+ python -m lidar_slam --no-model /working/f469127b-5551-49af-ad62-21dba0c8af42 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/f469127b-5551-49af-ad62-21dba0c8af42 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 0.018241008 Adjusted end_distance from 9.223372036854776e+18 to 181.988241008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018241008 meters 0.06620904563356522 Centerline is valid? [0, True] SLAMing on 0.078241008 meters 0.06633814749971784 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 9.99974365e-01 -6.81888581e-03 2.18467197e-03 5.95506756e-02] [ 6.81883810e-03 9.99976751e-01 2.92843822e-05 -2.67720471e-03] [-2.18482087e-03 -1.43867070e-05 9.99997613e-01 -2.10012101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138241008 meters 0.06882146651635318 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 9.99822931e-01 -1.72528792e-02 7.51293799e-03 1.19416221e-01] [ 1.72526026e-02 9.99851158e-01 1.01633725e-04 -4.62889660e-03] [-7.51357322e-03 2.80020042e-05 9.99971772e-01 -6.06632492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.198241008 meters 0.07286646617107134 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:-0.01 [[ 9.99712100e-01 -2.08710864e-02 1.18369924e-02 1.78611975e-01] [ 2.08706575e-02 9.99782171e-01 1.59775687e-04 -1.90842591e-03] [-1.18377487e-02 8.73161269e-05 9.99929928e-01 -1.10623393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258241008 meters 0.0867536972008055 Centerline is valid? [True, True] Translation: X:0.24, Y:0.00, Z:-0.02 [[ 9.99429443e-01 -2.51587440e-02 2.25349787e-02 2.38402661e-01] [ 2.51581386e-02 9.99683436e-01 3.10415659e-04 7.58915739e-04] [-2.25356546e-02 2.56699567e-04 9.99746007e-01 -2.11369570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.318241008 meters 0.09848195910909098 Centerline is valid? [True, True] Translation: X:0.30, Y:0.00, Z:-0.03 [[ 9.99087043e-01 -2.67513665e-02 3.33083310e-02 3.00035309e-01] [ 2.67509436e-02 9.99642024e-01 4.58414491e-04 2.93625056e-03] [-3.33086706e-02 4.33033305e-04 9.99445018e-01 -2.92938498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.378241008 meters 0.12081937776636062 Centerline is valid? [True, False] Translation: X:0.32, Y:-0.00, Z:-0.02 [[ 0.99949166 -0.02095221 0.02402955 0.31520038] [ 0.02087268 0.99977582 0.0035555 -0.00247688] [-0.02409865 -0.00305213 0.99970493 -0.0234193 ] [ 0. 0. 0. 1. ]] SLAMing on 0.438241008 meters 0.13352773531653386 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.02 [[ 9.99858225e-01 -1.42490835e-02 8.97176890e-03 3.42894464e-01] [ 1.42527102e-02 9.99898367e-01 -3.40419236e-04 -1.17773829e-02] [-8.96600641e-03 4.68242995e-04 9.99959695e-01 -1.53009991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.498241008 meters 0.157704280869873 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.02 [[ 9.99844638e-01 -1.66387799e-02 5.81821413e-03 3.70643152e-01] [ 1.66361764e-02 9.99861486e-01 4.95573574e-04 -2.34839898e-02] [-5.82565397e-03 -3.98703744e-04 9.99982951e-01 -1.54965001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.558241008 meters 0.16973602924459916 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:-0.01 [[ 0.99984873 -0.01725198 -0.00221184 0.38341175] [ 0.01724735 0.99984906 -0.00209342 -0.03658738] [ 0.00224762 0.00205495 0.99999536 -0.00821872] [ 0. 0. 0. 1. ]] SLAMing on 0.6182410079999999 meters 0.18600787292575038 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.01 [[ 0.99959257 -0.02830466 -0.00367879 0.41172802] [ 0.02828601 0.99958724 -0.00502602 -0.05630013] [ 0.00381953 0.00491991 0.9999806 -0.00650663] [ 0. 0. 0. 1. ]] SLAMing on 0.6782410079999999 meters 0.19073357327842178 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.00 [[ 0.99955244 -0.02741396 -0.0119747 0.42650231] [ 0.02734274 0.99960768 -0.00607206 -0.06517519] [ 0.01213646 0.00574192 0.99990986 -0.00224009] [ 0. 0. 0. 1. ]] SLAMing on 0.7382410079999999 meters 0.2049709223215547 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.00 [[ 9.99415486e-01 -2.74936887e-02 -2.03170835e-02 4.51078051e-01] [ 2.74114324e-02 9.99614918e-01 -4.31614144e-03 -8.52585529e-02] [ 2.04279264e-02 3.75669823e-03 9.99784270e-01 -3.04015144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.798241008 meters 0.21155963129505329 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.01 [[ 0.99955057 -0.02793715 -0.01087106 0.46279877] [ 0.02795988 0.99960716 0.00194438 -0.09660896] [ 0.01081247 -0.00224746 0.99993902 -0.00739289] [ 0. 0. 0. 1. ]] SLAMing on 0.8582410079999999 meters 0.23302553288668593 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.01 [[ 0.9997028 -0.01901684 -0.01525358 0.47395096] [ 0.01907833 0.9998104 0.0038962 -0.11566271] [ 0.01517659 -0.00418605 0.99987607 -0.00685 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9182410079999999 meters 0.23535062906589146 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.01 [[ 0.99984236 -0.01496872 -0.00954929 0.49204228] [ 0.0149794 0.99988725 0.00104777 -0.11870103] [ 0.00953253 -0.00119065 0.99995386 -0.01331375] [ 0. 0. 0. 1. ]] SLAMing on 0.9782410079999999 meters 0.24662368263641885 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.01 [[ 0.99996022 -0.00532704 -0.00715408 0.48353691] [ 0.00538215 0.99995582 0.00770663 -0.13387932] [ 0.00711271 -0.00774483 0.99994471 -0.01383631] [ 0. 0. 0. 1. ]] SLAMing on 1.038241008 meters 0.25700709742073097 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.02 [[ 9.99998071e-01 -3.54176662e-04 1.93187435e-03 4.87642426e-01] [ 3.52108542e-04 9.99999365e-01 1.07076046e-03 -1.45870694e-01] [-1.93225236e-03 -1.07007816e-03 9.99997561e-01 -1.70682872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.098241008 meters 0.26969935553741164 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.02 [[ 0.99999621 0.00131261 0.00242025 0.48576522] [-0.00132203 0.99999154 0.00389546 -0.15283524] [-0.00241512 -0.00389864 0.99998948 -0.0155187 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1582410079999998 meters 0.23460752009848002 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.01 [[ 9.99995319e-01 -3.66713605e-04 3.03752436e-03 4.83420939e-01] [ 3.54886190e-04 9.99992358e-01 3.89339219e-03 -1.63565367e-01] [-3.03892891e-03 -3.89229599e-03 9.99987807e-01 -1.35003590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.218241008 meters 0.2285244244155303 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.01 [[ 0.99998762 -0.00433247 0.00244705 0.48507022] [ 0.0043272 0.99998831 0.00215544 -0.17028639] [-0.00245636 -0.00214483 0.99999468 -0.01234055] [ 0. 0. 0. 1. ]] SLAMing on 1.278241008 meters 0.2193984890593011 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.01 [[ 9.99936651e-01 -1.12155662e-02 9.51008364e-04 4.90896575e-01] [ 1.12141475e-02 9.99936018e-01 1.48424462e-03 -1.78846158e-01] [-9.67594160e-04 -1.47348584e-03 9.99998446e-01 -9.02741818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3382410079999998 meters 0.21039028089223696 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.01 [[ 9.99915191e-01 -1.30179989e-02 3.78440695e-04 4.94071758e-01] [ 1.30171094e-02 9.99912709e-01 2.26473467e-03 -1.82652368e-01] [-4.07889974e-04 -2.25961640e-03 9.99997364e-01 -8.91597562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3982410079999998 meters 0.19582051671702413 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.01 [[ 9.99848286e-01 -1.74137351e-02 4.07726982e-04 4.94346943e-01] [ 1.74144451e-02 9.99846722e-01 -1.80808188e-03 -1.82258230e-01] [-3.76179028e-04 1.81490791e-03 9.99998282e-01 -8.72679378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.458241008 meters 0.19043502945221386 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 9.99902056e-01 -1.39937241e-02 -2.31668836e-04 4.96432366e-01] [ 1.39941601e-02 9.99900073e-01 2.00184590e-03 -1.81667427e-01] [ 2.03632407e-04 -2.00489184e-03 9.99997969e-01 -9.49938447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.518241008 meters 0.17828533700066926 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 9.99943834e-01 -1.05956647e-02 -2.45315546e-04 4.97271118e-01] [ 1.05967543e-02 9.99931476e-01 4.97516163e-03 -1.78897416e-01] [ 1.92583591e-04 -4.97748175e-03 9.99987594e-01 -1.08289522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.578241008 meters 0.1684852376621513 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 9.99943365e-01 -1.06396724e-02 2.54330555e-04 4.96658916e-01] [ 1.06385386e-02 9.99934976e-01 4.10678517e-03 -1.76673158e-01] [-2.98008867e-04 -4.10384688e-03 9.99991535e-01 -1.21109676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6382410079999998 meters 0.15725933783385618 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 9.99943629e-01 -1.05959288e-02 6.82349929e-04 4.96293301e-01] [ 1.05938552e-02 9.99939461e-01 2.97399062e-03 -1.73204479e-01] [-7.13820813e-04 -2.96659426e-03 9.99995345e-01 -1.41188404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6982410079999999 meters 0.15491004377791526 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.02 [[ 9.99940193e-01 -1.09298118e-02 3.87689293e-04 4.97909347e-01] [ 1.09286718e-02 9.99936276e-01 2.82975261e-03 -1.74572415e-01] [-4.18593252e-04 -2.82534644e-03 9.99995921e-01 -1.55842257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.758241008 meters 0.14561599274363715 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.02 [[ 9.99938614e-01 -1.10667891e-02 5.42112454e-04 4.98278285e-01] [ 1.10654106e-02 9.99935693e-01 2.48305763e-03 -1.74247274e-01] [-5.69557067e-04 -2.47690651e-03 9.99996770e-01 -1.69412480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8182410079999998 meters 0.13881892336644402 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 9.99970237e-01 -7.70804990e-03 -3.32988288e-04 5.01478094e-01] [ 7.70989538e-03 9.99952571e-01 5.95093134e-03 -1.75004033e-01] [ 2.87102418e-04 -5.95332153e-03 9.99982238e-01 -1.94629658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8782410079999998 meters 0.128213092532381 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 9.99972303e-01 -7.44049936e-03 -1.82059806e-04 5.00901768e-01] [ 7.44153516e-03 9.99950720e-01 6.57117421e-03 -1.75984430e-01] [ 1.33158016e-04 -6.57234701e-03 9.99978393e-01 -1.87662474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9382410079999999 meters 0.1218458005191407 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 9.99972460e-01 -7.41737151e-03 -2.50161113e-04 5.00906880e-01] [ 7.41886190e-03 9.99950677e-01 6.60341001e-03 -1.75901297e-01] [ 2.01168828e-04 -6.60508406e-03 9.99978166e-01 -1.86273200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.998241008 meters 0.11443487535279635 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.02 [[ 9.99965630e-01 -8.25839607e-03 -7.33667042e-04 5.02456312e-01] [ 8.26196371e-03 9.99953366e-01 5.00063925e-03 -1.72467617e-01] [ 6.92335569e-04 -5.00652890e-03 9.99987228e-01 -2.02376355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.058241008 meters 0.10801308495393601 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.02 [[ 9.99911358e-01 -1.32873233e-02 -8.50590437e-04 5.03359530e-01] [ 1.32866300e-02 9.99911396e-01 -8.15566013e-04 -1.68910340e-01] [ 8.61351760e-04 8.04192239e-04 9.99999306e-01 -2.16954814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.118241008 meters 0.10033012127758763 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99994347 -0.01039937 -0.00221798 0.50663845] [ 0.01040294 0.9999446 0.00160672 -0.16613597] [ 0.00220115 -0.00162971 0.99999625 -0.02361781] [ 0. 0. 0. 1. ]] SLAMing on 2.178241008 meters 0.09853341440203765 Centerline is valid? [False, True] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99997338 -0.00671103 -0.00286504 0.50780707] [ 0.0067244 0.99996643 0.00468301 -0.1632323 ] [ 0.00283352 -0.00470215 0.99998493 -0.02398984] [ 0. 0. 0. 1. ]] SLAMing on 2.2382410079999997 meters 0.08902439045874402 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.15, Z:-0.02 [[ 9.99807513e-01 -1.34926657e-02 1.42437616e-02 5.68667092e-01] [ 1.34890339e-02 9.99908957e-01 3.51018546e-04 -1.52036785e-01] [-1.42472010e-02 -1.58816396e-04 9.99898491e-01 -2.17749101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2982410079999998 meters 0.08088855396100117 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.14, Z:-0.02 [[ 9.99326363e-01 -1.60928672e-02 3.29824298e-02 6.29195134e-01] [ 1.60747428e-02 9.99870461e-01 8.14626646e-04 -1.40221528e-01] [-3.29912670e-02 -2.83893808e-04 9.99455600e-01 -2.40668215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.358241008 meters 0.07726015586228656 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.13, Z:-0.03 [[ 9.99075178e-01 -1.56288693e-02 4.00565492e-02 6.89384541e-01] [ 1.56017709e-02 9.99877796e-01 9.89035278e-04 -1.29390826e-01] [-4.00671116e-02 -3.63167491e-04 9.99196925e-01 -2.89334264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.418241008 meters 0.0748335421460579 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.12, Z:-0.04 [[ 9.98585770e-01 -1.55299194e-02 5.08456734e-02 7.47851824e-01] [ 1.54861407e-02 9.99879295e-01 1.25487880e-03 -1.16193125e-01] [-5.08590242e-02 -4.65700862e-04 9.98705734e-01 -4.21938704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.478241008 meters 0.07323662537287669 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.10, Z:-0.05 [[ 9.98489121e-01 -1.59105863e-02 5.25959042e-02 8.08585482e-01] [ 1.58640364e-02 9.99873310e-01 1.30243676e-03 -1.01421324e-01] [-5.26099633e-02 -4.66085597e-04 9.98615028e-01 -4.97107168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.538241008 meters 0.07031239908948003 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.09, Z:-0.05 [[ 9.98025197e-01 -1.74998575e-02 6.03279542e-02 8.68836992e-01] [ 1.74420864e-02 9.99846774e-01 1.48412711e-03 -9.19327144e-02] [-6.03446824e-02 -4.28950859e-04 9.98177507e-01 -5.49342970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.598241008 meters 0.07075060598187581 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.09, Z:-0.06 [[ 9.98371015e-01 -1.89096065e-02 5.38306944e-02 9.29744201e-01] [ 1.88655949e-02 9.99821150e-01 1.32566382e-03 -8.57850875e-02] [-5.38461346e-02 -3.07956257e-04 9.98549197e-01 -6.01206822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6582410079999996 meters 0.0687731561763361 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.08, Z:-0.07 [[ 9.97916949e-01 -2.15209775e-02 6.08162075e-02 9.89743850e-01] [ 2.14698155e-02 9.99768380e-01 1.49466854e-03 -7.69243028e-02] [-6.08342879e-02 -1.85842316e-04 9.98147862e-01 -6.72121516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7182410079999997 meters 0.06892485462512411 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.06, Z:-0.08 [[ 9.97767802e-01 -2.35445335e-02 6.24905403e-02 1.04891589e+00] [ 2.34945561e-02 9.99722787e-01 1.53455387e-03 -6.05242397e-02] [-6.25093474e-02 -6.29409410e-05 9.98044377e-01 -7.58740534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7782410079999997 meters 0.0676882184971853 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.05, Z:-0.08 [[ 9.97322831e-01 -2.65810920e-02 6.81220689e-02 1.10825165e+00] [ 2.65289232e-02 9.99646650e-01 1.67051283e-03 -5.00332446e-02] [-6.81424021e-02 1.41164544e-04 9.97675595e-01 -8.42192950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.838241008 meters 0.06618467860868307 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.04, Z:-0.09 [[ 9.96917477e-01 -2.82208456e-02 7.32060632e-02 1.16825033e+00] [ 2.81649762e-02 9.99601676e-01 1.79558319e-03 -3.77745198e-02] [-7.32275764e-02 2.71798769e-04 9.97315220e-01 -8.86748904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.898241008 meters 0.06540902498895099 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.02, Z:-0.10 [[ 9.96726135e-01 -2.65552723e-02 7.63664167e-02 1.22843647e+00] [ 2.64895959e-02 9.99647334e-01 1.87300536e-03 -2.47347705e-02] [-7.63892231e-02 1.56042128e-04 9.97078062e-01 -9.61465097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.958241008 meters 0.06414864906468257 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.00, Z:-0.11 [[ 9.96461082e-01 -2.13326350e-02 8.13033225e-02 1.28732711e+00] [ 2.12409986e-02 9.99772400e-01 1.99193956e-03 -2.23833240e-03] [-8.13273112e-02 -2.57926492e-04 9.96687414e-01 -1.05824704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.018241008 meters 0.06556199991559708 Centerline is valid? [True, True] Translation: X:1.35, Y:0.01, Z:-0.12 [[ 9.97085034e-01 -9.93036506e-03 7.56493463e-02 1.34653044e+00] [ 9.81824549e-03 9.99950081e-01 1.85386550e-03 1.46835228e-02] [-7.56639795e-02 -1.10571770e-03 9.97132759e-01 -1.15852097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.078241008 meters 0.06504528653104445 Centerline is valid? [True, True] Translation: X:1.41, Y:0.04, Z:-0.12 [[ 0.99661414 0.00301249 0.0821656 1.40737488] [-0.00318933 0.99999287 0.00202106 0.03539754] [-0.08215892 -0.00227627 0.99661664 -0.12312836] [ 0. 0. 0. 1. ]] SLAMing on 3.138241008 meters 0.06619973311880888 Centerline is valid? [True, True] Translation: X:1.47, Y:0.05, Z:-0.13 [[ 0.99652972 0.00947733 0.08269638 1.46636605] [-0.0096764 0.99995117 0.00200679 0.04886053] [-0.08267333 -0.00280003 0.99657277 -0.13261907] [ 0. 0. 0. 1. ]] SLAMing on 3.1982410079999997 meters 0.06550466214529985 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:-0.14 [[ 0.99652622 0.00601321 0.08306228 1.52724956] [-0.00620215 0.99997873 0.00201687 0.04595111] [-0.08304839 -0.00252503 0.99654232 -0.14149324] [ 0. 0. 0. 1. ]] SLAMing on 3.2582410079999997 meters 0.06256660029130663 Centerline is valid? [True, True] Translation: X:1.59, Y:0.03, Z:-0.15 [[ 9.96313143e-01 -7.17847360e-03 8.54902958e-02 1.58782672e+00] [ 7.02702397e-03 9.99973163e-01 2.07233594e-03 2.83908914e-02] [-8.55028776e-02 -1.46395318e-03 9.96336848e-01 -1.46388984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3182410079999998 meters 0.061910744958045716 Centerline is valid? [True, True] Translation: X:1.65, Y:0.02, Z:-0.15 [[ 9.96207664e-01 -1.47717996e-02 8.57442935e-02 1.64942293e+00] [ 1.46474947e-02 9.99890559e-01 2.07869780e-03 1.69988758e-02] [-8.57656156e-02 -8.14875599e-04 9.96315008e-01 -1.52744104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.378241008 meters 0.0611406799820801 Centerline is valid? [True, True] Translation: X:1.71, Y:0.00, Z:-0.16 [[ 9.95778893e-01 -2.27974615e-02 8.89082205e-02 1.70969364e+00] [ 2.26962182e-02 9.99740097e-01 2.14964795e-03 2.41107869e-03] [-8.89341194e-02 -1.22693684e-04 9.96037503e-01 -1.56807990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.438241008 meters 0.060757942282416856 Centerline is valid? [True, True] Translation: X:1.77, Y:0.00, Z:-0.16 [[ 9.95641394e-01 -2.27927856e-02 9.04361800e-02 1.77131324e+00] [ 2.26874187e-02 9.99740202e-01 2.19304801e-03 8.97091325e-04] [-9.04626706e-02 -1.31725899e-04 9.95899838e-01 -1.62884138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.498241008 meters 0.061133169909136 Centerline is valid? [True, True] Translation: X:1.83, Y:0.01, Z:-0.17 [[ 9.95962174e-01 -1.40064208e-02 8.86745081e-02 1.83081333e+00] [ 1.38724425e-02 9.99901511e-01 2.12702973e-03 5.92567274e-03] [-8.86955667e-02 -8.88309135e-04 9.96058386e-01 -1.71869259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.558241008 meters 0.06204888628978899 Centerline is valid? [True, True] Translation: X:1.89, Y:0.01, Z:-0.18 [[ 9.96150973e-01 -5.85703624e-03 8.74581823e-02 1.89140002e+00] [ 5.69573711e-03 9.99981587e-01 2.09373583e-03 1.33705318e-02] [-8.74688350e-02 -1.58753817e-03 9.96165991e-01 -1.81129632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6182410079999996 meters 0.06396169237020322 Centerline is valid? [True, True] Translation: X:1.95, Y:0.02, Z:-0.19 [[ 0.99606976 0.00288162 0.08852533 1.95080276] [-0.00308116 0.99999301 0.00211753 0.02343411] [-0.08851861 -0.00238197 0.99607167 -0.18947 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6782410079999996 meters 0.06453497853490639 Centerline is valid? [True, True] Translation: X:2.01, Y:0.02, Z:-0.20 [[ 0.996061 0.00457148 0.08855275 2.01203415] [-0.00477776 0.99998634 0.00211763 0.02006109] [-0.08854186 -0.00253237 0.99606924 -0.19627718] [ 0. 0. 0. 1. ]] SLAMing on 3.7382410079999997 meters 0.06383906373472792 Centerline is valid? [True, True] Translation: X:2.07, Y:0.01, Z:-0.21 [[ 9.96239331e-01 1.07577972e-03 8.66373999e-02 2.07292372e+00] [-1.25845552e-03 9.99997099e-01 2.05392003e-03 6.65331227e-03] [-8.66349390e-02 -2.15522523e-03 9.96237794e-01 -2.06138731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7982410079999998 meters 0.061179359888757806 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.01, Z:-0.21 [[ 9.96503391e-01 -1.56347192e-03 8.35377045e-02 2.13603712e+00] [ 1.40332872e-03 9.99997064e-01 1.97570072e-03 -8.17917670e-03] [-8.35405481e-02 -1.85156160e-03 9.96502659e-01 -2.06547868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.858241008 meters 0.06096525763730108 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.02, Z:-0.22 [[ 9.96716008e-01 -5.79335861e-03 8.07690314e-02 2.19668133e+00] [ 5.65925607e-03 9.99982202e-01 1.88914462e-03 -2.28395962e-02] [-8.07785383e-02 -1.42584806e-03 9.96731054e-01 -2.15741940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.918241008 meters 0.06095834645935618 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.03, Z:-0.22 [[ 9.96749823e-01 -7.80333483e-03 8.01804169e-02 2.25781064e+00] [ 7.67816070e-03 9.99968775e-01 1.86935733e-03 -3.26412769e-02] [-8.01925005e-02 -1.24764346e-03 9.96778614e-01 -2.23124446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.978241008 meters 0.06045428002953172 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.04, Z:-0.23 [[ 9.96686321e-01 -1.10205292e-02 8.05910953e-02 2.32044523e+00] [ 1.09061441e-02 9.99938797e-01 1.85938697e-03 -4.49682061e-02] [-8.06066544e-02 -9.74287459e-04 9.96745513e-01 -2.29712354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.038241008 meters 0.060417657279491485 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.96565359e-01 -1.81989180e-02 8.07854284e-02 2.38135239e+00] [ 1.81080172e-02 9.99834310e-01 1.85776101e-03 -5.92403411e-02] [-8.08058524e-02 -3.88516346e-04 9.96729784e-01 -2.37055583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0982410080000005 meters 0.06046430407341278 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.07, Z:-0.24 [[ 9.96451881e-01 -2.35872687e-02 8.07916490e-02 2.44345863e+00] [ 2.35152600e-02 9.99721780e-01 1.84277897e-03 -6.87746254e-02] [-8.08126372e-02 6.35960668e-05 9.96729308e-01 -2.44076757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158241008 meters 0.06173281980324907 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.08, Z:-0.25 [[ 9.96285412e-01 -3.24971900e-02 7.97452901e-02 2.50505248e+00] [ 3.24573046e-02 9.99471508e-01 1.79667584e-03 -8.06317418e-02] [-7.97615322e-02 7.98315239e-04 9.96813654e-01 -2.52968100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.218241008000001 meters 0.06339856347648613 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.09, Z:-0.26 [[ 9.96067903e-01 -3.86744085e-02 7.97058549e-02 2.56708242e+00] [ 3.86546667e-02 9.99251024e-01 1.79120449e-03 -8.90829605e-02] [-7.97154308e-02 1.29684195e-03 9.96816818e-01 -2.59591622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.278241008 meters 0.0660690250861191 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.10, Z:-0.27 [[ 9.95818076e-01 -4.67151404e-02 7.85114966e-02 2.62612960e+00] [ 4.67214091e-02 9.98906412e-01 1.75808113e-03 -9.95567138e-02] [-7.85077663e-02 1.91743878e-03 9.96911658e-01 -2.66218719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.338241008000001 meters 0.06863228607192264 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.10, Z:-0.28 [[ 9.95728758e-01 -5.15376996e-02 7.66035585e-02 2.68638687e+00] [ 5.15580051e-02 9.98668531e-01 1.71389468e-03 -1.03014439e-01] [-7.65898935e-02 2.24295244e-03 9.97060157e-01 -2.77292725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.398241008 meters 0.06630142269038025 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.10, Z:-0.27 [[ 9.95023685e-01 -6.43747799e-02 7.60509943e-02 2.74812143e+00] [ 6.44321823e-02 9.97920638e-01 1.70114666e-03 -1.02368408e-01] [-7.60023677e-02 3.20745031e-03 9.97102478e-01 -2.68411768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458241008 meters 0.06932168604148563 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.11, Z:-0.27 [[ 9.94382995e-01 -7.43594004e-02 7.53202413e-02 2.80821819e+00] [ 7.44442295e-02 9.97223756e-01 1.68460152e-03 -1.06981493e-01] [-7.52363999e-02 3.93201823e-03 9.97157973e-01 -2.73689004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.518241008 meters 0.07167883192673427 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.11, Z:-0.28 [[ 9.93897799e-01 -7.99015685e-02 7.60454056e-02 2.86785385e+00] [ 8.00042251e-02 9.96793074e-01 1.70038963e-03 -1.08517350e-01] [-7.59373974e-02 4.39394023e-03 9.97102906e-01 -2.80396202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.578241008 meters 0.07150156000236146 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.10, Z:-0.28 [[ 9.92887799e-01 -9.03615878e-02 7.75151706e-02 2.92865275e+00] [ 9.04999463e-02 9.95894952e-01 1.73329593e-03 -9.52548206e-02] [-7.73535905e-02 5.29415039e-03 9.96989666e-01 -2.79550644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6382410080000005 meters 0.07246879789453538 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.28 [[ 9.92496023e-01 -9.26804337e-02 7.97620247e-02 2.98724579e+00] [ 9.28351960e-02 9.95679908e-01 1.77381243e-03 -8.75632131e-02] [-7.95818431e-02 5.64422142e-03 9.96812356e-01 -2.84030880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698241008 meters 0.07528665064414919 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.07, Z:-0.29 [[ 9.92177210e-01 -9.55812674e-02 8.03032115e-02 3.04496044e+00] [ 9.57454579e-02 9.95404201e-01 1.81230326e-03 -7.22424438e-02] [-8.01073763e-02 5.89054176e-03 9.96768835e-01 -2.92840672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.758241008000001 meters 0.06984557810499119 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.04, Z:-0.30 [[ 9.92249570e-01 -9.69921954e-02 7.76743499e-02 3.10448380e+00] [ 9.71498084e-02 9.95268221e-01 1.75597426e-03 -4.49037178e-02] [-7.74771278e-02 5.80368350e-03 9.96977237e-01 -2.95622389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.818241008 meters 0.07042015256428974 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.02, Z:-0.31 [[ 9.92593211e-01 -9.39399952e-02 7.70324212e-02 3.16232952e+00] [ 9.40858238e-02 9.95562566e-01 1.74202844e-03 -2.08811591e-02] [-7.68542411e-02 5.51853320e-03 9.97027067e-01 -3.07451193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878241008 meters 0.08938290675839485 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.03, Z:-0.34 [[ 9.92881226e-01 -9.29619543e-02 7.44643968e-02 3.21883575e+00] [ 9.30961449e-02 9.95655716e-01 1.67444620e-03 -3.08633684e-02] [-7.42965621e-02 5.26982208e-03 9.97222267e-01 -3.36238266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.938241008 meters 0.08501146327908576 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.00, Z:-0.34 [[ 9.93155272e-01 -8.98224075e-02 7.46628474e-02 3.27822467e+00] [ 8.99459728e-02 9.95945173e-01 1.71271438e-03 -1.04911498e-03] [-7.45139427e-02 5.01463113e-03 9.97207364e-01 -3.41676015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.998241008 meters 0.081610871160522 Centerline is valid? [True, True] Translation: X:3.34, Y:0.03, Z:-0.35 [[ 9.93994646e-01 -8.29230934e-02 7.14031047e-02 3.33677276e+00] [ 8.30182634e-02 9.96546678e-01 1.63891795e-03 3.13380945e-02] [-7.12924309e-02 4.29868608e-03 9.97446194e-01 -3.50132333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.058241008 meters 0.07732933300432987 Centerline is valid? [True, True] Translation: X:3.40, Y:0.06, Z:-0.36 [[ 9.94654046e-01 -7.37474111e-02 7.22817240e-02 3.39684908e+00] [ 7.38204822e-02 9.97270158e-01 1.66364386e-03 5.65931957e-02] [-7.22070958e-02 3.68112162e-03 9.97382868e-01 -3.58237121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.118241008 meters 0.07197489328944227 Centerline is valid? [True, True] Translation: X:3.45, Y:0.09, Z:-0.37 [[ 9.95672776e-01 -5.93205027e-02 7.15318225e-02 3.45455966e+00] [ 5.93550967e-02 9.98235579e-01 1.64377871e-03 8.98150995e-02] [-7.15031200e-02 2.60911252e-03 9.97436964e-01 -3.68962415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1782410080000005 meters 0.0704395830294882 Centerline is valid? [True, True] Translation: X:3.51, Y:0.11, Z:-0.38 [[ 9.96124831e-01 -5.16707851e-02 7.11719835e-02 3.51249086e+00] [ 5.16855362e-02 9.98662070e-01 1.63557687e-03 1.05566054e-01] [-7.11612719e-02 2.04932340e-03 9.97462718e-01 -3.81880523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.238241008 meters 0.06984437958854614 Centerline is valid? [True, True] Translation: X:3.57, Y:0.12, Z:-0.39 [[ 9.96609831e-01 -4.72654841e-02 6.73410652e-02 3.57410598e+00] [ 4.72681725e-02 9.98881026e-01 1.55432427e-03 1.20346404e-01] [-6.73391782e-02 1.63403424e-03 9.97728803e-01 -3.90372959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.298241008 meters 0.06640007197418006 Centerline is valid? [True, True] Translation: X:3.64, Y:0.14, Z:-0.39 [[ 9.96601513e-01 -4.41288847e-02 6.95562083e-02 3.63588593e+00] [ 4.41246092e-02 9.99024756e-01 1.59864968e-03 1.36795707e-01] [-6.95589207e-02 1.47592381e-03 9.97576753e-01 -3.91518148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.358241008 meters 0.06679748387841382 Centerline is valid? [True, True] Translation: X:3.70, Y:0.14, Z:-0.40 [[ 9.96414934e-01 -4.48723680e-02 7.17199455e-02 3.69752523e+00] [ 4.48692710e-02 9.98991496e-01 1.65508195e-03 1.41860359e-01] [-7.17218831e-02 1.56887330e-03 9.97423436e-01 -3.97105339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.418241008 meters 0.06724238183662054 Centerline is valid? [True, True] Translation: X:3.76, Y:0.15, Z:-0.40 [[ 9.96273492e-01 -4.47066517e-02 7.37593724e-02 3.75886031e+00] [ 4.47046564e-02 9.98998836e-01 1.67882217e-03 1.46378309e-01] [-7.37605817e-02 1.62482137e-03 9.97274655e-01 -4.01653586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.478241008 meters 0.06627330966934768 Centerline is valid? [True, True] Translation: X:3.82, Y:0.15, Z:-0.41 [[ 9.96255943e-01 -4.58742222e-02 7.32779096e-02 3.82069334e+00] [ 4.58769354e-02 9.98945741e-01 1.64700809e-03 1.52295921e-01] [-7.32762110e-02 1.72092433e-03 9.97310200e-01 -4.06401509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.538241008 meters 0.0683874788689479 Centerline is valid? [True, True] Translation: X:3.88, Y:0.15, Z:-0.41 [[ 9.95778277e-01 -5.35931111e-02 7.45211495e-02 3.88162865e+00] [ 5.36201420e-02 9.98560060e-01 1.63936752e-03 1.50231583e-01] [-7.45017023e-02 2.36338805e-03 9.97218086e-01 -4.13258908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5982410080000005 meters 0.07323106032489783 Centerline is valid? [True, True] Translation: X:3.94, Y:0.15, Z:-0.42 [[ 9.95384949e-01 -6.34099941e-02 7.20276092e-02 3.94231578e+00] [ 6.34610734e-02 9.97983062e-01 1.58137591e-03 1.47545083e-01] [-7.19826089e-02 2.99687162e-03 9.97401385e-01 -4.20948669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.658241008 meters 0.07470415191804733 Centerline is valid? [True, True] Translation: X:4.00, Y:0.15, Z:-0.43 [[ 9.95001858e-01 -6.73318957e-02 7.37408883e-02 4.00423048e+00] [ 6.73962408e-02 9.97724976e-01 1.61822373e-03 1.45965388e-01] [-7.36820841e-02 3.35972305e-03 9.97276122e-01 -4.29331988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.718241008000001 meters 0.07932306771104863 Centerline is valid? [True, True] Translation: X:4.06, Y:0.15, Z:-0.45 [[ 9.95247625e-01 -6.95399109e-02 6.81642620e-02 4.06205555e+00] [ 6.96007286e-02 9.97573823e-01 1.48516240e-03 1.45966622e-01] [-6.81021616e-02 3.26617796e-03 9.97673006e-01 -4.45545652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.778241008 meters 0.0806383412276703 Centerline is valid? [True, True] Translation: X:4.12, Y:0.15, Z:-0.46 [[ 9.95324133e-01 -6.95802699e-02 6.69959391e-02 4.12302195e+00] [ 6.96386603e-02 9.97571204e-01 1.46627422e-03 1.50479284e-01] [-6.69352434e-02 3.20608933e-03 9.97752171e-01 -4.57095050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.838241008 meters 0.078948104271756 Centerline is valid? [True, True] Translation: X:4.19, Y:0.16, Z:-0.46 [[ 9.95167169e-01 -7.14683143e-02 6.73393388e-02 4.18531364e+00] [ 7.15319764e-02 9.97437226e-01 1.46842441e-03 1.57100215e-01] [-6.72717092e-02 3.35558824e-03 9.97729050e-01 -4.59461273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.898241008 meters 0.07999365398284586 Centerline is valid? [True, True] Translation: X:4.25, Y:0.16, Z:-0.47 [[ 9.95149133e-01 -7.36913296e-02 6.51750748e-02 4.24644838e+00] [ 7.37561978e-02 9.97275301e-01 1.41352379e-03 1.61546013e-01] [-6.51016568e-02 3.40039874e-03 9.97872843e-01 -4.65576352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.958241008 meters 0.08559823097229861 Centerline is valid? [True, True] Translation: X:4.31, Y:0.16, Z:-0.48 [[ 9.95297072e-01 -7.26562335e-02 6.40687901e-02 4.30632149e+00] [ 7.27168676e-02 9.97351658e-01 1.38803147e-03 1.62286579e-01] [-6.39999632e-02 3.27737807e-03 9.97944519e-01 -4.81775057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.018241008 meters 0.07720866814194416 Centerline is valid? [True, True] Translation: X:4.37, Y:0.19, Z:-0.48 [[ 9.95587162e-01 -6.74714896e-02 6.52211638e-02 4.36766686e+00] [ 6.75237392e-02 9.97716678e-01 1.40541233e-03 1.89126880e-01] [-6.51670682e-02 3.00476638e-03 9.97869844e-01 -4.78140510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.078241008 meters 0.07718411774470359 Centerline is valid? [True, True] Translation: X:4.43, Y:0.20, Z:-0.49 [[ 9.95912628e-01 -6.19856836e-02 6.56948394e-02 4.42673294e+00] [ 6.20268428e-02 9.98073479e-01 1.41488745e-03 2.00799207e-01] [-6.56559797e-02 2.66573920e-03 9.97838758e-01 -4.87903073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1382410080000005 meters 0.06983485410530199 Centerline is valid? [True, True] Translation: X:4.49, Y:0.23, Z:-0.49 [[ 9.96182754e-01 -5.13896766e-02 7.05621884e-02 4.48778550e+00] [ 5.14106374e-02 9.98676442e-01 1.52020548e-03 2.26821261e-01] [-7.05469181e-02 2.11324460e-03 9.97506224e-01 -4.86686627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.198241008 meters 0.07078270500287603 Centerline is valid? [True, True] Translation: X:4.55, Y:0.24, Z:-0.50 [[ 9.96939164e-01 -4.31417481e-02 6.52003995e-02 4.54693672e+00] [ 4.31410498e-02 9.99067983e-01 1.41927221e-03 2.41440002e-01] [-6.52008616e-02 1.39788563e-03 9.97871181e-01 -5.01944700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.258241008000001 meters 0.07033636750012857 Centerline is valid? [True, True] Translation: X:4.61, Y:0.25, Z:-0.51 [[ 9.96929844e-01 -4.14116532e-02 6.64527054e-02 4.60757368e+00] [ 4.14092379e-02 9.99141269e-01 1.41433885e-03 2.48515298e-01] [-6.64542104e-02 1.34175928e-03 9.97788574e-01 -5.10358605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.318241008 meters 0.06903141487004344 Centerline is valid? [True, True] Translation: X:4.67, Y:0.25, Z:-0.52 [[ 9.96704893e-01 -4.04435448e-02 7.03112733e-02 4.66825410e+00] [ 4.04387483e-02 9.99180905e-01 1.49221236e-03 2.53656987e-01] [-7.03140320e-02 1.35600452e-03 9.97523984e-01 -5.15993290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.378241008 meters 0.06911771787791991 Centerline is valid? [True, True] Translation: X:4.73, Y:0.25, Z:-0.52 [[ 9.96681570e-01 -3.98485059e-02 7.09784751e-02 4.72998771e+00] [ 3.98412933e-02 9.99204868e-01 1.51790159e-03 2.54938748e-01] [-7.09825240e-02 1.31500970e-03 9.97476692e-01 -5.22322092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438241008 meters 0.06735966496883435 Centerline is valid? [True, True] Translation: X:4.79, Y:0.26, Z:-0.52 [[ 9.96570108e-01 -3.95864583e-02 7.26700289e-02 4.79248549e+00] [ 3.95796559e-02 9.99215241e-01 1.53420197e-03 2.57388152e-01] [-7.26737340e-02 1.34731492e-03 9.97354858e-01 -5.22810886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498241008 meters 0.07063449607751279 Centerline is valid? [True, True] Translation: X:4.85, Y:0.25, Z:-0.54 [[ 9.96502264e-01 -4.20133457e-02 7.22365337e-02 4.85238289e+00] [ 4.20146150e-02 9.99115866e-01 1.50258238e-03 2.52371735e-01] [-7.22357954e-02 1.53766340e-03 9.97386397e-01 -5.38609200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.558241008 meters 0.07199520074610516 Centerline is valid? [True, True] Translation: X:4.91, Y:0.24, Z:-0.54 [[ 9.96015596e-01 -5.32161446e-02 7.15609843e-02 4.91369140e+00] [ 5.32485652e-02 9.98580227e-01 1.45593828e-03 2.40608698e-01] [-7.15368634e-02 2.36038250e-03 9.97435164e-01 -5.41869904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.618241008 meters 0.08494292693865006 Centerline is valid? [True, True] Translation: X:4.97, Y:0.21, Z:-0.56 [[ 9.95503279e-01 -6.66976920e-02 6.72654411e-02 4.97138905e+00] [ 6.67567862e-02 9.97768335e-01 1.37136615e-03 2.14987568e-01] [-6.72067941e-02 3.12522517e-03 9.97734173e-01 -5.64352331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6782410080000005 meters 0.08313924962483786 Centerline is valid? [True, True] Translation: X:5.03, Y:0.22, Z:-0.56 [[ 9.95065810e-01 -7.40299381e-02 6.60575702e-02 5.03252897e+00] [ 7.41034648e-02 9.97249658e-01 1.33983547e-03 2.15779321e-01] [-6.59750772e-02 3.56187036e-03 9.97814914e-01 -5.63251779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.738241008 meters 0.08656515189299327 Centerline is valid? [True, True] Translation: X:5.09, Y:0.21, Z:-0.57 [[ 9.94876873e-01 -7.71791319e-02 6.52946262e-02 5.09172651e+00] [ 7.72578110e-02 9.97010271e-01 1.32289266e-03 2.14718461e-01] [-6.52015127e-02 3.72840457e-03 9.97865152e-01 -5.73483391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.798241008 meters 0.08218047187891009 Centerline is valid? [True, True] Translation: X:5.15, Y:0.23, Z:-0.58 [[ 9.95177111e-01 -7.38258117e-02 6.45930958e-02 5.15291465e+00] [ 7.38956120e-02 9.97265120e-01 1.31105837e-03 2.30866442e-01] [-6.45132314e-02 3.46841106e-03 9.97910824e-01 -5.76801952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.858241008 meters 0.08418603909730704 Centerline is valid? [True, True] Translation: X:5.21, Y:0.24, Z:-0.59 [[ 9.95424302e-01 -6.86593857e-02 6.64556086e-02 5.21145841e+00] [ 6.87221623e-02 9.97634933e-01 1.34362211e-03 2.35777972e-01] [-6.63906889e-02 3.22949901e-03 9.97788478e-01 -5.91940064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.918241008 meters 0.07960127358189323 Centerline is valid? [True, True] Translation: X:5.27, Y:0.25, Z:-0.59 [[ 9.95248972e-01 -6.67211471e-02 7.09067896e-02 5.27228397e+00] [ 6.67877539e-02 9.97766175e-01 1.43371868e-03 2.51610123e-01] [-7.08440556e-02 3.30879818e-03 9.97481915e-01 -5.89324072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.978241008 meters 0.07760735111905696 Centerline is valid? [True, True] Translation: X:5.34, Y:0.26, Z:-0.59 [[ 9.94583076e-01 -7.12530959e-02 7.56802521e-02 5.33586228e+00] [ 7.13416634e-02 9.97450755e-01 1.53597854e-03 2.59054702e-01] [-7.55967678e-02 3.87149680e-03 9.97130954e-01 -5.88700023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.038241008 meters 0.08238993842728576 Centerline is valid? [True, True] Translation: X:5.40, Y:0.26, Z:-0.60 [[ 9.93644101e-01 -8.13436904e-02 7.78113361e-02 5.39638956e+00] [ 8.14693272e-02 9.96674623e-01 1.56372486e-03 2.56091846e-01] [-7.76797832e-02 4.78545122e-03 9.96966875e-01 -5.95163987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0982410080000005 meters 0.09103493654717015 Centerline is valid? [True, True] Translation: X:5.46, Y:0.25, Z:-0.61 [[ 9.93157000e-01 -8.68818093e-02 7.80430923e-02 5.45529930e+00] [ 8.70252920e-02 9.96204870e-01 1.56712959e-03 2.48645821e-01] [-7.78830637e-02 5.23531717e-03 9.96948755e-01 -6.08255977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.158241008 meters 0.08949727459695186 Centerline is valid? [True, True] Translation: X:5.52, Y:0.26, Z:-0.61 [[ 9.93000515e-01 -8.91340527e-02 7.74925680e-02 5.51574309e+00] [ 8.92823595e-02 9.96005141e-01 1.55557777e-03 2.63892716e-01] [-7.73216510e-02 5.37402978e-03 9.96991716e-01 -6.12574137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.218241008 meters 0.08436307814082858 Centerline is valid? [True, True] Translation: X:5.58, Y:0.28, Z:-0.61 [[ 9.93056755e-01 -8.68138868e-02 7.93828119e-02 5.57647902e+00] [ 8.69623203e-02 9.96210330e-01 1.59192183e-03 2.81650222e-01] [-7.92201781e-02 5.32244479e-03 9.96842934e-01 -6.14692987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278241008 meters 0.0837260098004953 Centerline is valid? [True, True] Translation: X:5.63, Y:0.30, Z:-0.63 [[ 9.93923111e-01 -7.77138555e-02 7.79577166e-02 5.63429980e+00] [ 7.78293876e-02 9.96965472e-01 1.55986682e-03 2.99837344e-01] [-7.78423750e-02 4.51701365e-03 9.96955446e-01 -6.28398268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.338241008 meters 0.08082667677910933 Centerline is valid? [True, True] Translation: X:5.69, Y:0.32, Z:-0.64 [[ 9.94456322e-01 -7.05712570e-02 7.79507669e-02 5.69422617e+00] [ 7.06646348e-02 9.97498905e-01 1.56327883e-03 3.16721960e-01] [-7.78661272e-02 3.95374996e-03 9.96955984e-01 -6.38899329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.398241008 meters 0.07489003936861865 Centerline is valid? [True, True] Translation: X:5.75, Y:0.34, Z:-0.64 [[ 9.94766983e-01 -6.43350771e-02 7.93703230e-02 5.75490377e+00] [ 6.44123065e-02 9.97922105e-01 1.58950933e-03 3.39174156e-01] [-7.93076611e-02 3.53123418e-03 9.96843932e-01 -6.42100417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.458241008 meters 0.07413879857772017 Centerline is valid? [True, True] Translation: X:5.81, Y:0.35, Z:-0.65 [[ 9.95179201e-01 -5.99817626e-02 7.75921727e-02 5.81498834e+00] [ 6.00422265e-02 9.98194626e-01 1.55554392e-03 3.51737101e-01] [-7.75453941e-02 3.11076185e-03 9.96983969e-01 -6.52816918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.518241008 meters 0.07153660091344921 Centerline is valid? [True, True] Translation: X:5.87, Y:0.37, Z:-0.66 [[ 9.95645451e-01 -5.19905825e-02 7.73764546e-02 5.87446989e+00] [ 5.20269758e-02 9.98644482e-01 1.54680793e-03 3.69275325e-01] [-7.73519889e-02 2.48559066e-03 9.97000748e-01 -6.61802824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.578241008 meters 0.07029513066038373 Centerline is valid? [True, True] Translation: X:5.93, Y:0.38, Z:-0.67 [[ 9.95903067e-01 -4.64921485e-02 7.75600546e-02 5.93421071e+00] [ 4.65120488e-02 9.98916525e-01 1.55084200e-03 3.78202699e-01] [-7.75481222e-02 2.06298875e-03 9.96986476e-01 -6.71433850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6382410080000005 meters 0.06794664465810721 Centerline is valid? [True, True] Translation: X:6.00, Y:0.39, Z:-0.68 [[ 9.96056441e-01 -4.12085225e-02 7.85711392e-02 5.99572647e+00] [ 4.12127207e-02 9.99149163e-01 1.56883217e-03 3.93548142e-01] [-7.85689373e-02 1.67548503e-03 9.96907275e-01 -6.75478401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.698241008 meters 0.06791515241906478 Centerline is valid? [True, True] Translation: X:6.06, Y:0.40, Z:-0.68 [[ 9.95853569e-01 -3.98966091e-02 8.17553075e-02 6.05718632e+00] [ 3.98971075e-02 9.99202467e-01 1.62819293e-03 3.98447034e-01] [-8.17550644e-02 1.64035855e-03 9.96651102e-01 -6.80787834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.758241008 meters 0.06751872452029224 Centerline is valid? [True, True] Translation: X:6.12, Y:0.40, Z:-0.69 [[ 9.95585491e-01 -4.03504404e-02 8.47429764e-02 6.11830013e+00] [ 4.03534436e-02 9.99184059e-01 1.67817904e-03 3.99135171e-01] [-8.47415463e-02 1.74890021e-03 9.96401431e-01 -6.87013691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.818241008 meters 0.06754235759457214 Centerline is valid? [True, True] Translation: X:6.18, Y:0.40, Z:-0.69 [[ 9.95566833e-01 -4.43788784e-02 8.29288590e-02 6.17911529e+00] [ 4.43959415e-02 9.99012669e-01 1.63917470e-03 3.97951654e-01] [-8.29197255e-02 2.04979681e-03 9.96554122e-01 -6.93770169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.878241008 meters 0.06892019494190421 Centerline is valid? [True, True] Translation: X:6.24, Y:0.40, Z:-0.70 [[ 9.95550974e-01 -4.79607885e-02 8.11049971e-02 6.23920095e+00] [ 4.79891714e-02 9.98846574e-01 1.60043118e-03 3.97324353e-01] [-8.10882064e-02 2.29885079e-03 9.96704278e-01 -7.02959223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.938241008 meters 0.06985859024386075 Centerline is valid? [True, True] Translation: X:6.30, Y:0.40, Z:-0.71 [[ 9.95582553e-01 -4.99248824e-02 7.95165752e-02 6.30048675e+00] [ 4.99586548e-02 9.98750059e-01 1.56588997e-03 3.96073791e-01] [-7.94953611e-02 2.41356840e-03 9.96832314e-01 -7.12302680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998241008 meters 0.06978799058229807 Centerline is valid? [True, True] Translation: X:6.36, Y:0.40, Z:-0.72 [[ 9.95612753e-01 -4.87002474e-02 7.98970092e-02 6.36224993e+00] [ 4.87302698e-02 9.98810733e-01 1.57517408e-03 3.98317229e-01] [-7.98787017e-02 2.32513941e-03 9.96801879e-01 -7.20884132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.058241008 meters 0.06924648978077043 Centerline is valid? [True, True] Translation: X:6.42, Y:0.40, Z:-0.73 [[ 9.95464609e-01 -4.88967350e-02 8.16046656e-02 6.42395638e+00] [ 4.89307262e-02 9.98800918e-01 1.58443828e-03 3.99224380e-01] [-8.15842888e-02 2.41572332e-03 9.96663518e-01 -7.26730902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.118241008 meters 0.07089843131326315 Centerline is valid? [True, True] Translation: X:6.48, Y:0.40, Z:-0.74 [[ 9.95528859e-01 -5.10322882e-02 7.94858193e-02 6.48475357e+00] [ 5.10738986e-02 9.98693734e-01 1.51079044e-03 3.97658760e-01] [-7.94590888e-02 2.55561519e-03 9.96834852e-01 -7.35832001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.178241008 meters 0.06891367512233565 Centerline is valid? [True, True] Translation: X:6.55, Y:0.40, Z:-0.74 [[ 9.95488572e-01 -5.00159283e-02 8.06282203e-02 6.54737044e+00] [ 5.00554819e-02 9.98745264e-01 1.53186158e-03 4.00681282e-01] [-8.06036706e-02 2.51093373e-03 9.96743068e-01 -7.38893486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.238241008 meters 0.06836802058196845 Centerline is valid? [True, True] Translation: X:6.61, Y:0.40, Z:-0.75 [[ 9.95571732e-01 -4.67817134e-02 8.15377015e-02 6.60720263e+00] [ 4.68120198e-02 9.98902528e-01 1.54098201e-03 4.03337169e-01] [-8.15203060e-02 2.28278636e-03 9.96669067e-01 -7.46553708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.298241008 meters 0.06813679801800583 Centerline is valid? [True, True] Translation: X:6.67, Y:0.41, Z:-0.75 [[ 9.95553424e-01 -4.48639466e-02 8.28287771e-02 6.66882242e+00] [ 4.48889783e-02 9.98990762e-01 1.56095743e-03 4.06642365e-01] [-8.28152139e-02 2.16408266e-03 9.96562571e-01 -7.53431601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.358241008 meters 0.06567304589748474 Centerline is valid? [True, True] Translation: X:6.73, Y:0.41, Z:-0.76 [[ 9.95403217e-01 -4.01161879e-02 8.69662427e-02 6.72993499e+00] [ 4.01288994e-02 9.99193226e-01 1.60277837e-03 4.12506082e-01] [-8.69603779e-02 1.89444886e-03 9.96209970e-01 -7.56293445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418241008 meters 0.06508883040154523 Centerline is valid? [True, True] Translation: X:6.79, Y:0.42, Z:-0.77 [[ 9.95867870e-01 -3.38257831e-02 8.42793114e-02 6.79102310e+00] [ 3.38145085e-02 9.99426906e-01 1.56165564e-03 4.19158385e-01] [-8.42838356e-02 1.29466081e-03 9.96440946e-01 -7.67421194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478241008 meters 0.06400500184537303 Centerline is valid? [True, True] Translation: X:6.85, Y:0.42, Z:-0.78 [[ 9.96011693e-01 -2.92124001e-02 8.43050600e-02 6.85238539e+00] [ 2.91866860e-02 9.99572795e-01 1.53774728e-03 4.22626439e-01] [-8.43139658e-02 9.28971047e-04 9.96438805e-01 -7.76130965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.538241008 meters 0.06461236273110108 Centerline is valid? [True, True] Translation: X:6.91, Y:0.43, Z:-0.79 [[ 9.96314064e-01 -2.54009359e-02 8.19333754e-02 6.91310187e+00] [ 2.53657434e-02 9.99677156e-01 1.47056676e-03 4.25681379e-01] [-8.19442775e-02 6.13154628e-04 9.96636724e-01 -7.86894531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598241008 meters 0.06221247919495898 Centerline is valid? [True, True] Translation: X:6.97, Y:0.43, Z:-0.79 [[ 9.95898179e-01 -2.23072996e-02 8.76880884e-02 6.97392652e+00] [ 2.22580803e-02 9.99751073e-01 1.53914969e-03 4.25183740e-01] [-8.77005948e-02 4.18932136e-04 9.96146791e-01 -7.89397395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658241008000001 meters 0.0637750138341793 Centerline is valid? [True, True] Translation: X:7.04, Y:0.42, Z:-0.80 [[ 9.96265064e-01 -1.64123381e-02 8.47735660e-02 7.03523843e+00] [ 1.63449792e-02 9.99865304e-01 1.48862101e-03 4.24564490e-01] [-8.47865790e-02 -9.74389303e-05 9.96399130e-01 -8.00421470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.718241008 meters 0.06330481769777982 Centerline is valid? [True, True] Translation: X:7.10, Y:0.42, Z:-0.80 [[ 9.96009682e-01 -6.92915000e-03 8.89758384e-02 7.09766960e+00] [ 6.81726256e-03 9.99975543e-01 1.56133416e-03 4.20633878e-01] [-8.89844811e-02 -9.48532292e-04 9.96032561e-01 -8.04943596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.778241008 meters 0.06379808362380733 Centerline is valid? [True, True] Translation: X:7.16, Y:0.41, Z:-0.81 [[ 9.95524495e-01 -4.41655630e-03 9.44006019e-02 7.15850257e+00] [ 4.28288172e-03 9.99989518e-01 1.61859508e-03 4.07273290e-01] [-9.44067611e-02 -1.20704444e-03 9.95532976e-01 -8.10551372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.838241008 meters 0.061511908477087464 Centerline is valid? [True, True] Translation: X:7.22, Y:0.39, Z:-0.82 [[ 9.95208619e-01 -7.61557595e-03 9.74772142e-02 7.22029053e+00] [ 7.48869181e-03 9.99970569e-01 1.66747872e-03 3.92289409e-01] [-9.74870441e-02 -9.29512378e-04 9.95236360e-01 -8.16673709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.898241008 meters 0.06406256322810343 Centerline is valid? [True, True] Translation: X:7.28, Y:0.37, Z:-0.83 [[ 9.96148159e-01 -1.50374612e-02 8.63870349e-02 7.27937399e+00] [ 1.49662878e-02 9.99886916e-01 1.47152432e-03 3.65692447e-01] [-8.63993939e-02 -1.72963015e-04 9.96260566e-01 -8.34486134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.958241008 meters 0.0643601034116627 Centerline is valid? [True, True] Translation: X:7.34, Y:0.35, Z:-0.85 [[ 9.96267995e-01 -1.89531652e-02 8.42072399e-02 7.34069376e+00] [ 1.88987114e-02 9.99820361e-01 1.44380892e-03 3.48014900e-01] [-8.42194778e-02 1.52987712e-04 9.96447217e-01 -8.45686005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.018241008 meters 0.06488433802729544 Centerline is valid? [True, True] Translation: X:7.40, Y:0.34, Z:-0.85 [[ 9.96413972e-01 -2.08998641e-02 8.19901919e-02 7.40245763e+00] [ 2.08574485e-02 9.99781516e-01 1.37387899e-03 3.36191251e-01] [-8.20009922e-02 3.41153983e-04 9.96632189e-01 -8.53608740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078241008000001 meters 0.06455580095670423 Centerline is valid? [True, True] Translation: X:7.46, Y:0.32, Z:-0.86 [[ 9.96583375e-01 -1.80267534e-02 8.06015689e-02 7.46414907e+00] [ 1.79762251e-02 9.99837500e-01 1.35254162e-03 3.21366547e-01] [-8.06128530e-02 1.00991454e-04 9.96745483e-01 -8.62396100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.138241008 meters 0.06532505308668038 Centerline is valid? [True, True] Translation: X:7.53, Y:0.32, Z:-0.87 [[ 9.96717458e-01 -1.31204137e-02 7.98884421e-02 7.52503584e+00] [ 1.30570226e-02 9.99913888e-01 1.31585422e-03 3.18286723e-01] [-7.98988273e-02 -2.68429682e-04 9.96802942e-01 -8.72162453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198241008 meters 0.06562864822143133 Centerline is valid? [True, True] Translation: X:7.59, Y:0.31, Z:-0.88 [[ 9.96618680e-01 -6.31762125e-03 8.19224940e-02 7.58572608e+00] [ 6.22993435e-03 9.99979715e-01 1.32593800e-03 3.09398284e-01] [-8.19292089e-02 -8.11082823e-04 9.96637821e-01 -8.79459687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.258241008 meters 0.06532607249998763 Centerline is valid? [True, True] Translation: X:7.65, Y:0.30, Z:-0.89 [[ 9.96519087e-01 -6.35264443e-03 8.31225218e-02 7.64820055e+00] [ 6.26469431e-03 9.99979507e-01 1.31885783e-03 2.96399240e-01] [-8.31291966e-02 -7.93529815e-04 9.96538462e-01 -8.86507714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.318241008 meters 0.06456969394481463 Centerline is valid? [True, True] Translation: X:7.71, Y:0.28, Z:-0.89 [[ 9.96325502e-01 -3.27796980e-03 8.55847521e-02 7.71074377e+00] [ 3.17411775e-03 9.99994052e-01 1.34949092e-03 2.80205689e-01] [-8.55886666e-02 -1.07287614e-03 9.96329980e-01 -8.88990736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.378241008 meters 0.06293231739281806 Centerline is valid? [True, True] Translation: X:7.77, Y:0.27, Z:-0.89 [[ 9.96228185e-01 9.08988550e-04 8.67673719e-02 7.77447722e+00] [-1.02948004e-03 9.99998567e-01 1.34393588e-03 2.68939386e-01] [-8.67660259e-02 -1.42819208e-03 9.96227693e-01 -8.85523914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.438241008 meters 0.06342074417836212 Centerline is valid? [True, True] Translation: X:7.84, Y:0.26, Z:-0.89 [[ 9.96065199e-01 9.37090760e-03 8.81266398e-02 7.83553194e+00] [-9.52478075e-03 9.99953759e-01 1.32568716e-03 2.56148757e-01] [-8.81101419e-02 -2.15985777e-03 9.96108397e-01 -8.87627496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498241008 meters 0.06348856247235268 Centerline is valid? [True, True] Translation: X:7.90, Y:0.25, Z:-0.90 [[ 9.95856860e-01 1.54622987e-02 8.96104405e-02 7.89520816e+00] [-1.56459628e-02 9.99876686e-01 1.34747033e-03 2.51676935e-01] [-8.95785554e-02 -2.74392919e-03 9.95975980e-01 -8.96205388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558241008 meters 0.06535914832943242 Centerline is valid? [True, True] Translation: X:7.96, Y:0.25, Z:-0.91 [[ 9.95964707e-01 2.08040931e-02 8.73011606e-02 7.95518389e+00] [-2.09983247e-02 9.99778657e-01 1.30699377e-03 2.45542981e-01] [-8.72546463e-02 -3.13489779e-03 9.96181108e-01 -9.05169840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618241008 meters 0.0637923324293872 Centerline is valid? [True, True] Translation: X:8.02, Y:0.23, Z:-0.91 [[ 9.95484721e-01 2.00002864e-02 9.27909391e-02 8.01639498e+00] [-2.02163014e-02 9.99794666e-01 1.38849165e-03 2.26181202e-01] [-9.27441157e-02 -3.25811182e-03 9.95684646e-01 -9.11189893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.678241008 meters 0.06314836322017085 Centerline is valid? [True, True] Translation: X:8.08, Y:0.21, Z:-0.92 [[ 9.95867843e-01 1.64832888e-02 8.93058812e-02 8.07839805e+00] [-1.66697251e-02 9.99860150e-01 1.34212385e-03 2.09641083e-01] [-8.92712691e-02 -2.82528247e-03 9.96003343e-01 -9.20581432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.738241008 meters 0.06301513433928403 Centerline is valid? [True, True] Translation: X:8.14, Y:0.18, Z:-0.93 [[ 9.96412323e-01 1.03361940e-02 8.39978944e-02 8.14042750e+00] [-1.04778020e-02 9.99944331e-01 1.24517836e-03 1.84999043e-01] [-8.39803479e-02 -2.12082436e-03 9.96465154e-01 -9.33186474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.798241008 meters 0.0632867895450155 Centerline is valid? [True, True] Translation: X:8.20, Y:0.17, Z:-0.94 [[ 9.96648262e-01 6.84641891e-03 8.15191282e-02 8.20300246e+00] [-6.96635241e-03 9.99975030e-01 1.18690007e-03 1.67423786e-01] [-8.15089667e-02 -1.75081287e-03 9.96671071e-01 -9.43013011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.858241008 meters 0.060983716945201306 Centerline is valid? [True, True] Translation: X:8.26, Y:0.14, Z:-0.94 [[ 9.96267367e-01 2.93730660e-03 8.62711179e-02 8.26487542e+00] [-3.05410667e-03 9.99994590e-01 1.22191650e-03 1.43443015e-01] [-8.62670620e-02 -1.48083673e-03 9.96270948e-01 -9.43886314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.918241008 meters 0.06210611188942519 Centerline is valid? [True, True] Translation: X:8.33, Y:0.13, Z:-0.95 [[ 9.96314187e-01 2.01401339e-03 8.57553742e-02 8.32758955e+00] [-2.12669767e-03 9.99996991e-01 1.22268410e-03 1.34783281e-01] [-8.57526537e-02 -1.40055327e-03 9.96315473e-01 -9.52142532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.978241008 meters 0.06146528571871 Centerline is valid? [True, True] Translation: X:8.39, Y:0.12, Z:-0.96 [[ 9.95902378e-01 -4.51855174e-04 9.04336681e-02 8.38841822e+00] [ 3.39822333e-04 9.99999156e-01 1.25423335e-03 1.21763394e-01] [-9.04341585e-02 -1.21836260e-03 9.95901691e-01 -9.56600035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038241008 meters 0.06098181060423842 Centerline is valid? [True, True] Translation: X:8.45, Y:0.11, Z:-0.96 [[ 9.95705300e-01 -4.20651899e-03 9.24838375e-02 8.44941296e+00] [ 4.10565135e-03 9.99990751e-01 1.28088627e-03 1.10549627e-01] [-9.24883703e-02 -8.95678853e-04 9.95713362e-01 -9.62968581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.098241008 meters 0.06096784812748603 Centerline is valid? [True, True] Translation: X:8.51, Y:0.09, Z:-0.97 [[ 9.95662616e-01 -1.15971222e-02 9.23117604e-02 8.51010687e+00] [ 1.15283443e-02 9.99932729e-01 1.27828321e-03 9.38016198e-02] [-9.23203750e-02 -2.08537050e-04 9.95729333e-01 -9.70365081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158241008 meters 0.06059730545079085 Centerline is valid? [True, True] Translation: X:8.57, Y:0.09, Z:-0.98 [[ 9.95598274e-01 -1.43630452e-02 9.26163064e-02 8.57176262e+00] [ 1.43066651e-02 9.99896844e-01 1.27269738e-03 8.53373088e-02] [-9.26250323e-02 5.79351548e-05 9.95701060e-01 -9.77910782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218241008 meters 0.060914117106018593 Centerline is valid? [True, True] Translation: X:8.63, Y:0.08, Z:-0.99 [[ 9.95631831e-01 -1.61394510e-02 9.19607267e-02 8.63168864e+00] [ 1.60934928e-02 9.99869721e-01 1.24134171e-03 8.06015759e-02] [-9.19687807e-02 2.44049973e-04 9.95761861e-01 -9.88461068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278241008 meters 0.06125933863160638 Centerline is valid? [True, True] Translation: X:8.69, Y:0.07, Z:-1.00 [[ 9.95750423e-01 -1.81516639e-02 9.02862784e-02 8.69384181e+00] [ 1.81173160e-02 9.99835148e-01 1.20003270e-03 7.22872257e-02] [-9.02931771e-02 4.40811962e-04 9.95915131e-01 -9.95853250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.338241008 meters 0.06110623717081151 Centerline is valid? [True, True] Translation: X:8.76, Y:0.06, Z:-1.00 [[ 9.95856829e-01 -1.95299052e-02 8.88130607e-02 8.75609492e+00] [ 1.95039320e-02 9.99809107e-01 1.16033775e-03 6.18448254e-02] [-8.88187682e-02 5.76673626e-04 9.96047636e-01 -1.00099583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398241008 meters 0.06113505716012595 Centerline is valid? [True, True] Translation: X:8.82, Y:0.06, Z:-1.01 [[ 9.95915540e-01 -1.75877753e-02 8.85601889e-02 8.81845065e+00] [ 1.75560618e-02 9.99845234e-01 1.13706362e-03 5.78528086e-02] [-8.85664812e-02 4.22348819e-04 9.96070178e-01 -1.00880869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.458241008 meters 0.06044587638025261 Centerline is valid? [True, True] Translation: X:8.88, Y:0.06, Z:-1.01 [[ 9.95646073e-01 -1.24581050e-02 9.23779935e-02 8.87962872e+00] [ 1.24046945e-02 9.99922395e-01 1.15236066e-03 5.92652543e-02] [-9.23851807e-02 -1.42257427e-06 9.95723344e-01 -1.01271924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.518241008 meters 0.06052431453185265 Centerline is valid? [True, True] Translation: X:8.94, Y:0.06, Z:-1.02 [[ 9.95440640e-01 -9.72262383e-03 9.48862604e-02 8.94060126e+00] [ 9.65367001e-03 9.99952699e-01 1.18571951e-03 5.83492954e-02] [-9.48933005e-02 -2.64312742e-04 9.95487414e-01 -1.02202056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578241008 meters 0.06062869805043957 Centerline is valid? [True, True] Translation: X:9.00, Y:0.05, Z:-1.03 [[ 9.95295863e-01 -1.13652231e-02 9.62131893e-02 9.00287047e+00] [ 1.13046677e-02 9.99935410e-01 1.17447587e-03 5.23994067e-02] [-9.62203231e-02 -8.12928473e-05 9.95360057e-01 -1.02975786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638241008 meters 0.06047813258070821 Centerline is valid? [True, True] Translation: X:9.06, Y:0.05, Z:-1.04 [[ 9.95329517e-01 -1.51562784e-02 9.53385485e-02 9.06487058e+00] [ 1.51145225e-02 9.99885096e-01 1.16014458e-03 4.61247987e-02] [-9.53451772e-02 2.86270488e-04 9.95444230e-01 -1.03649387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698241008 meters 0.061277253992259376 Centerline is valid? [True, True] Translation: X:9.12, Y:0.04, Z:-1.05 [[ 9.95660684e-01 -2.25271974e-02 9.02902426e-02 9.12493277e+00] [ 2.25224395e-02 9.99745763e-01 1.07168441e-03 3.74315125e-02] [-9.02914296e-02 9.66522499e-04 9.95914918e-01 -1.04774770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758241008 meters 0.061973395554978876 Centerline is valid? [True, True] Translation: X:9.18, Y:0.03, Z:-1.06 [[ 9.95908485e-01 -2.45584482e-02 8.69664969e-02 9.18420180e+00] [ 2.45619256e-02 9.99697780e-01 1.03023628e-03 3.35546035e-02] [-8.69655149e-02 1.11004358e-03 9.96210704e-01 -1.05758840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818241008 meters 0.06158488120836013 Centerline is valid? [True, True] Translation: X:9.25, Y:0.03, Z:-1.06 [[ 9.95976415e-01 -2.29174203e-02 8.66358588e-02 9.24743058e+00] [ 2.29138543e-02 9.99736907e-01 1.03574163e-03 2.97727099e-02] [-8.66368020e-02 9.53587217e-04 9.96239507e-01 -1.06193074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878241008 meters 0.06114494432376329 Centerline is valid? [True, True] Translation: X:9.31, Y:0.03, Z:-1.07 [[ 9.95699263e-01 -2.28147139e-02 8.97912416e-02 9.30839570e+00] [ 2.28134419e-02 9.99739198e-01 1.04059639e-03 2.80305012e-02] [-8.97915647e-02 1.01232622e-03 9.95960065e-01 -1.06695780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938241008 meters 0.06111878897056711 Centerline is valid? [True, True] Translation: X:9.37, Y:0.02, Z:-1.07 [[ 9.95279926e-01 -2.70856984e-02 9.31892355e-02 9.37080968e+00] [ 2.71030748e-02 9.99632061e-01 1.07937611e-03 2.40710382e-02] [-9.31841833e-02 1.45143345e-03 9.95647830e-01 -1.07240700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998241008 meters 0.06117617920499639 Centerline is valid? [True, True] Translation: X:9.43, Y:0.02, Z:-1.08 [[ 9.95191604e-01 -2.75319898e-02 9.39981934e-02 9.43232841e+00] [ 2.75525432e-02 9.99619774e-01 1.07940135e-03 2.17475909e-02] [-9.39921709e-02 1.51567812e-03 9.95571783e-01 -1.07932867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.058241008 meters 0.061386141418598585 Centerline is valid? [True, True] Translation: X:9.49, Y:0.02, Z:-1.09 [[ 9.95229551e-01 -2.79660492e-02 9.34667853e-02 9.49369081e+00] [ 2.79903495e-02 9.99607641e-01 1.05121238e-03 2.02808559e-02] [-9.34595110e-02 1.56997037e-03 9.95621843e-01 -1.08682822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.118241008 meters 0.061553865783175406 Centerline is valid? [True, True] Translation: X:9.56, Y:0.02, Z:-1.09 [[ 9.95555993e-01 -2.71411533e-02 9.01755122e-02 9.55557570e+00] [ 2.71626853e-02 9.99630537e-01 9.88644328e-04 2.34087941e-02] [-9.01690286e-02 1.46515828e-03 9.95925399e-01 -1.09206779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.178241008 meters 0.06126032210197048 Centerline is valid? [True, True] Translation: X:9.62, Y:0.03, Z:-1.10 [[ 9.95804665e-01 -2.00082135e-02 8.92902054e-02 9.61618114e+00] [ 2.00007613e-02 9.99799486e-01 9.78272945e-04 2.78220147e-02] [-8.92918749e-02 8.11703324e-04 9.96005172e-01 -1.10277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238241008 meters 0.06061298913155688 Centerline is valid? [True, True] Translation: X:9.68, Y:0.03, Z:-1.11 [[ 9.95825845e-01 -1.42948478e-02 9.01473439e-02 9.67798843e+00] [ 1.42663931e-02 9.99897769e-01 9.60022337e-04 3.33524387e-02] [-9.01518514e-02 3.30062391e-04 9.95927977e-01 -1.11178190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298241008 meters 0.06107981865209581 Centerline is valid? [True, True] Translation: X:9.74, Y:0.04, Z:-1.12 [[ 9.96149402e-01 -8.97099923e-03 8.72117528e-02 9.73788743e+00] [ 8.92422602e-03 9.99959749e-01 9.26202274e-04 3.80263033e-02] [-8.72165514e-02 -1.44338448e-04 9.96189366e-01 -1.12475846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.358241008 meters 0.061474092814282386 Centerline is valid? [True, True] Translation: X:9.80, Y:0.04, Z:-1.13 [[ 9.96231831e-01 -6.63160332e-03 8.64763613e-02 9.79943406e+00] [ 6.57842273e-03 9.99977957e-01 8.99933981e-04 3.89354607e-02] [-8.64804231e-02 -3.27664816e-04 9.96253496e-01 -1.13342783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.418241008 meters 0.060781060248856086 Centerline is valid? [True, True] Translation: X:9.86, Y:0.03, Z:-1.14 [[ 9.96208481e-01 -8.72061124e-03 8.65598779e-02 9.86290770e+00] [ 8.67681925e-03 9.99961967e-01 8.82148127e-04 3.37961805e-02] [-8.65642786e-02 -1.27739031e-04 9.96246259e-01 -1.13663089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478241008 meters 0.060714904371184035 Centerline is valid? [True, True] Translation: X:9.92, Y:0.03, Z:-1.14 [[ 9.96113210e-01 -1.00979924e-02 8.75014435e-02 9.92445968e+00] [ 1.00608315e-02 9.99949014e-01 8.65705067e-04 3.13911993e-02] [-8.75057240e-02 1.79970217e-05 9.96164017e-01 -1.14373747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538241008 meters 0.060665450841463235 Centerline is valid? [True, True] Translation: X:9.98, Y:0.02, Z:-1.15 [[ 9.95673833e-01 -1.42624689e-02 9.18161217e-02 9.98450260e+00] [ 1.42420075e-02 9.99898192e-01 8.78088002e-04 2.42865965e-02] [-9.18192978e-02 4.33356650e-04 9.95775592e-01 -1.14856715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598241008 meters 0.06093400753436935 Centerline is valid? [True, True] Translation: X:10.05, Y:0.02, Z:-1.16 [[ 9.95363989e-01 -1.87887558e-02 9.43266206e-02 1.00461459e+01] [ 1.87870355e-02 9.99823097e-01 9.06355055e-04 1.80318022e-02] [-9.43269632e-02 8.69964386e-04 9.95540892e-01 -1.15526596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658241008 meters 0.06148920940984279 Centerline is valid? [True, True] Translation: X:10.11, Y:0.01, Z:-1.17 [[ 9.95649305e-01 -2.07922703e-02 9.08303022e-02 1.01053130e+01] [ 2.08012586e-02 9.99783271e-01 8.47793736e-04 8.74443436e-03] [-9.08282442e-02 1.04527936e-03 9.95866024e-01 -1.16658740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718241008 meters 0.06221062862469442 Centerline is valid? [True, True] Translation: X:10.16, Y:0.01, Z:-1.18 [[ 9.96144974e-01 -1.98604320e-02 8.54444549e-02 1.01648305e+01] [ 1.98656885e-02 9.99802347e-01 7.88824622e-04 7.58386302e-03] [-8.54432329e-02 9.11629246e-04 9.96342623e-01 -1.18077804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778241008 meters 0.061551327801251915 Centerline is valid? [True, True] Translation: X:10.22, Y:0.01, Z:-1.19 [[ 9.96169897e-01 -1.54077719e-02 8.60705338e-02 1.02249586e+01] [ 1.53962957e-02 9.99881152e-01 7.97188468e-04 6.53652479e-03] [-8.60725874e-02 5.31032233e-04 9.96288727e-01 -1.19036876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838241008 meters 0.06061459987378508 Centerline is valid? [True, True] Translation: X:10.29, Y:0.01, Z:-1.19 [[ 9.96200445e-01 -1.22663106e-02 8.62218704e-02 1.02868951e+01] [ 1.22436830e-02 9.99924730e-01 7.91271036e-04 7.82751497e-03] [-8.62250864e-02 2.67408694e-04 9.96275646e-01 -1.19287764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898241008 meters 0.06008308735692558 Centerline is valid? [True, True] Translation: X:10.35, Y:0.01, Z:-1.20 [[ 9.96111817e-01 -5.17174452e-03 8.79460107e-02 1.03492051e+01] [ 5.12247111e-03 9.99986571e-01 7.85948800e-04 7.67228728e-03] [-8.79488944e-02 -3.32391988e-04 9.96124933e-01 -1.19761034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.958241008 meters 0.06014518868086243 Centerline is valid? [True, True] Translation: X:10.41, Y:0.01, Z:-1.21 [[ 9.96118259e-01 -1.33241839e-03 8.80149867e-02 1.04104618e+01] [ 1.26999993e-03 9.99998901e-01 7.65174287e-04 7.64749253e-03] [-8.80159095e-02 -6.50425052e-04 9.96118857e-01 -1.20720891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018241008 meters 0.060070629994961496 Centerline is valid? [True, True] Translation: X:10.47, Y:0.00, Z:-1.22 [[ 9.96133133e-01 -6.76570902e-04 8.78539877e-02 1.04728697e+01] [ 6.13596367e-04 9.99999535e-01 7.43812741e-04 2.13568740e-03] [-8.78544501e-02 -6.87029629e-04 9.96133085e-01 -1.21930126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078241008 meters 0.05981459783888343 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.01, Z:-1.23 [[ 9.96012620e-01 -1.80506024e-03 8.91941833e-02 1.05349803e+01] [ 1.74697343e-03 9.99998208e-01 7.29301094e-04 -5.76401535e-03] [-8.91953399e-02 -5.70573224e-04 9.96013989e-01 -1.22548247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138241008 meters 0.059558060141798035 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.01, Z:-1.23 [[ 9.95808013e-01 -1.79862383e-03 9.14503525e-02 1.05967753e+01] [ 1.73960040e-03 9.99998224e-01 7.25121527e-04 -8.16774734e-03] [-9.14514943e-02 -5.62994757e-04 9.95809373e-01 -1.23150112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198241008 meters 0.05895982396305576 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.01, Z:-1.23 [[ 9.95338638e-01 1.41795581e-03 9.64312434e-02 1.06586668e+01] [-1.49583153e-03 9.99998611e-01 7.35291533e-04 -1.45388195e-02] [-9.64300668e-02 -8.76108968e-04 9.95339377e-01 -1.23409939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258241008 meters 0.05924706208002981 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.01, Z:-1.24 [[ 9.95304219e-01 9.03408133e-03 9.63737360e-02 1.07182678e+01] [-9.14715301e-03 9.99957896e-01 7.31516946e-04 -1.30885807e-02] [-9.63630697e-02 -1.60962721e-03 9.95344949e-01 -1.24492519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318241008 meters 0.060177765773990984 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.01, Z:-1.26 [[ 9.95461406e-01 1.45947541e-02 9.40403225e-02 1.07786433e+01] [-1.47258973e-02 9.99891323e-01 7.00704786e-04 -1.31693472e-02] [-9.40198759e-02 -2.08235270e-03 9.95568143e-01 -1.25519948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378241008 meters 0.06031760260456415 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.01, Z:-1.26 [[ 9.95567500e-01 1.82959876e-02 9.22529613e-02 1.08390137e+01] [-1.84376073e-02 9.99829780e-01 6.83006347e-04 -1.48981437e-02] [-9.22247616e-02 -2.38090280e-03 9.95735369e-01 -1.26429401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438241008 meters 0.06087593385492431 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.02, Z:-1.28 [[ 9.95732243e-01 1.96177443e-02 9.01800662e-02 1.08988996e+01] [-1.97583557e-02 9.99804562e-01 6.66683586e-04 -2.03299807e-02] [-9.01493628e-02 -2.44564816e-03 9.95925254e-01 -1.27625166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498241008 meters 0.06078400859803992 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.03, Z:-1.28 [[ 9.95626072e-01 2.06880661e-02 9.11083357e-02 1.09609984e+01] [-2.08364438e-02 9.99782668e-01 6.77618819e-04 -2.78454347e-02] [-9.10745163e-02 -2.57302868e-03 9.95840756e-01 -1.28336369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.558241008 meters 0.061141882961413395 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.04, Z:-1.29 [[ 9.95579090e-01 1.98014200e-02 9.18160100e-02 1.10217274e+01] [-1.99459390e-02 9.99800844e-01 6.56566834e-04 -3.80150754e-02] [-9.17847233e-02 -2.48502074e-03 9.95775773e-01 -1.29443465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.618241008 meters 0.06017274558643535 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.05, Z:-1.30 [[ 9.95523008e-01 1.44545707e-02 9.34077365e-02 1.10821860e+01] [-1.45779860e-02 9.99893531e-01 6.39013134e-04 -5.33340762e-02] [-9.33885548e-02 -1.99784895e-03 9.95627735e-01 -1.29974946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.678241008 meters 0.059493388750781105 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.07, Z:-1.30 [[ 9.95381460e-01 8.45593500e-03 9.56255478e-02 1.11433076e+01] [-8.55775239e-03 9.99963167e-01 6.54684168e-04 -6.65938211e-02] [-9.56164897e-02 -1.47000024e-03 9.95417162e-01 -1.30434426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.738241008 meters 0.059217393297767394 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.08, Z:-1.31 [[ 9.95362615e-01 2.55851008e-03 9.61598621e-02 1.12038467e+01] [-2.63387642e-03 9.99996316e-01 6.56838145e-04 -7.75006869e-02] [-9.61578273e-02 -9.07065327e-04 9.95365686e-01 -1.31157917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.798241008 meters 0.05911918088841412 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.09, Z:-1.32 [[ 9.95451431e-01 -4.98953515e-03 9.51396539e-02 1.12657339e+01] [ 4.94996514e-03 9.99987536e-01 6.51916157e-04 -9.18261312e-02] [-9.51417208e-02 -1.78012901e-04 9.95463722e-01 -1.32021887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858241008 meters 0.0595234177698729 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.10, Z:-1.33 [[ 9.95477644e-01 -1.12224197e-02 9.43308946e-02 1.13265725e+01] [ 1.12137218e-02 9.99936931e-01 6.22304617e-04 -1.03551672e-01] [-9.43319290e-02 4.38310076e-04 9.95540705e-01 -1.32974958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918241008 meters 0.05974540114158572 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.11, Z:-1.34 [[ 9.95638021e-01 -1.25277368e-02 9.24553239e-02 1.13883285e+01] [ 1.25257197e-02 9.99921369e-01 6.02117731e-04 -1.08271753e-01] [-9.24555972e-02 5.58578165e-04 9.95716652e-01 -1.33904274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978241008 meters 0.06014003141642245 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.11, Z:-1.35 [[ 9.95625153e-01 -1.00751930e-02 9.28926576e-02 1.14501374e+01] [ 1.00644290e-02 9.99949182e-01 5.84355780e-04 -1.09060098e-01] [-9.28938244e-02 3.53112240e-04 9.95675958e-01 -1.34645462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038241008 meters 0.059682499159973236 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.11, Z:-1.35 [[ 9.95715047e-01 -2.97171709e-03 9.24268016e-02 1.15124562e+01] [ 2.93235577e-03 9.99995543e-01 5.61666918e-04 -1.06384027e-01] [-9.24280587e-02 -2.88231937e-04 9.95719323e-01 -1.35462658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098241008 meters 0.06002665134939214 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.10, Z:-1.36 [[ 9.95817845e-01 5.02781070e-03 9.12224751e-02 1.15739154e+01] [-5.09697109e-03 9.99986872e-01 5.25200355e-04 -1.03866557e-01] [-9.12186370e-02 -9.87962205e-04 9.95830399e-01 -1.36217239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158241008 meters 0.06155439328452907 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.10, Z:-1.37 [[ 9.95505363e-01 1.62840040e-02 9.32947171e-02 1.16330803e+01] [-1.64050960e-02 9.99865286e-01 5.31120810e-04 -9.85437644e-02] [-9.32735003e-02 -2.05924241e-03 9.95638395e-01 -1.37155354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.218241008 meters 0.06199278307828872 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.10, Z:-1.38 [[ 9.95103057e-01 2.16667975e-02 9.64388660e-02 1.16946955e+01] [-2.18209621e-02 9.99761746e-01 5.44083889e-04 -1.01074905e-01] [-9.64041006e-02 -2.64580838e-03 9.95338761e-01 -1.37519001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.278241008 meters 0.0630971446400835 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.10, Z:-1.38 [[ 9.94710462e-01 2.80778376e-02 9.88065404e-02 1.17555638e+01] [-2.82686539e-02 9.99600220e-01 5.31473913e-04 -1.04339635e-01] [-9.87521169e-02 -3.32179055e-03 9.95106519e-01 -1.38176114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338241008 meters 0.06354877155689885 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.11, Z:-1.39 [[ 9.94598459e-01 2.98809010e-02 9.94034038e-02 1.18163225e+01] [-3.00831019e-02 9.99547258e-01 5.35535827e-04 -1.09724819e-01] [-9.93423974e-02 -3.52300583e-03 9.95047073e-01 -1.39177887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398241008 meters 0.06326652060903713 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.12, Z:-1.40 [[ 9.94778443e-01 2.66030048e-02 9.85298445e-02 1.18765758e+01] [-2.67830505e-02 9.99641142e-01 5.04853051e-04 -1.18725902e-01] [-9.84810557e-02 -3.14114673e-03 9.95133968e-01 -1.40002279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.458241008 meters 0.06149943921986515 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.14, Z:-1.41 [[ 9.95266261e-01 1.46119882e-02 9.60810017e-02 1.19368431e+01] [-1.47270631e-02 9.99891432e-01 4.88621245e-04 -1.38574608e-01] [-9.60634306e-02 -1.90129921e-03 9.95373398e-01 -1.41072740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518241008 meters 0.06075404192811305 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.15, Z:-1.42 [[ 9.95414000e-01 4.38020588e-03 9.55603598e-02 1.19964171e+01] [-4.44688036e-03 9.99989995e-01 4.84771167e-04 -1.53514329e-01] [-9.55572803e-02 -9.07493493e-04 9.95423519e-01 -1.42129513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.578241008 meters 0.06026398765646967 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.17, Z:-1.43 [[ 9.95392681e-01 -8.26394594e-03 9.55254867e-02 1.20584069e+01] [ 8.25504824e-03 9.99965807e-01 4.88338573e-04 -1.74380173e-01] [-9.55262561e-02 3.02478860e-04 9.95426865e-01 -1.42827390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.638241008 meters 0.06032326809560757 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.19, Z:-1.43 [[ 9.95322322e-01 -1.34764271e-02 9.56653642e-02 1.21203748e+01] [ 1.34935280e-02 9.99908849e-01 4.68184846e-04 -1.87488034e-01] [-9.56629537e-02 8.24868443e-04 9.95413441e-01 -1.43415420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.698241008 meters 0.060493530829680855 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.19, Z:-1.45 [[ 9.95335404e-01 -1.14091614e-02 9.57980409e-02 1.21808415e+01] [ 1.14189154e-02 9.99934702e-01 4.46415400e-04 -1.89771869e-01] [-9.57968788e-02 6.49576669e-04 9.95400691e-01 -1.44606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.758241008 meters 0.06026756666737839 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.19, Z:-1.45 [[ 9.95333592e-01 -5.38214203e-03 9.63435192e-02 1.22423565e+01] [ 5.36577855e-03 9.99985512e-01 4.28927867e-04 -1.87794632e-01] [-9.63444319e-02 9.00316737e-05 9.95348051e-01 -1.45289286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.818241008 meters 0.06046939918379125 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.18, Z:-1.46 [[ 9.95173739e-01 4.91855728e-03 9.80052953e-02 1.23055084e+01] [-4.98318501e-03 9.99987498e-01 4.14661944e-04 -1.84532298e-01] [-9.80020305e-02 -9.01039195e-04 9.95185807e-01 -1.45789931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878241008 meters 0.06162405609281072 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.18, Z:-1.47 [[ 9.95156407e-01 1.42151821e-02 9.72710357e-02 1.23658477e+01] [-1.43201311e-02 9.99897389e-01 3.80861550e-04 -1.81344159e-01] [-9.72556406e-02 -1.77195080e-03 9.95257856e-01 -1.46775340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.938241008 meters 0.06279399235529139 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.18, Z:-1.48 [[ 9.95058099e-01 1.94730388e-02 9.73662205e-02 1.24260649e+01] [-1.96034107e-02 9.99807762e-01 3.82444872e-04 -1.78312698e-01] [-9.73400556e-02 -2.28926488e-03 9.95248548e-01 -1.47808191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.998241007999999 meters 0.06322612868414755 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.18, Z:-1.49 [[ 9.94990057e-01 2.01801770e-02 9.79160202e-02 1.24871576e+01] [-2.03134066e-02 9.99793595e-01 3.63841151e-04 -1.77955193e-01] [-9.78884675e-02 -2.35102625e-03 9.95194614e-01 -1.48659620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058241008 meters 0.0635141352122876 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.18, Z:-1.50 [[ 9.94976889e-01 2.09561678e-02 9.78868195e-02 1.25486804e+01] [-2.10906646e-02 9.99777510e-01 3.39357713e-04 -1.84075984e-01] [-9.78579290e-02 -2.40215116e-03 9.95197496e-01 -1.49517925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118241008 meters 0.06262390846332404 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.19, Z:-1.50 [[ 9.95006706e-01 1.73571045e-02 9.82872665e-02 1.26097876e+01] [-1.74725411e-02 9.99847294e-01 3.13789941e-04 -1.93785947e-01] [-9.82668109e-02 -2.02955140e-03 9.95158035e-01 -1.50162505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.178241008 meters 0.060897377549122056 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.21, Z:-1.51 [[ 9.95008356e-01 8.02487433e-03 9.94684508e-02 1.26703606e+01] [-8.09624715e-03 9.99967176e-01 3.13895060e-04 -2.10660511e-01] [-9.94626668e-02 -1.11764937e-03 9.95040667e-01 -1.50872638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238241008 meters 0.06000085195935928 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.23, Z:-1.51 [[ 9.95094696e-01 3.77303821e-04 9.89262572e-02 1.27321818e+01] [-4.10536187e-04 9.99999866e-01 3.15574569e-04 -2.25305113e-01] [-9.89261249e-02 -3.54639388e-04 9.95094717e-01 -1.51475935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298241008 meters 0.06002881069530529 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.24, Z:-1.52 [[ 9.95216617e-01 -8.74662489e-03 9.73004704e-02 1.27935186e+01] [ 8.76018198e-03 9.99961587e-01 2.87873538e-04 -2.43049832e-01] [-9.72992507e-02 5.65873299e-04 9.95255010e-01 -1.52385943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.358241008 meters 0.06046971790826103 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.25, Z:-1.53 [[ 9.95339126e-01 -1.08416456e-02 9.58252706e-02 1.28539277e+01] [ 1.08666441e-02 9.99940922e-01 2.60985666e-04 -2.49596363e-01] [-9.58224389e-02 7.81529868e-04 9.95398136e-01 -1.53499170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418241007999999 meters 0.060237180568584486 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.26, Z:-1.54 [[ 9.95224462e-01 -1.03241796e-02 9.70653516e-02 1.29154971e+01] [ 1.03494002e-02 9.99946414e-01 2.43651860e-04 -2.55703745e-01] [-9.70626657e-02 7.62079875e-04 9.95277980e-01 -1.54274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478241008 meters 0.06010415139082244 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.26, Z:-1.55 [[ 9.95183335e-01 -7.67586422e-03 9.77302945e-02 1.29775696e+01] [ 7.69126852e-03 9.99970398e-01 2.19120858e-04 -2.56229304e-01] [-9.77290834e-02 5.33604511e-04 9.95212913e-01 -1.55084237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538241008 meters 0.06021076283294293 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.25, Z:-1.56 [[ 9.95245579e-01 -3.66551847e-04 9.73966275e-02 1.30400064e+01] [ 3.47285445e-04 9.99999917e-01 2.14766290e-04 -2.51902408e-01] [-9.73966981e-02 -1.79920770e-04 9.95245623e-01 -1.55957569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598241008 meters 0.060284022399487124 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.25, Z:-1.57 [[ 9.95264161e-01 4.78678337e-03 9.70893227e-02 1.31021156e+01] [-4.82785991e-03 9.99988328e-01 1.88161172e-04 -2.48844090e-01] [-9.70872888e-02 -6.56003719e-04 9.95275654e-01 -1.56599575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.658241008 meters 0.06064301318456507 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.25, Z:-1.58 [[ 9.95343843e-01 6.13608931e-03 9.61924257e-02 1.31628941e+01] [-6.18047469e-03 9.99980887e-01 1.63478539e-04 -2.49926149e-01] [-9.61895841e-02 -7.57232210e-04 9.95362743e-01 -1.57526636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.718241008 meters 0.06010019590906148 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.26, Z:-1.58 [[ 9.95393603e-01 2.25727108e-03 9.58461266e-02 1.32246911e+01] [-2.28142951e-03 9.99997387e-01 1.42469533e-04 -2.57804541e-01] [-9.58455546e-02 -3.60479443e-04 9.95396152e-01 -1.58173992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.778241008 meters 0.06026117908828071 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.27, Z:-1.59 [[ 9.95476414e-01 -3.14183256e-03 9.49570330e-02 1.32849193e+01] [ 3.14477560e-03 9.99995048e-01 1.18654410e-04 -2.67936103e-01] [-9.49569356e-02 1.80500893e-04 9.95481365e-01 -1.59350752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838241008 meters 0.05978919037066735 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.27, Z:-1.60 [[ 9.95381095e-01 -8.74432395e-04 9.59984924e-02 1.33467170e+01] [ 8.68855059e-04 9.99999618e-01 9.98990691e-05 -2.65149042e-01] [-9.59985431e-02 -1.60288690e-05 9.95381474e-01 -1.59574391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.898241008 meters 0.05990965914473224 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.26, Z:-1.61 [[ 9.95195248e-01 3.08124682e-04 9.79097750e-02 1.34070482e+01] [-3.17233488e-04 9.99999947e-01 7.74651319e-05 -2.63158600e-01] [-9.79097459e-02 -1.08153191e-04 9.95195292e-01 -1.60569257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.958241008 meters 0.05987843601420944 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.26, Z:-1.61 [[ 9.95157296e-01 1.41242093e-03 9.82850971e-02 1.34692980e+01] [-1.42454208e-03 9.99998984e-01 5.31510314e-05 -2.60411307e-01] [-9.82849222e-02 -1.92904894e-04 9.95158297e-01 -1.61246999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.018241008 meters 0.05980568825138544 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.26, Z:-1.62 [[ 9.95300638e-01 2.83443762e-03 9.67915564e-02 1.35311321e+01] [-2.85253588e-03 9.99995930e-01 4.86064322e-05 -2.58991456e-01] [-9.67910248e-02 -3.24479400e-04 9.95304673e-01 -1.61866667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.078241008 meters 0.060146786710096545 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.26, Z:-1.63 [[ 9.95250175e-01 3.88882455e-03 9.72726350e-02 1.35918391e+01] [-3.90956172e-03 9.99992357e-01 2.25876765e-05 -2.57521070e-01] [-9.72718038e-02 -4.02773760e-04 9.95257773e-01 -1.62908544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138241008 meters 0.05979930149910761 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.26, Z:-1.63 [[ 9.95175854e-01 3.56381537e-03 9.80424378e-02 1.36539033e+01] [-3.58223253e-03 9.99993584e-01 1.18194444e-05 -2.58232744e-01] [-9.80417666e-02 -3.62973236e-04 9.95182235e-01 -1.63320143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198241008 meters 0.059812770568520315 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.26, Z:-1.64 [[ 9.95118852e-01 3.08376468e-03 9.86354920e-02 1.37159249e+01] [-3.09739384e-03 9.99995203e-01 -1.49528562e-05 -2.58331883e-01] [-9.86350649e-02 -2.90633096e-04 9.95123630e-01 -1.64198020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258241008 meters 0.05995017628208425 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.26, Z:-1.65 [[ 9.95165557e-01 2.67013641e-03 9.81752748e-02 1.37786044e+01] [-2.68125021e-03 9.99996405e-01 -1.87312719e-05 -2.61282079e-01] [-9.81749719e-02 -2.44591760e-04 9.95169139e-01 -1.64925006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318241008 meters 0.06013348446236161 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.26, Z:-1.66 [[ 9.95286155e-01 2.63746598e-03 9.69459350e-02 1.38393578e+01] [-2.64557491e-03 9.99996499e-01 -4.48978568e-05 -2.61877804e-01] [-9.69457140e-02 -2.11791518e-04 9.95289648e-01 -1.65942028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378241008 meters 0.06041472341955851 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.26, Z:-1.67 [[ 9.95315811e-01 2.98663384e-04 9.66765107e-02 1.39011326e+01] [-2.93876510e-04 9.99999955e-01 -6.37531667e-05 -2.62794173e-01] [-9.66765254e-02 3.50435792e-05 9.95315853e-01 -1.66897786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438241008 meters 0.06033989820458967 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.26, Z:-1.67 [[ 9.95326273e-01 6.98828678e-04 9.65666724e-02 1.39632169e+01] [-6.93353417e-04 9.99999756e-01 -9.02551088e-05 -2.64982008e-01] [-9.65667118e-02 2.28784488e-05 9.95326514e-01 -1.67482267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498241007999999 meters 0.06037779784243241 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.26, Z:-1.68 [[ 9.95195857e-01 2.41674399e-03 9.78742322e-02 1.40246592e+01] [-2.41688145e-03 9.99997072e-01 -1.17155614e-04 -2.64664097e-01] [-9.78742288e-02 -1.19957635e-04 9.95198785e-01 -1.68171558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.558241008 meters 0.06049347873993111 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.27, Z:-1.69 [[ 9.95175523e-01 1.57548246e-03 9.80978889e-02 1.40870464e+01] [-1.56936265e-03 9.99998759e-01 -1.39546448e-04 -2.65119962e-01] [-9.80979870e-02 -1.50779533e-05 9.95176761e-01 -1.69066771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618241008 meters 0.06069389690569275 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.27, Z:-1.70 [[ 9.95092860e-01 2.23146657e-04 9.89451838e-02 1.41482191e+01] [-2.07493637e-04 9.99999964e-01 -1.68489374e-04 -2.66119676e-01] [-9.89452179e-02 1.47132077e-04 9.95092871e-01 -1.69895185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678241008 meters 0.06113080729105697 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.27, Z:-1.71 [[ 9.95213198e-01 -2.97833798e-03 9.76822352e-02 1.42092633e+01] [ 3.01117708e-03 9.99995449e-01 -1.88762517e-04 -2.71903635e-01] [-9.76812284e-02 4.81997456e-04 9.95217637e-01 -1.70844261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.738241008 meters 0.06133115479018784 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.28, Z:-1.71 [[ 9.95094282e-01 -8.96473675e-03 9.85241235e-02 1.42711903e+01] [ 9.02966141e-03 9.99959209e-01 -2.13078495e-04 -2.81041139e-01] [-9.85181944e-02 1.10167267e-03 9.95134640e-01 -1.71280716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.798241008 meters 0.0625249612322656 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.28, Z:-1.72 [[ 9.95063927e-01 -1.40191444e-02 9.82407477e-02 1.43319921e+01] [ 1.41107564e-02 9.99900410e-01 -2.37747944e-04 -2.84632382e-01] [-9.82276309e-02 1.62282567e-03 9.95162650e-01 -1.72402176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858241008 meters 0.06274129953699405 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.29, Z:-1.73 [[ 9.94683935e-01 -1.59650923e-02 1.01729959e-01 1.43930612e+01] [ 1.60745108e-02 9.99870764e-01 -2.55859520e-04 -2.87260383e-01] [-1.01712727e-01 1.88975868e-03 9.94812017e-01 -1.72858756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918241007999999 meters 0.06219029534406926 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.29, Z:-1.73 [[ 9.94501459e-01 -1.69778366e-02 1.03337313e-01 1.44561998e+01] [ 1.70983466e-02 9.99853773e-01 -2.80408902e-04 -2.87246197e-01] [-1.03317442e-01 2.04576426e-03 9.94646330e-01 -1.73160110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.978241008 meters 0.06463184389232184 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.30, Z:-1.74 [[ 9.94021970e-01 -2.55728849e-02 1.06143063e-01 1.45158645e+01] [ 2.57524731e-02 9.99668298e-01 -3.21468932e-04 -2.98176343e-01] [-1.06099634e-01 3.05299355e-03 9.94350817e-01 -1.73722287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038241008 meters 0.0649189437343246 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.30, Z:-1.74 [[ 9.94073626e-01 -3.01914060e-02 1.04432300e-01 1.45759977e+01] [ 3.03905658e-02 9.99538050e-01 -3.16002289e-04 -2.97336284e-01] [-1.04374517e-01 3.48788623e-03 9.94531948e-01 -1.74491114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098241008 meters 0.06651510253830333 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.30, Z:-1.76 [[ 9.94411016e-01 -3.60514305e-02 9.92321850e-02 1.46353121e+01] [ 3.62603713e-02 9.99342331e-01 -3.02241684e-04 -2.96895611e-01] [-9.91560268e-02 3.89874833e-03 9.95064260e-01 -1.75643755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.158241008 meters 0.06696619347274044 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.29, Z:-1.77 [[ 9.94555513e-01 -3.78388806e-02 9.70955733e-02 1.46956251e+01] [ 3.80472729e-02 9.99275897e-01 -2.95004692e-04 -2.92793143e-01] [-9.70141034e-02 3.98762032e-03 9.95275019e-01 -1.76583435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.218241008 meters 0.06821736020884592 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.29, Z:-1.77 [[ 9.94607510e-01 -3.56926503e-02 9.73752364e-02 1.47553611e+01] [ 3.58921645e-02 9.99355624e-01 -2.97462282e-04 -2.92124570e-01] [-9.73018729e-02 3.79086622e-03 9.95247695e-01 -1.77448977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.278241008 meters 0.06411056467755115 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.27, Z:-1.78 [[ 9.94801849e-01 -2.53518503e-02 9.86233474e-02 1.48163428e+01] [ 2.55060589e-02 9.99674622e-01 -3.02901490e-04 -2.71540842e-01] [-9.85835784e-02 2.81681987e-03 9.95124788e-01 -1.77684839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.338241008 meters 0.06269774028820675 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.26, Z:-1.78 [[ 9.94612367e-01 -1.73683940e-02 1.02198718e-01 1.48765512e+01] [ 1.74922437e-02 9.99846949e-01 -3.15720203e-04 -2.57509760e-01] [-1.02177593e-01 2.10170411e-03 9.94763953e-01 -1.78357644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.398241008 meters 0.061371778395307414 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.24, Z:-1.79 [[ 9.94407609e-01 -8.46955580e-03 1.05270008e-01 1.49361529e+01] [ 8.55132230e-03 9.99963384e-01 -3.25394505e-04 -2.43492156e-01] [-1.05263398e-01 1.22377254e-03 9.94443623e-01 -1.78808681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.458241007999998 meters 0.06095630933099066 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.24, Z:-1.79 [[ 9.94478332e-01 -5.16630768e-03 1.04814871e-01 1.49976372e+01] [ 5.22866027e-03 9.99986279e-01 -3.20112385e-04 -2.37583940e-01] [-1.04811780e-01 8.66386184e-04 9.94491699e-01 -1.79496082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.518241008 meters 0.061195852561787 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.23, Z:-1.81 [[ 9.94810886e-01 -3.01079106e-03 1.01696784e-01 1.50573780e+01] [ 3.06057721e-03 9.99995261e-01 -3.33528195e-04 -2.31508067e-01] [-1.01695297e-01 6.43048338e-04 9.94815386e-01 -1.80718417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.578241008 meters 0.0612227991682984 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.23, Z:-1.82 [[ 9.94848130e-01 -2.04316157e-03 1.01355925e-01 1.51198177e+01] [ 2.08964549e-03 9.99997755e-01 -3.52450294e-04 -2.28261310e-01] [-1.01354977e-01 5.62432467e-04 9.94850166e-01 -1.81579120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.638241008 meters 0.061216566961209584 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.23, Z:-1.82 [[ 9.94703889e-01 -3.10854442e-03 1.02735147e-01 1.51808251e+01] [ 3.16492908e-03 9.99994917e-01 -3.85833302e-04 -2.30421311e-01] [-1.02733426e-01 7.08939341e-04 9.94708671e-01 -1.82270877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.698241008 meters 0.061207343041777613 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.23, Z:-1.83 [[ 9.94660511e-01 -5.85534018e-03 1.03034860e-01 1.52420453e+01] [ 5.92896473e-03 9.99982340e-01 -4.08311516e-04 -2.31877302e-01] [-1.03030650e-01 1.01702139e-03 9.94677662e-01 -1.83064590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.758241008 meters 0.06143505263868439 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.23, Z:-1.84 [[ 9.94757035e-01 -5.65598181e-03 1.02109996e-01 1.53026157e+01] [ 5.72959956e-03 9.99983494e-01 -4.27685972e-04 -2.33628171e-01] [-1.02105892e-01 1.01049302e-03 9.94773022e-01 -1.83977890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.818241008 meters 0.06114558170180836 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.23, Z:-1.85 [[ 9.94695909e-01 -2.96998355e-03 1.02816474e-01 1.53632704e+01] [ 3.03251852e-03 9.99995300e-01 -4.51913732e-04 -2.30102348e-01] [-1.02814648e-01 7.61309601e-04 9.94700241e-01 -1.84796351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878241008 meters 0.06101798810487576 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.23, Z:-1.85 [[ 9.94679281e-01 -2.17761486e-03 1.02997018e-01 1.54260603e+01] [ 2.23812390e-03 9.99997384e-01 -4.71919568e-04 -2.27627457e-01] [-1.02995721e-01 6.99928705e-04 9.94681553e-01 -1.85293338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.938241008 meters 0.06119472869989898 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.23, Z:-1.86 [[ 9.94681603e-01 -3.84677051e-03 1.02925750e-01 1.54873505e+01] [ 3.91894228e-03 9.99992196e-01 -4.98993643e-04 -2.30234685e-01] [-1.02923028e-01 8.99699871e-04 9.94688917e-01 -1.86009432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.998241008 meters 0.06151873580332988 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.23, Z:-1.87 [[ 9.94938238e-01 -7.06686909e-03 1.00239523e-01 1.55489917e+01] [ 7.15413812e-03 9.99974278e-01 -5.11158188e-04 -2.34689982e-01] [-1.00233333e-01 1.22569822e-03 9.94963204e-01 -1.86883784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058241008 meters 0.06167892579595871 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.23, Z:-1.88 [[ 9.95030560e-01 -7.72596020e-03 9.92698022e-02 1.56098046e+01] [ 7.81508079e-03 9.99969332e-01 -5.08925677e-04 -2.33132140e-01] [-9.92628259e-02 1.28219813e-03 9.95060424e-01 -1.87927576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118241008 meters 0.061448016401894345 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.23, Z:-1.89 [[ 9.94994383e-01 -6.54458697e-03 9.97163292e-02 1.56720009e+01] [ 6.63105853e-03 9.99977871e-01 -5.35758180e-04 -2.31007013e-01] [-9.97106163e-02 1.19430120e-03 9.95015762e-01 -1.88597476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178241008 meters 0.06111012983544598 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.23, Z:-1.89 [[ 9.94814544e-01 -2.39709491e-03 1.01677315e-01 1.57319311e+01] [ 2.46695271e-03 9.99996800e-01 -5.61316877e-04 -2.30274727e-01] [-1.01675644e-01 8.09239322e-04 9.94817274e-01 -1.89148505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238241008 meters 0.06124483503738185 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.22, Z:-1.90 [[ 9.94879902e-01 5.98462395e-03 1.00886891e-01 1.57932185e+01] [-5.95911887e-03 9.99982091e-01 -5.54176812e-04 -2.20906685e-01] [-1.00888400e-01 -4.98576021e-05 9.94897748e-01 -1.90070541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.298241008 meters 0.0616953956261343 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.21, Z:-1.91 [[ 9.94890093e-01 1.44302018e-02 9.99273306e-02 1.58539882e+01] [-1.44454126e-02 9.99895496e-01 -5.71374698e-04 -2.13753467e-01] [-9.99251329e-02 -8.75036492e-04 9.94994574e-01 -1.90962357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.358241008 meters 0.06266210749942515 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.21, Z:-1.92 [[ 9.94739551e-01 2.16886402e-02 1.00114081e-01 1.59157189e+01] [-2.17379396e-02 9.99763524e-01 -5.98548243e-04 -2.06219980e-01] [-1.00103388e-01 -1.58087424e-03 9.94975785e-01 -1.91822633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418241008 meters 0.0637184278083085 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.20, Z:-1.93 [[ 9.94381417e-01 2.82537002e-02 1.02016301e-01 1.59768123e+01] [-2.83389665e-02 9.99598182e-01 -6.13683942e-04 -1.99660948e-01] [-1.01992648e-01 -2.28080063e-03 9.94782538e-01 -1.92736252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478241008 meters 0.06399050671029421 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.20, Z:-1.93 [[ 9.94169075e-01 2.95156247e-02 1.03714406e-01 1.60371698e+01] [-2.96082054e-02 9.99561372e-01 -6.47124388e-04 -2.02072931e-01] [-1.03688014e-01 -2.42744638e-03 9.94606909e-01 -1.93261062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538241008 meters 0.06344346067079933 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.21, Z:-1.94 [[ 9.94100066e-01 2.76320140e-02 1.04888185e-01 1.60984931e+01] [-2.77138703e-02 9.99615668e-01 -6.77233580e-04 -2.09929557e-01] [-1.04866587e-01 -2.23361963e-03 9.94483791e-01 -1.93744923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598241008 meters 0.06264195853759465 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.22, Z:-1.95 [[ 9.94173798e-01 2.35442153e-02 1.05186166e-01 1.61595710e+01] [-2.36008784e-02 9.99721211e-01 -7.06142908e-04 -2.19455019e-01] [-1.05173467e-01 -1.78045714e-03 9.94452297e-01 -1.94514101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658241008 meters 0.06239658501505599 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.23, Z:-1.96 [[ 9.94331548e-01 2.14189353e-02 1.04144139e-01 1.62203128e+01] [-2.14626342e-02 9.99769405e-01 -7.01161738e-04 -2.25808921e-01] [-1.04135142e-01 -1.53802033e-03 9.94561967e-01 -1.95600962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718241008 meters 0.06239818135915509 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.23, Z:-1.97 [[ 9.94613941e-01 1.92389986e-02 1.01847780e-01 1.62800939e+01] [-1.92669837e-02 9.99814123e-01 -7.09018997e-04 -2.33775945e-01] [-1.01842489e-01 -1.25709933e-03 9.94799742e-01 -1.96688861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.778241008 meters 0.061843036557420156 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.24, Z:-1.97 [[ 9.94809295e-01 1.82394345e-02 1.00108890e-01 1.63412118e+01] [-1.82593722e-02 9.99833027e-01 -7.17177285e-04 -2.39942392e-01] [-1.00105256e-01 -1.11447086e-03 9.94976229e-01 -1.97431737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838241008 meters 0.06185164890326727 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.25, Z:-1.98 [[ 9.94919737e-01 1.68790144e-02 9.92462350e-02 1.64035852e+01] [-1.68896378e-02 9.99857091e-01 -7.33209163e-04 -2.45189536e-01] [-9.92444276e-02 -9.46748693e-04 9.95062635e-01 -1.98308084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898241008 meters 0.06158162990672856 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.25, Z:-1.99 [[ 9.94834161e-01 1.49251604e-02 1.00410312e-01 1.64650125e+01] [-1.49233277e-02 9.99888345e-01 -7.69420176e-04 -2.51349615e-01] [-1.00410585e-01 -7.33010520e-04 9.94945816e-01 -1.99041673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958241007999998 meters 0.06096798546723931 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.26, Z:-2.00 [[ 9.94680526e-01 9.89911801e-03 1.02531261e-01 1.65272856e+01] [-9.86781885e-03 9.99950982e-01 -8.12489065e-04 -2.61970128e-01] [-1.02534278e-01 -2.03592857e-04 9.94729451e-01 -1.99587830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.018241008 meters 0.060729729923661206 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.27, Z:-2.00 [[ 9.94567477e-01 7.45091134e-03 1.03826862e-01 1.65881430e+01] [-7.40483089e-03 9.99972240e-01 -8.29270148e-04 -2.70315905e-01] [-1.03830159e-01 5.59447617e-05 9.94595041e-01 -2.00374492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.078241008 meters 0.06074965689451544 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.27, Z:-2.01 [[ 9.94479789e-01 8.91336580e-03 1.04549040e-01 1.66501684e+01] [-8.87237003e-03 9.99960272e-01 -8.57196027e-04 -2.71791733e-01] [-1.04552527e-01 -7.51336483e-05 9.94519363e-01 -2.01042088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138241008 meters 0.060809339151938875 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.27, Z:-2.02 [[ 9.94466757e-01 1.36043236e-02 1.04167131e-01 1.67118304e+01] [-1.35867587e-02 9.99907310e-01 -8.78230778e-04 -2.72032897e-01] [-1.04169423e-01 -5.41922353e-04 9.94559419e-01 -2.01888485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198241008 meters 0.06094971251875116 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.27, Z:-2.03 [[ 9.94374519e-01 1.57210823e-02 1.04748098e-01 1.67743512e+01] [-1.57125180e-02 9.99876139e-01 -9.07010413e-04 -2.72895236e-01] [-1.04749383e-01 -7.43948325e-04 9.94498373e-01 -2.02786470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258241008 meters 0.06091336154526144 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.28, Z:-2.04 [[ 9.94565841e-01 1.38652113e-02 1.03182092e-01 1.68344894e+01] [-1.38440346e-02 9.99903742e-01 -9.21407330e-04 -2.77696325e-01] [-1.03184935e-01 -5.12056193e-04 9.94662057e-01 -2.03783608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318241008 meters 0.060765083720471964 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.28, Z:-2.04 [[ 9.94645862e-01 1.35196798e-02 1.02454029e-01 1.68973788e+01] [-1.34948474e-02 9.99908503e-01 -9.35528076e-04 -2.79384375e-01] [-1.02457303e-01 -4.52082366e-04 9.94737300e-01 -2.04442850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378241008 meters 0.0609685399446601 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.28, Z:-2.06 [[ 9.94736046e-01 1.36304394e-02 1.01559887e-01 1.69576899e+01] [-1.36037287e-02 9.99907008e-01 -9.55618951e-04 -2.78112900e-01] [-1.01563468e-01 -4.31004536e-04 9.94828968e-01 -2.05539212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438241008 meters 0.060913389134320366 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.28, Z:-2.06 [[ 9.94723885e-01 1.37486350e-02 1.01663014e-01 1.70205161e+01] [-1.37203472e-02 9.99905394e-01 -9.77516102e-04 -2.78693178e-01] [-1.01666835e-01 -4.22493233e-04 9.94818414e-01 -2.06301448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498241008 meters 0.06036597636787736 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.29, Z:-2.07 [[ 9.94672773e-01 1.02704648e-02 1.02569941e-01 1.70825738e+01] [-1.02203409e-02 9.99947257e-01 -1.01421810e-03 -2.85698077e-01] [-1.02574948e-01 -3.94846356e-05 9.94725278e-01 -2.06606038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558241008 meters 0.060060768156993655 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.29, Z:-2.07 [[ 9.94543349e-01 5.10844163e-03 1.04198997e-01 1.71441393e+01] [-5.02583506e-03 9.99986814e-01 -1.05532147e-03 -2.93431328e-01] [-1.04203014e-01 5.25875975e-04 9.94555909e-01 -2.07094303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618241008 meters 0.06040860927766153 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.29, Z:-2.08 [[ 9.94845235e-01 6.49437450e-03 1.01196750e-01 1.72047188e+01] [-6.42130320e-03 9.99978834e-01 -1.04780194e-03 -2.90056101e-01] [-1.01201413e-01 3.92585755e-04 9.94865880e-01 -2.08467966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.678241008 meters 0.060395413702928245 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.29, Z:-2.09 [[ 9.94891517e-01 5.66449046e-03 1.00790793e-01 1.72658952e+01] [-5.58543394e-03 9.99983833e-01 -1.06654622e-03 -2.92560255e-01] [-1.00795205e-01 4.98137472e-04 9.94907070e-01 -2.09136774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.738241008 meters 0.060325561023121234 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.29, Z:-2.10 [[ 9.95018462e-01 6.21742154e-03 9.94967530e-02 1.73271604e+01] [-6.14086738e-03 9.99980566e-01 -1.07565623e-03 -2.94610565e-01] [-9.95015072e-02 4.59301440e-04 9.95037305e-01 -2.09867936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.798241007999998 meters 0.0604827926470134 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.30, Z:-2.11 [[ 9.95078304e-01 6.88810313e-03 9.88520214e-02 1.73869658e+01] [-6.81344467e-03 9.99976191e-01 -1.09282699e-03 -2.95862717e-01] [-9.88571953e-02 4.13925654e-04 9.95101544e-01 -2.10852356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.858241008 meters 0.06032218326959526 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.29, Z:-2.12 [[ 9.95112648e-01 8.62341742e-03 9.83689704e-02 1.74489588e+01] [-8.55637481e-03 9.99962785e-01 -1.10339369e-03 -2.92129244e-01] [-9.83748246e-02 2.56319232e-04 9.95149400e-01 -2.11587767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.918241008 meters 0.0606127548790853 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.29, Z:-2.12 [[ 9.95136787e-01 9.77453569e-03 9.80165000e-02 1.75115097e+01] [-9.71094981e-03 9.99952214e-01 -1.12578205e-03 -2.90305658e-01] [-9.80228201e-02 1.68473824e-04 9.95184153e-01 -2.12446944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.978241008 meters 0.060444938197681854 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.29, Z:-2.13 [[ 9.95088723e-01 9.40908280e-03 9.85388354e-02 1.75729231e+01] [-9.34035022e-03 9.99955707e-01 -1.15882098e-03 -2.91170780e-01] [-9.85453742e-02 2.32742453e-04 9.95132531e-01 -2.12971659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.038241008 meters 0.060246516765093086 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.30, Z:-2.14 [[ 9.94941605e-01 7.73963083e-03 1.00156383e-01 1.76332839e+01] [-7.65749639e-03 9.99969956e-01 -1.20448189e-03 -2.95674118e-01] [-1.00162697e-01 4.31442000e-04 9.94970979e-01 -2.13525401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.098241008 meters 0.06006937104915187 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.30, Z:-2.14 [[ 9.94741697e-01 4.91913731e-03 1.02297403e-01 1.76947186e+01] [-4.81730875e-03 9.99987625e-01 -1.24244168e-03 -2.99267511e-01] [-1.02302249e-01 7.43110364e-04 9.94753084e-01 -2.14106696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.158241008 meters 0.06009237470868319 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.30, Z:-2.15 [[ 9.94809990e-01 4.80308031e-03 1.01636682e-01 1.77550308e+01] [-4.69952120e-03 9.99988165e-01 -1.25833332e-03 -3.02595214e-01] [-1.01641523e-01 7.74158815e-04 9.94820789e-01 -2.14893879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.218241008 meters 0.05999125580505269 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.30, Z:-2.16 [[ 9.95022008e-01 5.17502779e-03 9.95209672e-02 1.78160455e+01] [-5.07554724e-03 9.99986335e-01 -1.25275985e-03 -3.04780926e-01] [-9.95260903e-02 7.41400251e-04 9.95034677e-01 -2.15649129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.278241008 meters 0.06039296251441819 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.30, Z:-2.17 [[ 9.95283543e-01 4.58992883e-03 9.68999580e-02 1.78765539e+01] [-4.49093525e-03 9.99989147e-01 -1.23968137e-03 -3.03095054e-01] [-9.69045965e-02 7.98663024e-04 9.95293354e-01 -2.16801031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.338241008 meters 0.060372695314589477 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.30, Z:-2.18 [[ 9.95443370e-01 5.37923427e-03 9.52027317e-02 1.79382539e+01] [-5.28538645e-03 9.99985266e-01 -1.23790688e-03 -3.04127328e-01] [-9.52079880e-02 7.29082970e-04 9.95457135e-01 -2.17543990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.398241008 meters 0.05992062203587956 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.30, Z:-2.18 [[ 9.95355185e-01 9.14712944e-03 9.58352023e-02 1.80009303e+01] [-9.06728842e-03 9.99958087e-01 -1.26856839e-03 -3.03894619e-01] [-9.58427893e-02 3.93710701e-04 9.95396406e-01 -2.17683759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.458241007999998 meters 0.05978873472679196 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.30, Z:-2.18 [[ 9.95119076e-01 1.45994802e-02 9.75954856e-02 1.80625917e+01] [-1.45405349e-02 9.99893416e-01 -1.31523009e-03 -2.97198932e-01] [-9.76042851e-02 -1.10280008e-04 9.95225297e-01 -2.18361093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518241008 meters 0.06017108454656827 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.29, Z:-2.19 [[ 9.95046840e-01 1.85715153e-02 9.76569755e-02 1.81235950e+01] [-1.85293728e-02 9.99827420e-01 -1.33852616e-03 -2.88947200e-01] [-9.76649804e-02 -4.77626279e-04 9.95219234e-01 -2.19265375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578241008 meters 0.060396119042486957 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.28, Z:-2.20 [[ 9.94917616e-01 2.33136909e-02 9.79561630e-02 1.81856294e+01] [-2.32917994e-02 9.99727774e-01 -1.36717095e-03 -2.82560590e-01] [-9.79613706e-02 -9.21352829e-04 9.95189791e-01 -2.19734445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638241008 meters 0.060694133131400235 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.28, Z:-2.20 [[ 9.94817812e-01 2.62670728e-02 9.82220027e-02 1.82466499e+01] [-2.62571049e-02 9.99654250e-01 -1.39434479e-03 -2.81147859e-01] [-9.82246679e-02 -1.19190640e-03 9.95163551e-01 -2.20349527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698241008 meters 0.06093343009011337 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.28, Z:-2.21 [[ 9.95015750e-01 2.73419575e-02 9.58961658e-02 1.83075614e+01] [-2.73354911e-02 9.99625361e-01 -1.38139004e-03 -2.81364583e-01] [-9.58980093e-02 -1.24686393e-03 9.95390384e-01 -2.21156319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758241008 meters 0.06118343766270941 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.28, Z:-2.22 [[ 9.95180535e-01 2.69479302e-02 9.42842062e-02 1.83685077e+01] [-2.69380673e-02 9.99636155e-01 -1.37759157e-03 -2.80918059e-01] [-9.42870246e-02 -1.16888197e-03 9.95544369e-01 -2.22294393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818241008 meters 0.06157261220981291 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.28, Z:-2.24 [[ 9.95450414e-01 2.52525103e-02 9.18737445e-02 1.84287955e+01] [-2.52339953e-02 9.99680642e-01 -1.36333461e-03 -2.82890811e-01] [-9.18788315e-02 -9.61209637e-04 9.95769731e-01 -2.23640830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878241008 meters 0.06150178368369259 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.29, Z:-2.24 [[ 9.95815876e-01 2.24146892e-02 8.85907570e-02 1.84892051e+01] [-2.23846308e-02 9.99748544e-01 -1.33289518e-03 -2.93996452e-01] [-8.85983568e-02 -6.55753210e-04 9.96067217e-01 -2.24322182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938241008 meters 0.06103399845868124 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.30, Z:-2.25 [[ 9.95722688e-01 1.98814664e-02 9.02278007e-02 1.85496325e+01] [-1.98381169e-02 9.99802257e-01 -1.37731346e-03 -3.01873944e-01] [-9.02373417e-02 -4.18527393e-04 9.95920201e-01 -2.24916180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998241008 meters 0.06077353652344625 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.30, Z:-2.25 [[ 9.95627991e-01 2.01281638e-02 9.12127226e-02 1.86121392e+01] [-2.00827892e-02 9.99797319e-01 -1.41534207e-03 -3.03159986e-01] [-9.12227237e-02 -4.22651701e-04 9.95830425e-01 -2.25352106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058241008 meters 0.06068978948812772 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.30, Z:-2.26 [[ 9.95526778e-01 2.23154419e-02 9.18066220e-02 1.86747246e+01] [-2.22785619e-02 9.99750784e-01 -1.42664727e-03 -3.02595587e-01] [-9.18155786e-02 -6.25053944e-04 9.95775833e-01 -2.25956760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.118241008 meters 0.060709888119943003 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.30, Z:-2.26 [[ 9.95405824e-01 2.40258190e-02 9.26822842e-02 1.87370010e+01] [-2.39932239e-02 9.99711046e-01 -1.46610300e-03 -3.02339918e-01] [-9.26907277e-02 -7.64379332e-04 9.95694654e-01 -2.26474547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178241008 meters 0.06054342109432245 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.31, Z:-2.27 [[ 9.95480338e-01 2.22472771e-02 9.23252734e-02 1.87995280e+01] [-2.22053748e-02 9.99752333e-01 -1.48121052e-03 -3.05476981e-01] [-9.23353604e-02 -5.75601351e-04 9.95727799e-01 -2.27352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238241008 meters 0.060105878488882124 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.31, Z:-2.28 [[ 9.95553604e-01 1.80084181e-02 9.24592849e-02 1.88612414e+01] [-1.79457410e-02 9.99837823e-01 -1.50931818e-03 -3.11796746e-01] [-9.24714706e-02 -1.56643228e-04 9.95715322e-01 -2.28013689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298241007999998 meters 0.06060602234026414 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.31, Z:-2.29 [[ 9.95663574e-01 1.77899492e-02 9.13102702e-02 1.89213174e+01] [-1.77259114e-02 9.99841740e-01 -1.51231019e-03 -3.12994569e-01] [-9.13227234e-02 -1.12805590e-04 9.95821343e-01 -2.29027114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358241008 meters 0.06083965614260161 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.31, Z:-2.30 [[ 9.95797847e-01 1.90208558e-02 8.95815553e-02 1.89826175e+01] [-1.89625609e-02 9.99819067e-01 -1.50183777e-03 -3.14883180e-01] [-8.95939133e-02 -2.03168874e-04 9.95978358e-01 -2.29740342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418241008 meters 0.06121658379934994 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.32, Z:-2.31 [[ 9.96111633e-01 1.93094694e-02 8.59578860e-02 1.90427829e+01] [-1.92545779e-02 9.99813536e-01 -1.46769337e-03 -3.17501528e-01] [-8.59701983e-02 -1.93096376e-04 9.96297690e-01 -2.30618973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478241008 meters 0.061164018567760256 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.32, Z:-2.31 [[ 9.96215813e-01 1.94507922e-02 8.47096304e-02 1.91038500e+01] [-1.93985074e-02 9.99810794e-01 -1.44035824e-03 -3.19555896e-01] [-8.47216189e-02 -2.08332730e-04 9.96404639e-01 -2.31330255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538241008 meters 0.06124893728329432 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.32, Z:-2.32 [[ 9.96035673e-01 1.63961708e-02 8.74305665e-02 1.91633404e+01] [-1.63263709e-02 9.99865571e-01 -1.51341647e-03 -3.21977013e-01] [-8.74436275e-02 7.99929320e-05 9.96169466e-01 -2.32182774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598241008 meters 0.06025115526201752 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.33, Z:-2.32 [[ 9.95834600e-01 1.46196018e-02 8.99984295e-02 1.92258740e+01] [-1.45388941e-02 9.99893100e-01 -1.55230759e-03 -3.25400409e-01] [-9.00115028e-02 2.37363976e-04 9.95940698e-01 -2.31903356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658241008 meters 0.06003537224828156 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.33, Z:-2.32 [[ 9.95457595e-01 9.08940159e-03 9.47710851e-02 1.92879705e+01] [-8.97205907e-03 9.99958365e-01 -1.66420813e-03 -3.32269111e-01] [-9.47822660e-02 8.06356854e-04 9.95497701e-01 -2.32056214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718241008 meters 0.060219837355664114 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.33, Z:-2.33 [[ 9.95441234e-01 6.32931946e-03 9.51666441e-02 1.93487042e+01] [-6.19836045e-03 9.99979393e-01 -1.67165139e-03 -3.34614938e-01] [-9.51752634e-02 1.07415356e-03 9.95459952e-01 -2.32907316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778241008 meters 0.06082940408623618 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.34, Z:-2.34 [[ 9.95532667e-01 4.95398722e-03 9.42876790e-02 1.94093860e+01] [-4.81735818e-03 9.99986991e-01 -1.67662767e-03 -3.35015226e-01] [-9.42947584e-02 1.21492009e-03 9.95543581e-01 -2.34045045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838241008 meters 0.061134423132618264 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.34, Z:-2.35 [[ 9.95497581e-01 5.00088581e-03 9.46549380e-02 1.94718804e+01] [-4.86158853e-03 9.99986734e-01 -1.70218101e-03 -3.35916646e-01] [-9.46621947e-02 1.23434372e-03 9.95508687e-01 -2.34675087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.898241008 meters 0.06106592349347801 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.33, Z:-2.35 [[ 9.95481290e-01 6.54550059e-03 9.47320307e-02 1.95340396e+01] [-6.41009969e-03 9.99977952e-01 -1.73354217e-03 -3.33423585e-01] [-9.47412890e-02 1.11846703e-03 9.95501299e-01 -2.35465113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958241007999998 meters 0.06126572569748783 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.33, Z:-2.36 [[ 9.95639309e-01 1.11332211e-02 9.26197492e-02 1.95950397e+01] [-1.10233364e-02 9.99937800e-01 -1.69792741e-03 -3.27761564e-01] [-9.26328916e-02 6.69544616e-04 9.95700105e-01 -2.36406580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018241008 meters 0.06118265446356504 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.32, Z:-2.37 [[ 9.95437907e-01 1.59210999e-02 9.40738655e-02 1.96566408e+01] [-1.58269061e-02 9.99873220e-01 -1.74734035e-03 -3.22761317e-01] [-9.40897584e-02 2.50470577e-04 9.95563687e-01 -2.37105789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078241008 meters 0.06141861685931712 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.32, Z:-2.38 [[ 9.95172551e-01 2.11875191e-02 9.58263151e-02 1.97172851e+01] [-2.11118791e-02 9.99775493e-01 -1.80325990e-03 -3.17513744e-01] [-9.58430080e-02 -2.28518830e-04 9.95396436e-01 -2.37948722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138241007999998 meters 0.0613848906587993 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.31, Z:-2.38 [[ 9.95025960e-01 2.52416349e-02 9.63649208e-02 1.97797854e+01] [-2.51822466e-02 9.99681197e-01 -1.83260329e-03 -3.14481129e-01] [-9.63804573e-02 -6.03197351e-04 9.95344384e-01 -2.38392260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198241008 meters 0.06206319209728197 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.31, Z:-2.39 [[ 9.94745460e-01 2.93366977e-02 9.80858190e-02 1.98401745e+01] [-2.92921566e-02 9.99569098e-01 -1.89442957e-03 -3.08658698e-01] [-9.80991299e-02 -9.88669956e-04 9.95176157e-01 -2.39360160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.258241008 meters 0.06277770990117873 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.31, Z:-2.40 [[ 9.94764828e-01 3.20694507e-02 9.70282827e-02 1.99013525e+01] [-3.20367943e-02 9.99484894e-01 -1.89486365e-03 -3.05201943e-01] [-9.70390701e-02 -1.22353142e-03 9.95279821e-01 -2.40454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.318241008 meters 0.06283615892685118 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.31, Z:-2.41 [[ 9.94661112e-01 3.34528588e-02 9.76226365e-02 1.99638516e+01] [-3.34243133e-02 9.99439391e-01 -1.92824343e-03 -3.05441920e-01] [-9.76324137e-02 -1.34502084e-03 9.95221635e-01 -2.41132211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378241008 meters 0.06279762095322522 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.31, Z:-2.42 [[ 9.94586214e-01 3.24122489e-02 9.87304868e-02 2.00240770e+01] [-3.23751435e-02 9.99473830e-01 -1.97834655e-03 -3.06158304e-01] [-9.87426604e-02 -1.22877747e-03 9.95112243e-01 -2.42013844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438241008 meters 0.06244471988641559 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.31, Z:-2.43 [[ 9.94763601e-01 2.94609821e-02 9.78643349e-02 2.00857143e+01] [-2.94082541e-02 9.99565520e-01 -1.98153045e-03 -3.12641889e-01] [-9.78801926e-02 -9.06864851e-04 9.95197792e-01 -2.42738142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498241008 meters 0.062189595597051776 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.32, Z:-2.44 [[ 9.94904702e-01 2.45486373e-02 9.77854754e-02 2.01459181e+01] [-2.44700314e-02 9.99698557e-01 -2.00324234e-03 -3.19971024e-01] [-9.78051755e-02 -3.99778433e-04 9.95205500e-01 -2.43609023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558241008 meters 0.06199114520693445 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.33, Z:-2.44 [[ 9.94972273e-01 2.05483517e-02 9.80201092e-02 2.02069225e+01] [-2.04479750e-02 9.99788860e-01 -2.02861411e-03 -3.28314956e-01] [-9.80410980e-02 1.41020530e-05 9.95182367e-01 -2.44333131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618241008 meters 0.06199114520693445 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.33, Z:-2.45 [[ 9.94966935e-01 2.08073412e-02 9.80196590e-02 2.02687889e+01] [-2.07061002e-02 9.99783504e-01 -2.05011418e-03 -3.29796643e-01] [-9.80410956e-02 1.01909467e-05 9.95182367e-01 -2.45093919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678241008 meters 0.06182506687966924 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.33, Z:-2.46 [[ 9.94778212e-01 1.83254040e-02 1.00401635e-01 2.03304158e+01] [-1.82037821e-02 9.99832034e-01 -2.12745634e-03 -3.34999833e-01] [-1.00423758e-01 2.88657722e-04 9.94944715e-01 -2.45652514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738241008 meters 0.061895741780705255 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.34, Z:-2.46 [[ 9.94755186e-01 1.82317464e-02 1.00646529e-01 2.03931828e+01] [-1.81068132e-02 9.99833736e-01 -2.15475744e-03 -3.38539332e-01] [-1.00669080e-01 3.21068249e-04 9.94919913e-01 -2.46357319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798241007999998 meters 0.06186481805812136 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.34, Z:-2.47 [[ 9.94624190e-01 2.05504931e-02 1.01490877e-01 2.04545692e+01] [-2.04326302e-02 9.99788810e-01 -2.20083553e-03 -3.38230611e-01] [-1.01514671e-01 1.15278704e-04 9.94834036e-01 -2.47049040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858241008 meters 0.061882614571466925 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.34, Z:-2.48 [[ 9.94563146e-01 2.37326085e-02 1.01394836e-01 2.05170198e+01] [-2.36291169e-02 9.99718325e-01 -2.22175772e-03 -3.38925620e-01] [-1.01419004e-01 -1.86192089e-04 9.94843782e-01 -2.47779101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918241008 meters 0.062084605792486806 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.34, Z:-2.49 [[ 9.94584231e-01 2.57551640e-02 1.00691998e-01 2.05780236e+01] [-2.56606829e-02 9.99668215e-01 -2.23362571e-03 -3.38953164e-01] [-1.00716117e-01 -3.62296522e-04 9.94915138e-01 -2.48684017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978241008 meters 0.062041394896014464 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.34, Z:-2.50 [[ 9.94522299e-01 2.63419641e-02 1.01150864e-01 2.06392023e+01] [-2.62472550e-02 9.99652910e-01 -2.26731334e-03 -3.39269744e-01] [-1.01175481e-01 -4.00038842e-04 9.94868515e-01 -2.49547161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038241008 meters 0.06191720724790981 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.34, Z:-2.50 [[ 9.94458605e-01 2.41376298e-02 1.02320366e-01 2.07003773e+01] [-2.40266383e-02 9.99708633e-01 -2.31722789e-03 -3.44174894e-01] [-1.02346486e-01 -1.54027221e-04 9.94748799e-01 -2.50196050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098241008 meters 0.061812936088365245 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.35, Z:-2.51 [[ 9.94529142e-01 2.32745929e-02 1.01833589e-01 2.07615244e+01] [-2.31577207e-02 9.99729109e-01 -2.32987961e-03 -3.47768910e-01] [-1.01860230e-01 -4.11006306e-05 9.94798719e-01 -2.51157840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158241008 meters 0.06183782595280041 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.35, Z:-2.52 [[ 9.94574658e-01 2.18879673e-02 1.01696439e-01 2.08239946e+01] [-2.17616415e-02 9.99760422e-01 -2.35156999e-03 -3.52746398e-01] [-1.01723546e-01 1.25730483e-04 9.94812698e-01 -2.51898735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218241008 meters 0.061926637749672206 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.36, Z:-2.53 [[ 9.94611489e-01 2.22462530e-02 1.01257545e-01 2.08855752e+01] [-2.21200523e-02 9.99752515e-01 -2.36909998e-03 -3.56744476e-01] [-1.01285189e-01 1.16511860e-04 9.94857425e-01 -2.52800156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278241008 meters 0.061777303476985 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.36, Z:-2.53 [[ 9.94404202e-01 2.57388074e-02 1.02458759e-01 2.09477636e+01] [-2.56253420e-02 9.99668679e-01 -2.42372491e-03 -3.55388854e-01] [-1.02487196e-01 -2.15378516e-04 9.94734300e-01 -2.53317189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338241008 meters 0.06203360018745447 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.35, Z:-2.54 [[ 9.94219060e-01 2.93882069e-02 1.03270490e-01 2.10106171e+01] [-2.92901711e-02 9.99567909e-01 -2.46597215e-03 -3.50408906e-01] [-1.03298339e-01 -5.73093822e-04 9.94650252e-01 -2.54116084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398241008 meters 0.06226563376778998 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.35, Z:-2.55 [[ 9.94145142e-01 3.06212872e-02 1.03623231e-01 2.10730505e+01] [-3.05263363e-02 9.99530830e-01 -2.50244759e-03 -3.47847149e-01] [-1.03651243e-01 -6.75441498e-04 9.94613474e-01 -2.55015304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.458241007999998 meters 0.062355734851239346 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.35, Z:-2.56 [[ 9.94173285e-01 3.09185922e-02 1.03264325e-01 2.11352803e+01] [-3.08230210e-02 9.99521677e-01 -2.52148175e-03 -3.49381158e-01] [-1.03292892e-01 -6.76128664e-04 9.94650753e-01 -2.55937134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.518241008 meters 0.06232813621876289 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.36, Z:-2.57 [[ 9.94196566e-01 3.02018643e-02 1.03252287e-01 2.11970488e+01] [-3.00996024e-02 9.99543655e-01 -2.54871305e-03 -3.55267820e-01] [-1.03282144e-01 -5.73931013e-04 9.94651934e-01 -2.56743235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578241008 meters 0.06238713719535645 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.36, Z:-2.58 [[ 9.94364664e-01 2.94953317e-02 1.01827990e-01 2.12581691e+01] [-2.93893697e-02 9.99564809e-01 -2.54099974e-03 -3.60022930e-01] [-1.01858623e-01 -4.65980098e-04 9.94798775e-01 -2.57848817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638241007999998 meters 0.06270205752279574 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.37, Z:-2.59 [[ 9.94631956e-01 2.80389664e-02 9.96046616e-02 2.13184710e+01] [-2.79280330e-02 9.99606790e-01 -2.50818763e-03 -3.65706528e-01] [-9.96358231e-02 -2.87038708e-04 9.95023930e-01 -2.58979237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698241008 meters 0.06270535926535792 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.37, Z:-2.60 [[ 9.94653309e-01 2.78502014e-02 9.94442614e-02 2.13805818e+01] [-2.77366993e-02 9.99612077e-01 -2.52400636e-03 -3.68141438e-01] [-9.94759788e-02 -2.47744296e-04 9.95039933e-01 -2.59660945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.758241008 meters 0.06252079904648372 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.37, Z:-2.60 [[ 9.94469133e-01 2.75598539e-02 1.01348894e-01 2.14420581e+01] [-2.74376256e-02 9.99620136e-01 -2.60006023e-03 -3.71297338e-01] [-1.01382052e-01 -1.95093359e-04 9.94847547e-01 -2.60142032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818241008 meters 0.06272585219843665 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.37, Z:-2.61 [[ 9.94486098e-01 2.83127562e-02 1.00974198e-01 2.15043892e+01] [-2.81929898e-02 9.99599083e-01 -2.61322814e-03 -3.71647950e-01] [-1.01007703e-01 -2.47945479e-04 9.94885613e-01 -2.61095910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878241008 meters 0.06260571948092351 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.38, Z:-2.62 [[ 9.94539724e-01 2.70649737e-02 1.00788014e-01 2.15667533e+01] [-2.69365711e-02 9.99633672e-01 -2.63492669e-03 -3.76163003e-01] [-1.00822407e-01 -9.43442402e-05 9.94904434e-01 -2.61686224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938241008 meters 0.06287422728843932 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.38, Z:-2.63 [[ 9.94575685e-01 2.84679330e-02 1.00043905e-01 2.16279096e+01] [-2.83457766e-02 9.99594685e-01 -2.64258331e-03 -3.75049445e-01] [-1.00078584e-01 -2.07573053e-04 9.94979514e-01 -2.62771715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998241008 meters 0.06300676381077971 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.38, Z:-2.64 [[ 9.94851499e-01 2.55763672e-02 9.80629564e-02 2.16890462e+01] [-2.54428430e-02 9.99672866e-01 -2.61209444e-03 -3.80676266e-01] [-9.80976846e-02 1.03645659e-04 9.95176785e-01 -2.63644711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058241008 meters 0.06302485352585545 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.39, Z:-2.64 [[ 9.94937436e-01 2.28332976e-02 9.78679698e-02 2.17507276e+01] [-2.26848586e-02 9.99739208e-01 -2.62933680e-03 -3.85972110e-01] [-9.79024830e-02 3.95904561e-04 9.95195934e-01 -2.64357831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118241008 meters 0.06308963161210153 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.39, Z:-2.65 [[ 9.94994122e-01 2.18972920e-02 9.75049048e-02 2.18111210e+01] [-2.17432021e-02 9.99760096e-01 -2.64274358e-03 -3.89829417e-01] [-9.75393819e-02 5.09445475e-04 9.95231536e-01 -2.65259124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178241008 meters 0.06286663303020122 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.39, Z:-2.66 [[ 9.94736133e-01 2.20269498e-02 1.00074165e-01 2.18727539e+01] [-2.18631061e-02 9.99757236e-01 -2.73378109e-03 -3.91339024e-01] [-1.00110087e-01 5.31458749e-04 9.94976225e-01 -2.65772092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238241008 meters 0.062420318598893416 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.39, Z:-2.66 [[ 9.94399707e-01 2.29995765e-02 1.03151549e-01 2.19342259e+01] [-2.28280386e-02 9.99735363e-01 -2.84334201e-03 -3.94695292e-01] [-1.03189647e-01 4.72670918e-04 9.94661587e-01 -2.66187738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298241007999998 meters 0.06214712648861966 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.39, Z:-2.67 [[ 9.94105705e-01 2.48900505e-02 1.05519347e-01 2.19957997e+01] [-2.47184397e-02 9.99690147e-01 -2.93402473e-03 -3.94111501e-01] [-1.05559680e-01 3.08457107e-04 9.94412922e-01 -2.66723555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358241008 meters 0.06221966269788564 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.40, Z:-2.68 [[ 9.94210691e-01 2.60412334e-02 1.04244694e-01 2.20571250e+01] [-2.58775591e-02 9.99660848e-01 -2.92250462e-03 -3.95547789e-01] [-1.04285444e-01 2.07987119e-04 9.94547386e-01 -2.67608151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418241008 meters 0.06236479930464515 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.40, Z:-2.69 [[ 9.94444366e-01 2.54043884e-02 1.02151945e-01 2.21184149e+01] [-2.52415407e-02 9.99677214e-01 -2.88668289e-03 -3.97486739e-01] [-1.02192306e-01 2.92173059e-04 9.94764619e-01 -2.68689490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478241008 meters 0.06269825090856408 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.40, Z:-2.70 [[ 9.94946960e-01 2.39020747e-02 9.75153229e-02 2.21784656e+01] [-2.37440102e-02 9.99714203e-01 -2.78123288e-03 -4.00131599e-01] [-9.75539305e-02 4.51774375e-04 9.95230137e-01 -2.70009618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538241008 meters 0.06298402576817398 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.40, Z:-2.71 [[ 9.95047472e-01 2.40135322e-02 9.64566185e-02 2.22386790e+01] [-2.38595384e-02 9.99711539e-01 -2.74975322e-03 -4.02397338e-01] [-9.64948258e-02 4.34724599e-04 9.95333391e-01 -2.70977639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598241008 meters 0.06282175654245761 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.40, Z:-2.72 [[ 9.95125219e-01 2.51159301e-02 9.53676511e-02 2.23004001e+01] [-2.49686622e-02 9.99684486e-01 -2.73740868e-03 -4.02101358e-01] [-9.54063138e-02 3.42861747e-04 9.95438355e-01 -2.71732610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.658241008 meters 0.062404010403275055 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.40, Z:-2.72 [[ 9.94969944e-01 2.91556765e-02 9.58371405e-02 2.23626389e+01] [-2.90235309e-02 9.99574883e-01 -2.77284035e-03 -3.99736870e-01] [-9.58772425e-02 -2.26394002e-05 9.95393165e-01 -2.72373247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718241008 meters 0.06238000231033663 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.40, Z:-2.73 [[ 9.94858949e-01 3.14785387e-02 9.62536889e-02 2.24239584e+01] [-3.13539566e-02 9.99504403e-01 -2.80689130e-03 -3.98153771e-01] [-9.62943426e-02 -2.25473055e-04 9.95352876e-01 -2.73202019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778241008 meters 0.062206128139960945 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.40, Z:-2.74 [[ 9.94750117e-01 3.14238373e-02 9.73896648e-02 2.24844077e+01] [-3.12937997e-02 9.99506129e-01 -2.86279920e-03 -4.00400375e-01] [-9.74315270e-02 -1.99922820e-04 9.95242211e-01 -2.73922432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838241008 meters 0.06199694137180904 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.41, Z:-2.75 [[ 9.94783934e-01 2.83136922e-02 9.79962262e-02 2.25457833e+01] [-2.81649999e-02 9.99599079e-01 -2.90063463e-03 -4.09118210e-01] [-9.80390652e-02 1.25441026e-04 9.95182559e-01 -2.74546362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898241008 meters 0.06207661031863341 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.42, Z:-2.75 [[ 9.94862811e-01 2.15122983e-02 9.89202074e-02 2.26063780e+01] [-2.13250107e-02 9.99768243e-01 -2.95038380e-03 -4.24440322e-01] [-9.89607515e-02 8.25752640e-04 9.95090995e-01 -2.74909552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958241007999998 meters 0.06244555643638068 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.43, Z:-2.76 [[ 9.94810157e-01 1.93821413e-02 9.98853575e-02 2.26688726e+01] [-1.91785079e-02 9.99811579e-01 -2.99858552e-03 -4.26341833e-01] [-9.99246560e-02 1.06737121e-03 9.94994434e-01 -2.75815657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018241008 meters 0.06298139158063627 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.43, Z:-2.77 [[ 9.94890021e-01 1.50049710e-02 9.98433597e-02 2.27303355e+01] [-1.47770235e-02 9.99886246e-01 -3.02224279e-03 -4.29104737e-01] [-9.98773508e-02 1.53141151e-03 9.94998578e-01 -2.76566030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078241008 meters 0.06466776941307163 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.44, Z:-2.78 [[ 9.95039204e-01 1.10002900e-02 9.88735340e-02 2.27904908e+01] [-1.07548777e-02 9.99937620e-01 -3.01474864e-03 -4.36181858e-01] [-9.89005294e-02 1.93642032e-03 9.95095440e-01 -2.77747213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138241007999998 meters 0.06623494842295538 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.44, Z:-2.79 [[ 9.95289491e-01 7.21953994e-03 9.66783732e-02 2.28508250e+01] [-6.96490512e-03 9.99971331e-01 -2.97104805e-03 -4.42807713e-01] [-9.66970512e-02 2.28369720e-03 9.95311240e-01 -2.78783133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198241008 meters 0.06815066989923084 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.45, Z:-2.80 [[ 9.95474863e-01 3.11336031e-03 9.49742247e-02 2.29100995e+01] [-2.84869590e-03 9.99991673e-01 -2.92215312e-03 -4.47402433e-01] [-9.49825316e-02 2.63837730e-03 9.95475443e-01 -2.79700281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258241008 meters 0.06494874113685165 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.44, Z:-2.80 [[ 9.95535447e-01 2.41869695e-03 9.43574210e-02 2.29730191e+01] [-2.15496261e-03 9.99993482e-01 -2.89685237e-03 -4.38425860e-01] [-9.43638126e-02 2.68058251e-03 9.95534171e-01 -2.79579978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318241008 meters 0.06805309688065844 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.44, Z:-2.81 [[ 9.95442152e-01 5.23782925e-03 9.52233532e-02 2.30312743e+01] [-4.97959086e-03 9.99983252e-01 -2.94934891e-03 -4.42696312e-01] [-9.52372066e-02 2.46173289e-03 9.95451563e-01 -2.81299505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378241008 meters 0.0644576075228352 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.43, Z:-2.81 [[ 9.95197530e-01 1.19927610e-02 9.71496274e-02 2.30928596e+01] [-1.17548601e-02 9.99926346e-01 -3.02080439e-03 -4.29432745e-01] [-9.71786998e-02 1.86431679e-03 9.95265203e-01 -2.81310728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438241008 meters 0.06296653933750564 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.42, Z:-2.82 [[ 9.95118461e-01 1.66745696e-02 9.72687340e-02 2.31552424e+01] [-1.64587702e-02 9.99859983e-01 -3.02058855e-03 -4.22014225e-01] [-9.73054817e-02 1.40491969e-03 9.95253570e-01 -2.81685540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.498241008 meters 0.06292204977114214 