] [-6.73831613e-01 7.34529931e-01 -8.01045397e-02 -1.83796317e+02] [-1.20286454e-01 -2.08306214e-03 9.92737040e-01 -4.02818016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters 0.029135718776418438 Centerline is valid? [True, True] Translation: X:290.07, Y:-183.84, Z:-40.29 [[ 7.26201237e-01 6.81749047e-01 8.86002290e-02 2.90066423e+02] [-6.77144058e-01 7.31581772e-01 -7.91456587e-02 -1.83836421e+02] [-1.18775790e-01 -2.51944336e-03 9.92917904e-01 -4.02876741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters 0.02998621948939038 Centerline is valid? [True, True] Translation: X:290.11, Y:-183.88, Z:-40.30 [[ 7.21052398e-01 6.87087366e-01 8.94113587e-02 2.90113750e+02] [-6.82429166e-01 7.26566974e-01 -7.99428856e-02 -1.83875313e+02] [-1.19891087e-01 -3.37390968e-03 9.92781317e-01 -4.02951079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters 0.03010146802591413 Centerline is valid? [True, True] Translation: X:290.16, Y:-183.91, Z:-40.30 [[ 7.18563109e-01 6.89708916e-01 8.92674048e-02 2.90162199e+02] [-6.85081022e-01 7.24076901e-01 -7.98538345e-02 -1.83913404e+02] [-1.19712367e-01 -3.77538535e-03 9.92801438e-01 -4.03005652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters 0.030220945578433883 Centerline is valid? [True, True] Translation: X:290.21, Y:-183.95, Z:-40.31 [[ 7.18337279e-01 6.89924648e-01 8.94177465e-02 2.90213211e+02] [-6.85274113e-01 7.23871397e-01 -8.00599156e-02 -1.83950145e+02] [-1.19962258e-01 -3.76564496e-03 9.92771311e-01 -4.03068148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters 0.030443507253514256 Centerline is valid? [True, True] Translation: X:290.26, Y:-183.99, Z:-40.31 [[ 7.17707861e-01 6.90545362e-01 8.96801487e-02 2.90261306e+02] [-6.85861657e-01 7.23279013e-01 -8.03819450e-02 -1.83990958e+02] [-1.20371149e-01 -3.81742156e-03 9.92721620e-01 -4.03131319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters 0.030234749164103524 Centerline is valid? [True, True] Translation: X:290.31, Y:-184.03, Z:-40.32 [[ 7.18888431e-01 6.89236249e-01 9.02929508e-02 2.90310678e+02] [-6.84467254e-01 7.24527929e-01 -8.10176420e-02 -1.84028038e+02] [-1.21260060e-01 -3.55992256e-03 9.92614389e-01 -4.03205016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters 0.029864556403083616 Centerline is valid? [True, True] Translation: X:290.36, Y:-184.07, Z:-40.33 [[ 7.21223468e-01 6.86792422e-01 9.02932953e-02 2.90358712e+02] [-6.81994978e-01 7.26847030e-01 -8.10940521e-02 -1.84067008e+02] [-1.21324194e-01 -3.09264045e-03 9.92608118e-01 -4.03275310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters 0.029641442463964125 Centerline is valid? [True, True] Translation: X:290.41, Y:-184.10, Z:-40.33 [[ 7.21794984e-01 6.86173597e-01 9.04311658e-02 2.90409732e+02] [-6.81347242e-01 7.27431899e-01 -8.12943317e-02 -1.84102485e+02] [-1.21564539e-01 -2.93718455e-03 9.92579184e-01 -4.03331580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters 0.029927010258984567 Centerline is valid? [True, True] Translation: X:290.46, Y:-184.14, Z:-40.34 [[ 7.20586843e-01 6.87397220e-01 9.07725922e-02 2.90458612e+02] [-6.82534324e-01 7.26275058e-01 -8.16788663e-02 -1.84140125e+02] [-1.22071695e-01 -3.09869343e-03 9.92516448e-01 -4.03416491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters 0.03015333677573963 Centerline is valid? [True, True] Translation: X:290.51, Y:-184.18, Z:-40.35 [[ 7.19172627e-01 6.88776591e-01 9.15289021e-02 2.90508928e+02] [-6.83833319e-01 7.24966135e-01 -8.24384309e-02 -1.84176846e+02] [-1.23137016e-01 -3.30305005e-03 9.92384182e-01 -4.03484559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters 0.030544229896753206 Centerline is valid? [True, True] Translation: X:290.56, Y:-184.21, Z:-40.36 [[ 7.19559259e-01 6.88591053e-01 8.98712079e-02 2.90559964e+02] [-6.83815220e-01 7.25143021e-01 -8.10206422e-02 -1.84213050e+02] [-1.20959568e-01 -3.15614648e-03 9.92652417e-01 -4.03552922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters 0.029957898678984313 Centerline is valid? [True, True] Translation: X:290.61, Y:-184.25, Z:-40.36 [[ 7.24744208e-01 6.82695222e-01 9.31293066e-02 2.90612253e+02] [-6.77507224e-01 7.30699954e-01 -8.40329575e-02 -1.84247837e+02] [-1.25418479e-01 -2.19337875e-03 9.92101504e-01 -4.03643629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters 0.030097860004283994 Centerline is valid? [True, True] Translation: X:290.66, Y:-184.29, Z:-40.37 [[ 7.28118664e-01 6.78885519e-01 9.46449348e-02 2.90660381e+02] [-6.73489653e-01 7.34242535e-01 -8.54376195e-02 -1.84287262e+02] [-1.27494699e-01 -1.53365900e-03 9.91838066e-01 -4.03723298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters 0.03035390523032092 Centerline is valid? [True, True] Translation: X:290.71, Y:-184.33, Z:-40.38 [[ 7.27876201e-01 6.79158143e-01 9.45539692e-02 2.90709353e+02] [-6.73764445e-01 7.33990401e-01 -8.54374849e-02 -1.84326802e+02] [-1.27427269e-01 -1.51919069e-03 9.91846754e-01 -4.03817979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters 0.03064778592081307 Centerline is valid? [True, True] Translation: X:290.75, Y:-184.37, Z:-40.39 [[ 7.27796855e-01 6.79002186e-01 9.62692556e-02 2.90754045e+02] [-6.73396734e-01 7.34134815e-01 -8.70799159e-02 -1.84369698e+02] [-1.29802065e-01 -1.45091334e-03 9.91538864e-01 -4.03879031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters 0.03069394566833943 Centerline is valid? [True, True] Translation: X:290.80, Y:-184.41, Z:-40.40 [[ 7.28682894e-01 6.78067144e-01 9.61571077e-02 2.90798269e+02] [-6.72456128e-01 7.34998948e-01 -8.70591936e-02 -1.84412323e+02] [-1.29707352e-01 -1.22289115e-03 9.91551566e-01 -4.03952048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters 0.030697242635953626 Centerline is valid? [True, True] Translation: X:290.84, Y:-184.46, Z:-40.40 [[ 7.30513117e-01 6.76086017e-01 9.62199689e-02 2.90841810e+02] [-6.70439867e-01 7.36822258e-01 -8.71971672e-02 -1.84456205e+02] [-1.29849800e-01 -8.11028663e-04 9.91533344e-01 -4.04031572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters 0.03034346411606038 Centerline is valid? [True, True] Translation: X:290.88, Y:-184.50, Z:-40.41 [[ 7.32708738e-01 6.73883380e-01 9.49689207e-02 2.90884835e+02] [-6.68355941e-01 7.38837641e-01 -8.61352205e-02 -1.84501840e+02] [-1.28211707e-01 -3.61013701e-04 9.91746756e-01 -4.04077674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters 0.030517160182013482 Centerline is valid? [True, True] Translation: X:290.93, Y:-184.55, Z:-40.42 [[ 7.32511961e-01 6.74115895e-01 9.48366354e-02 2.90925609e+02] [-6.68600908e-01 7.38625495e-01 -8.60534941e-02 -1.84549676e+02] [-1.28058785e-01 -3.72646817e-04 9.91766509e-01 -4.04152139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters 0.030587554530553087 Centerline is valid? [True, True] Translation: X:290.97, Y:-184.59, Z:-40.42 [[ 7.30203913e-01 6.76691128e-01 9.42940198e-02 2.90970362e+02] [-6.71248980e-01 7.36266632e-01 -8.56519396e-02 -1.84593946e+02] [-1.27385448e-01 -7.51383128e-04 9.91853005e-01 -4.04195790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters 0.03071831365308469 Centerline is valid? [True, True] Translation: X:291.02, Y:-184.64, Z:-40.43 [[ 7.27853393e-01 6.79088451e-01 9.52276985e-02 2.91015898e+02] [-6.73546138e-01 7.34055606e-01 -8.65908027e-02 -1.84636129e+02] [-1.28705240e-01 -1.11483904e-03 9.91682267e-01 -4.04266972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters 0.03109912539637539 Centerline is valid? [True, True] Translation: X:291.06, Y:-184.68, Z:-40.43 [[ 7.25057220e-01 6.82174034e-01 9.45019268e-02 2.91064008e+02] [-6.76731677e-01 7.31188118e-01 -8.60126351e-02 -1.84675785e+02] [-1.27774272e-01 -1.58836528e-03 9.91802003e-01 -4.04338384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters 0.03096239135365073 Centerline is valid? [True, True] Translation: X:291.11, Y:-184.71, Z:-40.44 [[ 7.26278472e-01 6.81024005e-01 9.34124537e-02 2.91113173e+02] [-6.75686156e-01 7.32259929e-01 -8.51094341e-02 -1.84713582e+02] [-1.26363764e-01 -1.30435200e-03 9.91983114e-01 -4.04419642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters 0.03065145272576578 Centerline is valid? [True, True] Translation: X:291.16, Y:-184.75, Z:-40.45 [[ 7.28046941e-01 6.79113954e-01 9.35515312e-02 2.91162224e+02] [-6.73734083e-01 7.34032290e-01 -8.53169560e-02 -1.84751299e+02] [-1.26609780e-01 -9.14106253e-04 9.91952180e-01 -4.04480071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters 0.030620697432136103 Centerline is valid? [True, True] Translation: X:291.22, Y:-184.79, Z:-40.45 [[ 7.26089549e-01 6.81183620e-01 9.37168242e-02 2.91215225e+02] [-6.75791276e-01 7.32111602e-01 -8.55497146e-02 -1.84786709e+02] [-1.26886238e-01 -1.21625853e-03 9.91916530e-01 -4.04533776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters 0.030758967540117185 Centerline is valid? [True, True] Translation: X:291.26, Y:-184.83, Z:-40.46 [[ 7.24758558e-01 6.82385381e-01 9.52639744e-02 2.91263111e+02] [-6.76811175e-01 7.30991299e-01 -8.70537409e-02 -1.84825841e+02] [-1.29041337e-01 -1.38277870e-03 9.91638251e-01 -4.04615191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters 0.030465283833635 Centerline is valid? [True, True] Translation: X:291.31, Y:-184.86, Z:-40.47 [[ 7.26318726e-01 6.80751585e-01 9.50704350e-02 2.91311510e+02] [-6.75175662e-01 7.32513630e-01 -8.69575056e-02 -1.84864818e+02] [-1.28836849e-01 -1.03037917e-03 9.91665268e-01 -4.04673604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters 0.030323627803937648 Centerline is valid? [True, True] Translation: X:291.36, Y:-184.90, Z:-40.47 [[ 7.28922866e-01 6.78179581e-01 9.35088821e-02 2.91360160e+02] [-6.72754896e-01 7.34896046e-01 -8.56075485e-02 -1.84902590e+02] [-1.26776599e-01 -5.07258651e-04 9.91931165e-01 -4.04748466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters 0.0301908697197439 Centerline is valid? [True, True] Translation: X:291.41, Y:-184.94, Z:-40.48 [[ 7.31146805e-01 6.75763623e-01 9.36369284e-02 2.91409240e+02] [-6.70293783e-01 7.37118393e-01 -8.58062957e-02 -1.84942223e+02] [-1.27006275e-01 -2.72519356e-05 9.91901913e-01 -4.04817258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters 0.02998924444592089 Centerline is valid? [True, True] Translation: X:291.46, Y:-184.98, Z:-40.49 [[ 7.31146395e-01 6.75776263e-01 9.35488726e-02 2.91456713e+02] [-6.70305167e-01 7.37106804e-01 -8.58169152e-02 -1.84983143e+02] [-1.26948545e-01 3.84354841e-05 9.91909303e-01 -4.04883717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters 0.029676625253512362 Centerline is valid? [True, True] Translation: X:291.50, Y:-185.02, Z:-40.50 [[ 7.31676938e-01 6.75040953e-01 9.47025371e-02 2.91502884e+02] [-6.69415572e-01 7.37780222e-01 -8.69662877e-02 -1.85024637e+02] [-1.28575465e-01 2.35874062e-04 9.91699700e-01 -4.04957064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters 0.029317221080921982 Centerline is valid? [True, True] Translation: X:291.55, Y:-185.06, Z:-40.50 [[ 7.30714132e-01 6.76200568e-01 9.38597332e-02 2.91550079e+02] [-6.70674646e-01 7.36717574e-01 -8.62712857e-02 -1.85064857e+02] [-1.27484807e-01 9.03042956e-05 9.91840519e-01 -4.05011417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters 0.029241172323373116 Centerline is valid? [True, True] Translation: X:291.60, Y:-185.11, Z:-40.51 [[ 7.29771892e-01 6.77217551e-01 9.38582722e-02 2.91597185e+02] [-6.71689661e-01 7.35782840e-01 -8.63516719e-02 -1.85106544e+02] [-1.27538174e-01 -2.66081258e-05 9.91833662e-01 -4.05079211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters 0.029177216752239356 Centerline is valid? [True, True] Translation: X:291.65, Y:-185.15, Z:-40.51 [[ 7.24117006e-01 6.83501684e-01 9.20869658e-02 2.91645430e+02] [-6.78220425e-01 7.29948190e-01 -8.48097632e-02 -1.85146497e+02] [-1.25186330e-01 -1.04306923e-03 9.92132700e-01 -4.05144580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters 0.029139438115778224 Centerline is valid? [True, True] Translation: X:291.69, Y:-185.19, Z:-40.52 [[ 7.20211917e-01 6.87652016e-01 9.18123057e-02 2.91693757e+02] [-6.82424793e-01 7.26038454e-01 -8.46437579e-02 -1.85185001e+02] [-1.24864715e-01 -1.69355053e-03 9.92172331e-01 -4.05201356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters 0.028983856316957983 Centerline is valid? [True, True] Translation: X:291.74, Y:-185.22, Z:-40.53 [[ 7.20825279e-01 6.86738735e-01 9.38127228e-02 2.91742009e+02] [-6.81262116e-01 7.26902766e-01 -8.65696162e-02 -1.85223969e+02] [-1.27643436e-01 -1.50948623e-03 9.91818973e-01 -4.05277412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters 0.02872006642301167 Centerline is valid? [True, True] Translation: X:291.79, Y:-185.26, Z:-40.53 [[ 7.21007531e-01 6.86536853e-01 9.38897750e-02 2.91791596e+02] [-6.81038775e-01 7.27093632e-01 -8.67239109e-02 -1.85263150e+02] [-1.27805818e-01 -1.41398450e-03 9.91798202e-01 -4.05340636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters 0.028939845436902173 Centerline is valid? [True, True] Translation: X:291.84, Y:-185.30, Z:-40.54 [[ 7.19562611e-01 6.88063561e-01 9.37986369e-02 2.91841179e+02] [-6.82577295e-01 7.25648622e-01 -8.67312690e-02 -1.85301208e+02] [-1.27741477e-01 -1.61624149e-03 9.91806182e-01 -4.05419641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters 0.028874452489818382 Centerline is valid? [True, True] Translation: X:291.89, Y:-185.34, Z:-40.55 [[ 7.21418414e-01 6.85941891e-01 9.50746797e-02 2.91889226e+02] [-6.80274147e-01 7.27655350e-01 -8.80044119e-02 -1.85341036e+02] [-1.29547512e-01 -1.18884333e-03 9.91572503e-01 -4.05488961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters 0.028649575054737825 Centerline is valid? [True, True] Translation: X:291.94, Y:-185.38, Z:-40.56 [[ 7.24150533e-01 6.83097317e-01 9.47842923e-02 2.91935351e+02] [-6.77428209e-01 7.30327107e-01 -8.78256152e-02 -1.85381938e+02] [-1.29216980e-01 -6.10587308e-04 9.91616155e-01 -4.05573158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters 0.02868219438955196 Centerline is valid? [True, True] Translation: X:291.98, Y:-185.42, Z:-40.57 [[ 7.29159038e-01 6.77769596e-01 9.46333534e-02 2.91981090e+02] [-6.72062941e-01 7.35274246e-01 -8.77678002e-02 -1.85424461e+02] [-1.29067814e-01 3.97114993e-04 9.91635690e-01 -4.05656216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters 0.028785189288247085 Centerline is valid? [True, True] Translation: X:292.03, Y:-185.47, Z:-40.57 [[ 7.32469217e-01 6.74181270e-01 9.47019573e-02 2.92026353e+02] [-6.68424630e-01 7.38565101e-01 -8.79210187e-02 -1.85467330e+02] [-1.29218265e-01 1.09831902e-03 9.91615568e-01 -4.05721590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters 0.029212885652042102 Centerline is valid? [True, True] Translation: X:292.07, Y:-185.51, Z:-40.58 [[ 7.34673027e-01 6.71651884e-01 9.55996283e-02 2.92067365e+02] [-6.65753082e-01 7.40865119e-01 -8.88352936e-02 -1.85513326e+02] [-1.30492822e-01 1.61914693e-03 9.91447932e-01 -4.05807622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters 0.029438130926222432 Centerline is valid? [True, True] Translation: X:292.11, Y:-185.56, Z:-40.59 [[ 7.35520632e-01 6.70755141e-01 9.53778840e-02 2.92111468e+02] [-6.64865572e-01 7.41676596e-01 -8.87107552e-02 -1.85558403e+02] [-1.30242739e-01 1.83511935e-03 9.91480439e-01 -4.05882471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters 0.029595307278986776 Centerline is valid? [True, True] Translation: X:292.16, Y:-185.60, Z:-40.60 [[ 7.36260926e-01 6.69882775e-01 9.57962258e-02 2.92155131e+02] [-6.63922161e-01 7.42464009e-01 -8.91883346e-02 -1.85602947e+02] [-1.30870979e-01 2.06464850e-03 9.91397258e-01 -4.05953422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters 0.029526465783739252 Centerline is valid? [True, True] Translation: X:292.20, Y:-185.65, Z:-40.60 [[ 7.36168120e-01 6.70111298e-01 9.49070414e-02 2.92197179e+02] [-6.64253098e-01 7.42257767e-01 -8.84377073e-02 -1.85649323e+02] [-1.29708596e-01 