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.42, Z:-2.83 [[ 9.95006873e-01 2.27394258e-02 9.71814860e-02 2.32158419e+01] [-2.25507370e-02 9.99741079e-01 -3.03967132e-03 -4.17728622e-01] [-9.72254440e-02 8.32979725e-04 9.95262035e-01 -2.83039036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.558241008 meters 0.06226106038502393 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.42, Z:-2.83 [[ 9.94877221e-01 2.50275862e-02 9.79435337e-02 2.32783224e+01] [-2.48447973e-02 9.99686558e-01 -3.08564192e-03 -4.15421264e-01] [-9.79900603e-02 6.36447618e-04 9.95187190e-01 -2.83420409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.618241008 meters 0.06178931383339416 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.41, Z:-2.84 [[ 9.94627804e-01 2.65270682e-02 1.00059214e-01 2.33400996e+01] [-2.63415890e-02 9.99647959e-01 -3.17464782e-03 -4.14839921e-01] [-1.00108203e-01 5.21874298e-04 9.94976419e-01 -2.83757782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.678241008 meters 0.06159229559480799 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.42, Z:-2.84 [[ 9.94665476e-01 2.63969355e-02 9.97185657e-02 2.34020769e+01] [-2.62097831e-02 9.99651386e-01 -3.18663632e-03 -4.19272283e-01] [-9.97679198e-02 5.56035154e-04 9.95010579e-01 -2.84350786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738241008 meters 0.06172411646169299 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.42, Z:-2.85 [[ 9.94780015e-01 2.55592822e-02 9.87899032e-02 2.34619155e+01] [-2.53689059e-02 9.99673090e-01 -3.18297827e-03 -4.22752715e-01] [-9.88389625e-02 6.60171421e-04 9.95103223e-01 -2.85304505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.798241007999998 meters 0.06202585899583252 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.43, Z:-2.86 [[ 9.95024163e-01 2.12443279e-02 9.73426604e-02 2.35233323e+01] [-2.10364798e-02 9.99773711e-01 -3.16115063e-03 -4.31338394e-01] [-9.73877894e-02 1.09767435e-03 9.95245906e-01 -2.86133105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858241008 meters 0.061971398780914524 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.44, Z:-2.87 [[ 9.95028438e-01 1.69788237e-02 9.81332062e-02 2.35852282e+01] [-1.67466263e-02 9.99854679e-01 -3.18940841e-03 -4.38632839e-01] [-9.81730978e-02 1.53015194e-03 9.95168178e-01 -2.86671019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918241008 meters 0.06353730931510344 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.45, Z:-2.88 [[ 9.95038007e-01 9.62992674e-03 9.90284263e-02 2.36435588e+01] [-9.35444367e-03 9.99950978e-01 -3.24581225e-03 -4.51509476e-01] [-9.90548287e-02 2.30335072e-03 9.95079311e-01 -2.87772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.978241008 meters 0.0636449893531394 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.46, Z:-2.88 [[ 9.95078206e-01 9.13322980e-03 9.86709113e-02 2.37047681e+01] [-8.85659920e-03 9.99955527e-01 -3.24122647e-03 -4.56782033e-01] [-9.86961259e-02 2.35138510e-03 9.95114840e-01 -2.88361652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.038241008 meters 0.06269048705332429 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.45, Z:-2.89 [[ 9.94965284e-01 1.53013390e-02 9.90452049e-02 2.37655186e+01] [-1.50516393e-02 9.99881378e-01 -3.26785508e-03 -4.51270729e-01] [-9.90834584e-02 1.76060967e-03 9.95077569e-01 -2.89208732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.098241008 meters 0.06230643108371148 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.44, Z:-2.91 [[ 9.94925727e-01 2.58974366e-02 9.72220216e-02 2.38247266e+01] [-2.57069845e-02 9.99664363e-01 -3.21124943e-03 -4.42409754e-01] [-9.72725534e-02 6.95669664e-04 9.95257538e-01 -2.90645170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158241008 meters 0.0620680325363823 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.44, Z:-2.91 [[ 9.94791431e-01 3.24139494e-02 9.66402853e-02 2.38863672e+01] [-3.22568211e-02 9.99474528e-01 -3.18818955e-03 -4.38538904e-01] [-9.66928454e-02 5.42752533e-05 9.95314267e-01 -2.91262738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218241008 meters 0.06252678552102642 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.43, Z:-2.92 [[ 9.94390562e-01 4.15644948e-02 9.72615165e-02 2.39481575e+01] [-4.14467490e-02 9.99135488e-01 -3.23155288e-03 -4.33100569e-01] [-9.73117507e-02 -8.17747983e-04 9.95253613e-01 -2.92026657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.278241008 meters 0.0633261398278826 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.43, Z:-2.93 [[ 9.94236463e-01 4.66059052e-02 9.65491876e-02 2.40091849e+01] [-4.65114419e-02 9.98912535e-01 -3.22997449e-03 -4.28905579e-01] [-9.65947296e-02 -1.27928351e-03 9.95322974e-01 -2.93093579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.338241008 meters 0.06303105623237033 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.44, Z:-2.94 [[ 9.94353070e-01 4.40218671e-02 9.65611082e-02 2.40698251e+01] [-4.39130572e-02 9.99030061e-01 -3.25271024e-03 -4.39134885e-01] [-9.66106402e-02 -1.00595106e-03 9.95321743e-01 -2.93709425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.398241008 meters 0.06250488829373496 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.45, Z:-2.94 [[ 9.94590779e-01 4.06816084e-02 9.55729562e-02 2.41316530e+01] [-4.05578297e-02 9.99171946e-01 -3.23813745e-03 -4.49742678e-01] [-9.56255492e-02 -6.55610029e-04 9.95417161e-01 -2.94242110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.458241007999998 meters 0.06261729964695148 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.46, Z:-2.96 [[ 9.94877153e-01 3.72615547e-02 9.39735403e-02 2.41917015e+01] [-3.71240061e-02 9.99305504e-01 -3.21208630e-03 -4.56140066e-01] [-9.40279634e-02 -2.93043014e-04 9.95569514e-01 -2.95580528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.518241008 meters 0.06228919101624454 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.46, Z:-2.96 [[ 9.94918756e-01 3.32918150e-02 9.50174941e-02 2.42530096e+01] [-3.31322497e-02 9.99445670e-01 -3.25691333e-03 -4.63906854e-01] [-9.50732515e-02 9.22208194e-05 9.95470275e-01 -2.96385230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578241008 meters 0.06172922936890437 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.47, Z:-2.97 [[ 9.94662918e-01 3.14502468e-02 9.82678005e-02 2.43146644e+01] [-3.12679247e-02 9.99505272e-01 -3.39523486e-03 -4.72781840e-01] [-9.83259657e-02 3.04484027e-04 9.95154215e-01 -2.96556716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638241007999998 meters 0.061417134536553605 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.48, Z:-2.97 [[ 9.94470556e-01 2.99474603e-02 1.00655173e-01 2.43770226e+01] [-2.97481040e-02 9.99551365e-01 -3.48130471e-03 -4.79171750e-01] [-1.00714272e-01 4.67754470e-04 9.94915281e-01 -2.96753141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698241008 meters 0.06130009510291417 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.48, Z:-2.97 [[ 9.94540957e-01 2.76469209e-02 1.00617752e-01 2.44384008e+01] [-2.74337109e-02 9.99617489e-01 -3.50232933e-03 -4.82792862e-01] [-1.00676094e-01 7.22891633e-04 9.94918992e-01 -2.97426194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758241008 meters 0.06214898465443085 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.49, Z:-2.99 [[ 9.94879945e-01 2.30672978e-02 9.83961142e-02 2.44986677e+01] [-2.28388977e-02 9.99733215e-01 -3.44711283e-03 -4.85765063e-01] [-9.84493792e-02 1.18220464e-03 9.95141358e-01 -2.98659528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.818241008 meters 0.06277853526296771 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.49, Z:-2.99 [[ 9.95050974e-01 1.72744718e-02 9.78527002e-02 2.45596953e+01] [-1.70186255e-02 9.99849225e-01 -3.44872797e-03 -4.93807652e-01] [-9.78975214e-02 1.76634167e-03 9.95194933e-01 -2.99388548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.878241008 meters 0.06330407413942545 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.50, Z:-3.00 [[ 9.95199739e-01 1.35468622e-02 9.69224503e-02 2.46207229e+01] [-1.32760395e-02 9.99905957e-01 -3.43859542e-03 -4.97433094e-01] [-9.69599176e-02 2.13534299e-03 9.95285996e-01 -3.00019370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.938241008 meters 0.06362662923879349 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.50, Z:-3.01 [[ 9.95263171e-01 1.39237045e-02 9.62151314e-02 2.46814106e+01] [-1.36578550e-02 9.99900875e-01 -3.42112720e-03 -4.96174517e-01] [-9.62532288e-02 2.09082959e-03 9.95354683e-01 -3.01033176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.998241008 meters 0.0629378581652449 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.49, Z:-3.01 [[ 9.95237253e-01 1.56028154e-02 9.62255783e-02 2.47438741e+01] [-1.53428476e-02 9.99876371e-01 -3.44100756e-03 -4.93161448e-01] [-9.62673714e-02 1.94824453e-03 9.95353604e-01 -3.01434311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058241008 meters 0.06307995325269174 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.49, Z:-3.02 [[ 9.95268592e-01 1.91275055e-02 9.52605298e-02 2.48038601e+01] [-1.88864936e-02 9.99815747e-01 -3.43108848e-03 -4.92257170e-01] [-9.53086059e-02 1.61571722e-03 9.95446462e-01 -3.02486836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118241008 meters 0.062188654463285045 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.49, Z:-3.03 [[ 9.95138060e-01 2.02996017e-02 9.63751399e-02 2.48660419e+01] [-2.00573884e-02 9.99792769e-01 -3.48144092e-03 -4.90141087e-01] [-9.64258398e-02 1.53148075e-03 9.95338993e-01 -3.02781594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178241008 meters 0.062190571004680104 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.49, Z:-3.03 [[ 9.94966300e-01 1.80162853e-02 9.85772510e-02 2.49275843e+01] [-1.77493068e-02 9.99836043e-01 -3.58469344e-03 -4.92197895e-01] [-9.86256714e-02 1.81697129e-03 9.95122945e-01 -3.03450022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238241008 meters 0.06239019745794058 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.50, Z:-3.04 [[ 9.94969799e-01 1.64038615e-02 9.88231363e-02 2.49897036e+01] [-1.61253045e-02 9.99863437e-01 -3.61686944e-03 -4.95563225e-01] [-9.88689714e-02 2.00512269e-03 9.95098440e-01 -3.04019371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.298241007999998 meters 0.06253206441437165 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.50, Z:-3.05 [[ 9.95024949e-01 1.42617047e-02 9.85999752e-02 2.50516667e+01] [-1.39716344e-02 9.99895796e-01 -3.63178370e-03 -4.99150002e-01] [-9.86414962e-02 2.23611258e-03 9.95120523e-01 -3.04595022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.358241008 meters 0.06262128834594247 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.50, Z:-3.05 [[ 9.95066345e-01 1.35001337e-02 9.82889378e-02 2.51135470e+01] [-1.32059447e-02 9.99906161e-01 -3.64309262e-03 -4.99629430e-01] [-9.83288967e-02 2.32712057e-03 9.95151251e-01 -3.05416348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418241008 meters 0.06231961479505726 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.50, Z:-3.06 [[ 9.95088820e-01 1.67136885e-02 9.75648101e-02 2.51748063e+01] [-1.64370434e-02 9.99858282e-01 -3.63862467e-03 -4.95081136e-01] [-9.76117982e-02 2.01707771e-03 9.95222522e-01 -3.06392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.478241007999998 meters 0.06207921772543014 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.49, Z:-3.07 [[ 9.94940724e-01 2.10767561e-02 9.82279282e-02 2.52342627e+01] [-2.08149664e-02 9.99776538e-01 -3.68926082e-03 -4.91641541e-01] [-9.82837357e-02 1.62598480e-03 9.95157105e-01 -3.07364095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.538241008 meters 0.061485815685759754 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.49, Z:-3.08 [[ 9.94809381e-01 2.72741165e-02 9.80327359e-02 2.52960587e+01] [-2.70427186e-02 9.99627473e-01 -3.68862482e-03 -4.89303847e-01] [-9.80968201e-02 1.01840688e-03 9.95176355e-01 -3.08041073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.598241008 meters 0.061119696112050155 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.48, Z:-3.09 [[ 9.94621312e-01 3.07752565e-02 9.89006049e-02 2.53576021e+01] [-3.05548196e-02 9.99526084e-01 -3.74311982e-03 -4.84263991e-01] [-9.89689298e-02 7.01096600e-04 9.95090277e-01 -3.08718923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.658241008 meters 0.06111321077108547 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.48, Z:-3.10 [[ 9.94362561e-01 3.64369075e-02 9.95763434e-02 2.54190886e+01] [-3.62394026e-02 9.99335942e-01 -3.79212617e-03 -4.83194571e-01] [-9.96483923e-02 1.62161090e-04 9.95022699e-01 -3.09598781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718241008 meters 0.06110419131774988 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.49, Z:-3.10 [[ 9.94310377e-01 3.88483479e-02 9.91850772e-02 2.54813910e+01] [-3.86621958e-02 9.99245116e-01 -3.79895307e-03 -4.85385892e-01] [-9.92577871e-02 -5.73744125e-05 9.95061751e-01 -3.10241174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778241008 meters 0.06170792635451288 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.48, Z:-3.11 [[ 9.94379373e-01 4.39208919e-02 9.63359615e-02 2.55426469e+01] [-4.37661439e-02 9.99034878e-01 -3.71981652e-03 -4.84262883e-01] [-9.64063632e-02 -5.17344734e-04 9.95341924e-01 -3.11409195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.838241008 meters 0.06251587567248314 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.48, Z:-3.13 [[ 9.94385688e-01 4.74713613e-02 9.45704708e-02 2.56029472e+01] [-4.73380529e-02 9.98872243e-01 -3.65381284e-03 -4.84575254e-01] [-9.46372698e-02 -8.43482762e-04 9.95511464e-01 -3.12648048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.898241008 meters 0.06291185613010426 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.49, Z:-3.14 [[ 9.94452829e-01 4.90216086e-02 9.30615486e-02 2.56641220e+01] [-4.88975310e-02 9.98797261e-01 -3.61438531e-03 -4.87010255e-01] [-9.31268027e-02 -9.56144257e-04 9.95653797e-01 -3.13584549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.958241007999998 meters 0.06256331899431496 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.49, Z:-3.14 [[ 9.94282966e-01 4.78581039e-02 9.54514860e-02 2.57258979e+01] [-4.77200831e-02 9.98853785e-01 -3.72945992e-03 -4.94904235e-01] [-9.55205630e-02 -8.46814378e-04 9.95427097e-01 -3.14153918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018241008 meters 0.06205007156368152 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.51, Z:-3.15 [[ 9.94481573e-01 4.37896368e-02 9.53355539e-02 2.57874265e+01] [-4.36312426e-02 9.99040680e-01 -3.74636442e-03 -5.06065516e-01] [-9.54081485e-02 -4.33918297e-04 9.95438143e-01 -3.14804400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078241008 meters 0.061926073322838934 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.52, Z:-3.16 [[ 9.94893028e-01 3.62550742e-02 9.41988983e-02 2.58470180e+01] [-3.60646611e-02 9.99342521e-01 -3.72358299e-03 -5.21115730e-01] [-9.42719633e-02 3.07315417e-04 9.95546434e-01 -3.15848767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.138241007999998 meters 0.062108730616029215 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.54, Z:-3.16 [[ 9.95283052e-01 2.46898433e-02 9.38192806e-02 2.59072200e+01] [-2.44473189e-02 9.99694147e-01 -3.73366400e-03 -5.40574034e-01] [-9.38827693e-02 1.42242263e-03 9.95582243e-01 -3.16102867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198241008 meters 0.06293902188910262 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.55, Z:-3.17 [[ 9.95383504e-01 2.07613643e-02 9.37051041e-02 2.59670096e+01] [-2.05024394e-02 9.99782863e-01 -3.72515852e-03 -5.52018098e-01] [-9.37620966e-02 1.78677813e-03 9.95593028e-01 -3.17150341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258241008 meters 0.06182073035933225 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.55, Z:-3.17 [[ 9.94969690e-01 2.44805393e-02 9.71391770e-02 2.60276021e+01] [-2.42172293e-02 9.99699156e-01 -3.88890832e-03 -5.52882130e-01] [-9.72051558e-02 1.51690418e-03 9.95263210e-01 -3.17372835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318241008 meters 0.06135659650023754 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.55, Z:-3.18 [[ 9.94730869e-01 2.91245145e-02 9.82968038e-02 2.60889218e+01] [-2.88775547e-02 9.99575213e-01 -3.93448939e-03 -5.49178242e-01] [-9.83696387e-02 1.07518672e-03 9.95149365e-01 -3.18018840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378241008 meters 0.06105654542941494 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.54, Z:-3.19 [[ 9.94616743e-01 3.39868473e-02 9.78898789e-02 2.61508560e+01] [-3.37655592e-02 9.99422106e-01 -3.91680873e-03 -5.44982655e-01] [-9.79664289e-02 5.90417043e-04 9.95189545e-01 -3.18929468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.438241008 meters 0.06116160854277578 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.54, Z:-3.20 [[ 9.94626714e-01 3.77695802e-02 9.63906549e-02 2.62123890e+01] [-3.75706738e-02 9.99286447e-01 -3.87831911e-03 -5.43546934e-01] [-9.64683575e-02 2.36017937e-04 9.95336024e-01 -3.19866073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498241008 meters 0.06113572617703257 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.54, Z:-3.21 [[ 9.94572069e-01 4.13998515e-02 9.54591620e-02 2.62732660e+01] [-4.12191783e-02 9.99142654e-01 -3.86462691e-03 -5.43028728e-01] [-9.55373155e-02 -9.10982387e-05 9.95425845e-01 -3.20681815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558241008 meters 0.06097551246579654 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.55, Z:-3.21 [[ 9.94609203e-01 4.23995268e-02 9.46298780e-02 2.63344048e+01] [-4.22256415e-02 9.99100720e-01 -3.84007889e-03 -5.45429826e-01] [-9.47075968e-02 -1.76429493e-04 9.95505118e-01 -3.21386360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618241008 meters 0.06102187014226045 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.55, Z:-3.22 [[ 9.94697919e-01 4.20204777e-02 9.38633562e-02 2.63949272e+01] [-4.18459219e-02 9.99116742e-01 -3.82802630e-03 -5.45103081e-01] [-9.39413062e-02 -1.20068883e-04 9.95577730e-01 -3.22432388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678241008 meters 0.061261867735260676 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.55, Z:-3.23 [[ 9.94800525e-01 4.30305395e-02 9.23054055e-02 2.64561487e+01] [-4.28644296e-02 9.99073739e-01 -3.78227967e-03 -5.46867667e-01] [-9.23826601e-02 -1.94004761e-04 9.95723559e-01 -3.23334076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.738241008 meters 0.061553974099717884 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.55, Z:-3.24 [[ 9.95059267e-01 4.21760675e-02 8.98789966e-02 2.65165857e+01] [-4.20134002e-02 9.99110189e-01 -3.70181654e-03 -5.50326085e-01] [-8.99551494e-02 -9.25954039e-05 9.95945813e-01 -3.24170512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.798241007999998 meters 0.061977747621360796 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.55, Z:-3.25 [[ 9.95309603e-01 4.13407950e-02 8.74627512e-02 2.65770671e+01] [-4.11821015e-02 9.99145104e-01 -3.61881787e-03 -5.54763971e-01] [-8.75375845e-02 -5.57221013e-08 9.96161218e-01 -3.25210493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858241008 meters 0.06187159571100901 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.56, Z:-3.26 [[ 9.95492169e-01 3.74839661e-02 8.71222891e-02 2.66390614e+01] [-3.73103844e-02 9.99297167e-01 -3.62049255e-03 -5.63278575e-01] [-8.71967670e-02 3.53605888e-04 9.96191045e-01 -3.25588656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918241008 meters 0.061835601115786294 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.57, Z:-3.26 [[ 9.95524875e-01 3.43761226e-02 8.80255924e-02 2.67009139e+01] [-3.41851183e-02 9.99408754e-01 -3.67691070e-03 -5.70280288e-01] [-8.80999456e-02 6.51290783e-04 9.96111427e-01 -3.26182936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978241007999998 meters 0.061175425336410356 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.58, Z:-3.26 [[ 9.95530390e-01 3.10204733e-02 8.92018628e-02 2.67643092e+01] [-3.08093026e-02 9.99518270e-01 -3.74356288e-03 -5.76320489e-01] [-8.92750187e-02 9.78583426e-04 9.96006533e-01 -3.26108416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038241008 meters 0.06136961770221177 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.58, Z:-3.27 [[ 9.95682988e-01 2.77649082e-02 8.85691655e-02 2.68260067e+01] [-2.75418006e-02 9.99613655e-01 -3.74034272e-03 -5.79120940e-01] [-8.86387975e-02 1.28484132e-03 9.96063006e-01 -3.26623224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098241008 meters 0.061576024245577815 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.58, Z:-3.27 [[ 9.95720201e-01 2.57712090e-02 8.87531782e-02 2.68873884e+01] [-2.55374776e-02 9.99666763e-01 -3.76818858e-03 -5.82093345e-01] [-8.88207132e-02 1.48552919e-03 9.96046522e-01 -3.27300453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158241008 meters 0.06217773872065203 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.59, Z:-3.28 [[ 9.95840885e-01 2.32786622e-02 8.80853870e-02 2.69488847e+01] [-2.30364771e-02 9.99727535e-01 -3.76514020e-03 -5.86501863e-01] [-8.81490342e-02 1.72030355e-03 9.96105812e-01 -3.28054179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218241008 meters 0.06258918041315932 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.59, Z:-3.29 [[ 9.95989066e-01 2.02142002e-02 8.71617319e-02 2.70101647e+01] [-1.99653308e-02 9.99793729e-01 -3.72616996e-03 -5.90203115e-01] [-8.72190746e-02 1.97101172e-03 9.96187205e-01 -3.28649115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278241008 meters 0.06393046012168581 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.60, Z:-3.29 [[ 9.96149496e-01 1.59416650e-02 8.62093041e-02 2.70697360e+01] [-1.56801601e-02 9.99870177e-01 -3.70971352e-03 -5.99139921e-01] [-8.62572511e-02 2.34365357e-03 9.96270141e-01 -3.29304300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.338241008 meters 0.06366809804761546 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.60, Z:-3.30 [[ 9.96263113e-01 1.26650928e-02 8.54365564e-02 2.71311819e+01] [-1.23959259e-02 9.99916395e-01 -3.68027649e-03 -5.99553533e-01] [-8.54760245e-02 2.60745849e-03 9.96336816e-01 -3.29617374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.398241008 meters 0.06793381236845387 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.61, Z:-3.31 [[ 9.96323332e-01 7.67193696e-03 8.53285379e-02 2.71897518e+01] [-7.38489717e-03 9.99965963e-01 -3.67907951e-03 -6.12894466e-01] [-8.53538592e-02 3.03541028e-03 9.96346077e-01 -3.31052682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458241007999998 meters 0.0657081863723105 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.61, Z:-3.31 [[ 9.96418910e-01 7.13399737e-03 8.42523685e-02 2.72523535e+01] [-6.85278223e-03 9.99969943e-01 -3.62649920e-03 -6.09320271e-01] [-8.42757076e-02 3.03614924e-03 9.96437849e-01 -3.31009685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518241008 meters 0.0657731054330083 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.61, Z:-3.32 [[ 9.96310063e-01 1.01621957e-02 8.52231694e-02 2.73127793e+01] [-9.88328823e-03 9.99944336e-01 -3.69395430e-03 -6.06866015e-01] [-8.52559642e-02 2.83803869e-03 9.96355040e-01 -3.31817033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578241008 meters 0.0646576211621968 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.60, Z:-3.32 [[ 9.96181216e-01 1.54952605e-02 8.59237003e-02 2.73724799e+01] [-1.52311863e-02 9.99877048e-01 -3.72811737e-03 -6.02489983e-01] [-8.59709040e-02 2.40516061e-03 9.96294745e-01 -3.32454612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.638241007999998 meters 0.06299569428312295 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.59, Z:-3.33 [[ 9.95817296e-01 2.40390189e-02 8.81478166e-02 2.74329285e+01] [-2.37944659e-02 9.99709557e-01 -3.82421477e-03 -5.91678357e-01] [-8.82141451e-02 1.71078900e-03 9.96100064e-01 -3.33065560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698241008 meters 0.06237059015522806 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.59, Z:-3.34 [[ 9.95614898e-01 2.97305757e-02 8.86964912e-02 2.74940859e+01] [-2.95054499e-02 9.99557211e-01 -3.84847149e-03 -5.85870034e-01] [-8.87716346e-02 1.21456568e-03 9.96051265e-01 -3.33954877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758241008 meters 0.06156413680881679 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.58, Z:-3.34 [[ 9.95361810e-01 3.54184148e-02 8.94449718e-02 2.75559489e+01] [-3.52121245e-02 9.99372315e-01 -3.88371966e-03 -5.79068628e-01] [-8.95263837e-02 7.16158754e-04 9.95984194e-01 -3.34336673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818241007999998 meters 0.062060250397760766 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.58, Z:-3.36 [[ 9.95228052e-01 3.82791217e-02 8.97542922e-02 2.76163631e+01] [-3.80830163e-02 9.99266980e-01 -3.89704232e-03 -5.81090000e-01] [-8.98376759e-02 4.60331671e-04 9.95956314e-01 -3.35501331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.878241008 meters 0.0615036087311898 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.58, Z:-3.36 [[ 9.94996936e-01 3.84493871e-02 9.22103179e-02 2.76788407e+01] [-3.82422044e-02 9.99260440e-01 -4.01338231e-03 -5.82953532e-01] [-9.22964349e-02 4.66977279e-04 9.95731465e-01 -3.35689261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938241008 meters 0.061547201285650735 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.59, Z:-3.36 [[ 9.95024934e-01 3.64336928e-02 9.27252249e-02 2.77409360e+01] [-3.62136000e-02 9.99335843e-01 -4.05564033e-03 -5.89344476e-01] [-9.28114027e-02 6.77549045e-04 9.95683476e-01 -3.36190213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998241008 meters 0.06246474157784429 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.60, Z:-3.37 [[ 9.95224374e-01 3.01764709e-02 9.28322487e-02 2.78008600e+01] [-2.99262098e-02 9.99543755e-01 -4.08704468e-03 -6.03760033e-01] [-9.29132270e-02 1.28940913e-03 9.95673375e-01 -3.37182297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058241008 meters 0.0637884196120053 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.62, Z:-3.38 [[ 9.95463226e-01 2.41493754e-02 9.20313715e-02 2.78612581e+01] [-2.38753996e-02 9.99706629e-01 -4.07696186e-03 -6.18044696e-01] [-9.21028283e-02 1.86117984e-03 9.95747762e-01 -3.37989238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118241008 meters 0.0655608889149967 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.63, Z:-3.39 [[ 9.95941987e-01 1.80986316e-02 8.81589335e-02 2.79201722e+01] [-1.78233128e-02 9.99833510e-01 -3.90922107e-03 -6.30606381e-01] [-8.82150074e-02 2.32207315e-03 9.96098750e-01 -3.39031245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178241008 meters 0.06609754474083145 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.63, Z:-3.40 [[ 9.96054851e-01 1.91841595e-02 8.66412290e-02 2.79809843e+01] [-1.89230407e-02 9.99813591e-01 -3.83416648e-03 -6.33762189e-01] [-8.66986336e-02 2.17952462e-03 9.96232200e-01 -3.40203276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238241008 meters 0.06577194688674583 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.64, Z:-3.41 [[ 9.95910432e-01 2.22276963e-02 8.75690620e-02 2.80424153e+01] [-2.19704207e-02 9.99751011e-01 -3.90081459e-03 -6.35359753e-01] [-8.76339644e-02 1.96093282e-03 9.96150813e-01 -3.40967784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298241007999998 meters 0.06517393380134287 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.64, Z:-3.41 [[ 9.95598619e-01 2.37387918e-02 9.06634434e-02 2.81037382e+01] [-2.34687320e-02 9.99716393e-01 -4.04377017e-03 -6.38946646e-01] [-9.07337248e-02 1.89821594e-03 9.95873379e-01 -3.41213815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358241008 meters 0.06498781375438245 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.64, Z:-3.41 [[ 9.94997384e-01 2.19748552e-02 9.74541500e-02 