2.06272445e-03 9.91550012e-01 -4.06017001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters 0.02950242298481676 Centerline is valid? [True, True] Translation: X:292.24, Y:-185.69, Z:-40.61 [[ 7.35441985e-01 6.71072213e-01 9.37399183e-02 2.92241128e+02] [-6.65355753e-01 7.41389489e-01 -8.74262453e-02 -1.85693237e+02] [-1.28167114e-01 1.92653744e-03 9.91750714e-01 -4.06065384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters 0.029625287728928668 Centerline is valid? [True, True] Translation: X:292.28, Y:-185.74, Z:-40.61 [[ 7.34633906e-01 6.72042721e-01 9.31214527e-02 2.92284312e+02] [-6.66399657e-01 7.40510183e-01 -8.69262111e-02 -1.85736889e+02] [-1.27375511e-01 1.80283786e-03 9.91852927e-01 -4.06139669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters 0.0296149121431944 Centerline is valid? [True, True] Translation: X:292.33, Y:-185.78, Z:-40.62 [[ 7.34354885e-01 6.72277335e-01 9.36273858e-02 2.92328421e+02] [-6.66564068e-01 7.40297122e-01 -8.74786521e-02 -1.85782065e+02] [-1.28121999e-01 1.83172437e-03 9.91756723e-01 -4.06216879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters 0.029926509946246013 Centerline is valid? [True, True] Translation: X:292.37, Y:-185.83, Z:-40.63 [[ 7.34186047e-01 6.72399334e-01 9.40743565e-02 2.92373707e+02] [-6.66620476e-01 7.40186178e-01 -8.79861573e-02 -1.85825682e+02] [-1.28794372e-01 1.88631667e-03 9.91669527e-01 -4.06288539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters 0.029998783748233053 Centerline is valid? [True, True] Translation: X:292.42, Y:-185.87, Z:-40.64 [[ 7.34088338e-01 6.72492924e-01 9.41678258e-02 2.92417762e+02] [-6.66691540e-01 7.40101011e-01 -8.81639633e-02 -1.85870160e+02] [-1.28983345e-01 1.93924447e-03 9.91644864e-01 -4.06359621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters 0.030091389169945602 Centerline is valid? [True, True] Translation: X:292.46, Y:-185.91, Z:-40.64 [[ 7.34944117e-01 6.71576637e-01 9.40317324e-02 2.92461356e+02] [-6.65773238e-01 7.40931944e-01 -8.81240648e-02 -1.85914821e+02] [-1.28853177e-01 2.16245202e-03 9.91661325e-01 -4.06419287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters 0.030284198370693367 Centerline is valid? [True, True] Translation: X:292.51, Y:-185.96, Z:-40.65 [[ 7.34199740e-01 6.72267203e-01 9.49081103e-02 2.92505035e+02] [-6.66349672e-01 7.40305549e-01 -8.90270116e-02 -1.85959781e+02] [-1.30110941e-01 2.12162063e-03 9.91497172e-01 -4.06485388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters 0.030358375352628864 Centerline is valid? [True, True] Translation: X:292.55, Y:-186.00, Z:-40.66 [[ 7.33333357e-01 6.73275314e-01 9.44592000e-02 2.92548628e+02] [-6.67410598e-01 7.39389176e-01 -8.86946479e-02 -1.86004092e+02] [-1.29558027e-01 1.99967271e-03 9.91569826e-01 -4.06551013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters 0.030503083866382116 Centerline is valid? [True, True] Translation: X:292.59, Y:-186.05, Z:-40.66 [[ 7.34098399e-01 6.72488708e-01 9.41194917e-02 2.92594637e+02] [-6.66649416e-01 7.40104141e-01 -8.84557298e-02 -1.86047156e+02] [-1.29143705e-01 2.19050543e-03 9.91623469e-01 -4.06612365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters 0.030918125374275147 Centerline is valid? [True, True] Translation: X:292.64, Y:-186.09, Z:-40.67 [[ 7.35620449e-01 6.70677743e-01 9.51520932e-02 2.92638865e+02] [-6.64682108e-01 7.41744286e-01 -8.95159799e-02 -1.86090083e+02] [-1.30614897e-01 2.60389146e-03 9.91429760e-01 -4.06687573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters 0.031178159223339316 Centerline is valid? [True, True] Translation: X:292.68, Y:-186.13, Z:-40.67 [[ 7.38586582e-01 6.67543373e-01 9.42109646e-02 2.92682553e+02] [-6.61630774e-01 7.44564100e-01 -8.87074943e-02 -1.86133464e+02] [-1.29362202e-01 3.18529169e-03 9.91592293e-01 -4.06732747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters 0.03178160731223922 Centerline is valid? [True, True] Translation: X:292.73, Y:-186.18, Z:-40.68 [[ 7.40339941e-01 6.65469630e-01 9.51154217e-02 2.92725720e+02] [-6.59415571e-01 7.46416057e-01 -8.96335523e-02 -1.86177236e+02] [-1.30644085e-01 3.63870863e-03 9.91422656e-01 -4.06815955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters 0.03189946902990533 Centerline is valid? [True, True] Translation: X:292.77, Y:-186.23, Z:-40.69 [[ 7.39578500e-01 6.66295485e-01 9.52573819e-02 2.92766054e+02] [-6.60219431e-01 7.45679329e-01 -8.98478781e-02 -1.86225903e+02] [-1.30896696e-01 3.55878448e-03 9.91389626e-01 -4.06898521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters 0.03128792334939173 Centerline is valid? [True, True] Translation: X:292.81, Y:-186.27, Z:-40.70 [[ 7.38603511e-01 6.67615308e-01 9.35663021e-02 2.92810307e+02] [-6.61754622e-01 7.44499001e-01 -8.83292589e-02 -1.86270017e+02] [-1.28629984e-01 3.32236792e-03 9.91687092e-01 -4.06950447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters 0.030970667452101804 Centerline is valid? [True, True] Translation: X:292.85, Y:-186.31, Z:-40.70 [[ 7.36514863e-01 6.70094736e-01 9.22978994e-02 2.92853624e+02] [-6.64407513e-01 7.42270016e-01 -8.71658217e-02 -1.86314312e+02] [-1.26919322e-01 2.87550536e-03 9.91908876e-01 -4.07002825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters 0.030617349892664892 Centerline is valid? [True, True] Translation: X:292.90, Y:-186.36, Z:-40.71 [[ 7.33419673e-01 6.73212776e-01 9.42345066e-02 2.92897181e+02] [-6.67298414e-01 7.39444774e-01 -8.90744215e-02 -1.86358232e+02] [-1.29647252e-01 2.44639620e-03 9.91557162e-01 -4.07077388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters 0.03037550383184155 Centerline is valid? [True, True] Translation: X:292.94, Y:-186.40, Z:-40.71 [[ 7.32047191e-01 6.74945876e-01 9.24931052e-02 2.92943214e+02] [-6.69252976e-01 7.37864090e-01 -8.75045094e-02 -1.86400086e+02] [-1.27308149e-01 2.15614439e-03 9.91860870e-01 -4.07147901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters 0.030141907575358565 Centerline is valid? [True, True] Translation: X:292.99, Y:-186.44, Z:-40.72 [[ 7.30071829e-01 6.77150702e-01 9.19894071e-02 2.92988197e+02] [-6.71527442e-01 7.35842113e-01 -8.71049873e-02 -1.86442404e+02] [-1.26672883e-01 1.81948610e-03 9.91942876e-01 -4.07201849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters 0.03013785629089342 Centerline is valid? [True, True] Translation: X:293.03, Y:-186.49, Z:-40.73 [[ 7.29651530e-01 6.77419933e-01 9.33320919e-02 2.93032675e+02] [-6.71622422e-01 7.35594169e-01 -8.84564386e-02 -1.86485065e+02] [-1.28576697e-01 1.85845020e-03 9.91697827e-01 -4.07271071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters 0.03012423325156944 Centerline is valid? [True, True] Translation: X:293.08, Y:-186.53, Z:-40.73 [[ 7.29743797e-01 6.77022035e-01 9.54733193e-02 2.93077493e+02] [-6.70940782e-01 7.35959947e-01 -9.05617073e-02 -1.86526863e+02] [-1.31576810e-01 2.02990065e-03 9.91303900e-01 -4.07344133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters 0.030216812469166226 Centerline is valid? [True, True] Translation: X:293.12, Y:-186.57, Z:-40.74 [[ 7.29914358e-01 6.76804383e-01 9.57123634e-02 2.93122394e+02] [-6.70683631e-01 7.36159874e-01 -9.08411108e-02 -1.86570237e+02] [-1.31941263e-01 2.11351568e-03 9.91255283e-01 -4.07414954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters 0.029663683104295752 Centerline is valid? [True, True] Translation: X:293.16, Y:-186.62, Z:-40.75 [[ 7.28192210e-01 6.78882137e-01 9.41018058e-02 2.93164407e+02] [-6.72972189e-01 7.34245123e-01 -8.94009669e-02 -1.86616027e+02] [-1.29786511e-01 1.77318945e-03 9.91540376e-01 -4.07463561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters 0.02954029519498257 Centerline is valid? [True, True] Translation: X:293.21, Y:-186.66, Z:-40.75 [[ 7.26571708e-01 6.80725864e-01 9.33051540e-02 2.93207927e+02] [-6.74920881e-01 7.32536742e-01 -8.87227486e-02 -1.86660459e+02] [-1.28745323e-01 1.48984223e-03 9.91676571e-01 -4.07523015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters 0.029455677353930787 Centerline is valid? [True, True] Translation: X:293.25, Y:-186.71, Z:-40.76 [[ 7.25753805e-01 6.81574671e-01 9.34739677e-02 2.93250633e+02] [-6.75744837e-01 7.31747225e-01 -8.89658068e-02 -1.86706981e+02] [-1.29036157e-01 1.40272177e-03 9.91638897e-01 -4.07575879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters 0.02951959412127295 Centerline is valid? [True, True] Translation: X:293.29, Y:-186.75, Z:-40.77 [[ 7.27700309e-01 6.79356080e-01 9.44858529e-02 2.93293085e+02] [-6.73368007e-01 7.33806354e-01 -9.00208965e-02 -1.86751475e+02] [-1.30490563e-01 1.88448373e-03 9.91447761e-01 -4.07658927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters 0.029426439696865602 Centerline is valid? [True, True] Translation: X:293.33, Y:-186.80, Z:-40.77 [[ 7.28174703e-01 6.79016435e-01 9.32645810e-02 2.93334286e+02] [-6.73169734e-01 7.34120403e-01 -8.89367417e-02 -1.86797308e+02] [-1.28856941e-01 1.97859242e-03 9.91661219e-01 -4.07730718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters 0.029382307582935616 Centerline is valid? [True, True] Translation: X:293.38, Y:-186.84, Z:-40.78 [[ 7.27217740e-01 6.80133402e-01 9.25900282e-02 2.93378065e+02] [-6.74370125e-01 7.33086093e-01 -8.83725862e-02 -1.86841153e+02] [-1.27981610e-01 1.82616354e-03 9.91774860e-01 -4.07780239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters 0.029118873215249575 Centerline is valid? [True, True] Translation: X:293.42, Y:-186.89, Z:-40.79 [[ 7.25883832e-01 6.81587243e-01 9.23660778e-02 2.93417023e+02] [-6.75853369e-01 7.31735054e-01 -8.82385059e-02 -1.86889166e+02] [-1.27729737e-01 1.62497987e-03 9.91807680e-01 -4.07858177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters 0.029320327109244395 Centerline is valid? [True, True] Translation: X:293.46, Y:-186.94, Z:-40.79 [[ 7.26054005e-01 6.81197295e-01 9.38926375e-02 2.93459078e+02] [-6.75257426e-01 7.32097716e-01 -8.97794118e-02 -1.86935042e+02] [-1.29896078e-01 1.78300079e-03 9.91526011e-01 -4.07932027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters 0.029169547802987642 Centerline is valid? [True, True] Translation: X:293.50, Y:-186.98, Z:-40.80 [[ 7.24592609e-01 6.82599399e-01 9.49926936e-02 2.93502346e+02] [-6.76519579e-01 7.30790982e-01 -9.09164457e-02 -1.86980469e+02] [-1.31479315e-01 1.61296754e-03 9.91317602e-01 -4.07995744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters 0.0287188651062918 Centerline is valid? [True, True] Translation: X:293.54, Y:-187.03, Z:-40.80 [[ 7.20615546e-01 6.86989343e-01 9.35888737e-02 2.93543781e+02] [-6.81114699e-01 7.26666980e-01 -8.96541471e-02 -1.87027712e+02] [-1.29599388e-01 8.61414608e-04 9.91566063e-01 -4.08044393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters 0.02847902293791339 Centerline is valid? [True, True] Translation: X:293.59, Y:-187.07, Z:-40.81 [[ 7.18142219e-01 6.89645330e-01 9.30648868e-02 2.93587333e+02] [-6.83853807e-01 7.24147190e-01 -8.91897836e-02 -1.87071617e+02] [-1.28901994e-01 4.08171875e-04 9.91657254e-01 -4.08112780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters 0.028365826410051025 Centerline is valid? [True, True] Translation: X:293.63, Y:-187.12, Z:-40.82 [[ 7.18236224e-01 6.89690034e-01 9.20020912e-02 2.93629355e+02] [-6.84020469e-01 7.24104585e-01 -8.82527454e-02 -1.87116800e+02] [-1.27486175e-01 4.55004980e-04 9.91840243e-01 -4.08188165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters 0.028439708830300895 Centerline is valid? [True, True] Translation: X:293.67, Y:-187.16, Z:-40.83 [[ 7.17167727e-01 6.90743691e-01 9.24316214e-02 2.93673137e+02] [-6.85018560e-01 7.23099608e-01 -8.87498127e-02 -1.87162006e+02] [-1.28140642e-01 3.31125307e-04 9.91755951e-01 -4.08255093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters 0.028685911933714735 Centerline is valid? [True, True] Translation: X:293.71, Y:-187.21, Z:-40.83 [[ 7.13334439e-01 6.94258522e-01 9.57030946e-02 2.93714819e+02] [-6.88137272e-01 7.19725676e-01 -9.19893845e-02 -1.87207303e+02] [-1.32744388e-01 -2.37670449e-04 9.91150277e-01 -4.08342148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters 0.0289542270691553 Centerline is valid? [True, True] Translation: X:293.76, Y:-187.25, Z:-40.84 [[ 7.09651768e-01 6.98062296e-01 9.54117390e-02 2.93757930e+02] [-6.92000780e-01 7.16036490e-01 -9.17968733e-02 -1.87252241e+02] [-1.32398223e-01 -8.81184377e-04 9.91196214e-01 -4.08431302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters 0.02907571678868975 Centerline is valid? [True, True] Translation: X:293.80, Y:-187.30, Z:-40.85 [[ 7.06997759e-01 7.00760123e-01 9.53384405e-02 2.93803556e+02] [-6.94719158e-01 7.13395770e-01 -9.18246512e-02 -1.87295130e+02] [-1.32361094e-01 -1.31361849e-03 9.91200694e-01 -4.08488074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters 0.02946268835453141 Centerline is valid? [True, True] Translation: X:293.85, Y:-187.34, Z:-40.86 [[ 7.03651485e-01 7.04179874e-01 9.48962230e-02 2.93849855e+02] [-6.98213108e-01 7.10019141e-01 -9.14946768e-02 -1.87336807e+02] [-1.31806845e-01 -1.87742158e-03 9.91273641e-01 -4.08555914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters 0.029947911312879997 Centerline is valid? [True, True] Translation: X:293.90, Y:-187.38, Z:-40.86 [[ 7.00009259e-01 7.07672128e-01 9.58498693e-02 2.93897301e+02] [-7.01604909e-01 7.06536572e-01 -9.25020232e-02 -1.87376455e+02] [-1.33182542e-01 -2.49646612e-03 9.91088381e-01 -4.08638022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters 0.030122724954834354 Centerline is valid? [True, True] Translation: X:293.95, Y:-187.42, Z:-40.87 [[ 6.98602990e-01 7.09041614e-01 9.59888147e-02 2.93945686e+02] [-7.02957845e-01 7.05161473e-01 -9.27230610e-02 -1.87415768e+02] [-1.33432123e-01 -2.69948269e-03 9.91054278e-01 -4.08694553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters 0.0306176073939895 Centerline is valid? [True, True] Translation: X:294.00, Y:-187.45, Z:-40.88 [[ 6.98139693e-01 7.09221263e-01 9.80110714e-02 2.93997146e+02] [-7.02866638e-01 7.04980679e-01 -9.47667222e-02 -1.87451496e+02] [-1.36306486e-01 -2.72830192e-03 9.90662959e-01 -4.08768186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters 0.030392616293117514 Centerline is valid? [True, True] Translation: X:294.05, Y:-187.49, Z:-40.88 [[ 6.99885237e-01 7.07650432e-01 9.69098634e-02 2.94048402e+02] [-7.01411516e-01 7.06558865e-01 -9.37894223e-02 -1.87487212e+02] [-1.34842648e-01 -2.33186221e-03 9.90864281e-01 -4.08830358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters 0.03058614379451128 Centerline is valid? [True, True] Translation: X:294.10, Y:-187.53, Z:-40.89 [[ 6.99819694e-01 7.07617588e-01 9.76204097e-02 2.94096104e+02] [-7.01273626e-01 7.06591933e-01 -9.45681870e-02 -1.87527466e+02] [-1.35895906e-01 -2.27793894e-03 9.90720502e-01 -4.08908913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters 0.030650679075184956 Centerline is valid? [True, True] Translation: X:294.15, Y:-187.57, Z:-40.90 [[ 6.98701400e-01 7.08706348e-01 9.77326266e-02 2.94146291e+02] [-7.02344458e-01 7.05499435e-01 -9.47776851e-02 -1.87566397e+02] [-1.36119860e-01 -2.42066737e-03 9.90689419e-01 -4.08974257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters 0.030525011588755178 Centerline is valid? [True, True] Translation: X:294.19, Y:-187.61, Z:-40.90 [[ 7.00407448e-01 7.07200588e-01 9.64195756e-02 2.94193415e+02] [-7.00982013e-01 7.07010047e-01 -9.36002728e-02 -1.87606514e+02] [-1.34363777e-01 -2.03005995e-03 9.90929995e-01 -4.09043341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters 0.03043039770515636 Centerline is valid? [True, True] Translation: X:294.24, Y:-187.65, Z:-40.91 [[ 7.03735179e-01 7.03924548e-01 9.61614738e-02 2.94240248e+02] [-6.97698497e-01 7.10273485e-01 -9.34258239e-02 -1.87647686e+02] [-1.34065676e-01 -1.34467685e-03 9.90971537e-01 -4.09109116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters 0.03006820870961436 