2.81653768e+01] [-2.16539742e-02 9.99756065e-01 -4.34919527e-03 -6.44756294e-01] [-9.75259505e-02 2.21716827e-03 9.95230513e-01 -3.41305146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418241008 meters 0.06487439463567052 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.65, Z:-3.42 [[ 9.94761514e-01 2.08388027e-02 1.00076345e-01 2.82268639e+01] [-2.04942277e-02 9.99779978e-01 -4.47007534e-03 -6.48192190e-01] [-1.00147477e-01 2.39567151e-03 9.94969720e-01 -3.41670430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478241007999998 meters 0.06552117512599168 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.65, Z:-3.43 [[ 9.94961733e-01 2.06509876e-02 9.81054915e-02 2.82883270e+01] [-2.03167342e-02 9.99783890e-01 -4.40496926e-03 -6.53224306e-01] [-9.81752569e-02 2.38959266e-03 9.95166272e-01 -3.42646346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538241008 meters 0.0655797589171017 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.65, Z:-3.44 [[ 9.95108904e-01 2.25523422e-02 9.61751589e-02 2.83506139e+01] [-2.22379726e-02 9.99743288e-01 -4.33945910e-03 -6.54303940e-01] [-9.62483345e-02 2.17949384e-03 9.95354966e-01 -3.43830771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598241008 meters 0.06659932372357745 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.66, Z:-3.45 [[ 9.95333766e-01 2.18666130e-02 9.39816239e-02 2.84106241e+01] [-2.15609458e-02 9.99758431e-01 -4.26672030e-03 -6.61365234e-01] [-9.40522196e-02 2.22047808e-03 9.95564789e-01 -3.44866500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658241008 meters 0.06779965585150842 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.67, Z:-3.46 [[ 9.95359725e-01 1.98501566e-02 9.41540663e-02 2.84706633e+01] [-1.95321382e-02 9.99799991e-01 -4.29809014e-03 -6.68676821e-01] [-9.42205524e-02 2.43911559e-03 9.95548361e-01 -3.45958964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718241008 meters 0.06680299573196727 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.67, Z:-3.46 [[ 9.95028206e-01 2.41261176e-02 9.66271141e-02 2.85313492e+01] [-2.38097782e-02 9.99706711e-01 -4.42568046e-03 -6.68086042e-01] [-9.67055489e-02 2.10300674e-03 9.95310813e-01 -3.46292815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.778241008 meters 0.06615991637637897 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.66, Z:-3.47 [[ 9.94775976e-01 3.09254730e-02 9.72850116e-02 2.85909779e+01] [-3.06372493e-02 9.99520639e-01 -4.45545525e-03 -6.62007697e-01] [-9.73761640e-02 1.45163469e-03 9.95246590e-01 -3.47317066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838241008 meters 0.065374267153244 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.65, Z:-3.48 [[ 9.94195906e-01 4.31422025e-02 9.85558271e-02 2.86529555e+01] [-4.29061487e-02 9.99068908e-01 -4.51435342e-03 -6.50348110e-01] [-9.86588217e-02 2.59500721e-04 9.95121284e-01 -3.47941544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898241008 meters 0.06580103311454599 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.65, Z:-3.49 [[ 9.93887115e-01 5.05014014e-02 9.81733764e-02 2.87143023e+01] [-5.03029283e-02 9.98723880e-01 -4.49738279e-03 -6.45259112e-01] [-9.82752196e-02 -4.68517512e-04 9.95159164e-01 -3.48827784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958241007999998 meters 0.06592776499850829 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.65, Z:-3.50 [[ 9.93804886e-01 5.00057683e-02 9.92535724e-02 2.87751328e+01] [-4.97981247e-02 9.98748848e-01 -4.56995009e-03 -6.49710939e-01] [-9.93579150e-02 -4.01003048e-04 9.95051679e-01 -3.49688789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018241008 meters 0.06621171119563012 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.66, Z:-3.50 [[ 9.93913415e-01 4.81115424e-02 9.91029916e-02 2.88369636e+01] [-4.78929503e-02 9.98841951e-01 -4.58493819e-03 -6.59422010e-01] [-9.92088140e-02 -1.89303077e-04 9.95066619e-01 -3.50472600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078241008 meters 0.06673880368243705 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.67, Z:-3.51 [[ 9.94178027e-01 4.37032106e-02 9.84889875e-02 2.88973990e+01] [-4.34632231e-02 9.99044521e-01 -4.58195066e-03 -6.71506102e-01] [-9.85951292e-02 2.74625828e-04 9.95127592e-01 -3.51367457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138241007999998 meters 0.06730429810395326 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.67, Z:-3.53 [[ 9.94348316e-01 4.33211309e-02 9.69262962e-02 2.89577127e+01] [-4.30848249e-02 9.99061145e-01 -4.53061399e-03 -6.73729341e-01] [-9.70315678e-02 3.28955891e-04 9.95281250e-01 -3.52603409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198241008 meters 0.06797970966485169 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.68, Z:-3.53 [[ 9.94470111e-01 4.10703752e-02 9.66562033e-02 2.90182483e+01] [-4.08228875e-02 9.99156096e-01 -4.53746565e-03 -6.82212732e-01] [-9.67609901e-02 5.66588648e-04 9.95307485e-01 -3.53423189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258241008 meters 0.06857138961200189 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.69, Z:-3.54 [[ 9.94453616e-01 3.63187304e-02 9.87064126e-02 2.90809047e+01] [-3.60353464e-02 9.99339684e-01 -4.65286939e-03 -6.91362885e-01] [-9.88102215e-02 1.07014302e-03 9.95105720e-01 -3.53801623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318241007999998 meters 0.06874015109929245 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.69, Z:-3.54 [[ 9.94688231e-01 3.21137401e-02 9.77958603e-02 2.91421909e+01] [-3.18129570e-02 9.99483098e-01 -4.63379989e-03 -6.91644683e-01] [-9.78941181e-02 1.49801072e-03 9.95195708e-01 -3.54316876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378241008 meters 0.07146976800878356 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.70, Z:-3.56 [[ 9.94873594e-01 2.85051381e-02 9.70257152e-02 2.92013385e+01] [-2.81899236e-02 9.99591916e-01 -4.61831208e-03 -7.03497830e-01] [-9.71177662e-02 1.85948924e-03 9.95271160e-01 -3.55871743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438241008 meters 0.07271403269437854 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.71, Z:-3.57 [[ 9.95009639e-01 2.49951266e-02 9.65974176e-02 2.92626986e+01] [-2.46638261e-02 9.99685115e-01 -4.62239370e-03 -7.10596587e-01] [-9.66825378e-02 2.21686438e-03 9.95312801e-01 -3.56700406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.498241008 meters 0.0729851826399658 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.71, Z:-3.57 [[ 9.95358514e-01 2.17448584e-02 9.37474743e-02 2.93235690e+01] [-2.14179688e-02 9.99760519e-01 -4.49178273e-03 -7.12824693e-01] [-9.38226967e-02 2.46305370e-03 9.95585875e-01 -3.57312710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558241008 meters 0.07249935554848598 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.71, Z:-3.58 [[ 9.95439601e-01 2.22399508e-02 9.27652170e-02 2.93849115e+01] [-2.19222348e-02 9.99749808e-01 -4.44267589e-03 -7.11765656e-01] [-9.28408127e-02 2.38879465e-03 9.95678099e-01 -3.58075143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.618241008 meters 0.07259088689350285 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.71, Z:-3.59 [[ 9.95155922e-01 2.25905112e-02 9.56784221e-02 2.94454172e+01] [-2.22514214e-02 9.99741779e-01 -4.60965025e-03 -7.14705736e-01] [-9.57578503e-02 2.45833985e-03 9.95401623e-01 -3.58668613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.678241008 meters 0.07113256328313916 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.71, Z:-3.59 [[ 9.94862211e-01 2.65437143e-02 9.76965323e-02 2.95074429e+01] [-2.62088393e-02 9.99645395e-01 -4.70966464e-03 -7.11645066e-01] [-9.77869006e-02 2.12495466e-03 9.95205108e-01 -3.58891813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.738241008 meters 0.07054941628996325 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.71, Z:-3.60 [[ 9.94734193e-01 3.00560551e-02 9.79822348e-02 2.95690802e+01] [-2.97361394e-02 9.99546620e-01 -4.72405652e-03 -7.11285023e-01] [-9.80797981e-02 1.78556715e-03 9.95176952e-01 -3.59637321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.798241007999998 meters 0.0703718570270616 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.71, Z:-3.61 [[ 9.94644682e-01 3.47222908e-02 9.73463900e-02 2.96295396e+01] [-3.44264449e-02 9.99396100e-01 -4.71760345e-03 -7.09045254e-01] [-9.74514085e-02 1.34104905e-03 9.95239381e-01 -3.60793940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.858241008 meters 0.07018487408273064 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.71, Z:-3.62 [[ 9.94447933e-01 3.67004576e-02 9.86224400e-02 2.96911847e+01] [-3.64054163e-02 9.99325623e-01 -4.79015375e-03 -7.11522065e-01] [-9.87317321e-02 1.17316751e-03 9.95113395e-01 -3.61578525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.918241008 meters 0.06985278003158943 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.72, Z:-3.62 [[ 9.94385459e-01 3.78168544e-02 9.88303839e-02 2.97524230e+01] [-3.75239318e-02 9.99284097e-01 -4.82168563e-03 -7.15541650e-01] [-9.89419719e-02 1.08610950e-03 9.95092612e-01 -3.62151747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978241007999998 meters 0.06980977260824742 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.72, Z:-3.63 [[ 9.94300744e-01 3.85918563e-02 9.93815858e-02 2.98143134e+01] [-3.82972383e-02 9.99254518e-01 -4.87126711e-03 -7.19457320e-01] [-9.94954899e-02 1.03746424e-03 9.95037472e-01 -3.62862106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038241008 meters 0.06958231931011286 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.72, Z:-3.64 [[ 9.94175053e-01 4.30210225e-02 9.88187990e-02 2.98742423e+01] [-4.27493193e-02 9.99073979e-01 -4.86625336e-03 -7.16963722e-01] [-9.89366419e-02 6.13471300e-04 9.95093546e-01 -3.63961529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.098241008 meters 0.0696029509914221 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.72, Z:-3.65 [[ 9.94190281e-01 4.36771276e-02 9.83767983e-02 2.99357394e+01] [-4.34091686e-02 9.99045539e-01 -4.86360610e-03 -7.20016076e-01] [-9.84953299e-02 5.64894884e-04 9.95137353e-01 -3.65016206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158241008 meters 0.06956803997418597 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.72, Z:-3.66 [[ 9.94152727e-01 4.45092702e-02 9.83833323e-02 2.99979798e+01] [-4.42429008e-02 9.99008843e-01 -4.88857215e-03 -7.22561234e-01] [-9.85034058e-02 5.07223319e-04 9.95136584e-01 -3.65855652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218241008 meters 0.06950933063569303 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.73, Z:-3.67 [[ 9.94217709e-01 4.56015147e-02 9.72195904e-02 3.00582330e+01] [-4.53439920e-02 9.98959621e-01 -4.85778575e-03 -7.26123694e-01] [-9.73399676e-02 4.21372289e-04 9.95251101e-01 -3.66753108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278241008 meters 0.06943205977259784 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.73, Z:-3.67 [[ 9.94323585e-01 4.52904159e-02 9.62776560e-02 3.01195299e+01] [-4.50355824e-02 9.98973759e-01 -4.81934533e-03 -7.27305713e-01] [-9.63971220e-02 4.56068416e-04 9.95342849e-01 -3.67335879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338241008 meters 0.06975195787339615 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.73, Z:-3.68 [[ 9.94370382e-01 4.39108102e-02 9.64333136e-02 3.01804870e+01] [-4.36465552e-02 9.99035267e-01 -4.84901164e-03 -7.32079272e-01] [-9.65532052e-02 6.12731616e-04 9.95327636e-01 -3.68485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.398241008 meters 0.06969141290313871 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.74, Z:-3.69 [[ 9.94519063e-01 4.02500421e-02 9.64975031e-02 3.02418938e+01] [-3.99668865e-02 9.99189155e-01 -4.86618886e-03 -7.38574658e-01] [-9.66151229e-02 9.82812834e-04 9.95321331e-01 -3.69233034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458241007999998 meters 0.07006162475866361 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.75, Z:-3.70 [[ 9.94587543e-01 3.70381075e-02 9.70762464e-02 3.03026835e+01] [-3.67340749e-02 9.99312975e-01 -4.91786663e-03 -7.47823365e-01] [-9.71917011e-02 1.32524278e-03 9.95264797e-01 -3.70044528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518241008 meters 0.07042675509859371 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.75, Z:-3.71 [[ 9.94756734e-01 3.40451320e-02 9.64363526e-02 3.03625330e+01] [-3.37289340e-02 9.99418969e-01 -4.90755303e-03 -7.52838943e-01] [-9.65473983e-02 1.62912605e-03 9.95327055e-01 -3.71037692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578241008 meters 0.07047156806191032 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.76, Z:-3.72 [[ 9.94839504e-01 3.13805566e-02 9.64863787e-02 3.04241343e+01] [-3.10496420e-02 9.99505687e-01 -4.92954936e-03 -7.55235757e-01] [-9.65933763e-02 1.90824292e-03 9.95322098e-01 -3.71755382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638241007999998 meters 0.07219228248448788 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.77, Z:-3.73 [[ 9.94892544e-01 2.64300509e-02 9.74180620e-02 3.04837851e+01] [-2.60667375e-02 9.99647698e-01 -5.00047716e-03 -7.69261308e-01] [-9.75159043e-02 2.43556639e-03 9.95230986e-01 -3.72660925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698241008 meters 0.0727922619848381 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.78, Z:-3.73 [[ 9.94844629e-01 2.42781987e-02 9.84618389e-02 3.05450500e+01] [-2.38944187e-02 9.99701605e-01 -5.07526683e-03 -7.75635851e-01] [-9.85556766e-02 2.69641354e-03 9.95127885e-01 -3.73382158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758241008 meters 0.07144693710597584 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.77, Z:-3.74 [[ 9.94685912e-01 2.45869472e-02 9.99770939e-02 3.06071717e+01] [-2.41906574e-02 9.99693972e-01 -5.17435332e-03 -7.74321066e-01] [-1.00073720e-01 2.72834472e-03 9.94976285e-01 -3.73676554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818241007999998 meters 0.07069075499797971 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.77, Z:-3.75 [[ 9.94398560e-01 2.85662240e-02 1.01761857e-01 3.06671986e+01] [-2.81735735e-02 9.99589027e-01 -5.29395950e-03 -7.71664749e-01] [-1.01871264e-01 2.39731053e-03 9.94794702e-01 -3.74637092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878241008 meters 0.06899288186265046 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.76, Z:-3.75 [[ 9.93782700e-01 3.91278170e-02 1.04235114e-01 3.07271758e+01] [-3.87732394e-02 9.99233300e-01 -5.42660792e-03 -7.64668138e-01] [-1.04367528e-01 1.35133605e-03 9.94537879e-01 -3.75120441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938241008 meters 0.06835773097615007 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.76, Z:-3.76 [[ 9.93492156e-01 4.70841231e-02 1.03713170e-01 3.07894407e+01] [-4.67764947e-02 9.98890797e-01 -5.39773901e-03 -7.59821459e-01] [-1.03852279e-01 5.11272823e-04 9.94592601e-01 -3.75978857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998241008 meters 0.06856778261242712 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.76, Z:-3.77 [[ 9.93299749e-01 5.28633137e-02 1.02767107e-01 3.08508406e+01] [-5.25916027e-02 9.98601754e-01 -5.35358059e-03 -7.56614038e-01] [-1.02906421e-01 -8.69765778e-05 9.94691038e-01 -3.77201203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.058241007999996 meters 0.06874841465204758 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.76, Z:-3.78 [[ 9.93407451e-01 5.27992747e-02 1.01753984e-01 3.09120039e+01] [-5.25301144e-02 9.98605144e-01 -5.32480652e-03 -7.61930067e-01] [-1.01893198e-01 -5.54459528e-05 9.94795342e-01 -3.78207802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118241008 meters 0.06862370490804062 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.78, Z:-3.79 [[ 9.93696412e-01 4.78465271e-02 1.01381217e-01 3.09735687e+01] [-4.75514597e-02 9.98854587e-01 -5.32651089e-03 -7.76136049e-01] [-1.01519948e-01 4.72109910e-04 9.94833392e-01 -3.78740900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17824100799999 meters 0.06872200627414252 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.79, Z:-3.79 [[ 9.93808545e-01 4.24553580e-02 1.02674822e-01 3.10347293e+01] [-4.21215730e-02 9.99097803e-01 -5.41783950e-03 -7.88004850e-01] [-1.02812205e-01 1.05947019e-03 9.94700220e-01 -3.79430215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.238241007999996 meters 0.06909301357449199 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.80, Z:-3.80 [[ 9.93900218e-01 3.87675483e-02 1.03244535e-01 3.10960243e+01] [-3.84077255e-02 9.99247171e-01 -5.47163315e-03 -7.95882334e-01] [-1.03378931e-01 1.47286961e-03 9.94640954e-01 -3.80089855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.298241008 meters 0.06935300331637015 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.80, Z:-3.81 [[ 9.93938528e-01 3.70010099e-02 1.03523564e-01 3.11575482e+01] [-3.66272563e-02 9.99313808e-01 -5.50965270e-03 -8.00524354e-01] [-1.03656390e-01 1.68447198e-03 9.94611741e-01 -3.80876938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35824100799999 meters 0.07035736244502788 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.81, Z:-3.82 [[ 9.94031715e-01 3.21723813e-02 1.04239566e-01 3.12182445e+01] [-3.17644838e-02 9.99479854e-01 -5.57123090e-03 -8.07148006e-01] [-1.04364586e-01 2.22686420e-03 9.94536613e-01 -3.81821240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.418241007999995 meters 0.07075838185048762 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.81, Z:-3.82 [[ 9.94195590e-01 2.86906278e-02 1.03691743e-01 3.12796516e+01] [-2.82657153e-02 9.99584953e-01 -5.56524908e-03 -8.12314353e-01] [-1.03808377e-01 2.60202480e-03 9.94593912e-01 -3.82445462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.478241008 meters 0.0730971241124097 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.82, Z:-3.84 [[ 9.94646661e-01 2.31551939e-02 1.00706783e-01 3.13382621e+01] [-2.27254403e-02 9.99727092e-01 -5.41265781e-03 -8.21110718e-01] [-1.00804630e-01 3.09507604e-03 9.94901426e-01 -3.83760614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53824100799999 meters 0.0724287254825255 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.82, Z:-3.84 [[ 9.94684032e-01 1.96081462e-02 1.01090042e-01 3.13993406e+01] [-1.91569674e-02 9.99801732e-01 -5.43207748e-03 -8.22707482e-01] [-1.01176512e-01 3.46662208e-03 9.94862451e-01 -3.83951257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.598241007999995 meters 0.07179191596046201 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.82, Z:-3.84 [[ 9.94530183e-01 1.76651868e-02 1.02944915e-01 3.14619247e+01] [-1.71867002e-02 9.99836987e-01 -5.53320275e-03 -8.21276457e-01] [-1.03025879e-01 3.73365376e-03 9.94671669e-01 -3.84292519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.658241008 meters 0.07219802131543414 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.82, Z:-3.85 [[ 9.94460985e-01 1.94894640e-02 1.03283640e-01 3.15222788e+01] [-1.90149627e-02 9.99803646e-01 -5.57686190e-03 -8.24670798e-01] [-1.03372050e-01 3.58203702e-03 9.94636310e-01 -3.85116041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71824100799999 meters 0.06926831329864996 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.81, Z:-3.86 [[ 9.94321576e-01 2.64754721e-02 1.03071109e-01 3.15838468e+01] [-2.60387530e-02 9.99645358e-01 -5.58050553e-03 -8.13467217e-01] [-1.03182302e-01 2.86497392e-03 9.94658336e-01 -3.85550092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.778241007999995 meters 0.06879904587081 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.81, Z:-3.87 [[ 9.94246265e-01 3.16309072e-02 1.02341827e-01 3.16447315e+01] [-3.12274524e-02 9.99496938e-01 -5.54237612e-03 -8.10338648e-01] [-1.02465653e-01 2.31461224e-03 9.94733850e-01 -3.86519166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.838241008 meters 0.06766084684069935 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.81, Z:-3.87 [[ 9.94082878e-01 3.92816827e-02 1.01272801e-01 3.17054161e+01] [-3.89258850e-02 9.99227031e-01 -5.48778525e-03 -8.06139798e-01] [-1.01410090e-01 1.51317993e-03 9.94843558e-01 -3.87332677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89824100799999 meters 0.06758340904315399 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.81, Z:-3.88 [[ 9.93811258e-01 4.21439179e-02 1.02776816e-01 3.17657352e+01] [-4.17926820e-02 9.99110781e-01 -5.56939715e-03 -8.09399303e-01] [-1.02920141e-01 1.23961081e-03 9.94688850e-01 -3.88356231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.958241007999995 meters 0.06643889594114999 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.81, Z:-3.89 [[ 9.93428359e-01 4.59824249e-02 1.04812749e-01 3.18278240e+01] [-4.56357280e-02 9.98941858e-01 -5.70486510e-03 -8.05899978e-01] [-1.04964166e-01 8.84168665e-04 9.94475612e-01 -3.88738827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.018241008 meters 0.06582563753719445 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.80, Z:-3.89 [[ 9.92889590e-01 5.25851828e-02 1.06794474e-01 3.18894053e+01] [-5.22630035e-02 9.98616424e-01 -5.81523585e-03 -8.01487218e-01] [-1.06952511e-01 1.92487163e-04 9.94264111e-01 -3.89492727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078241008 meters 0.06570772163185153 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.80, Z:-3.90 [[ 9.92781708e-01 5.53680809e-02 1.06390109e-01 3.19509522e+01] [-5.50616591e-02 9.98466008e-01 -5.81763354e-03 -8.02975002e-01] [-1.06549019e-01 -8.23757722e-05 9.94307447e-01 -3.90365317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138241007999994 meters 0.065776335513412 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.80, Z:-3.91 [[ 9.92491301e-01 6.00434255e-02 1.06563616e-01 3.20131141e+01] [-5.97600616e-02 9.98195609e-01 -5.85324059e-03 -8.04603834e-01] [-1.06722782e-01 -5.58957859e-04 9.94288658e-01 -3.91014711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198241008 meters 0.06604971701490872 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.81, Z:-3.92 [[ 9.92310867e-01 6.40147990e-02 1.05930393e-01 3.20744736e+01] [-6.37543081e-02 9.97948496e-01 -5.84704297e-03 -8.07228977e-01] [-1.06087373e-01 -9.51434608e-04 9.94356357e-01 -3.92013610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258241008 meters 0.06582515425660641 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.82, Z:-3.93 [[ 9.92378806e-01 6.41317558e-02 1.05220829e-01 3.21360049e+01] [-6.38729001e-02 9.97941003e-01 -5.83151052e-03 -8.17057180e-01] [-1.05378164e-01 -9.33692034e-04 9.94431783e-01 -3.92905301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318241007999994 meters 0.06525920863743077 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.83, Z:-3.94 [[ 9.92630244e-01 5.99561558e-02 1.05311242e-01 3.21966746e+01] [-5.96703705e-02 9.98200905e-01 -5.86522839e-03 -8.29071005e-01] [-1.05473434e-01 -4.61957753e-04 9.94422014e-01 -3.93735293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.378241007999996 meters 0.06476599219369293 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.84, Z:-3.95 [[ 9.92824424e-01 5.56034412e-02 1.05867462e-01 3.22582842e+01] [-5.52870491e-02 9.98452932e-01 -5.92331376e-03 -8.39332073e-01] [-1.06033035e-01 2.77109918e-05 9.94362607e-01 -3.94522143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438241008 meters 0.06469547567235347 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.84, Z:-3.95 [[ 9.92686755e-01 5.44463740e-02 1.07743205e-01 3.23196875e+01] [-5.41110841e-02 9.98516683e-01 -6.03524109e-03 -8.44656213e-01] [-1.07911984e-01 1.61002291e-04 9.94160439e-01 -3.95112080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498241007999994 meters 0.06450063359582987 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.85, Z:-3.96 [[ 9.92524752e-01 5.64146761e-02 1.08221997e-01 3.23826376e+01] [-5.60853413e-02 9.98407424e-01 -6.08695036e-03 -8.46243560e-01] [-1.08393038e-01 -2.82187384e-05 9.94108117e-01 -3.95734940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.558241007999996 meters 0.0645367120757457 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.85, Z:-3.97 [[ 9.92397135e-01 5.86521241e-02 1.08202838e-01 3.24447623e+01] [-5.83330161e-02 9.98278453e-01 -6.11475294e-03 -8.46604369e-01] [-1.08375205e-01 -2.43534605e-04 9.94110032e-01 -3.96521364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.618241008 meters 0.06499138044062074 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.85, Z:-3.98 [[ 9.92618871e-01 6.12819626e-02 1.04653230e-01 3.25046388e+01] [-6.09950702e-02 9.98120377e-01 -5.94265283e-03 -8.46848657e-01] [-1.04820699e-01 -4.84541769e-04 9.94491019e-01 -3.97823038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67824100799999 meters 0.06503150269067591 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.85, Z:-3.99 [[ 9.93204161e-01 6.00488010e-02 9.96977221e-02 3.25657526e+01] [-5.97798925e-02 9.98195393e-01 -5.68517027e-03 -8.54647264e-01] [-9.98591946e-02 -3.13384342e-04 9.95001529e-01 -3.98819694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.738241007999996 meters 0.06501921409894755 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.86, Z:-4.00 [[ 9.93411227e-01 5.92428626e-02 9.81041182e-02 3.26268495e+01] [-5.89783289e-02 9.98243574e-01 -5.59683782e-03 -8.59404183e-01] [-9.82633782e-02 -2.26055423e-04 9.95160418e-01 -3.99653601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.798241008 meters 0.06474901441007357 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.87, Z:-4.00 [[ 9.93457105e-01 5.70106473e-02 9.89584038e-02 3.26872999e+01] [-5.67280489e-02 9.98373570e-01 -5.66945444e-03 -8.66361651e-01] [-9.91206742e-02 1.86426192e-05 9.95075420e-01 -4.00357119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85824100799999 meters 0.06421657892656028 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.87, Z:-4.01 [[ 9.93205016e-01 5.66094212e-02 1.01681706e-01 3.27495032e+01] [-5.63066545e-02 9.98396398e-01 -5.84756634e-03 -8.71876920e-01] [-1.01849676e-01 8.24755298e-05 9.94799797e-01 -4.00638837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.918241007999995 meters 0.06386408110632698 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.87, Z:-4.01 [[ 9.92973105e-01 5.82838565e-02 1.02992256e-01 3.28112956e+01] [-5.79797631e-02 9.98300049e-01 -5.94638274e-03 -8.74740673e-01] [-1.03163753e-01 -6.68684963e-05 9.94664383e-01 -4.01090347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.978241008 meters 0.06371634892839377 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.87, Z:-4.02 [[ 9.92671652e-01 6.03221436e-02 1.04710225e-01 3.28736863e+01] [-6.00162094e-02 9.98178929e-01 -6.07297892e-03 -8.74863401e-01] [-1.04885875e-01 -2.55836748e-04 9.94484232e-01 -4.01769392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03824100799999 meters 0.06374138402278577 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.88, Z:-4.03 [[ 9.92687746e-01 6.10829044e-02 1.04114925e-01 3.29346726e+01] [-6.07838098e-02 9.98132643e-01 -6.04618045e-03 -8.78394428e-01] [-1.04289823e-01 -3.26532562e-04 9.94546895e-01 -4.02562623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.098241007999995 meters 0.06343743317566232 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.89, Z:-4.03 [[ 9.93023729e-01 5.86442249e-02 1.02297257e-01 3.29956404e+01] [-5.83415072e-02 9.98278945e-01 -5.95122454e-03 -8.87048533e-01] [-1.02470203e-01 -5.84689608e-05 9.94736073e-01 -4.03199198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.158241008 meters 0.06360723007415342 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.89, Z:-4.04 [[ 9.93186099e-01 5.98959075e-02 9.99692635e-02 3.30574327e+01] [-5.96108880e-02 9.98204616e-01 -5.83845532e-03 -8.90330141e-01] [-1.00139480e-01 -1.60583901e-04 9.94973396e-01 -4.04010127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21824100799999 meters 0.06438885440776294 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.89, Z:-4.05 [[ 9.93240635e-01 6.27779199e-02 9.76318275e-02 