Centerline is valid? [True, True] Translation: X:294.28, Y:-187.69, Z:-40.92 [[ 7.09893829e-01 6.97901457e-01 9.47855926e-02 2.94282739e+02] [-6.91793759e-01 7.16193778e-01 -9.21296202e-02 -1.87692863e+02] [-1.32182248e-01 -1.69832506e-04 9.91225416e-01 -4.09194887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters 0.030019197893658603 Centerline is valid? [True, True] Translation: X:294.33, Y:-187.74, Z:-40.93 [[ 7.12132301e-01 6.95715213e-01 9.40634269e-02 2.94326198e+02] [-6.89670223e-01 7.18317656e-01 -9.15135437e-02 -1.87736743e+02] [-1.31234785e-01 2.97005858e-04 9.91351271e-01 -4.09259645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters 0.029819480687894397 Centerline is valid? [True, True] Translation: X:294.37, Y:-187.78, Z:-40.93 [[ 7.11978054e-01 6.96113197e-01 9.22695344e-02 2.94367283e+02] [-6.90290244e-01 7.17931988e-01 -8.98501001e-02 -1.87783288e+02] [-1.28789091e-01 2.78540125e-04 9.91671968e-01 -4.09333481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters 0.029921269245920028 Centerline is valid? [True, True] Translation: X:294.41, Y:-187.83, Z:-40.94 [[ 7.09903807e-01 6.98077178e-01 9.34068397e-02 2.94408583e+02] [-6.92114823e-01 7.16022523e-01 -9.10429471e-02 -1.87829604e+02] [-1.30436405e-01 -1.65236316e-05 9.91456678e-01 -4.09392639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters 0.03018439134359758 Centerline is valid? [True, True] Translation: X:294.45, Y:-187.88, Z:-40.95 [[ 7.08408960e-01 6.99650172e-01 9.29859239e-02 2.94451419e+02] [-6.93743829e-01 7.14485534e-01 -9.07189209e-02 -1.87875358e+02] [-1.29908606e-01 -2.42314469e-04 9.91525943e-01 -4.09460294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters 0.030126863615150868 Centerline is valid? [True, True] Translation: X:294.49, Y:-187.92, Z:-40.95 [[ 7.03558980e-01 7.04744463e-01 9.13236231e-02 2.94494029e+02] [-6.99078638e-01 7.09460395e-01 -8.91908458e-02 -1.87921759e+02] [-1.27647248e-01 -1.09137351e-03 9.91819030e-01 -4.09511060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters 0.03089701029576642 Centerline is valid? [True, True] Translation: X:294.54, Y:-187.97, Z:-40.96 [[ 6.96990555e-01 7.11138071e-01 9.21238885e-02 2.94537664e+02] [-7.05415057e-01 7.03048901e-01 -9.00657503e-02 -1.87965091e+02] [-1.28816783e-01 -2.21060085e-03 9.91665947e-01 -4.09564341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters 0.03144541456990729 Centerline is valid? [True, True] Translation: X:294.58, Y:-188.01, Z:-40.96 [[ 6.93075321e-01 7.15050926e-01 9.13716229e-02 2.94581565e+02] [-7.09444924e-01 6.99066531e-01 -8.94085301e-02 -1.88008943e+02] [-1.27806496e-01 -2.85628837e-03 9.91795010e-01 -4.09624814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters 0.03200252850450014 Centerline is valid? [True, True] Translation: X:294.63, Y:-188.05, Z:-40.97 [[ 6.89348478e-01 7.18771493e-01 9.03671221e-02 2.94628151e+02] [-7.13309738e-01 6.95237842e-01 -8.85074031e-02 -1.88049585e+02] [-1.26443241e-01 -3.44730446e-03 9.91967854e-01 -4.09680395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters 0.03237826434578423 Centerline is valid? [True, True] Translation: X:294.68, Y:-188.09, Z:-40.97 [[ 6.86063923e-01 7.21721698e-01 9.18372695e-02 2.94677192e+02] [-7.16096400e-01 6.92171777e-01 -9.00232032e-02 -1.88088511e+02] [-1.28538865e-01 -4.00266615e-03 9.91696394e-01 -4.09735418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters 0.032683947792748747 Centerline is valid? [True, True] Translation: X:294.73, Y:-188.12, Z:-40.98 [[ 6.84893244e-01 7.22874708e-01 9.15062905e-02 2.94729225e+02] [-7.17295978e-01 6.90966483e-01 -8.97318156e-02 -1.88123563e+02] [-1.28092640e-01 -4.18037990e-03 9.91753397e-01 -4.09810373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters 0.032831931092342455 Centerline is valid? [True, True] Translation: X:294.78, Y:-188.16, Z:-40.99 [[ 6.84192731e-01 7.23584582e-01 9.11353916e-02 2.94778849e+02] [-7.18046514e-01 6.90222721e-01 -8.94527746e-02 -1.88162773e+02] [-1.27630366e-01 -4.23651207e-03 9.91812755e-01 -4.09892573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters 0.03261980035712357 Centerline is valid? [True, True] Translation: X:294.83, Y:-188.20, Z:-40.99 [[ 6.84081351e-01 7.23667919e-01 9.13096287e-02 2.94834450e+02] [-7.18096963e-01 6.90135607e-01 -8.97195399e-02 -1.88195407e+02] [-1.27943179e-01 -4.19370297e-03 9.91772633e-01 -4.09949510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters 0.03153968187893267 Centerline is valid? [True, True] Translation: X:294.89, Y:-188.23, Z:-41.00 [[ 6.91146142e-01 7.16895758e-01 9.15285865e-02 2.94888795e+02] [-7.11227304e-01 6.97174421e-01 -9.00197158e-02 -1.88227384e+02] [-1.28346142e-01 -2.88085049e-03 9.91725249e-01 -4.10025415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters 0.03085932142847779 Centerline is valid? [True, True] Translation: X:294.94, Y:-188.26, Z:-41.01 [[ 6.96720923e-01 7.11381890e-01 9.22808889e-02 2.94940596e+02] [-7.05566209e-01 7.02803231e-01 -9.07961661e-02 -1.88262559e+02] [-1.29446055e-01 -1.85068832e-03 9.91584739e-01 -4.10093770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters 0.03028730159350747 Centerline is valid? [True, True] Translation: X:294.99, Y:-188.30, Z:-41.02 [[ 7.02952195e-01 7.05138269e-01 9.29420958e-02 2.94990274e+02] [-6.99172435e-01 7.09069541e-01 -9.15330116e-02 -1.88299504e+02] [-1.30445838e-01 -6.39219965e-04 9.91455231e-01 -4.10173546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters 0.02997839262308268 Centerline is valid? [True, True] Translation: X:295.04, Y:-188.34, Z:-41.02 [[ 7.08540653e-01 6.99610906e-01 9.22752598e-02 2.95036344e+02] [-6.93673581e-01 7.14523891e-01 -9.09536815e-02 -1.88341893e+02] [-1.29565065e-01 4.35471085e-04 9.91570827e-01 -4.10220367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters 0.030067808651704303 Centerline is valid? [True, True] Translation: X:295.08, Y:-188.39, Z:-41.03 [[ 7.10833524e-01 6.97097404e-01 9.36531423e-02 2.95079900e+02] [-6.90951768e-01 7.16975811e-01 -9.23652539e-02 -1.88386078e+02] [-1.31534616e-01 9.46514674e-04 9.91311126e-01 -4.10294309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters 0.030345983041008467 Centerline is valid? [True, True] Translation: X:295.12, Y:-188.43, Z:-41.04 [[ 7.13431023e-01 6.94407519e-01 9.38848927e-02 2.95119512e+02] [-6.88196730e-01 7.19580379e-01 -9.26786861e-02 -1.88434237e+02] [-1.31914503e-01 1.50857366e-03 9.91259950e-01 -4.10365228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters 0.030461745702005317 Centerline is valid? [True, True] Translation: X:295.16, Y:-188.48, Z:-41.04 [[ 7.14471129e-01 6.93343702e-01 9.38377138e-02 2.95156691e+02] [-6.87119002e-01 7.20604883e-01 -9.27150487e-02 -1.88484271e+02] [-1.31903310e-01 1.76454926e-03 9.91261017e-01 -4.10426545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters 0.030158821188611087 Centerline is valid? [True, True] Translation: X:295.20, Y:-188.53, Z:-41.05 [[ 7.13440993e-01 6.94737975e-01 9.13296023e-02 2.95198442e+02] [-6.88844190e-01 7.19261307e-01 -9.03153059e-02 -1.88530447e+02] [-1.28435322e-01 1.52277556e-03 9.91716718e-01 -4.10481855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters 0.03009808608404689 Centerline is valid? [True, True] Translation: X:295.24, Y:-188.57, Z:-41.06 [[ 7.07978985e-01 7.00218359e-01 9.19782929e-02 2.95241755e+02] [-6.94275157e-01 7.13928495e-01 -9.10390647e-02 -1.88574720e+02] [-1.29413149e-01 5.95500870e-04 9.91590582e-01 -4.10560540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters 0.030393550699144855 Centerline is valid? [True, True] Translation: X:295.28, Y:-188.62, Z:-41.06 [[ 7.03165348e-01 7.05087561e-01 9.17061894e-02 2.95284652e+02] [-6.99209759e-01 7.09120212e-01 -9.08528353e-02 -1.88619826e+02] [-1.29089917e-01 -2.37297002e-04 9.91632864e-01 -4.10629454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters 0.030520183255563493 Centerline is valid? [True, True] Translation: X:295.33, Y:-188.66, Z:-41.07 [[ 7.02423109e-01 7.05924315e-01 9.09540389e-02 2.95331371e+02] [-7.00139237e-01 7.08287197e-01 -9.01903243e-02 -1.88660166e+02] [-1.28089124e-01 -3.28723370e-04 9.91762607e-01 -4.10701404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters 0.03056065755066218 Centerline is valid? [True, True] Translation: X:295.38, Y:-188.70, Z:-41.08 [[ 7.03087417e-01 7.05484834e-01 8.92145349e-02 2.95376721e+02] [-6.99906022e-01 7.08724993e-01 -8.85462866e-02 -1.88702156e+02] [-1.25696633e-01 -1.86010307e-04 9.92068708e-01 -4.10765375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters 0.030548627528898673 Centerline is valid? [True, True] Translation: X:295.42, Y:-188.74, Z:-41.08 [[ 7.04217461e-01 7.04117046e-01 9.10876162e-02 2.95422782e+02] [-6.98278132e-01 7.10083919e-01 -9.04902177e-02 -1.88744131e+02] [-1.28395556e-01 1.20300831e-04 9.91723029e-01 -4.10828962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters 0.03061520731522808 Centerline is valid? [True, True] Translation: X:295.46, Y:-188.79, Z:-41.09 [[ 7.05952714e-01 7.02290719e-01 9.17524427e-02 2.95463119e+02] [-6.96339384e-01 7.11890074e-01 -9.12358733e-02 -1.88791108e+02] [-1.29391760e-01 5.17372954e-04 9.91593417e-01 -4.10907414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters 0.030448579781047667 Centerline is valid? [True, True] Translation: X:295.51, Y:-188.84, Z:-41.09 [[ 7.06243204e-01 7.02075479e-01 9.11622684e-02 2.95506751e+02] [-6.96187994e-01 7.12102271e-01 -9.07338538e-02 -1.88836844e+02] [-1.28618872e-01 6.14090861e-04 9.91693909e-01 -4.10946455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters 0.030546538034470327 Centerline is valid? [True, True] Translation: X:295.55, Y:-188.88, Z:-41.10 [[ 7.04574608e-01 7.03680308e-01 9.16986722e-02 2.95549527e+02] [-6.97724003e-01 7.10516622e-01 -9.13638067e-02 -1.88882604e+02] [-1.29444342e-01 3.92253579e-04 9.91586612e-01 -4.11005730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters 0.03046802981050705 Centerline is valid? [True, True] Translation: X:295.59, Y:-188.93, Z:-41.11 [[ 7.01880131e-01 7.06394616e-01 9.14927773e-02 2.95592596e+02] [-7.00475428e-01 7.07818228e-01 -9.12553052e-02 -1.88927932e+02] [-1.29222512e-01 -3.81568148e-05 9.91615622e-01 -4.11076015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters 0.03053210378474811 Centerline is valid? [True, True] Translation: X:295.63, Y:-188.97, Z:-41.11 [[ 7.01632539e-01 7.06530015e-01 9.23423944e-02 2.95634550e+02] [-7.00488418e-01 7.07683077e-01 -9.21989124e-02 -1.88973050e+02] [-1.30490449e-01 4.97920341e-06 9.91449566e-01 -4.11143272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters 0.03052000326080029 Centerline is valid? [True, True] Translation: X:295.68, Y:-189.02, Z:-41.12 [[ 7.02005212e-01 7.06291191e-01 9.13314618e-02 2.95678277e+02] [-7.00368687e-01 7.07921424e-01 -9.12740909e-02 -1.89016746e+02] [-1.29121585e-01 1.09191527e-04 9.91628763e-01 -4.11199582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters 0.030573127690060584 Centerline is valid? [True, True] Translation: X:295.68, Y:-189.35, Z:-39.27 [[ 7.53646128e-01 -6.54394524e-01 -6.15249605e-02 2.95681047e+02] [-6.51343261e-01 -7.56112401e-01 6.36081326e-02 -1.89348060e+02] [-8.81445992e-02 -7.86415444e-03 -9.96076646e-01 -3.92677091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters 0.03069322578495132 Centerline is valid? [True, True] Translation: X:295.73, Y:-189.08, Z:-41.13 [[ 7.50907060e-01 6.53234468e-01 9.70737703e-02 2.95727687e+02] [-6.47846873e-01 7.57155684e-01 -8.37239467e-02 -1.89082019e+02] [-1.28191325e-01 -2.00358961e-05 9.91749456e-01 -4.11294457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters 0.030668897606376106 Centerline is valid? [True, True] Translation: X:295.77, Y:-189.12, Z:-41.14 [[ 7.48941218e-01 6.55343516e-01 9.80404369e-02 2.95774424e+02] [-6.49853921e-01 7.55330905e-01 -8.46469468e-02 -1.89122253e+02] [-1.29525800e-01 -3.16374921e-04 9.91576002e-01 -4.11356837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters 0.030837254238629108 Centerline is valid? [True, True] Translation: X:295.82, Y:-189.16, Z:-41.14 [[ 7.45663594e-01 6.59092547e-01 9.78918732e-02 2.95820846e+02] [-6.53641150e-01 7.52061300e-01 -8.45993450e-02 -1.89164759e+02] [-1.29379487e-01 -9.03504842e-04 9.91594742e-01 -4.11402455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters 0.03109751094848168 Centerline is valid? [True, True] Translation: X:295.87, Y:-189.20, Z:-41.15 [[ 7.42477267e-01 6.62607082e-01 9.83837521e-02 2.95868315e+02] [-6.57119424e-01 7.48965779e-01 -8.51135969e-02 -1.89204987e+02] [-1.30082936e-01 -1.45496368e-03 9.91502049e-01 -4.11476172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters 0.03149661967418295 Centerline is valid? [True, True] Translation: X:295.92, Y:-189.24, Z:-41.15 [[ 7.38996236e-01 6.66759080e-01 9.65240518e-02 2.95917876e+02] [-6.61502734e-01 7.45270413e-01 -8.35831581e-02 -1.89244191e+02] [-1.27666350e-01 -2.08328495e-03 9.91814984e-01 -4.11538346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters 0.03162545809195417 Centerline is valid? [True, True] Translation: X:295.97, Y:-189.28, Z:-41.16 [[ 7.38043690e-01 6.67380417e-01 9.94730639e-02 2.95970063e+02] [-6.61789968e-01 7.44713760e-01 -8.62290773e-02 -1.89278931e+02] [-1.31626557e-01 -2.18944937e-03 9.91296956e-01 -4.11598687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters 0.03132466243547423 Centerline is valid? [True, True] Translation: X:296.02, Y:-189.31, Z:-41.17 [[ 7.39427948e-01 6.65758083e-01 1.00062408e-01 2.96022009e+02] [-6.60075207e-01 7.46165365e-01 -8.68214830e-02 -1.89313400e+02] [-1.32465207e-01 -1.85048382e-03 9.91185928e-01 -4.11677513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters 0.031240814465429454 Centerline is valid? [True, True] Translation: X:296.08, Y:-189.35, Z:-41.18 [[ 7.40102791e-01 6.64903002e-01 1.00756423e-01 2.96075162e+02] [-6.59121388e-01 7.46927901e-01 -8.75083223e-02 -1.89347952e+02] [-1.33442330e-01 -1.64555960e-03 9.91055214e-01 -4.11750729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters 0.03096245934799187 Centerline is valid? [True, True] Translation: X:296.13, Y:-189.38, Z:-41.18 [[ 7.43659179e-01 6.61002600e-01 1.00232675e-01 2.96129279e+02] [-6.55234838e-01 7.50383098e-01 -8.71350300e-02 -1.89380664e+02] [-1.32809387e-01 -8.77175805e-04 9.91141210e-01 -4.11824586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters 0.030867496534878077 Centerline is valid? [True, True] Translation: X:296.18, Y:-189.42, Z:-41.19 [[ 7.50577095e-01 6.52954813e-01 1.01410235e-01 2.96180420e+02] [-6.46970889e-01 7.57396635e-01 -8.81986691e-02 -1.89416474e+02] [-1.34397516e-01 5.90431081e-04 9.90927323e-01 -4.11892436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters 0.03104776078085845 Centerline is valid? [True, True] Translation: X:296.23, Y:-189.45, Z:-41.20 [[ 7.55551969e-01 6.47047267e-01 1.02328177e-01 2.96228743e+02] [-6.40888453e-01 7.62447942e-01 -8.90793206e-02 -1.89454610e+02] [-1.35658439e-01 1.72310864e-03 9.90754167e-01 -4.11963484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters 0.03190234185736512 Centerline is valid? [True, True] Translation: X:296.28, Y:-189.49, Z:-41.20 [[ 7.59730185e-01 6.41889382e-01 1.03865622e-01 2.96276137e+02] [-6.35483719e-01 7.66792319e-01 -9.04985164e-02 -1.89493442e+02] [-1.37733398e-01 2.74954262e-03 9.90465522e-01 -4.12042845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters 0.03196378578294237 Centerline is valid? [True, True] Translation: X:296.32, Y:-189.54, Z:-41.21 [[ 7.62000232e-01 6.39463956e-01 1.02183634e-01 2.96318325e+02] [-6.33232962e-01 7.68814439e-01 -8.91087745e-02 -1.89540777e+02] [-1.35542103e-01 3.19486137e-03 9.90766436e-01 -4.12113035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters 0.03234434320607695 Centerline is valid? [True, True] Translation: X:296.36, Y:-189.59, Z:-41.22 [[ 7.63374277e-01 6.37845033e-01 1.02046197e-01 2.96360213e+02] [-6.31604631e-01 7.70156572e-01 -8.90754982e-02 -1.89586322e+02] [-1.35407914e-01 3.54509316e-03 9.90783594e-01 -4.12186777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters 0.03286435028144353 Centerline is valid? [True, True] Translation: X:296.40, Y:-189.64, Z:-41.23 [[ 7.65402210e-01 6.35600764e-01 1.00852002e-01 2.96399245e+02] [-6.29476604e-01 7.72007790e-01 -8.81088932e-02 -1.89635574e+02] [-1.33860611e-01 3.95476613e-03 9.90992279e-01 -4.12265152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters 0.033065680135499 Centerline is valid? [True, True] Translation: X:296.44, Y:-189.68, Z:-41.23 [[ 7.65767409e-01 6.34964066e-01 1.02082857e-01 2.96441413e+02] [-6.28672478e-01 7.72530378e-01 -8.92621454e-02 -1.89681771e+02] [-1.35540363e-01 4.17735895e-03 9.90763019e-01 -4.12335003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters 0.03342591031895693 Centerline is valid? [True, True] Translation: X:296.48, Y:-189.73, Z:-41.24 [[ 7.65497778e-01 6.35036454e-01 1.03642912e-01 2.96479992e+02] [-6.28539763e-01 7.72470251e-01 -9.07054492e-02 -1.89730870e+02] [-1.37662333e-01 4.29112829e-03 9.90469923e-01 -4.12413846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters 0.032804443345006706 Centerline is valid? [True, True] Translation: X:296.52, Y:-189.78, Z:-41.25 [[ 7.62436270e-01 6.38955933e-01 1.02109015e-01 2.96520870e+02] [-6.32677205e-01 7.69235010e-01 -8.94262451e-02 -1.89776816e+02] [-1.35685259e-01 3.57976678e-03 9.90745525e-01 -4.12492696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters 0.031919482910231174 Centerline is valid? [True, True] Translation: X:296.56, Y:-189.82, Z:-41.26 [[ 7.58416239e-01 6.43955802e-01 1.00626704e-01 2.96561509e+02] [-6.37900974e-01 7.65058083e-01 -8.81389640e-02 -1.89822608e+02] [-1.33742871e-01 2.65614888e-03 9.91012507e-01 -4.12554943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters 0.03129603461601745 Centerline is valid? [True, True] Translation: X:296.60, Y:-189.87, Z:-41.26 [[ 7.52736485e-01 6.50720927e-01 9.97499828e-02 2.96604901e+02] [-6.44828529e-01 7.59315584e-01 -8.73842844e-02 -1.89866688e+02] [-1.32604499e-01 1.45570442e-03 9.91167961e-01 -4.12608171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters 0.031396986967917796 Centerline is valid? [True, True] Translation: X:296.65, Y:-189.91, Z:-41.27 [[ 7.47413051e-01 6.56525818e-01 1.01723063e-01 2.96650149e+02] [-6.50444830e-01 7.54303409e-01 -8.91509418e-02 -1.89910912e+02] [-1.35259949e-01 4.67336671e-04 9.90810036e-01 -4.12672547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters 0.031363997691645114 Centerline is valid? [True, True] Translation: X:296.70, Y:-189.95, Z:-41.27 [[ 7.45384189e-01 6.58895908e-01 1.01284712e-01 2.96696795e+02] [-6.52876850e-01 7.52234120e-01 -8.88574548e-02 -1.89952150e+02] [-1.34737629e-01 1.06498312e-04 9.90881305e-01 -4.12733809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters 0.031451818281315665 Centerline is valid? [True, True] Translation: X:296.74, Y:-189.99, Z:-41.28 [[ 7.42941235e-01 6.61837596e-01 1.00046580e-01 2.96743081e+02] [-6.55981045e-01 7.49647162e-01 -8.78521560e-02 -1.89992622e+02] [-1.33143494e-01 -3.59670816e-04 9.91096706e-01 -4.12792386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters 0.03157342983630662 Centerline is valid? [True, True] Translation: X:296.79, Y:-190.03, Z:-41.28 [[ 7.40508242e-01 6.64827197e-01 9.82463357e-02 2.96789879e+02] [-6.59196082e-01 7.46996737e-01 -8.63504478e-02 -1.90032842e+02] [-1.30797818e-01 -8.20381372e-04 9.91408724e-01 -4.12845120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters 0.031762721977477426 Centerline is valid? [True, True] Translation: X:296.84, Y:-190.07, Z:-41.29 [[ 7.38436633e-01 6.67106762e-01 9.83865132e-02 2.96837725e+02] [-6.61468652e-01 7.44961217e-01 -8.65563869e-02 -1.90072973e+02] [-1.31036488e-01 -1.16318737e-03 9.91376864e-01 -4.12928412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters 0.032306115293756925 Centerline is valid? [True, True] Translation: X:296.89, Y:-190.11, Z:-41.30 [[ 7.36579470e-01 6.69065774e-01 9.90034058e-02 2.96886178e+02] [-6.63361678e-01 7.43201779e-01 -8.71917474e-02 -1.90111613e+02] [-1.31916521e-01 -1.45141428e-03 9.91259767e-01 -4.12993871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters 0.032320971384024844 Centerline is valid? [True, True] Translation: X:296.94, Y:-190.15, Z:-41.31 [[ 7.36923250e-01 6.68639720e-01 9.93229461e-02 2.96935928e+02] [-6.62883445e-01 7.43585363e-01 -8.75576716e-02 -1.90149289e+02] [-1.32399626e-01 -1.31625273e-03 9.91195544e-01 -4.13064241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters 0.03218449102519495 Centerline is valid? [True, True] Translation: X:296.98, Y:-190.19, Z:-41.31 [[ 7.36558175e-01 6.69336543e-01 9.73172513e-02 2.96984927e+02] [-6.63805840e-01 7.42958129e-01 -8.58779724e-02 -1.90188030e+02] [-1.29783908e-01 -1.34563712e-03 9.91541389e-01 -4.13123186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters 0.032256420947689095 Centerline is valid? [True, True] Translation: X:297.03, Y:-190.23, Z:-41.32 [[ 7.35195490e-01 6.70649100e-01 9.85767573e-02 2.97034034e+02] [-6.64974490e-01 7.41773163e-01 -8.70718213e-02 -1.90226022e+02] [-1.31516232e-01 -1.53621862e-03 9.91312827e-01 -4.13187569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters 0.03267725263844382 Centerline is valid? [True, True] Translation: X:297.08, Y:-190.26, Z:-41.32 [[ 7.32157575e-01 6.74026137e-01 9.81532084e-02 2.97084766e+02] [-6.68419772e-01 7.38704592e-01 -8.67786546e-02 -1.90262144e+02] [-1.30997307e-01 -2.07189585e-03 9.91380559e-01 -4.13245325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters 0.03293638804255284 Centerline is valid? [True, True] Translation: X:297.14, Y:-190.30, Z:-41.33 [[ 7.30790958e-01 6.75639900e-01 9.72383720e-02 2.97135416e+02] [-6.70141462e-01 7.37228280e-01 -8.60516346e-02 -1.90299353e+02] [-1.29826796e-01 -2.27770828e-03 9.91534072e-01 -4.13318387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters 0.03254678806833498 Centerline is valid? [True, True] Translation: X:297.18, Y:-190.34, Z:-41.34 [[ 7.32037031e-01 6.74596420e-01 9.50865702e-02 2.97184696e+02] [-6.69320641e-01 7.38184073e-01 -8.42268020e-02 -1.90337833e+02] [-1.27010491e-01 -1.98626611e-03 9.91899385e-01 -4.13384315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters 0.03256154493223727 Centerline is valid? [True, True] Translation: X:297.24, Y:-190.37, Z:-41.35 [[ 7.32186246e-01 6.74016972e-01 9.80021555e-02 2.97237219e+02] [-6.68400994e-01 7.38713376e-01 -8.68484863e-02 -1.90372083e+02] [-1.30932857e-01 -1.91547099e-03 9.91389388e-01 -4.13451742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters 0.03246130904566684 Centerline is valid? [True, True] Translation: X:297.29, Y:-190.41, Z:-41.35 [[ 7.33241733e-01 6.72834903e-01 9.82331614e-02 2.97290303e+02] [-6.67170843e-01 7.39790836e-01 -8.71354484e-02 -1.90405695e+02] [-1.31299764e-01 -1.64695383e-03 9.91341344e-01 -4.13518254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters 0.03224933118234862 Centerline is valid? [True, True] Translation: X:297.34, Y:-190.44, Z:-41.36 [[ 7.33319677e-01 6.72657792e-01 9.88622611e-02 2.97339519e+02] [-6.66907765e-01 7.39952062e-01 -8.77780154e-02 -1.90444350e+02] [-1.32197900e-01 -1.56266364e-03 9.91222111e-01 -4.13594481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters 0.03187554394111022 Centerline is valid? [True, True] Translation: X:297.39, Y:-190.48, Z:-41.37 [[ 7.36141963e-01 6.69653500e-01 9.82812342e-02 2.97391155e+02] [-6.63932506e-01 7.42673071e-01 -8.73518024e-02 -1.90479295e+02] [-1.31486266e-01 -9.48778898e-04 9.91317538e-01 -4.13659114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters 0.03158591176775835 Centerline is valid? [True, True] Translation: X:297.44, Y:-190.52, Z:-41.37 [[ 7.37646679e-01 6.68161630e-01 9.71463466e-02 2.97441811e+02] [-6.62549301e-01 7.44015899e-01 -8.64220224e-02 -1.90515423e+02] [-1.30022306e-01 -6.15326226e-04 9.91510878e-01 -4.13719747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters 0.03176393254015355 Centerline is valid? [True, True] Translation: X:297.49, Y:-190.55, Z:-41.38 [[ 7.37305616e-01 6.68503460e-01 9.73835350e-02 2.97492555e+02] [-6.62855818e-01 7.43708777e-01 -8.67145842e-02 -1.90552505e+02] [-1.30393989e-01 -6.16092799e-04 9.91462066e-01 -4.13779468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters 0.0316252581554541 Centerline is valid? [True, True] Translation: X:297.54, Y:-190.59, Z:-41.38 [[ 7.36649459e-01 6.69184037e-01 9.76744496e-02 2.97542121e+02] [-6.63496340e-01 7.43096410e-01 -8.70651045e-02 -1.90591906e+02] [-1.30844111e-01 -6.70177611e-04 9.91402728e-01 -4.13847400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters 0.03140862906829742 Centerline is valid? [True, True] Translation: X:297.59, Y:-190.63, Z:-41.39 [[ 7.36838698e-01 6.69291316e-01 9.54875260e-02 2.97591893e+02] [-6.63846301e-01 7.42999841e-01 -8.52016736e-02 -1.90629111e+02] [-1.27971957e-01 -6.09150694e-04 9.91777600e-01 -4.13916500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters 0.031205223602147697 Centerline is valid? [True, True] Translation: X:297.64, Y:-190.67, Z:-41.40 [[ 7.38918688e-01 6.67097543e-01 9.47630807e-02 2.97641571e+02] [-6.61707334e-01 7.44970362e-01 -8.46319361e-02 -1.90666683e+02] [-1.27053443e-01 -1.69306281e-04 9.91895858e-01 -4.13991584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters 0.03098159004540969 Centerline is valid? [True, True] Translation: X:297.69, Y:-190.70, Z:-41.41 [[ 7.40817241e-01 6.64569195e-01 9.76606400e-02 2.97692235e+02] [-6.58810078e-01 7.47226654e-01 -8.73018265e-02 -1.90703211e+02] [-1.30992738e-01 3.34884430e-04 9.91383271e-01 -4.14053021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters 0.030933388577441604 Centerline is valid? [True, True] Translation: X:297.74, Y:-190.74, Z:-41.41 [[ 7.40920173e-01 6.64681926e-01 9.61001254e-02 2.97741735e+02] [-6.59097105e-01 7.47126363e-01 -8.59837390e-02 -1.90740614e+02] [-1.28950774e-01 3.67772334e-04 9.91650928e-01 -4.14127130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters 0.031167939820666832 Centerline is valid? [True, True] Translation: X:297.79, Y:-190.78, Z:-41.42 [[ 7.41774745e-01 6.63643918e-01 9.66797754e-02 2.97790692e+02] [-6.57972224e-01 7.48048379e-01 -8.65804558e-02 -1.90779217e+02] [-1.29779742e-01 6.10588711e-04 9.91542660e-01 -4.14200731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters 0.031344458587755655 Centerline is valid? [True, True] Translation: X:297.84, Y:-190.82, Z:-41.43 [[ 7.42615415e-01 6.62213148e-01 9.99804639e-02 2.97837720e+02] [-6.56121663e-01 7.49314913e-01 -8.96187709e-02 -1.90818595e+02] [-1.34263581e-01 9.52932406e-04 9.90945197e-01 -4.14275915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters 0.031401940389839456 Centerline is valid? [True, True] Translation: X:297.89, Y:-190.86, Z:-41.43 [[ 7.42754236e-01 6.62193995e-01 9.90719905e-02 2.97886251e+02] [-6.56203054e-01 7.49331773e-01 -8.88788290e-02 -1.90857595e+02] [-1.33092817e-01 1.00378399e-03 9.91103070e-01 -4.14331899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters 0.0309402829994741 Centerline is valid? [True, True] Translation: X:297.93, Y:-190.90, Z:-41.44 [[ 7.41856296e-01 6.63432044e-01 9.75046620e-02 2.97932796e+02] [-6.57630448e-01 7.48236085e-01 -8.75497310e-02 -1.90899181e+02] [-1.31039804e-01 8.27284579e-04 9.91376763e-01 -4.14389638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters 0.031076079349541937 Centerline is valid? [True, True] Translation: X:297.98, Y:-190.94, Z:-41.45 [[ 7.40532372e-01 6.64641224e-01 9.93169118e-02 2.97978552e+02] [-6.58620814e-01 7.47162346e-01 -8.92583428e-02 -1.90940565e+02] [-1.33530631e-01 6.86507070e-04 9.91044449e-01 -4.14453748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters 0.031212992244524285 Centerline is valid? [True, True] Translation: X:298.02, Y:-190.98, Z:-41.45 [[ 7.41876773e-01 6.63132119e-01 9.93712576e-02 2.98024150e+02] [-6.57080462e-01 7.48501670e-01 -8.93896857e-02 -1.90982890e+02] [-1.33656724e-01 1.02121964e-03 9.91027163e-01 -4.14531860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters 0.03131137484952451 Centerline is valid? [True, True] Translation: X:298.07, Y:-191.03, Z:-41.46 [[ 7.42507267e-01 6.62418580e-01 9.94212394e-02 2.98068925e+02] [-6.56342110e-01 7.49132924e-01 -8.95259580e-02 -1.91026030e+02] [-1.33783382e-01 1.21932835e-03 9.91009849e-01 -4.14622023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters 0.031080905093588726 Centerline is valid? [True, True] Translation: X:298.11, Y:-191.07, Z:-41.47 [[ 7.42079594e-01 6.63337563e-01 9.64424844e-02 2.98112414e+02] [-6.57618099e-01 7.48319518e-01 -8.69271795e-02 -1.91071066e+02] [-1.29831857e-01 1.08456285e-03 9.91535432e-01 -4.14671368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters 0.031104020511826855 Centerline is valid? [True, True] Translation: X:298.16, Y:-191.12, Z:-41.47 [[ 7.39947425e-01 6.65650297e-01 9.68890611e-02 2.98156985e+02] [-6.59886748e-01 7.46263446e-01 -8.74090874e-02 -1.91115863e+02] [-1.30488650e-01 7.42321646e-04 9.91449525e-01 -4.14728507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters 0.03084138415911606 Centerline is valid? [True, True] Translation: X:298.20, Y:-191.16, Z:-41.48 [[ 7.34663352e-01 6.71519069e-01 9.66017536e-02 2.98202309e+02] [-6.65828550e-01 7.40987238e-01 -8.72367766e-02 -1.91158320e+02] [-1.30161826e-01 -2.30542820e-04 9.91492736e-01 -4.14782075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters 0.031094987983898807 Centerline is valid? [True, True] Translation: X:298.25, Y:-191.20, Z:-41.48 [[ 7.30654451e-01 6.75826189e-01 9.69692498e-02 2.98248483e+02] [-6.70119258e-01 7.37060430e-01 -8.76476097e-02 -1.91200080e+02] [-1.30706747e-01 -9.40845571e-04 9.91420628e-01 -4.14842143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters 0.030995955553276458 Centerline is valid? [True, True] Translation: X:298.30, Y:-191.24, Z:-41.49 [[ 7.30423452e-01 6.76150131e-01 9.64498950e-02 2.98298786e+02] [-6.70496666e-01 7.36763279e-01 -8.72587588e-02 -1.91238194e+02] [-1.30060762e-01 -9.33489261e-04 9.91505586e-01 -4.14910782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters 0.030970197926335524 Centerline is valid? [True, True] Translation: X:298.35, Y:-191.28, Z:-41.50 [[ 7.30945510e-01 6.75589218e-01 9.64254598e-02 2.98349021e+02] [-6.69921801e-01 7.37277846e-01 -8.73278825e-02 -1.91276644e+02] [-1.30090131e-01 -7.65594027e-04 9.91501877e-01 -4.14967683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters 0.031162642997824286 Centerline is valid? [True, True] Translation: X:298.40, Y:-191.31, Z:-41.51 [[ 7.31343285e-01 6.74843096e-01 9.86093036e-02 2.98401308e+02] [-6.68895629e-01 7.37961016e-01 -8.93989718e-02 -1.91311055e+02] [-1.33100101e-01 -5.77994335e-04 9.91102431e-01 -4.15050702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters 0.030969606435107096 Centerline is valid? [True, True] Translation: X:298.45, Y:-191.35, Z:-41.51 [[ 7.33082056e-01 6.73254910e-01 9.65325080e-02 2.98451377e+02] [-6.67532360e-01 7.39410424e-01 -8.75943667e-02 -1.91347466e+02] [-1.30350480e-01 -2.24714383e-04 9.91467953e-01 -4.15114262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters 0.03065163778897962 Centerline is valid? [True, True] Translation: X:298.50, Y:-191.39, Z:-41.52 [[ 7.34038176e-01 6.72216516e-01 9.65034275e-02 2.98501522e+02] [-6.66477746e-01 7.40354614e-01 -8.76496435e-02 -1.91385345e+02] [-1.30366296e-01 2.07976109e-05 9.91465899e-01 -4.15181036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters 0.03089547538180311 Centerline is valid? [True, True] Translation: X:298.55, Y:-191.42, Z:-41.53 [[ 7.35558679e-01 6.70430361e-01 9.73476290e-02 2.98548645e+02] [-6.64562609e-01 7.41972347e-01 -8.85074809e-02 -1.91424756e+02] [-1.31567351e-01 4.08851467e-04 9.91307150e-01 -4.15261406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters 0.031075847831109987 Centerline is valid? [True, True] Translation: X:298.60, Y:-191.46, Z:-41.53 [[ 7.37694834e-01 6.67918495e-01 9.84439706e-02 2.98597133e+02] [-6.61884013e-01 7.44233849e-01 -8.95853270e-02 -1.91463881e+02] [-1.33101032e-01 9.28142628e-04 9.91102040e-01 -4.15332785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters 0.03138661161220562 Centerline is valid? [True, True] Translation: X:298.64, Y:-191.51, Z:-41.54 [[ 7.41598300e-01 6.63636229e-01 9.80760787e-02 2.98642916e+02] [-6.57598913e-01 7.48053398e-01 -8.93296311e-02 -1.91506131e+02] [-1.32648523e-01 1.75197977e-03 9.91161591e-01 -4.15401239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters 0.03194763138855936 Centerline is valid? [True, True] Translation: X:298.69, Y:-191.55, Z:-41.55 [[ 7.45019325e-01 6.59707381e-01 9.86528100e-02 2.98686643e+02] [-6.53553338e-01 7.51518316e-01 -8.99347310e-02 -1.91549619e+02] [-1.33469999e-01 2.52823926e-03 9.91049629e-01 -4.15480479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters 0.0322019479643648 Centerline is valid? [True, True] Translation: X:298.73, Y:-191.59, Z:-41.55 [[ 7.46633017e-01 6.57964159e-01 9.80933369e-02 2.98730885e+02] [-6.51854649e-01 7.53043727e-01 -8.95023018e-02 -1.91592726e+02] [-1.32757879e-01 2.88277598e-03 9.91144306e-01 -4.15544779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters 0.031794629577760546 Centerline is valid? [True, True] Translation: X:298.77, Y:-191.64, Z:-41.56 [[ 7.44333041e-01 6.60559159e-01 9.81321652e-02 2.98773585e+02] [-6.54456803e-01 7.50769903e-01 -8.96149896e-02 -1.91637221e+02] [-1.32870678e-01 2.48013466e-03 9.91130280e-01 -4.15608716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters 0.03140387372785174 Centerline is valid? [True, True] Translation: X:298.81, Y:-191.68, Z:-41.57 [[ 7.41812340e-01 6.63481819e-01 9.75003995e-02 2.98814791e+02] [-6.57472975e-01 7.48189726e-01 -8.91146516e-02 -1.91683272e+02] [-1.32074748e-01 2.00247051e-03 9.91237737e-01 -4.15687483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters 0.03134372301413201 Centerline is valid? [True, True] Translation: X:298.86, Y:-191.73, Z:-41.57 [[ 7.40702540e-01 6.64746977e-01 9.73201115e-02 2.98859415e+02] [-6.58760928e-01 7.47066328e-01 -8.90277514e-02 -1.91726813e+02] [-1.31885507e-01 1.83239460e-03 9.91263262e-01 -4.15745251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters 0.031131572182126775 Centerline is valid? [True, True] Translation: X:298.90, Y:-191.77, Z:-41.58 [[ 7.38866058e-01 6.66616128e-01 9.84879955e-02 2.98904788e+02] [-6.60490299e-01 7.45399519e-01 -9.01782790e-02 -1.91770694e+02] [-1.33527200e-01 1.57930395e-03 9.91043890e-01 -4.15802198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters 0.031110328059732833 Centerline is valid? [True, True] Translation: X:298.95, Y:-191.81, Z:-41.59 [[ 7.37788029e-01 6.67842667e-01 9.82598407e-02 2.98949512e+02] [-6.61744304e-01 7.44301118e-01 -9.00573250e-02 -1.91812707e+02] [-1.33279033e-01 1.42032638e-03 9.91077536e-01 -4.15882528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters 0.030901215702655502 Centerline is valid? [True, True] Translation: X:299.00, Y:-191.85, Z:-41.60 [[ 7.35351197e-01 6.70430486e-01 9.89018680e-02 2.98996201e+02] [-6.64263744e-01 7.41971644e-01 -9.07290314e-02 -1.91854949e+02] [-1.34209890e-01 1.02077671e-03 9.90952402e-01 -4.15960870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters 0.03095181775414713 Centerline is valid? [True, True] Translation: X:299.04, Y:-191.90, Z:-41.60 [[ 7.35199634e-01 6.70324368e-01 1.00731030e-01 2.99040876e+02] [-6.63912480e-01 7.42067360e-01 -9.25000133e-02 -1.91897385e+02] [-1.36754223e-01 1.12938759e-03 9.90604365e-01 -4.16019335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters 0.03090023398178287 Centerline is valid? [True, True] Translation: X:299.08, Y:-191.94, Z:-41.61 [[ 7.37322660e-01 6.68152732e-01 9.96354424e-02 2.99084865e+02] [-6.61849118e-01 7.44022471e-01 -9.15767881e-02 -1.91941486e+02] [-1.35318289e-01 1.57801132e-03 9.90800924e-01 -4.16095949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters 0.030939661653500834 Centerline is valid? [True, True] Translation: X:299.13, Y:-191.98, Z:-41.62 [[ 7.37596133e-01 6.67884072e-01 9.94123295e-02 2.99131123e+02] [-6.61593780e-01 7.44263394e-01 -9.14640358e-02 -1.91984197e+02] [-1.35076330e-01 1.69294020e-03 9.90833749e-01 -4.16153717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters 0.030750859607708934 Centerline is valid? [True, True] Translation: X:299.17, Y:-192.03, Z:-41.62 [[ 7.33982793e-01 6.71701906e-01 1.00428133e-01 2.99174534e+02] [-6.65304274e-01 7.40820761e-01 -9.24922860e-02 -1.92029616e+02] [-1.36526491e-01 1.07248012e-03 9.90635840e-01 -4.16221151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters 0.030407894198166145 Centerline is valid? [True, True] Translation: X:299.22, Y:-192.07, Z:-41.63 [[ 7.31868990e-01 6.74305363e-01 9.83872895e-02 2.99218817e+02] [-6.68178779e-01 7.38452350e-01 -9.06931385e-02 -1.92073685e+02] [-1.33809195e-01 6.35196738e-04 9.91006910e-01 -4.16274158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters 0.03051232149947436 Centerline is valid? [True, True] Translation: X:299.26, Y:-192.12, Z:-41.63 [[ 7.30606863e-01 6.75654442e-01 9.85123678e-02 2.99262405e+02] [-6.69517109e-01 7.37218347e-01 -9.08622557e-02 -1.92119569e+02] [-1.34016612e-01 4.28871976e-04 9.90978993e-01 -4.16344041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters 0.030609212609360874 Centerline is valid? [True, True] Translation: X:299.31, Y:-192.16, Z:-41.64 [[ 7.32166217e-01 6.74100361e-01 9.75773249e-02 2.99306083e+02] [-6.68053671e-01 7.38639360e-01 -9.00898861e-02 -1.92164160e+02] [-1.32804078e-01 7.73880981e-04 9.91142007e-01 -4.16409921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters 0.030263235283593155 Centerline is valid? [True, True] Translation: X:299.35, Y:-192.21, Z:-41.65 [[ 7.31485554e-01 6.75191020e-01 9.51103042e-02 2.99346964e+02] [-6.69446423e-01 7.37642666e-01 -8.78907497e-02 -1.92211606e+02] [-1.29500463e-01 6.19560791e-04 9.91579168e-01 -4.16472677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters 0.03052564223308715 Centerline is valid? [True, True] Translation: X:299.39, Y:-192.26, Z:-41.66 [[ 7.29818057e-01 6.76911962e-01 9.56859383e-02 2.99388863e+02] [-6.71101209e-01 7.36063892e-01 -8.85048873e-02 -1.92258833e+02] [-1.30340981e-01 3.77516019e-04 9.91469155e-01 -4.16553019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters 0.030664896441819023 Centerline is valid? [True, True] Translation: X:299.43, Y:-192.31, Z:-41.66 [[ 7.27493836e-01 6.79107455e-01 9.78048201e-02 2.99425636e+02] [-6.73042639e-01 7.34038869e-01 -9.05568579e-02 -1.92309629e+02] [-1.33290377e-01 5.27417241e-05 9.91077027e-01 -4.16616193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters 0.030647402285921912 Centerline is valid? [True, True] Translation: X:299.47, Y:-192.36, Z:-41.67 [[ 7.25311307e-01 6.81641733e-01 9.63745560e-02 2.99466080e+02] [-6.75765910e-01 7.31686015e-01 -8.93085144e-02 -1.92357554e+02] [-1.31392325e-01 -3.50164165e-04 9.91330386e-01 -4.16676915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters 0.030886874976904555 Centerline is valid? [True, True] Translation: X:299.51, Y:-192.40, Z:-41.67 [[ 7.23333847e-01 6.83995091e-01 9.45455451e-02 2.99506611e+02] [-6.78350795e-01 7.29486271e-01 -8.76925332e-02 -1.92404721e+02] [-1.28950939e-01 -7.04068215e-04 9.91650725e-01 -4.16747324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters 0.030731963359642483 Centerline is valid? [True, True] Translation: X:299.55, Y:-192.45, Z:-41.68 [[ 7.21921093e-01 6.85615496e-01 9.36019617e-02 2.99550221e+02] [-6.80086838e-01 7.27963281e-01 -8.68985272e-02 -1.92449441e+02] [-1.27717768e-01 -9.23582441e-04 9.91810122e-01 -4.16806252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters 0.03100201386228581 Centerline is valid? [True, True] Translation: X:299.59, Y:-192.50, Z:-41.69 [[ 7.20864200e-01 6.86673493e-01 9.39910559e-02 2.99593413e+02] [-6.81095438e-01 7.26965211e-01 -8.73532325e-02 -1.92495193e+02] [-1.28311377e-01 -1.04706131e-03 9.91733379e-01 -4.16880078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters 0.030925515217050538 Centerline is valid? [True, True] Translation: X:299.64, Y:-192.54, Z:-41.69 [[ 7.19692947e-01 6.87865402e-01 9.42509941e-02 2.99637304e+02] [-6.82254249e-01 7.25837284e-01 -8.76890909e-02 -1.92540478e+02] [-1.28729177e-01 -1.19392093e-03 9.91679068e-01 -4.16947597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters 0.031027152306261165 Centerline is valid? [True, True] Translation: X:299.68, Y:-192.58, Z:-41.70 [[ 7.18379981e-01 6.89122426e-01 9.50814668e-02 2.99680649e+02] [-6.83410543e-01 7.24643649e-01 -8.85528708e-02 -1.92584205e+02] [-1.29923950e-01 -1.36506728e-03 9.91523022e-01 -4.17001783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters 0.031034955511483407 Centerline is valid? [True, True] Translation: X:299.73, Y:-192.63, Z:-41.71 [[ 7.16477812e-01 6.91301465e-01 9.36046471e-02 2.99725102e+02] [-6.85774889e-01 7.22564514e-01 -8.72543743e-02 -1.92628745e+02] [-1.27954473e-01 -1.67589329e-03 9.91778627e-01 -4.17061909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters 0.03111904977185545 Centerline is valid? [True, True] Translation: X:299.77, Y:-192.67, Z:-41.71 [[ 7.14694507e-01 6.93031613e-01 9.44401661e-02 2.99772151e+02] [-6.87408506e-01 7.20904595e-01 -8.81255349e-02 -1.92669662e+02] [-1.29156131e-01 -1.93613776e-03 9.91622380e-01 -4.17125386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters 0.031079725368266524 Centerline is valid? [True, True] Translation: X:299.82, Y:-192.71, Z:-41.72 [[ 7.13420654e-01 6.94373732e-01 9.42130106e-02 2.99819209e+02] [-6.88778556e-01 7.19611461e-01 -8.79968496e-02 -1.92710896e+02] [-1.28899463e-01 -2.11313142e-03 9.91655416e-01 -4.17179778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters 0.031249104708948972 Centerline is valid? [True, True] Translation: X:299.87, Y:-192.75, Z:-41.72 [[ 7.11339144e-01 6.96343196e-01 9.54084685e-02 2.99866982e+02] [-6.90609857e-01 7.17704834e-01 -8.92064857e-02 -1.92749784e+02] [-1.30593448e-01 -2.43396360e-03 9.91433017e-01 -4.17239973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters 0.03181954719720857 Centerline is valid? [True, True] Translation: X:299.92, Y:-192.79, Z:-41.73 [[ 7.07352648e-01 7.00597742e-01 9.38884254e-02 2.99915315e+02] [-6.95073607e-01 7.13549668e-01 -8.78609855e-02 -1.92787926e+02] [-1.28549263e-01 -3.11066576e-03 9.91698246e-01 -4.17311667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters 0.03187012402382333 Centerline is valid? [True, True] Translation: X:299.96, Y:-192.83, Z:-41.74 [[ 7.05042501e-01 7.02820231e-01 9.46509052e-02 2.99964343e+02] [-6.97215331e-01 7.11358948e-01 -8.86522935e-02 -1.92826099e+02] [-1.29637394e-01 -3.48842745e-03 9.91555332e-01 -4.17369656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters 0.03206125540856686 Centerline is valid? [True, True] Translation: X:300.01, Y:-192.86, Z:-41.74 [[ 7.05324720e-01 7.02878752e-01 9.20787652e-02 3.00014334e+02] [-6.97566055e-01 7.11301807e-01 -8.63211372e-02 -1.92863643e+02] [-1.26169085e-01 -3.34658909e-03 9.92003106e-01 -4.17444469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters 0.0317476612822958 Centerline is valid? [True, True] Translation: X:300.07, Y:-192.90, Z:-41.75 [[ 7.06206359e-01 7.01796305e-01 9.35656191e-02 3.00067166e+02] [-6.96289545e-01 7.12370733e-01 -8.77998162e-02 -1.92899422e+02] [-1.28270995e-01 -3.14397395e-03 9.91734172e-01 -4.17510018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters 0.03155983921596141 Centerline is valid? [True, True] Translation: X:300.12, Y:-192.94, Z:-41.76 [[ 7.07331556e-01 7.00626066e-01 9.38359543e-02 3.00115995e+02] [-6.95065073e-01 7.13522850e-01 -8.81458225e-02 -1.92938008e+02] [-1.28711358e-01 -2.87377274e-03 9.91677935e-01 -4.17582996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters 0.031277264947242193 Centerline is valid? [True, True] Translation: X:300.17, Y:-192.97, Z:-41.77 [[ 7.07717168e-01 7.00441379e-01 9.22945568e-02 3.00167128e+02] [-6.95050569e-01 7.13704695e-01 -8.67773887e-02 -1.92974136e+02] [-1.26653532e-01 -2.73553647e-03 9.91943244e-01 -4.17654108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters 0.031332671116444985 Centerline is valid? [True, True] Translation: X:300.22, Y:-193.01, Z:-41.77 [[ 7.07959224e-01 6.99827751e-01 9.50518616e-02 3.00218150e+02] [-6.94092036e-01 7.14306745e-01 -8.94545643e-02 -1.93009645e+02] [-1.30498972e-01 -2.64455630e-03 9.91444918e-01 -4.17734085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters 0.031242076501743453 Centerline is valid? [True, True] Translation: X:300.27, Y:-193.05, Z:-41.78 [[ 7.08766647e-01 6.99105216e-01 9.43490165e-02 3.00269448e+02] [-6.93437332e-01 7.15014667e-01 -8.88745891e-02 -1.93045324e+02] [-1.29593619e-01 -2.43378579e-03 9.91564204e-01 -4.17789609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters 0.03082315538358019 Centerline is valid? [True, True] Translation: X:300.32, Y:-193.08, Z:-41.79 [[ 7.10860448e-01 6.96851556e-01 9.52645436e-02 3.00318504e+02] [-6.91041571e-01 7.17212646e-01 -8.98196434e-02 -1.93083629e+02] [-1.30915894e-01 -1.98252797e-03 9.91391496e-01 -4.17858262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters 0.030492760295836644 Centerline is valid? [True, True] Translation: X:300.37, Y:-193.12, Z:-41.79 [[ 7.13699052e-01 6.93682872e-01 9.71480118e-02 3.00368747e+02] [-6.87598755e-01 7.20279258e-01 -9.16828353e-02 -1.93121166e+02] [-1.33572510e-01 -1.36489937e-03 9.91038103e-01 -4.17927783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters 0.03004907094847593 Centerline is valid? [True, True] Translation: X:300.42, Y:-193.16, Z:-41.80 [[ 7.18474955e-01 6.88733409e-01 9.71598260e-02 3.00421454e+02] [-6.82589856e-01 7.25014588e-01 -9.17874471e-02 -1.93155418e+02] [-1.33659372e-01 -3.73329792e-04 9.91027261e-01 -4.18009495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters 0.029918833441535928 Centerline is valid? [True, True] Translation: X:300.47, Y:-193.19, Z:-41.81 [[ 7.22213836e-01 6.84813011e-01 9.71509950e-02 3.00472525e+02] [-6.78623463e-01 7.28718715e-01 -9.18652795e-02 -1.93192356e+02] [-1.33706287e-01 4.17431185e-04 9.91020915e-01 -4.18072225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters 0.03045064013592353 Centerline is valid? [True, True] Translation: X:300.52, Y:-193.23, Z:-41.82 [[ 7.26838588e-01 6.79830970e-01 9.76499807e-02 3.00520221e+02] [-6.73519716e-01 7.33367477e-01 -9.24301665e-02 -1.93232289e+02] [-1.34450210e-01 1.41262443e-03 9.90919344e-01 -4.18150407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters 0.03057022500706094 Centerline is valid? [True, True] Translation: X:300.57, Y:-193.27, Z:-41.82 [[ 7.29351724e-01 6.77199226e-01 9.71970690e-02 3.00566490e+02] [-6.70912322e-01 7.35797122e-01 -9.20828504e-02 -1.93272779e+02] [-1.33875759e-01 1.95007449e-03 9.90996205e-01 -4.18220225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters 0.031075844974144798 Centerline is valid? [True, True] Translation: X:300.61, Y:-193.32, Z:-41.83 [[ 7.31391222e-01 6.74768383e-01 9.87649235e-02 3.00608871e+02] [-6.68242559e-01 7.38025336e-01 -9.36508726e-02 -1.93317484e+02] [-1.36083664e-01 2.49650091e-03 9.90694203e-01 -4.18301946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters 0.030844008733810394 Centerline is valid? [True, True] Translation: X:300.65, Y:-193.36, Z:-41.84 [[ 7.31105387e-01 6.75205432e-01 9.78904418e-02 3.00651030e+02] [-6.68788327e-01 7.37625658e-01 -9.29008227e-02 -1.93363333e+02] [-1.34933642e-01 2.45230713e-03 9.90851603e-01 -4.18361180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters 0.030533245121243783 Centerline is valid? [True, True] Translation: X:300.69, Y:-193.41, Z:-41.84 [[ 7.29855933e-01 6.76920305e-01 9.53373899e-02 3.00689133e+02] [-6.70839455e-01 7.36053218e-01 -9.05543280e-02 -1.93412602e+02] [-1.31471456e-01 2.13553089e-03 9.91317656e-01 -4.18435729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters 0.0299133569923377 Centerline is valid? [True, True] Translation: X:300.73, Y:-193.46, Z:-41.85 [[ 7.23523704e-01 6.83770789e-01 9.47151377e-02 3.00729254e+02] [-6.77817150e-01 7.29696246e-01 -9.00405474e-02 -1.93460301e+02] [-1.30680377e-01 9.46925663e-04 9.91424098e-01 -4.18484454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters 0.030017692648896265 Centerline is valid? [True, True] Translation: X:300.77, Y:-193.51, Z:-41.86 [[ 7.14192082e-01 6.93497664e-01 9.48190909e-02 3.00771414e+02] [-6.87604447e-01 7.20458470e-01 -9.02203818e-02 -1.93506934e+02] [-1.30880841e-01 -7.63346189e-04 9.91397813e-01 -4.18550817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters 0.030555530427350017 Centerline is valid? [True, True] Translation: X:300.82, Y:-193.55, Z:-41.86 [[ 7.08042361e-01 6.99753732e-01 9.49775210e-02 3.00817419e+02] [-6.93884306e-01 7.14381747e-01 -9.04615339e-02 -1.93549159e+02] [-1.31151003e-01 -1.85281320e-03 9.91360672e-01 -4.18606397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters 0.030966605965081925 Centerline is valid? [True, True] Translation: X:300.87, Y:-193.59, Z:-41.87 [[ 7.02972051e-01 7.04914187e-01 9.44790156e-02 3.00866664e+02] [-6.99141898e-01 7.09287307e-01 -9.00673237e-02 -1.93586910e+02] [-1.30502501e-01 -2.73942707e-03 9.91444196e-01 -4.18669090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters 0.03118785588608177 Centerline is valid? [True, True] Translation: X:300.92, Y:-193.63, Z:-41.87 [[ 7.01425216e-01 7.06482047e-01 9.42644353e-02 3.00915243e+02] [-7.00739495e-01 7.07724748e-01 -8.99435440e-02 -1.93625697e+02] [-1.30256773e-01 -2.96614304e-03 9.91475857e-01 -4.18719622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters 0.03135236330066394 Centerline is valid? [True, True] Translation: X:300.97, Y:-193.66, Z:-41.88 [[ 6.99765755e-01 7.08061497e-01 9.47460019e-02 3.00967130e+02] [-7.02263362e-01 7.06143442e-01 -9.04854177e-02 -1.93661187e+02] [-1.30973508e-01 -3.21804923e-03 9.91380646e-01 -4.18789316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters 0.03112320780320113 Centerline is valid? [True, True] Translation: X:301.02, Y:-193.70, Z:-41.88 [[ 6.97989683e-01 7.10142067e-01 9.22423343e-02 3.01015908e+02] [-7.04655248e-01 7.04049936e-01 -8.81740885e-02 -1.93701058e+02] [-1.27559339e-01 -3.45444086e-03 9.91824925e-01 -4.18842776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters 0.03140681690918635 Centerline is valid? [True, True] Translation: X:301.07, Y:-193.74, Z:-41.89 [[ 6.96759075e-01 7.11276042e-01 9.28072374e-02 3.01065789e+02] [-7.05719855e-01 7.02903466e-01 -8.88042973e-02 -1.93738593e+02] [-1.28398898e-01 -3.62071010e-03 9.91715994e-01 -4.18908072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters 0.03110312908422029 Centerline is valid? [True, True] Translation: X:301.11, Y:-193.78, Z:-41.90 [[ 6.97665819e-01 7.10427643e-01 9.24930754e-02 3.01112165e+02] [-7.04891401e-01 7.03762057e-01 -8.85837467e-02 -1.93779578e+02] [-1.28025459e-01 -3.39572131e-03 9.91765068e-01 -4.18976391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters 0.03058933449219255 Centerline is valid? [True, True] Translation: X:301.16, Y:-193.82, Z:-41.90 [[ 7.02030871e-01 7.06267273e-01 9.13191916e-02 3.01158058e+02] [-7.00827229e-01 7.07940695e-01 -8.75280968e-02 -1.93819789e+02] [-1.26466802e-01 -2.55154994e-03 9.91967559e-01 -4.19044836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters 0.029944282059178852 Centerline is valid? [True, True] Translation: X:301.21, Y:-193.86, Z:-41.91 [[ 7.06867701e-01 7.01396282e-01 9.15494825e-02 3.01205790e+02] [-6.95884917e-01 7.12769585e-01 -8.77707318e-02 -1.93859755e+02] [-1.26815752e-01 -1.66560858e-03 9.91924892e-01 -4.19115517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters 0.029209352088056285 Centerline is valid? [True, True] Translation: X:301.25, Y:-193.90, Z:-41.92 [[ 7.14362213e-01 6.93845145e-01 9.09150340e-02 3.01251765e+02] [-6.88338611e-01 7.20124190e-01 -8.72416606e-02 -1.93901344e+02] [-1.26002318e-01 -2.58182561e-04 9.92029913e-01 -4.19188817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters 0.029274679329234842 Centerline is valid? [True, True] Translation: X:301.30, Y:-193.94, Z:-41.93 [[ 7.19175273e-01 6.88887180e-01 9.06718307e-02 3.01299738e+02] [-6.83361386e-01 7.24868271e-01 -8.70815990e-02 -1.93941534e+02] [-1.25714530e-01 6.65304803e-04 9.92066235e-01 -4.19251753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters 0.02969366793075464 Centerline is valid? [True, True] Translation: X:301.34, Y:-193.98, Z:-41.93 [[ 7.21674302e-01 6.86288649e-01 9.05212287e-02 3.01344679e+02] [-6.80755813e-01 7.27328383e-01 -8.69766952e-02 -1.93984235e+02] [-1.25529778e-01 1.14599313e-03 9.92089190e-01 -4.19313150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters 0.029800214666150984 Centerline is valid? [True, True] Translation: X:301.39, Y:-194.03, Z:-41.94 [[ 7.21719604e-01 6.86083470e-01 9.17076133e-02 3.01389299e+02] [-6.80392320e-01 7.27521750e-01 -8.81952049e-02 -1.94027143e+02] [-1.27228556e-01 1.25505253e-03 9.91872633e-01 -4.19378434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters 0.030007262851693774 Centerline is valid? [True, True] Translation: X:301.43, Y:-194.07, Z:-41.95 [[ 7.21579369e-01 6.86065504e-01 9.29372812e-02 3.01431374e+02] [-6.80209562e-01 7.27538552e-01 -8.94572901e-02 -1.94072850e+02] [-1.28989016e-01 1.33370757e-03 9.91645126e-01 -4.19457414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters 0.02998641579495584 Centerline is valid? [True, True] Translation: X:301.47, Y:-194.12, Z:-41.95 [[ 7.21271452e-01 6.86208519e-01 9.42621928e-02 3.01473815e+02] [-6.80174203e-01 7.27403565e-01 -9.08135814e-02 -1.94117607e+02] [-1.30883708e-01 1.38653188e-03 9.91396758e-01 -4.19532714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters 0.030027687120290598 Centerline is valid? [True, True] Translation: X:301.51, Y:-194.17, Z:-41.96 [[ 7.21040575e-01 6.86551497e-01 9.35282348e-02 3.01514447e+02] [-6.80603740e-01 7.27079886e-01 -9.01853025e-02 -1.94165172e+02] [-1.29919353e-01 1.37159602e-03 9.91523616e-01 -4.19602219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters 0.02992127122048443 Centerline is valid? [True, True] Translation: X:301.56, Y:-194.21, Z:-41.97 [[ 7.18289712e-01 6.89335064e-01 9.42181472e-02 3.01556054e+02] [-6.83311752e-01 7.24442057e-01 -9.09327047e-02 -1.94212832e+02] [-1.30938690e-01 9.35659020e-04 9.91390026e-01 -4.19658485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters 0.029993647325115568 Centerline is valid? [True, True] Translation: X:301.60, Y:-194.26, Z:-41.97 [[ 7.16271755e-01 6.91219949e-01 9.57588340e-02 3.01596447e+02] [-6.85001445e-01 7.22644127e-01 -9.25120839e-02 -1.94259647e+02] [-1.33145757e-01 6.68853015e-04 9.91096242e-01 -4.19727080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters 0.029984112033954582 Centerline is valid? [True, True] Translation: X:301.64, Y:-194.31, Z:-41.98 [[ 7.15676807e-01 6.92022359e-01 9.44021365e-02 3.01638066e+02] [-6.85975947e-01 7.21875841e-01 -9.12812716e-02 -1.94305570e+02] [-1.31315303e-01 5.70294019e-04 9.91340489e-01 -4.19798740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters 0.02990910139955823 Centerline is valid? [True, True] Translation: X:301.68, Y:-194.35, Z:-41.99 [[ 7.16115031e-01 6.91761186e-01 9.29823876e-02 3.01679294e+02] [-6.85883575e-01 7.22126040e-01 -8.99872373e-02 -1.94352365e+02] [-1.29394681e-01 6.66120717e-04 9.91592947e-01 -4.19858321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters 0.030187258075814263 Centerline is valid? [True, True] Translation: X:301.72, Y:-194.40, Z:-41.99 [[ 7.16907796e-01 6.90773738e-01 9.42064443e-02 3.01722188e+02] [-6.84720322e-01 7.23070401e-01 -9.12539129e-02 -1.94397629e+02] [-1.31153698e-01 9.15574681e-04 9.91361624e-01 -4.19918062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters 0.030316946856590768 Centerline is valid? [True, True] Translation: X:301.77, Y:-194.44, Z:-42.00 [[ 7.18418672e-01 6.89173917e-01 9.44135743e-02 3.01765229e+02] [-6.83069031e-01 7.24594850e-01 -9.15368918e-02 -1.94442701e+02] [-1.31496428e-01 1.27082360e-03 9.91315830e-01 -4.19994382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters 0.030641122152471854 Centerline is valid? [True, True] Translation: X:301.81, Y:-194.49, Z:-42.01 [[ 7.19590340e-01 6.87858337e-01 9.50823414e-02 3.01805005e+02] [-6.81643688e-01 7.25843235e-01 -9.22685211e-02 -1.94490866e+02] [-1.32482546e-01 1.58325853e-03 9.91184074e-01 -4.20064947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters 0.03053531274193218 Centerline is valid? [True, True] Translation: X:301.85, Y:-194.54, Z:-42.01 [[ 7.18594157e-01 6.88912795e-01 9.49820959e-02 3.01847583e+02] [-6.82709307e-01 7.24842785e-01 -9.22547534e-02 -1.94537344e+02] [-1.32402567e-01 1.44856583e-03 9.91194967e-01 -4.20123256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters 0.030620851399748714 Centerline is valid? [True, True] Translation: X:301.89, Y:-194.59, Z:-42.02 [[ 7.17728986e-01 6.89989797e-01 9.36972959e-02 3.01886511e+02] [-6.83951181e-01 7.23817930e-01 -9.10954768e-02 -1.94585908e+02] [-1.30674732e-01 1.29748797e-03 9.91424445e-01 -4.20181642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters 0.030112030286014602 Centerline is valid? [True, True] Translation: X:301.93, Y:-194.63, Z:-42.02 [[ 7.15931178e-01 6.91994903e-01 9.26585287e-02 3.01926708e+02] [-6.86096415e-01 7.21901722e-01 -9.01643650e-02 -1.94634053e+02] [-1.29283632e-01 9.78795683e-04 9.91607172e-01 -4.20236141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters 0.029695285903333778 Centerline is valid? [True, True] Translation: X:301.97, Y:-194.68, Z:-42.03 [[ 7.13379549e-01 6.94819601e-01 9.11884890e-02 3.01966333e+02] [-6.89120467e-01 7.19183881e-01 -8.88117476e-02 -1.94681965e+02] [-1.27289435e-01 5.16630260e-04 9.91865481e-01 -4.20290664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters 0.02949373710540181 Centerline is valid? [True, True] Translation: X:302.01, Y:-194.73, Z:-42.04 [[ 7.12145788e-01 6.96090200e-01 9.11417030e-02 3.02007140e+02] [-6.90396822e-01 7.17954255e-01 -8.88477125e-02 -1.94729947e+02] [-1.27281595e-01 3.48582171e-04 9.91866561e-01 -4.20354592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters 0.02928731307390179 Centerline is valid? [True, True] Translation: X:302.05, Y:-194.78, Z:-42.04 [[ 7.12951287e-01 6.95394052e-01 9.01530656e-02 3.02046239e+02] [-6.89807142e-01 7.18628436e-01 -8.79731688e-02 -1.94778272e+02] [-1.25962575e-01 5.32355364e-04 9.92034851e-01 -4.20412664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters 0.029033586485427133 Centerline is valid? [True, True] Translation: X:302.09, Y:-194.83, Z:-42.05 [[ 7.11724060e-01 6.96700378e-01 8.97632720e-02 3.02087114e+02] [-6.91161923e-01 7.17362150e-01 -8.76740681e-02 -1.94826202e+02] [-1.25475330e-01 3.58788134e-04 9.92096675e-01 -4.20478502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters 0.02918640410882318 Centerline is valid? [True, True] Translation: X:302.13, Y:-194.88, Z:-42.05 [[ 7.09300011e-01 6.99280203e-01 8.88858419e-02 3.02125145e+02] [-6.93858925e-01 7.14847674e-01 -8.69056672e-02 -1.94875365e+02] [-1.24311250e-01 -3.20439934e-05 9.92243273e-01 -4.20533834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters 0.029411582092365218 Centerline is valid? [True, True] Translation: X:302.17, Y:-194.92, Z:-42.06 [[ 7.04314432e-01 7.04467440e-01 8.75603046e-02 3.02165141e+02] [-6.99237182e-01 7.09735769e-01 -8.56883999e-02 -1.94924044e+02] [-1.22509368e-01 -8.73843961e-04 9.92466972e-01 -4.20578537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters 0.029381219347579698 Centerline is valid? [True, True] Translation: X:302.21, Y:-194.97, Z:-42.06 [[ 7.03020124e-01 7.05687400e-01 8.81362468e-02 3.02205355e+02] [-7.00386008e-01 7.08522573e-01 -8.63435206e-02 -1.94973216e+02] [-1.23378055e-01 -1.02816145e-03 9.92359208e-01 -4.20647956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters 0.029315231468924487 Centerline is valid? [True, True] Translation: X:302.25, Y:-195.02, Z:-42.07 [[ 7.03445856e-01 7.05246255e-01 8.82703052e-02 3.02248835e+02] [-6.99913717e-01 7.08961870e-01 -8.65670549e-02 -1.95018926e+02] [-1.23631372e-01 -8.86361342e-04 9.92327818e-01 -4.20710070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters 0.029266194550414553 Centerline is valid? [True, True] Translation: X:302.29, Y:-195.07, Z:-42.08 [[ 7.02787770e-01 7.05972473e-01 8.77052903e-02 3.02288938e+02] [-7.00702517e-01 7.08238647e-01 -8.61046017e-02 -1.95067306e+02] [-1.22903755e-01 -9.42056606e-04 9.92418148e-01 -4.20766391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters 0.029322032174518925 Centerline is valid? [True, True] Translation: X:302.33, Y:-195.11, Z:-42.08 [[ 6.98344252e-01 7.10540870e-01 8.62958769e-02 3.02331983e+02] [-7.05463293e-01 7.03653992e-01 -8.48092030e-02 -1.95112533e+02] [-1.20982843e-01 -1.65255412e-03 9.92653223e-01 -4.20820476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters 0.029732638022828394 Centerline is valid? [True, True] Translation: X:302.37, Y:-195.16, Z:-42.09 [[ 6.91677383e-01 7.17475226e-01 8.25330133e-02 3.02372162e+02] [-7.12872429e-01 6.96578857e-01 -8.11837145e-02 -1.95160592e+02] [-1.15738056e-01 -2.68257048e-03 9.93276148e-01 -4.20875278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters 0.030271153892090924 Centerline is valid? [True, True] Translation: X:302.42, Y:-195.20, Z:-42.09 [[ 6.87114358e-01 7.21759482e-01 8.32893106e-02 3.02417462e+02] [-7.17093808e-01 6.92135698e-01 -8.20039329e-02 -1.95202007e+02] [-1.16834621e-01 -3.38016917e-03 9.93145632e-01 -4.20933368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters 0.03093990045981416 Centerline is valid? [True, True] Translation: X:302.46, Y:-195.24, Z:-42.10 [[ 6.82069588e-01 7.26386607e-01 8.45196667e-02 3.02462100e+02] [-7.21608454e-01 6.87273589e-01 -8.32841640e-02 -1.95243291e+02] [-1.18584636e-01 -4.18451063e-03 9.92935131e-01 -4.20982966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters 0.0308784673024311 Centerline is valid? [True, True] Translation: X:302.51, Y:-195.28, Z:-42.11 [[ 6.80727913e-01 7.27628879e-01 8.46505938e-02 3.02509002e+02] [-7.22842018e-01 6.85956966e-01 -8.34413503e-02 -1.95284030e+02] [-1.18781001e-01 -4.38814974e-03 9.92910781e-01 -4.21058443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters 0.03069453202193571 Centerline is valid? [True, True] Translation: X:302.56, Y:-195.32, Z:-42.11 [[ 6.81092644e-01 7.27225097e-01 8.51849149e-02 3.02557911e+02] [-7.22365219e-01 6.86385625e-01 -8.40432308e-02 -1.95323206e+02] [-1.19588048e-01 -4.29339347e-03 9.92814316e-01 -4.21125454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters 0.03021008887459382 Centerline is valid? [True, True] Translation: X:302.61, Y:-195.36, Z:-42.12 [[ 6.82984111e-01 7.25609035e-01 8.38106983e-02 3.02606619e+02] [-7.20887775e-01 6.88096079e-01 -8.27321070e-02 -1.95361723e+02] [-1.17700977e-01 -3.91339321e-03 9.93041371e-01 -4.21189734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters 0.029987782239803803 Centerline is valid? [True, True] Translation: X:302.66, Y:-195.40, Z:-42.13 [[ 6.83443297e-01 7.25112598e-01 8.43621950e-02 3.02655875e+02] [-7.20315679e-01 6.88619842e-01 -8.33548830e-02 -1.95400463e+02] [-1.18535157e-01 -3.79907570e-03 9.92942588e-01 -4.21256827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters 0.02974583805376435 Centerline is valid? [True, True] Translation: X:302.70, Y:-195.44, Z:-42.13 [[ 6.83061458e-01 7.25287680e-01 8.59350069e-02 3.02704105e+02] [-7.20300924e-01 6.88435182e-01 -8.49916432e-02 -1.95440925e+02] [-1.20804074e-01 -3.84454918e-03 9.92668925e-01 -4.21325004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters 0.02952904647297366 Centerline is valid? [True, True] Translation: X:302.75, Y:-195.48, Z:-42.14 [[ 6.83385246e-01 7.25004554e-01 8.57496498e-02 3.02752885e+02] [-7.20026175e-01 6.88734006e-01 -8.48986218e-02 -1.95479291e+02] [-1.20610587e-01 -3.72352685e-03 9.92692914e-01 -4.21391699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters 0.028860223457442474 Centerline is valid? [True, True] Translation: X:302.80, Y:-195.52, Z:-42.15 [[ 6.86715733e-01 7.21886040e-01 8.54520180e-02 3.02800229e+02] [-7.16908568e-01 6.92004975e-01 -8.46830495e-02 -1.95518954e+02] [-1.20264733e-01 -3.10810142e-03 9.92736991e-01 -4.21457852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters 0.028368419368622697 Centerline is valid? [True, True] Translation: X:302.85, Y:-195.56, Z:-42.15 [[ 6.90766486e-01 7.17853436e-01 8.67646572e-02 3.02847151e+02] [-7.12679927e-01 6.96190166e-01 -8.60614619e-02 -1.95559753e+02] [-1.22184217e-01 -2.38705589e-03 9.92504569e-01 -4.21542448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters 0.02848326895899736 Centerline is valid? [True, True] Translation: X:302.89, Y:-195.60, Z:-42.16 [[ 6.91525650e-01 7.16773184e-01 8.96017772e-02 3.02893102e+02] [-7.11238773e-01 6.97302818e-01 -8.89279928e-02 -1.95601057e+02] [-1.26220772e-01 -2.23227007e-03 9.91999664e-01 -4.21619948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters 0.028463016513535215 Centerline is valid? [True, True] Translation: X:302.94, Y:-195.64, Z:-42.17 [[ 6.91822431e-01 7.16501381e-01 8.94846036e-02 3.02938109e+02] [-7.10968546e-01 6.97582449e-01 -8.88957426e-02 -1.95644462e+02] [-1.26116811e-01 -2.12066973e-03 9.92013131e-01 -4.21684708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters 0.028358815968372253 Centerline is valid? [True, True] Translation: X:302.98, Y:-195.69, Z:-42.18 [[ 6.91230423e-01 7.17062364e-01 8.95659999e-02 3.02984645e+02] [-7.11512084e-01 6.97005671e-01 -8.90710270e-02 -1.95686968e+02] [-1.26297491e-01 -2.15868763e-03 9.91990062e-01 -4.21762778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters 0.028578284995964848 Centerline is valid? [True, True] Translation: X:303.03, Y:-195.73, Z:-42.18 [[ 6.90525805e-01 7.17547452e-01 9.11030569e-02 3.03029292e+02] [-7.11796203e-01 6.96506084e-01 -9.06942119e-02 -1.95729169e+02] [-1.28531234e-01 -2.22011639e-03 9.91702976e-01 -4.21825196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters 0.0290283056648648 Centerline is valid? [True, True] Translation: X:303.08, Y:-195.77, Z:-42.19 [[ 6.90545170e-01 7.17342488e-01 9.25587548e-02 3.03075297e+02] [-7.11392595e-01 6.96717367e-01 -9.22251910e-02 -1.95770110e+02] [-1.30644340e-01 -2.15995258e-03 9.91426947e-01 -4.21897371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters 0.029192264563621825 Centerline is valid? [True, True] Translation: X:303.12, Y:-195.81, Z:-42.20 [[ 6.90262014e-01 7.17574615e-01 9.28710105e-02 3.03121232e+02] [-7.11574777e-01 6.96478321e-01 -9.26244351e-02 -1.95813172e+02] [-1.31147589e-01 -2.14953944e-03 9.91360524e-01 -4.21969471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters 0.02932475543504175 Centerline is valid? [True, True] Translation: X:303.17, Y:-195.85, Z:-42.20 [[ 6.89564922e-01 7.18077478e-01 9.41538846e-02 3.03167993e+02] [-7.11901554e-01 6.95959668e-01 -9.40016913e-02 -1.95853220e+02] [-1.33027804e-01 -2.20802793e-03 9.91109847e-01 -4.22047188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters 0.029829378559371195 Centerline is valid? [True, True] Translation: X:303.22, Y:-195.89, Z:-42.21 [[ 6.87245970e-01 7.20160600e-01 9.51928909e-02 3.03217629e+02] [-7.13854822e-01 6.93802612e-01 -9.51274385e-02 -1.95891320e+02] [-1.34552110e-01 -2.57795541e-03 9.90903166e-01 -4.22105437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters 0.03017146000410718 Centerline is valid? [True, True] Translation: X:303.25, Y:-195.89, Z:-42.21 [[ 6.35238063e-01 7.67277542e-01 8.80782408e-02 3.03253971e+02] [-7.60548253e-01 6.41310094e-01 -1.01428387e-01 -1.95893441e+02] [-1.34309189e-01 -2.55657988e-03 9.90936176e-01 -4.22121450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters 0.03017331014685945 Centerline is valid? [True, True] Translation: X:303.28, Y:-195.89, Z:-42.21 [[ 5.82110785e-01 8.09051822e-01 8.11306568e-02 3.03284999e+02] [-8.01903811e-01 5.87731671e-01 -1.07339466e-01 -1.95892767e+02] [-1.34526247e-01 -2.57552231e-03 9.90906684e-01 -4.22141873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters 0.030408685201266175 Centerline is valid? [True, True] Translation: X:303.48, Y:-195.78, Z:-42.15 [[ 5.32114624e-01 8.39622718e-01 -1.09030814e-01 3.03483309e+02] [-8.32428223e-01 4.95284531e-01 -2.48508523e-01 -1.95777012e+02] [-1.54652126e-01 2.22995347e-01 9.62473789e-01 -4.21453576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters 0.030265754857897086 Centerline is valid? [True, True] Translation: X:303.12, Y:-196.31, Z:-40.40 [[ 6.23400145e-01 -7.80086541e-01 -5.32658257e-02 3.03120845e+02] [-7.75641922e-01 -6.25575410e-01 8.38749985e-02 -1.96311770e+02] [-9.87515482e-02 -1.09724788e-02 -9.95051625e-01 -4.03960991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters 0.03055253879409158 Centerline is valid? [True, True] Translation: X:303.13, Y:-196.34, Z:-40.40 [[ 6.78391788e-01 -7.32276700e-01 -5.96273111e-02 3.03132663e+02] [-7.27936321e-01 -6.80916305e-01 8.03846884e-02 -1.96341535e+02] [-9.94650428e-02 -1.11274270e-02 -9.94978837e-01 -4.03974565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters 0.030252706802063836 Centerline is valid? [True, True] Translation: X:303.15, Y:-196.38, Z:-40.40 [[ 7.28316446e-01 -6.82102663e-01 -6.55065758e-02 3.03152868e+02] [-6.77939483e-01 -7.31174078e-01 7.60429167e-02 -1.96375345e+02] [-9.97657861e-02 -1.09738127e-02 -9.94950433e-01 -4.04000284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters 0.029516960718045996 Centerline is valid? [True, True] Translation: X:303.34, Y:-195.94, Z:-42.23 [[ 7.03689319e-01 7.02918780e-01 1.03568967e-01 3.03344397e+02] [-6.95725753e-01 7.11268612e-01 -1.00312708e-01 -1.95941436e+02] [-1.44177042e-01 -1.46661593e-03 9.89550822e-01 -4.22272687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters 0.029363336511541483 Centerline is valid? [True, True] Translation: X:303.39, Y:-195.98, Z:-42.23 [[ 7.12185588e-01 6.93934481e-01 1.06050105e-01 3.03393246e+02] [-6.86285584e-01 7.20038040e-01 -1.02748812e-01 -1.95979825e+02] [-1.47661053e-01 3.95565270e-04 9.89037945e-01 -4.22348442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters 0.02983886840527853 Centerline is valid? [True, True] Translation: X:303.44, Y:-196.02, Z:-42.24 [[ 7.16718242e-01 6.89077059e-01 1.07181009e-01 3.03438680e+02] [-6.81194425e-01 7.24686554e-01 -1.03940144e-01 -1.96021597e+02] [-1.49295405e-01 1.48469178e-03 9.88791524e-01 -4.22440686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters 0.030385546622766293 Centerline is valid? [True, True] Translation: X:303.48, Y:-196.07, Z:-42.25 [[ 7.18973249e-01 6.86676505e-01 1.07484158e-01 3.03481324e+02] [-6.78708148e-01 7.26960207e-01 -1.04326930e-01 -1.96066544e+02] [-1.49775557e-01 2.05789804e-03 9.88717881e-01 -4.22521556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters 0.030286521043164785 Centerline is valid? [True, True] Translation: X:303.52, Y:-196.11, Z:-42.26 [[ 7.17961645e-01 6.87873793e-01 1.06586685e-01 3.03521216e+02] [-6.80038234e-01 7.25827933e-01 -1.03546184e-01 -1.96114521e+02] [-1.48590299e-01 1.85916726e-03 9.88897096e-01 -4.22597533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters 0.03025526579562699 Centerline is valid? [True, True] Translation: X:303.56, Y:-196.16, Z:-42.27 [[ 7.16756873e-01 6.89378989e-01 1.04958065e-01 3.03560999e+02] [-6.81785411e-01 7.24399124e-01 -1.02051765e-01 -1.96162396e+02] [-1.46383873e-01 1.58742666e-03 9.89226588e-01 -4.22681649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters 0.030259607979755965 Centerline is valid? [True, True] Translation: X:303.60, Y:-196.21, Z:-42.28 [[ 7.15655835e-01 6.90350330e-01 1.06080856e-01 3.03600795e+02] [-6.82589371e-01 7.23473744e-01 -1.03235134e-01 -1.96210000e+02] [-1.48015123e-01 1.47116107e-03 9.88984003e-01 -4.22765830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters 0.030343762315243654 Centerline is valid? [True, True] Translation: X:303.64, Y:-196.26, Z:-42.28 [[ 7.15661706e-01 6.90488099e-01 1.05140418e-01 3.03642467e+02] [-6.82853076e-01 7.23342207e-01 -1.02409610e-01 -1.96255786e+02] [-1.46765119e-01 1.49517834e-03 9.89170240e-01 -4.22841306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters 0.030284896299790563 Centerline is valid? [True, True] Translation: X:303.68, Y:-196.30, Z:-42.29 [[ 7.15977095e-01 6.90324155e-01 1.04064213e-01 3.03681557e+02] [-6.82830726e-01 7.23498494e-01 -1.01450128e-01 -1.96303840e+02] [-1.45323776e-01 1.57772571e-03 9.89382894e-01 -4.22912244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters 0.030395888351957258 Centerline is valid? [True, True] Translation: X:303.72, Y:-196.35, Z:-42.30 [[ 7.15742443e-01 6.90288544e-01 1.05898446e-01 3.03720592e+02] [-6.82512939e-01 7.23532239e-01 -1.03330477e-01 -1.96351804e+02] [-1.47948784e-01 1.68094868e-03 9.88993595e-01 -4.22992509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters 0.03004305404054238 Centerline is valid? [True, True] Translation: X:303.76, Y:-196.40, Z:-42.31 [[ 7.14746302e-01 6.91013586e-01 1.07879320e-01 3.03761864e+02] [-6.82936437e-01 7.22839934e-01 -1.05357739e-01 -1.96397804e+02] [-1.50783110e-01 1.62933587e-03 9.88565526e-01 -4.23069033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters 0.029730929123164614 Centerline is valid? [True, True] Translation: X:303.80, Y:-196.45, Z:-42.31 [[ 7.12006015e-01 6.93848582e-01 1.07803432e-01 3.03802275e+02] [-6.85800976e-01 7.20120089e-01 -1.05375891e-01 -1.96445520e+02] [-1.50746329e-01 1.09656941e-03 9.88571870e-01 -4.23137281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters 0.02952219170348018 Centerline is valid? [True, True] Translation: X:303.84, Y:-196.49, Z:-42.32 [[ 7.06132782e-01 6.99930552e-01 1.07115437e-01 3.03844130e+02] [-6.92040915e-01 7.14210897e-01 -1.04795832e-01 -1.96490967e+02] [-1.49852817e-01 -1.28492111e-04 9.88708307e-01 -4.23199154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters 0.02989721169132835 Centerline is valid? [True, True] Translation: X:303.89, Y:-196.53, Z:-42.33 [[ 7.00488994e-01 7.05463489e-01 1.07872307e-01 3.03887081e+02] [-6.97511601e-01 7.08745162e-01 -1.05630777e-01 -1.96534559e+02] [-1.50972633e-01 -1.24898878e-03 9.88537154e-01 -4.23282454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters 0.03072547839969708 Centerline is valid? [True, True] Translation: X:303.93, Y:-196.57, Z:-42.33 [[ 6.93174565e-01 7.12777630e-01 1.07037716e-01 3.03934550e+02] [-7.05021323e-01 7.01384700e-01 -1.04902034e-01 -1.96574920e+02] [-1.49846439e-01 -2.74845054e-03 9.88705462e-01 -4.23344394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters 0.031223780129196514 Centerline is valid? [True, True] Translation: X:303.99, Y:-196.61, Z:-42.34 [[ 6.90083080e-01 7.15598762e-01 1.08183894e-01 3.03986047e+02] [-7.07694017e-01 6.98503640e-01 -1.06121831e-01 -1.96610787e+02] [-1.51507495e-01 -3.32821432e-03 9.88450506e-01 -4.23412082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters 0.031402383087359285 Centerline is valid? [True, True] Translation: X:304.04, Y:-196.65, Z:-42.35 [[ 6.90188150e-01 7.15463961e-01 1.08404972e-01 3.04037211e+02] [-7.07509723e-01 6.98642151e-01 -1.06438420e-01 -1.96647688e+02] [-1.51889136e-01 -3.23503569e-03 9.88392242e-01 -4.23517735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters 0.03157379482498455 Centerline is valid? [True, True] Translation: X:304.09, Y:-196.68, Z:-42.36 [[ 6.90501434e-01 7.15044584e-01 1.09174228e-01 3.04092260e+02] [-7.06953774e-01 6.99072042e-01 -1.07306302e-01 -1.96680398e+02] [-1.53049440e-01 -3.08597694e-03 9.88213715e-01 -4.23603084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters 0.03134412682653364 Centerline is valid? [True, True] Translation: X:304.14, Y:-196.71, Z:-42.37 [[ 6.93054984e-01 7.12660244e-01 1.08582529e-01 3.04144755e+02] [-7.04611745e-01 7.01505014e-01 -1.06831666e-01 -1.96714664e+02] [-1.52305870e-01 -2.46830675e-03 9.88330324e-01 -4.23686727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters 0.031260502433466446 Centerline is valid? [True, True] Translation: X:304.20, Y:-196.75, Z:-42.38 [[ 6.97610161e-01 7.08051096e-01 1.09561439e-01 3.04196854e+02] [-6.99783878e-01 7.06159811e-01 -1.07892752e-01 -1.96749965e+02] [-1.53761466e-01 -1.40224846e-03 9.88107001e-01 -4.23786324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters 0.03108151531155146 Centerline is valid? [True, True] Translation: X:304.25, Y:-196.79, Z:-42.39 [[ 7.00392307e-01 7.05295681e-01 1.09583843e-01 3.04245995e+02] [-6.96976166e-01 7.08912883e-01 -1.08012721e-01 -1.96787981e+02] [-1.53866304e-01 -7.26047953e-04 9.88091409e-01 -4.23879315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters 0.03139062907871498 Centerline is valid? [True, True] Translation: X:304.30, Y:-196.83, Z:-42.40 [[ 7.03788868e-01 7.01839826e-01 1.10009486e-01 3.04296580e+02] [-6.93397423e-01 7.12334786e-01 -1.08531871e-01 -1.96825545e+02] [-1.54535573e-01 1.03228407e-04 9.87987220e-01 -4.23973276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters 0.03214661262497954 Centerline is valid? [True, True] Translation: X:304.34, Y:-196.87, Z:-42.41 [[ 7.09432475e-01 6.96000709e-01 1.10853850e-01 3.04343337e+02] [-6.87338766e-01 7.18039589e-01 -1.09474058e-01 -1.96866067e+02] [-1.55791475e-01 1.47030276e-03 9.87788871e-01 -4.24068051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters 0.032648099404577614 Centerline is valid? [True, True] Translation: X:304.39, Y:-196.91, Z:-42.42 [[ 7.10824093e-01 6.94448657e-01 1.11669922e-01 3.04388052e+02] [-6.85623462e-01 7.19539764e-01 -1.10376610e-01 -1.96908876e+02] [-1.57001838e-01 1.89483496e-03 9.87596493e-01 -4.24161074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters 0.03468610375915514 Centerline is valid? [True, True] Translation: X:304.43, Y:-196.95, Z:-42.43 [[ 7.16782848e-01 6.87805644e-01 1.14654897e-01 3.04432561e+02] [-6.78401130e-01 7.25886431e-01 -1.13405448e-01 -1.96950079e+02] [-1.61227341e-01 3.50506806e-03 9.86911069e-01 -4.24267121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters 0.03802855515924217 Centerline is valid? [True, True] Translation: X:304.47, Y:-196.99, Z:-42.44 [[ 7.21477681e-01 6.81808660e-01 1.20859035e-01 3.04472542e+02] [-6.71264632e-01 7.31512586e-01 -1.19553878e-01 -1.96994706e+02] [-1.69922774e-01 5.12705861e-03 9.85444044e-01 -4.24378928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters 0.039092284264168074 Centerline is valid? [True, True] Translation: X:304.51, Y:-197.04, Z:-42.45 [[ 7.20210755e-01 6.82412969e-01 1.24936018e-01 3.04509623e+02] [-6.71147104e-01 7.30948612e-01 -1.23594867e-01 -1.97042399e+02] [-1.75664549e-01 5.16390617e-03 9.84436539e-01 -4.24472181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters 0.038966594562890804 Centerline is valid? [True, True] Translation: X:304.55, Y:-197.09, Z:-42.46 [[ 7.16590819e-01 6.85961054e-01 1.26313227e-01 3.04551300e+02] [-6.74489228e-01 7.27625074e-01 -1.25004127e-01 -1.97088766e+02] [-1.77656634e-01 4.37989870e-03 9.84082790e-01 -4.24555364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters 0.03934041522730505 Centerline is valid? [True, True] Translation: X:304.59, Y:-197.13, Z:-42.46 [[ 7.10572398e-01 6.91229031e-01 1.31488757e-01 3.04591722e+02] [-6.78861989e-01 7.22628392e-01 -1.30209853e-01 -1.97133075e+02] [-1.85022340e-01 3.26080826e-03 9.82728905e-01 -4.24646940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters 0.041474396813321296 Centerline is valid? [True, True] Translation: X:304.63, Y:-197.18, Z:-42.47 [[ 7.06641895e-01 6.94044707e-01 1.37692325e-01 3.04633401e+02] [-6.80521686e-01 7.19926994e-01 -1.36364799e-01 -1.97177172e+02] [-1.93771689e-01 2.65846625e-03 9.81043050e-01 -4.24744609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters 0.043587435639034895 Centerline is valid? [True, True] Translation: X:304.68, Y:-197.22, Z:-42.48 [[ 7.03033000e-01 6.96549643e-01 1.43398728e-01 3.04677243e+02] [-6.81918547e-01 7.17505628e-01 -1.42030875e-01 -1.97218447e+02] [-2.01820950e-01 2.06613972e-03 9.79420255e-01 -4.24843880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters 0.04567488744904674 Centerline is valid? [True, True] Translation: X:304.72, Y:-197.26, Z:-42.49 [[ 6.96155636e-01 7.02455397e-01 1.48066698e-01 3.04720344e+02] [-6.86973792e-01 7.11727665e-01 -1.46665406e-01 -1.97260343e+02] [-2.08409071e-01 3.84007996e-04 9.78041672e-01 -4.24949910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters 0.04898878321848206 Centerline is valid? [True, True] Translation: X:304.77, Y:-197.30, Z:-42.50 [[ 6.91430709e-01 7.05840464e-01 1.53989658e-01 3.04766913e+02] [-6.89152300e-01 7.08370559e-01 -1.52578695e-01 -1.97299320e+02] [-2.16777957e-01 -6.24731752e-04 9.76220737e-01 -4.25038095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters 0.05124209727523279 Centerline is valid? [True, True] Translation: X:304.81, Y:-197.34, Z:-42.51 [[ 6.90021121e-01 7.06327495e-01 1.58026333e-01 3.04813564e+02] [-6.88741083e-01 7.07884805e-01 -1.56635959e-01 -1.97338977e+02] [-2.22500724e-01 -7.57107609e-04 9.74932231e-01 -4.25117516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters 0.060682698917168064 Centerline is valid? [True, True] Translation: X:304.86, Y:-197.37, Z:-42.53 [[ 6.91208519e-01 7.01713502e-01 1.72710579e-01 3.04864048e+02] [-6.80505318e-01 7.12458768e-01 -1.71216284e-01 -1.97373449e+02] [-2.43193945e-01 8.15686834e-04 9.69977340e-01 -4.25285947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters 0.06310049198222466 Centerline is valid? [True, True] Translation: X:304.91, Y:-197.41, Z:-42.54 [[ 6.90442315e-01 7.01415856e-01 1.76932773e-01 3.04910080e+02] [-6.79111933e-01 7.12751568e-01 -1.75477020e-01 -1.97413178e+02] [-2.49191476e-01 9.99601937e-04 9.68453721e-01 -4.25374722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters 0.06646105284671826 Centerline is valid? [True, True] Translation: X:304.96, Y:-197.45, Z:-42.55 [[ 6.92422883e-01 6.98253030e-01 1.81640463e-01 3.04958450e+02] [-6.74598740e-01 7.15847490e-01 -1.80219067e-01 -1.97451112e+02] [-2.55865379e-01 2.25337858e-03 9.66709796e-01 -4.25461630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters 0.08588194498373632 Centerline is valid? [True, True] Translation: X:305.01, Y:-197.48, Z:-42.57 [[ 6.99802911e-01 6.83251810e-01 2.08429485e-01 3.05008291e+02] [-6.51254442e-01 7.30127301e-01 -2.06837560e-01 -1.97484561e+02] [-2.93502194e-01 9.00489857e-03 9.55915987e-01 -4.25681835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters 0.0797931188136563 Centerline is valid? [True, True] Translation: X:305.05, Y:-197.53, Z:-42.58 [[ 7.01728739e-01 6.82281369e-01 2.05107068e-01 3.05053519e+02] [-6.51249619e-01 7.31030239e-01 -2.03638709e-01 -1.97526440e+02] [-2.88878366e-01 9.32323490e-03 9.57320410e-01 -4.25760705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters 0.08864329894115287 Centerline is valid? [True, True] Translation: X:305.10, Y:-197.56, Z:-42.59 [[ 7.06785428e-01 6.72814604e-01 2.18574625e-01 3.05101361e+02] [-6.36981960e-01 7.39674448e-01 -2.17107561e-01 -1.97564058e+02] [-3.07747203e-01 1.42203677e-02 9.51361887e-01 -4.25899896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters 0.10041096507322224 Centerline is valid? [True, False] Translation: X:305.11, Y:-197.76, Z:-42.59 [[ 8.00138133e-01 5.47106975e-01 2.45871767e-01 3.05112541e+02] [-5.42124029e-01 8.35038344e-01 -9.38749270e-02 -1.97755370e+02] [-2.56671981e-01 -5.81800843e-02 9.64745859e-01 -4.25891371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters 0.102055354657509 Centerline is valid? [False, False] Translation: X:305.18, Y:-197.87, Z:-42.60 [[ 8.40186423e-01 4.89893265e-01 2.32575500e-01 3.05179939e+02] [-4.95981334e-01 8.67597180e-01 -3.57442303e-02 -1.97867941e+02] [-2.19292706e-01 -8.53212898e-02 9.71921286e-01 -4.26045899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters 0.11929424746480331 Centerline is valid? [False, False] Translation: X:305.27, Y:-197.96, Z:-42.62 [[ 8.67407234e-01 4.52566951e-01 2.06852230e-01 3.05269992e+02] [-4.62028050e-01 8.86860610e-01 -2.88770939e-03 -1.97958543e+02] [-1.84755977e-01 -9.30667124e-02 9.78367935e-01 -4.26204001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters 0.12161437160378119 Centerline is valid? [False, False] Translation: X:305.40, Y:-198.03, Z:-42.63 [[ 8.93206845e-01 4.18307460e-01 1.64925439e-01 3.05396211e+02] [-4.25126014e-01 9.05109079e-01 6.73993018e-03 -1.98028445e+02] [-1.46456149e-01 -7.61342463e-02 9.86283009e-01 -4.26318120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters 0.1293042965293384 Centerline is valid? [False, False] Translation: X:305.53, Y:-198.09, Z:-42.64 [[ 9.15686980e-01 3.82696621e-01 1.22721846e-01 3.05525935e+02] [-3.86759716e-01 9.22123619e-01 1.02446526e-02 -1.98086370e+02] [-1.09244119e-01 -5.68447615e-02 9.92388228e-01 -4.26391794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters 0.1368094699921937 Centerline is valid? [False, False] Translation: X:305.66, Y:-198.14, Z:-42.64 [[ 9.36837263e-01 3.40193766e-01 8.12658921e-02 3.05658557e+02] [-3.41936197e-01 9.39687794e-01 8.15399711e-03 -1.98137711e+02] [-7.35906279e-02 -3.54267184e-02 9.96659103e-01 -4.26388859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters 0.1399001301557748 Centerline is valid? [False, False] Translation: X:305.78, Y:-198.18, Z:-42.63 [[ 9.53980975e-01 2.96231682e-01 4.65520015e-02 3.05778855e+02] [-2.96700856e-01 9.54964577e-01 3.35556917e-03 -1.98179263e+02] [-4.34614865e-02 -1.70131678e-02 9.98910232e-01 -4.26336006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters 0.2327695339139227 Centerline is valid? [False, False] Translation: X:305.86, Y:-198.21, Z:-42.63 [[ 9.67953257e-01 2.48522175e-01 3.61001509e-02 3.05857332e+02] [-2.48391706e-01 9.68625581e-01 -8.12670557e-03 -1.98211502e+02] [-3.69871962e-02 -1.10070696e-03 9.99315133e-01 -4.26291445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters 0.6349472493474383 Centerline is valid? [False, False] Translation: X:305.92, Y:-198.24, Z:-42.62 [[ 9.78540384e-01 2.03157781e-01 3.44330115e-02 3.05922875e+02] [-2.02532755e-01 9.79054639e-01 -2.07965720e-02 -1.98238022e+02] [-3.79367851e-02 1.33764728e-02 9.99190608e-01 -4.26242217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04591999999997 meters SLAMing on 370.10591999999997 meters SLAMing on 370.16591999999997 meters SLAMing on 370.22592 meters SLAMing on 370.28592 meters SLAMing on 370.34592 meters 0.912800390695757 Centerline is valid? [False, False] Translation: X:305.98, Y:-198.30, Z:-42.63 [[ 9.83529111e-01 1.67847437e-01 6.70650918e-02 3.05979188e+02] [-1.66227639e-01 9.85658408e-01 -2.90839284e-02 -1.98298255e+02] [-7.09849345e-02 1.74568183e-02 9.97324620e-01 -4.26349510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters 0.8767385038107665 Centerline is valid? [False, False] Translation: X:306.13, Y:-198.33, Z:-42.64 [[ 9.92683709e-01 1.17471327e-01 2.79202460e-02 3.06134860e+02] [-1.16729617e-01 9.92800399e-01 -2.68619354e-02 -1.98331183e+02] [-3.08747385e-02 2.34062860e-02 9.99249166e-01 -4.26441048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters 0.8269981301439343 Centerline is valid? [False, False] Translation: X:306.23, Y:-198.35, Z:-42.66 [[ 9.97236165e-01 7.37492332e-02 9.00450364e-03 3.06232276e+02] [-7.35289984e-02 9.97033921e-01 -2.27342625e-02 -1.98353567e+02] [-1.06544300e-02 2.20093366e-02 9.99700991e-01 -4.26559167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters 0.34088142028332336 Centerline is valid? [False, False] Translation: X:306.26, Y:-198.37, Z:-42.66 [[ 9.99210679e-01 3.95056213e-02 4.16232691e-03 3.06259950e+02] [-3.94227484e-02 9.99053198e-01 -1.83998430e-02 -1.98370187e+02] [-4.88528324e-03 1.82212293e-02 9.99822045e-01 -4.26636326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters 0.81920199973147 Centerline is valid? [False, False] Translation: X:306.29, Y:-198.38, Z:-42.67 [[ 9.99820190e-01 1.73413228e-02 -7.67238621e-03 3.06287884e+02] [-1.74560263e-02 9.99732927e-01 -1.51447213e-02 -1.98381444e+02] [ 7.40770762e-03 1.52759275e-02 9.99855876e-01 -4.26699611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters 0.3328078835807142 Centerline is valid? [False, False] Translation: X:306.32, Y:-198.39, Z:-42.69 [[ 9.99926214e-01 8.75811553e-03 -8.41797767e-03 3.06324293e+02] [-8.85832300e-03 9.99889461e-01 -1.19413426e-02 -1.98389974e+02] [ 8.31246350e-03 1.20150307e-02 9.99893265e-01 -4.26853073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters 0.8759219939545531 Centerline is valid? [False, False] Translation: X:306.38, Y:-198.40, Z:-42.65 [[ 9.99871171e-01 6.99732054e-03 -1.44457176e-02 3.06375083e+02] [-7.16054549e-03 9.99910756e-01 -1.12785625e-02 -1.98396948e+02] [ 1.43655087e-02 1.13805487e-02 9.99832044e-01 -4.26518090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters 0.3299965133503897 Centerline is valid? [False, False] Translation: X:306.41, Y:-198.41, Z:-42.66 [[ 9.99899763e-01 6.10166079e-05 -1.41583804e-02 3.06405809e+02] [-1.36319243e-04 9.99985852e-01 -5.31768695e-03 -1.98412096e+02] [ 1.41578556e-02 5.31908398e-03 9.99885625e-01 -4.26617204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters 0.3352332229496256 Centerline is valid? [False, False] Translation: X:306.42, Y:-198.42, Z:-42.70 [[ 9.99982002e-01 5.98243781e-03 4.54039769e-04 3.06416797e+02] [-5.97867104e-03 9.99951018e-01 -7.88773884e-03 -1.98417794e+02] [-5.01205437e-04 7.88488232e-03 9.99968788e-01 -4.27033321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters 0.3322105550031349 Centerline is valid? [False, False] Translation: X:306.47, Y:-198.43, Z:-42.67 [[ 9.99956042e-01 4.66564277e-03 -8.13302451e-03 3.06473958e+02] [-4.71278674e-03 9.99972149e-01 -5.78711482e-03 -1.98427106e+02] [ 8.10579739e-03 5.82518964e-03 9.99950180e-01 -4.26684724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters 0.33883816554419804 Centerline is valid? [False, False] Translation: X:306.50, Y:-198.43, Z:-42.69 [[ 9.99919368e-01 3.68253914e-03 -1.21530373e-02 3.06497448e+02] [-3.74820886e-03 9.99978475e-01 -5.38521856e-03 -1.98433004e+02] [ 1.21329444e-02 5.43033646e-03 9.99911648e-01 -4.26924594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters 0.3390185570299524 Centerline is valid? [False, False] Translation: X:306.53, Y:-198.44, Z:-42.69 [[ 9.99980321e-01 1.14037096e-03 -6.16901849e-03 3.06533258e+02] [-1.17401347e-03 9.99984445e-01 -5.45259301e-03 -1.98441750e+02] [ 6.16270456e-03 5.45972822e-03 9.99966106e-01 -4.26872703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters 0.6966633248267107 Centerline is valid? [False, False] Translation: X:306.55, Y:-198.45, Z:-42.71 [[ 9.99959516e-01 -1.63063113e-03 -8.84911741e-03 3.06551294e+02] [ 1.57121815e-03 9.99976208e-01 -6.71680397e-03 -1.98448422e+02] [ 8.85985950e-03 6.70262815e-03 9.99938287e-01 -4.27068662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters 0.33885269659737816 Centerline is valid? [False, False] Translation: X:306.61, Y:-198.46, Z:-42.69 [[ 9.99840982e-01 -4.39668118e-03 -1.72823619e-02 3.06608971e+02] [ 4.31469162e-03 9.99979274e-01 -4.77854541e-03 -1.98458728e+02] [ 1.73030135e-02 4.70321747e-03 9.99839230e-01 -4.26884560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters 0.3397190449511542 Centerline is valid? [False, False] Translation: X:306.62, Y:-198.47, Z:-42.71 [[ 9.99983462e-01 -1.92303820e-03 -5.42011365e-03 3.06622756e+02] [ 1.90359482e-03 9.99991744e-01 -3.59014203e-03 -1.98470889e+02] [ 5.42697288e-03 3.57976496e-03 9.99978866e-01 -4.27073653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters 0.3273721705206749 Centerline is valid? [False, False] Translation: X:306.68, Y:-198.49, Z:-42.67 [[ 9.99877303e-01 -3.92734858e-03 -1.51642784e-02 3.06684623e+02] [ 3.90054379e-03 9.99990779e-01 -1.79679926e-03 -1.98486283e+02] [ 1.51711952e-02 1.73742986e-03 9.99883401e-01 -4.26735578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters 0.33751100762450914 Centerline is valid? [False, False] Translation: X:306.68, Y:-198.49, Z:-42.70 [[ 9.99994479e-01 1.72993412e-03 2.83724269e-03 3.06680115e+02] [-1.71792796e-03 9.99989584e-01 -4.22862068e-03 -1.98493791e+02] [-2.84452837e-03 4.22372315e-03 9.99987034e-01 -4.26967984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters 0.33743435786169257 Centerline is valid? [False, False] Translation: X:306.71, Y:-198.51, Z:-42.69 [[ 9.99961271e-01 -1.22507806e-03 8.71525013e-03 3.06714766e+02] [ 1.26191506e-03 9.99990289e-01 -4.22248649e-03 -1.98508180e+02] [-8.70999262e-03 4.23332086e-03 9.99953106e-01 -4.26910175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters 0.33765691656700253 Centerline is valid? [False, False] Translation: X:306.76, Y:-198.52, Z:-42.69 [[ 9.99995041e-01 -1.62287135e-03 2.69878564e-03 3.06762731e+02] [ 1.63081079e-03 9.99994342e-01 -2.94226260e-03 -1.98517080e+02] [-2.69399546e-03 2.94664922e-03 9.99992030e-01 -4.26874297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters 0.3376181865814016 Centerline is valid? [False, False] Translation: X:306.78, Y:-198.53, Z:-42.69 [[ 9.99972044e-01 6.74930455e-03 3.21844430e-03 3.06783912e+02] [-6.74538427e-03 9.99976496e-01 -1.22737244e-03 -1.98530297e+02] [-3.22665257e-03 1.20562849e-03 9.99994068e-01 -4.26853829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters 0.3375450588219355 Centerline is valid? [False, False] Translation: X:306.81, Y:-198.55, Z:-42.68 [[ 9.99990655e-01 -3.00328950e-03 3.10955611e-03 3.06805445e+02] [ 2.99903033e-03 9.99994560e-01 1.37346342e-03 -1.98546035e+02] [-3.11366411e-03 -1.36412493e-03 9.99994222e-01 -4.26846075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters 0.32502710361828013 Centerline is valid? [False, False] Translation: X:306.83, Y:-198.55, Z:-42.68 [[ 9.99982030e-01 5.47702711e-03 2.43751536e-03 3.06827717e+02] [-5.47902037e-03 9.99984661e-01 8.11818260e-04 -1.98547954e+02] [-2.43303162e-03 -8.25158868e-04 9.99996700e-01 -4.26805525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters 0.32337999877764656 Centerline is valid? [False, False] Translation: X:306.86, Y:-198.55, Z:-42.68 [[ 9.99958371e-01 4.18543585e-03 8.10796129e-03 3.06863638e+02] [-4.18927597e-03 9.99991121e-01 4.56697396e-04 -1.98552916e+02] [-8.10597782e-03 -4.90644872e-04 9.99967026e-01 -4.26759248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters 0.32486175878177875 Centerline is valid? [False, False] Translation: X:306.89, Y:-198.56, Z:-42.68 [[ 9.99958025e-01 -4.24319356e-03 8.12060592e-03 3.06892653e+02] [ 4.22448380e-03 9.99988386e-01 2.31975320e-03 -1.98556505e+02] [-8.13035477e-03 -2.28535046e-03 9.99964337e-01 -4.26843763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters 0.32490807789338105 Centerline is valid? [False, False] Translation: X:306.94, Y:-198.55, Z:-42.67 [[ 9.99949047e-01 2.34818669e-03 -9.81784599e-03 3.06941387e+02] [-2.34799834e-03 9.99997243e-01 3.07103224e-05 -1.98551002e+02] [ 9.81789103e-03 -7.65647144e-06 9.99951803e-01 -4.26737873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3313.80 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/12366 [00:00