3.31173253e+01] [-6.25177087e-02 9.98027434e-01 -5.72515856e-03 -8.89091410e-01] [-9.77986558e-02 -4.17258024e-04 9.95206134e-01 -4.05494333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278241007999995 meters 0.06412196197287635 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.89, Z:-4.06 [[ 9.93236660e-01 6.47244802e-02 9.63933552e-02 3.31793709e+01] [-6.44780039e-02 9.97903004e-01 -5.67296316e-03 -8.93651224e-01] [-9.65583983e-02 -5.80656154e-04 9.95327152e-01 -4.05757940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.338241008 meters 0.06404250427142663 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.90, Z:-4.06 [[ 9.93321576e-01 6.46613557e-02 9.55570793e-02 3.32403643e+01] [-6.44167432e-02 9.97907115e-01 -5.64569312e-03 -8.99182073e-01] [-9.57221475e-02 -5.47487054e-04 9.95407942e-01 -4.06460855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39824100799999 meters 0.06397236689841398 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.90, Z:-4.07 [[ 9.93320349e-01 6.24655049e-02 9.70193065e-02 3.33014112e+01] [-6.22006941e-02 9.98047073e-01 -5.75451642e-03 -9.04884453e-01] [-9.71892936e-02 -3.18589949e-04 9.95265864e-01 -4.07223206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.458241007999995 meters 0.06347423328282556 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.91, Z:-4.08 [[ 9.93081004e-01 6.00350077e-02 1.00925307e-01 3.33623860e+01] [-5.97330036e-02 9.98196271e-01 -6.01444410e-03 -9.12280246e-01] [-1.01104342e-01 -5.57415073e-05 9.94875826e-01 -4.07517224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.518241008 meters 0.06332906425599936 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.92, Z:-4.08 [[ 9.92980557e-01 6.02596059e-02 1.01776193e-01 3.34227558e+01] [-5.99536590e-02 9.98182736e-01 -6.06507866e-03 -9.17063211e-01] [-1.01956718e-01 -7.93499743e-05 9.94788833e-01 -4.08138549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578241008 meters 0.06344274076664175 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.92, Z:-4.09 [[ 9.93026394e-01 6.10244345e-02 1.00869221e-01 3.34841946e+01] [-6.07257803e-02 9.98136263e-01 -6.03155626e-03 -9.19060608e-01] [-1.01049299e-01 -1.35867574e-04 9.94881410e-01 -4.09142887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638241007999994 meters 0.06378341347249568 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.92, Z:-4.10 [[ 9.93216340e-01 6.28701490e-02 9.78194535e-02 3.35438012e+01] [-6.25956885e-02 9.98021674e-01 -5.87521788e-03 -9.20815770e-01] [-9.79953105e-02 -2.87713641e-04 9.95186835e-01 -4.10358849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.698241008 meters 0.06397453133858651 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.92, Z:-4.11 [[ 9.93066155e-01 6.63376341e-02 9.70511757e-02 3.36051243e+01] [-6.60839140e-02 9.97797038e-01 -5.82987678e-03 -9.21983292e-01] [-9.72241159e-02 -6.24068236e-04 9.95262318e-01 -4.10945187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.758241008 meters 0.064706384445909 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.92, Z:-4.12 [[ 9.92998823e-01 6.91181747e-02 9.57915164e-02 3.36656461e+01] [-6.88829806e-02 9.97608096e-01 -5.76389124e-03 -9.19820069e-01] [-9.59607819e-02 -8.74867951e-04 9.95384731e-01 -4.12129477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818241007999994 meters 0.06430346323777128 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.92, Z:-4.13 [[ 9.92826429e-01 6.92784569e-02 9.74483283e-02 3.37277805e+01] [-6.90337472e-02 9.97596969e-01 -5.88465568e-03 -9.24464926e-01] [-9.76218368e-02 -8.84781572e-04 9.95223188e-01 -4.12557076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.878241007999996 meters 0.06358925807939814 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.93, Z:-4.13 [[ 9.92768147e-01 6.71787590e-02 9.94908072e-02 3.37896318e+01] [-6.69107394e-02 9.97740732e-01 -6.03204855e-03 -9.34367294e-01] [-9.96712562e-02 -6.68577806e-04 9.95020198e-01 -4.12923783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.938241008 meters 0.06327165470627626 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.94, Z:-4.14 [[ 9.92631153e-01 6.60011669e-02 1.01623027e-01 3.38515488e+01] [-6.57128747e-02 9.97819401e-01 -6.18558799e-03 -9.39248644e-01] [-1.01809684e-01 -5.37933903e-04 9.94803749e-01 -4.13524131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.998241007999994 meters 0.06316271789361749 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.94, Z:-4.14 [[ 9.92664246e-01 6.51061841e-02 1.01876786e-01 3.39135970e+01] [-6.48089664e-02 9.97878253e-01 -6.22812660e-03 -9.44475986e-01] [-1.02066119e-01 -4.20090631e-04 9.94777528e-01 -4.14207038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.058241007999996 meters 0.06314674764216859 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.95, Z:-4.15 [[ 9.92660823e-01 6.45152291e-02 1.02285265e-01 3.39746981e+01] [-6.42118863e-02 9.97916659e-01 -6.25894712e-03 -9.48079483e-01] [-1.02475967e-01 -3.54918204e-04 9.94735417e-01 -4.15034377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118241008 meters 0.06318923435738605 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.95, Z:-4.16 [[ 9.92609280e-01 6.48324934e-02 1.02584432e-01 3.40369424e+01] [-6.45266399e-02 9.97896094e-01 -6.30066676e-03 -9.51175510e-01] [-1.02777092e-01 -3.65328384e-04 9.94704346e-01 -4.15867241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17824100799999 meters 0.06323869383713651 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.96, Z:-4.17 [[ 9.92775490e-01 6.22361448e-02 1.02584060e-01 3.40980254e+01] [-6.19136089e-02 9.98061450e-01 -6.32830728e-03 -9.57164408e-01] [-1.02779045e-01 -6.87610203e-05 9.94704209e-01 -4.16803898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.238241007999996 meters 0.06318303129010379 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.96, Z:-4.18 [[ 9.92948410e-01 6.24814950e-02 1.00744813e-01 3.41588734e+01] [-6.21692105e-02 9.98046120e-01 -6.23947758e-03 -9.60962233e-01] [-1.00937822e-01 -6.77461524e-05 9.94892734e-01 -4.17626614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.298241008 meters 0.0631513829709317 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.97, Z:-4.18 [[ 9.93011824e-01 6.17205234e-02 1.00588741e-01 3.42207710e+01] [-6.14032448e-02 9.98093471e-01 -6.25023557e-03 -9.65641151e-01] [-1.00782733e-01 3.00827674e-05 9.94908458e-01 -4.18477343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35824100799999 meters 0.06322693790179723 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.97, Z:-4.19 [[ 9.93360826e-01 5.89864321e-02 9.87667456e-02 3.42815338e+01] [-5.86644076e-02 9.98258730e-01 -6.16398105e-03 -9.74043277e-01] [-9.89583573e-02 3.28964683e-04 9.95091521e-01 -4.19362877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.418241007999995 meters 0.06358781038657388 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.98, Z:-4.20 [[ 9.93576830e-01 5.55118661e-02 9.86078907e-02 3.43417288e+01] [-5.51712447e-02 9.98457782e-01 -6.17987292e-03 -9.82720396e-01] [-9.87988721e-02 6.99858476e-04 9.95107177e-01 -4.20257837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.478241008 meters 0.06385065438562569 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.99, Z:-4.21 [[ 9.93588792e-01 5.19509375e-02 1.00411213e-01 3.44031036e+01] [-5.15785102e-02 9.98649050e-01 -6.30332729e-03 -9.92738461e-01] [-1.00603026e-01 1.08385458e-03 9.94926056e-01 -4.20925727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53824100799999 meters 0.0637264485413135 Centerline is valid? [True, True] Translation: X:34.46, Y:-1.00, Z:-4.22 [[ 9.93534258e-01 5.17752817e-02 1.01039590e-01 3.44649320e+01] [-5.13946799e-02 9.98658117e-01 -6.36810001e-03 -9.98022232e-01] [-1.01233717e-01 1.13402813e-03 9.94862025e-01 -4.21509810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.598241007999995 meters 0.06375835718753207 Centerline is valid? [True, True] Translation: X:34.52, Y:-1.00, Z:-4.22 [[ 9.93481028e-01 5.25056490e-02 1.01185988e-01 3.45249373e+01] [-5.21253684e-02 9.98620038e-01 -6.40037881e-03 -1.00198676e+00] [-1.01382412e-01 1.08429799e-03 9.94846938e-01 -4.22216432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658241008 meters 0.06362086409567784 Centerline is valid? [True, True] Translation: X:34.59, Y:-1.00, Z:-4.23 [[ 9.93125895e-01 5.33668354e-02 1.04177432e-01 3.45855414e+01] [-5.29660661e-02 9.98574425e-01 -6.61165392e-03 -1.00429574e+00] [-1.04381762e-01 1.04833598e-03 9.94536751e-01 -4.22742184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71824100799999 meters 0.06301245008510718 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.00, Z:-4.23 [[ 9.92965066e-01 5.55948147e-02 1.04544702e-01 3.46483222e+01] [-5.52010760e-02 9.98453059e-01 -6.65813497e-03 -1.00375869e+00] [-1.04753135e-01 8.40315391e-04 9.94497901e-01 -4.23090269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.778241007999995 meters 0.06297538155398359 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.01, Z:-4.24 [[ 9.92856296e-01 5.76411669e-02 1.04469474e-01 3.47088986e+01] [-5.72586108e-02 9.98337167e-01 -6.65981081e-03 -1.00595268e+00] [-1.04679638e-01 6.30458154e-04 9.94505795e-01 -4.23849092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.838241008 meters 0.062405575673927564 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.01, Z:-4.24 [[ 9.92601655e-01 6.14953914e-02 1.04691317e-01 3.47707249e+01] [-6.11302648e-02 9.98107337e-01 -6.69586911e-03 -1.00638556e+00] [-1.04904937e-01 2.46522812e-04 9.94482224e-01 -4.24381000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89824100799999 meters 0.06256770456214485 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.01, Z:-4.25 [[ 9.92644146e-01 6.37955763e-02 1.02896671e-01 3.48325548e+01] [-6.34528838e-02 9.97962987e-01 -6.60361704e-03 -1.00567168e+00] [-1.03108350e-01 2.59513094e-05 9.94670130e-01 -4.25377923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958241007999995 meters 0.06289502251956451 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.01, Z:-4.26 [[ 9.93075733e-01 6.43677403e-02 9.82719849e-02 3.48938810e+01] [-6.40555193e-02 9.97926247e-01 -6.33217845e-03 -1.00889665e+00] [-9.84757811e-02 -6.53027126e-06 9.95139448e-01 -4.26489054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018241008 meters 0.0626601974197894 Centerline is valid? [True, True] Translation: X:34.96, Y:-1.02, Z:-4.27 [[ 9.93166677e-01 6.44615308e-02 9.72864981e-02 3.49553502e+01] [-6.41557625e-02 9.97920193e-01 -6.27114550e-03 -1.01668072e+00] [-9.74884086e-02 -1.31967303e-05 9.95236660e-01 -4.27068440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07824100799999 meters 0.06271962214973567 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.03, Z:-4.28 [[ 9.93458940e-01 6.10955542e-02 9.64710691e-02 3.50150038e+01] [-6.07768636e-02 9.98131865e-01 -6.24125839e-03 -1.02655714e+00] [-9.66721612e-02 3.37224936e-04 9.95316221e-01 -4.28015600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138241007999994 meters 0.0628512905238009 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.03, Z:-4.29 [[ 9.93618206e-01 5.85093743e-02 9.64339911e-02 3.50762563e+01] [-5.81768103e-02 9.98286673e-01 -6.25910848e-03 -1.03380449e+00] [-9.66349847e-02 6.08942132e-04 9.95319702e-01 -4.28916441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.198241008 meters 0.06253667090654712 Centerline is valid? [True, True] Translation: X:35.14, Y:-1.04, Z:-4.30 [[ 9.93394475e-01 5.90536581e-02 9.83874142e-02 3.51379672e+01] [-5.87078853e-02 9.98254636e-01 -6.40833078e-03 -1.03715736e+00] [-9.85941277e-02 5.89883362e-04 9.95127555e-01 -4.29547718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.258241008 meters 0.062347493716321714 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.04, Z:-4.30 [[ 9.93248686e-01 5.99267605e-02 9.93268939e-02 3.52000054e+01] [-5.95764550e-02 9.98202636e-01 -6.49184397e-03 -1.04144759e+00] [-9.95374025e-02 5.30471261e-04 9.95033680e-01 -4.30123312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318241007999994 meters 0.06216991145272609 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.04, Z:-4.31 [[ 9.93223508e-01 6.10962093e-02 9.88651402e-02 3.52626899e+01] [-6.07528614e-02 9.98131788e-01 -6.48255264e-03 -1.04340262e+00] [-9.90764985e-02 4.32283519e-04 9.95079726e-01 -4.30899438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.378241007999996 meters 0.062131208024909346 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.05, Z:-4.32 [[ 9.93235742e-01 6.13079355e-02 9.86108394e-02 3.53247430e+01] [-6.09648222e-02 9.98118804e-01 -6.49180962e-03 -1.04747102e+00] [-9.88233325e-02 4.36105058e-04 9.95104898e-01 -4.31736519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438241008 meters 0.06223632916015011 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.05, Z:-4.32 [[ 9.93433000e-01 5.99471001e-02 9.74536767e-02 3.53846682e+01] [-5.96028335e-02 9.98201380e-01 -6.44261276e-03 -1.05405575e+00] [-9.76646105e-02 5.91788860e-04 9.95219209e-01 -4.32479503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498241007999994 meters 0.06243881229823284 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.06, Z:-4.33 [[ 9.93655525e-01 5.68783960e-02 9.70234238e-02 3.54460524e+01] [-5.65205849e-02 9.98380699e-01 -6.43454166e-03 -1.06069698e+00] [-9.72323001e-02 9.09897214e-04 9.95261298e-01 -4.33142912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.558241007999996 meters 0.06282352982241436 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.06, Z:-4.34 [[ 9.93851461e-01 5.49280959e-02 9.61362410e-02 3.55068264e+01] [-5.45655826e-02 9.98489693e-01 -6.39772788e-03 -1.06297407e+00] [-9.63424607e-02 1.11266120e-03 9.95347624e-01 -4.34199525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618241008 meters 0.06324240474475144 Centerline is valid? [True, True] Translation: X:35.57, Y:-1.07, Z:-4.35 [[ 9.94054149e-01 5.22108569e-02 9.55529969e-02 3.55665754e+01] [-5.18376653e-02 9.98635110e-01 -6.38544638e-03 -1.07110673e+00] [-9.57559672e-02 1.39423519e-03 9.95403863e-01 -4.34904891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67824100799999 meters 0.06335124066513577 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.08, Z:-4.35 [[ 9.94208324e-01 4.78694547e-02 9.62201861e-02 3.56285637e+01] [-4.74709070e-02 9.98851936e-01 -6.42824231e-03 -1.08078706e+00] [-9.64174356e-02 1.82335251e-03 9.95339316e-01 -4.35182530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.738241007999996 meters 0.06287853699689985 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.08, Z:-4.36 [[ 9.94136701e-01 4.82551660e-02 9.67659968e-02 3.56906057e+01] [-4.78517579e-02 9.98833386e-01 -6.48659715e-03 -1.08116381e+00] [-9.69661201e-02 1.81814123e-03 9.95286022e-01 -4.35879732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.798241008 meters 0.06227333384151574 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.08, Z:-4.37 [[ 9.93854858e-01 5.45024221e-02 9.63431791e-02 3.57516286e+01] [-5.41291399e-02 9.98512880e-01 -6.48579109e-03 -1.07592965e+00] [-9.65533965e-02 1.23096155e-03 9.95327045e-01 -4.36835054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85824100799999 meters 0.06222194394994305 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.08, Z:-4.38 [[ 9.93666054e-01 5.73709185e-02 9.66247890e-02 3.58123361e+01] [-5.70090892e-02 9.98352477e-01 -6.50352618e-03 -1.07790368e+00] [-9.68387107e-02 9.53841981e-04 9.95299630e-01 -4.37801363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.918241007999995 meters 0.06172836846504705 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.08, Z:-4.38 [[ 9.93310003e-01 6.44816480e-02 9.57985120e-02 3.58741039e+01] [-6.41570565e-02 9.97918854e-01 -6.46780733e-03 -1.07664046e+00] [-9.60161962e-02 2.78387179e-04 9.95379733e-01 -4.38315911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.978241008 meters 0.06160729784567631 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.08, Z:-4.39 [[ 9.93367692e-01 6.48786253e-02 9.49283565e-02 3.59352569e+01] [-6.45596343e-02 9.97893129e-01 -6.43094967e-03 -1.08269025e+00] [-9.51455859e-02 2.59757649e-04 9.95463334e-01 -4.39231834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03824100799999 meters 0.06215655195478514 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.09, Z:-4.40 [[ 9.93688799e-01 6.06176456e-02 9.43825863e-02 3.59941990e+01] [-6.02807747e-02 9.98160822e-01 -6.41885704e-03 -1.09302041e+00] [-9.45980959e-02 6.88890916e-04 9.95515307e-01 -4.40476776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.098241007999995 meters 0.061957247612095666 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.10, Z:-4.41 [[ 9.93951240e-01 6.04714704e-02 9.16740610e-02 3.60551106e+01] [-6.01524015e-02 9.98169688e-01 -6.24205620e-03 -1.09821423e+00] [-9.18837351e-02 6.89884576e-04 9.95769503e-01 -4.41339551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.158241008 meters 0.06200904344984925 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.10, Z:-4.42 [[ 9.94087584e-01 6.10736786e-02 8.97768405e-02 3.61159535e+01] [-6.07685197e-02 9.98133056e-01 -6.13105234e-03 -1.10190459e+00] [-8.99836780e-02 6.39197300e-04 9.95943035e-01 -4.42190361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21824100799999 meters 0.06178008809748668 Centerline is valid? [True, True] Translation: X:36.18, Y:-1.11, Z:-4.42 [[ 9.94136672e-01 5.73834699e-02 9.16483213e-02 3.61774095e+01] [-5.70479934e-02 9.98351697e-01 -6.27815409e-03 -1.11113544e+00] [-9.18575193e-02 1.01299038e-03 9.95771646e-01 -4.42488364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.278241007999995 meters 0.06172335226400317 Centerline is valid? [True, True] Translation: X:36.24, Y:-1.12, Z:-4.43 [[ 9.94186624e-01 5.40280203e-02 9.31339382e-02 3.62396123e+01] [-5.36648791e-02 9.98538486e-01 -6.40102456e-03 -1.11646265e+00] [-9.33436563e-02 1.36579146e-03 9.95633013e-01 -4.42960039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.338241008 meters 0.0627425600260455 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.13, Z:-4.44 [[ 9.94480495e-01 4.73335389e-02 9.36380359e-02 3.63001033e+01] [-4.69339726e-02 9.98877066e-01 -6.46602779e-03 -1.12572244e+00] [-9.38389466e-02 2.03553350e-03 9.95585310e-01 -4.43767060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39824100799999 meters 0.06306442949898848 Centerline is valid? [True, True] Translation: X:36.36, Y:-1.13, Z:-4.44 [[ 9.94750323e-01 4.43085781e-02 9.22417748e-02 3.63612315e+01] [-4.39073017e-02 9.99015262e-01 -6.37610541e-03 -1.13287427e+00] [-9.24334570e-02 2.29254548e-03 9.95716225e-01 -4.44262100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.458241007999995 meters 0.06321717660677055 Centerline is valid? [True, True] Translation: X:36.42, Y:-1.14, Z:-4.45 [[ 9.94799165e-01 4.33790330e-02 9.21568306e-02 3.64230068e+01] [-4.29726696e-02 9.99055812e-01 -6.39018427e-03 -1.13504153e+00] [-9.23470172e-02 2.39672494e-03 9.95724000e-01 -4.44925488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.518241008 meters 0.06345458832811915 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.14, Z:-4.46 [[ 9.94729666e-01 4.42571106e-02 9.24889145e-02 3.64838693e+01] [-4.38494849e-02 9.99017419e-01 -6.43580754e-03 -1.13622068e+00] [-9.26828669e-02 2.34629742e-03 9.95692915e-01 -4.45826238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57824100799999 meters 0.0629587967941637 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.14, Z:-4.47 [[ 9.94710580e-01 4.69256466e-02 9.13720195e-02 3.65460925e+01] [-4.65373258e-02 9.98896196e-01 -6.37700275e-03 -1.13534927e+00] [-9.15704077e-02 2.09106266e-03 9.95796409e-01 -4.46561991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638241007999994 meters 0.061920298941957164 Centerline is valid? [True, True] Translation: X:36.61, Y:-1.13, Z:-4.47 [[ 9.94577090e-01 5.21079156e-02 9.00065402e-02 3.66079299e+01] [-5.17505000e-02 9.98640162e-01 -6.30171548e-03 -1.13330059e+00] [-9.02125152e-02 1.60965839e-03 9.95921237e-01 -4.47129882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.698241008 meters 0.06150985904037452 Centerline is valid? [True, True] Translation: X:36.67, Y:-1.12, Z:-4.48 [[ 9.93977256e-01 6.27743104e-02 8.98253874e-02 3.66678187e+01] [-6.24592462e-02 9.98027524e-01 -6.31691530e-03 -1.12392794e+00] [-9.00447490e-02 6.68444149e-04 9.95937496e-01 -4.48444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.758241008 meters 0.06122467154687764 Centerline is valid? [True, True] Translation: X:36.73, Y:-1.12, Z:-4.49 [[ 9.93469171e-01 6.84963258e-02 9.12538165e-02 3.67304246e+01] [-6.81953609e-02 9.97651357e-01 -6.41577304e-03 -1.12024147e+00] [-9.14789508e-02 1.50785776e-04 9.95806999e-01 -4.49196785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.818241007999994 meters 0.06079267309725155 Centerline is valid? [True, True] Translation: X:36.79, Y:-1.12, Z:-4.50 [[ 9.92884474e-01 7.10207275e-02 9.55849283e-02 3.67916781e+01] [-7.07007070e-02 9.97474837e-01 -6.73489344e-03 -1.12137160e+00] [-9.58218779e-02 -7.09508850e-05 9.95398494e-01 -4.49522436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.878241007999996 meters 0.06039307795537891 Centerline is valid? [True, True] Translation: X:36.85, Y:-1.13, Z:-4.50 [[ 9.92653073e-01 7.10478667e-02 9.79391485e-02 3.68530583e+01] [-7.07121201e-02 9.97472904e-01 -6.89937283e-03 -1.12963210e+00] [-9.81818326e-02 -7.68011824e-05 9.95168489e-01 -4.49808944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.938241008 meters 0.060176385742329114 Centerline is valid? [True, True] Translation: X:36.91, Y:-1.14, Z:-4.50 [[ 9.92737800e-01 6.72975129e-02 9.97131106e-02 3.69129064e+01] [-6.69281232e-02 9.97732900e-01 -7.04887115e-03 -1.14360586e+00] [-9.99614225e-02 3.24069491e-04 9.94991261e-01 -4.50442367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998241007999994 meters 0.060388930064923116 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.15, Z:-4.51 [[ 9.93013871e-01 6.32470567e-02 9.96155716e-02 3.69739750e+01] [-6.28559354e-02 9.97997617e-01 -7.06311436e-03 -1.15393208e+00] [-9.98628243e-02 7.52340595e-04 9.95000930e-01 -4.51322801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.058241007999996 meters 0.061759140227102424 Centerline is valid? [True, True] Translation: X:37.03, Y:-1.17, Z:-4.53 [[ 9.93445729e-01 5.77351304e-02 9.86521120e-02 3.70326357e+01] [-5.73221196e-02 9.98331067e-01 -7.01819311e-03 -1.16851233e+00] [-9.88926646e-02 1.31724581e-03 9.95097234e-01 -4.52885788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118241008 meters 0.06143906021060746 Centerline is valid? [True, True] Translation: X:37.10, Y:-1.18, Z:-4.53 [[ 9.93437754e-01 5.72042530e-02 9.90409150e-02 3.70953821e+01] [-5.67833152e-02 9.98361520e-01 -7.06612896e-03 -1.17626560e+00] [-9.92828511e-02 1.39588779e-03 9.95058273e-01 -4.53192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17824100799999 meters 0.061844807093657785 Centerline is valid? [True, True] Translation: X:37.16, Y:-1.18, Z:-4.54 [[ 9.93384142e-01 5.56383196e-02 1.00460560e-01 3.71558301e+01] [-5.51944281e-02 9.98449703e-01 -7.19480424e-03 -1.18298201e+00] [-1.00705123e-01 1.60234127e-03 9.94915027e-01 -4.54034050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.238241007999996 meters 0.061982024142409636 Centerline is valid? [True, True] Translation: X:37.22, Y:-1.19, Z:-4.54 [[ 9.93193311e-01 5.15404914e-02 1.04453932e-01 3.72185063e+01] [-5.10351241e-02 9.98668645e-01 -7.50693467e-03 -1.18946339e+00] [-1.04701777e-01 2.12501794e-03 9.94501394e-01 -4.54338184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.298241008 meters 0.06228894618152605 Centerline is valid? [True, True] Translation: X:37.28, Y:-1.19, Z:-4.55 [[ 9.93206992e-01 5.01853136e-02 1.04982407e-01 3.72802655e+01] [-4.96641942e-02 9.98737255e-01 -7.57381612e-03 -1.19387852e+00] [-1.05229935e-01 2.30850047e-03 9.94445238e-01 -4.54983109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35824100799999 meters 0.06389969297727713 Centerline is valid? [True, True] Translation: X:37.34, Y:-1.20, Z:-4.56 [[ 9.93479739e-01 4.46470027e-02 1.04903070e-01 3.73402692e+01] [-4.40929674e-02 9.98998556e-01 -7.59578732e-03 -1.20132860e+00] [-1.05137145e-01 2.92077315e-03 9.94453443e-01 -4.55874359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.418241007999995 meters 0.06442313023884132 Centerline is valid? [True, True] Translation: X:37.40, Y:-1.21, Z:-4.57 [[ 9.93805492e-01 4.14087450e-02 1.03130795e-01 3.74006970e+01] [-4.08554763e-02 9.99137126e-01 -7.47223779e-03 -1.20521901e+00] [-1.03351222e-01 3.21249319e-03 9.94639736e-01 -4.56701933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.478241008 meters 0.06476057356018915 Centerline is valid? [True, True] Translation: X:37.46, Y:-1.21, Z:-4.58 [[ 9.94114479e-01 3.87661577e-02 1.01161195e-01 3.74607744e+01] [-3.82201041e-02 9.99242452e-01 -7.33118626e-03 -1.20604070e+00] [-1.01368762e-01 3.42164702e-03 9.94843036e-01 -4.57601690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53824100799999 meters 0.06517133369679519 Centerline is valid? [True, True] Translation: X:37.52, Y:-1.21, Z:-4.58 [[ 9.94230765e-01 3.90476304e-02 9.99022899e-02 3.75209016e+01] [-3.85168083e-02 9.99231742e-01 -7.23743187e-03 -1.20874849e+00] [-1.00108144e-01 3.34776009e-03 9.94970930e-01 -4.58423025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.598241007999995 meters 0.06569999368351638 Centerline is valid? [True, True] Translation: X:37.58, Y:-1.21, Z:-4.59 [[ 9.93975617e-01 4.13381402e-02 1.01506800e-01 3.75812661e+01] [-4.07993693e-02 9.99140111e-01 -7.37897140e-03 -1.20963918e+00] [-1.01724548e-01 3.19310424e-03 9.94807479e-01 -4.59265257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.658241008 meters 0.0646757851087185 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.20, Z:-4.60 [[ 9.93323039e-01 4.67365313e-02 1.05475289e-01 3.76419294e+01] [-4.61845006e-02 9.98903469e-01 -7.67150981e-03 -1.20423259e+00] [-1.05718172e-01 2.74896390e-03 9.94392333e-01 -4.59826431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71824100799999 meters 0.06274095889979696 Centerline is valid? [True, True] Translation: X:37.70, Y:-1.20, Z:-4.60 [[ 9.92797303e-01 5.34725069e-02 1.07211040e-01 3.77035872e+01] [-5.29412319e-02 9.98567186e-01 -7.79750397e-03 -1.19741163e+00] [-1.07474378e-01 2.06545640e-03 9.94205709e-01 -4.60236683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.778241007999995 meters 0.062498665979137766 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.20, Z:-4.61 [[ 9.92638728e-01 5.65501631e-02 1.07100116e-01 3.77640245e+01] [-5.60379533e-02 9.98398261e-01 -7.78843097e-03 -1.19794415e+00] [-1.07369007e-01 1.72942690e-03 9.94217735e-01 -4.61039779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.838241008 meters 0.06215139131740296 Centerline is valid? [True, True] Translation: X:37.83, Y:-1.19, Z:-4.62 [[ 9.92355637e-01 6.23845229e-02 1.06482214e-01 3.78264064e+01] [-6.19091627e-02 9.98051565e-01 -7.76715750e-03 -1.19346353e+00] [-1.06759290e-01 1.11555784e-03 9.94284270e-01 -4.62039416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89824100799999 meters 0.062314883469898594 Centerline is valid? [True, True] Translation: X:37.89, Y:-1.20, Z:-4.63 [[ 9.92458620e-01 6.22647929e-02 1.05588744e-01 3.78875575e+01] [-6.17961060e-02 9.98059032e-01 -7.70783595e-03 -1.19507294e+00] [-1.05863726e-01 1.12473502e-03 9.94380011e-01 -4.63019811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.958241007999995 meters 0.06259853921076385 Centerline is valid? [True, True] Translation: X:37.95, Y:-1.20, Z:-4.64 [[ 9.92841414e-01 6.05208579e-02 1.02971608e-01 3.79482048e+01] [-6.00634420e-02 9.98166085e-01 -7.53989390e-03 -1.20192243e+00] [-1.03239087e-01 1.30108972e-03 9.94655718e-01 -4.63905356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.018241008 meters 0.06305829132301183 Centerline is valid? [True, True] Translation: X:38.01, Y:-1.21, Z:-4.65 [[ 9.93142978e-01 5.84709635e-02 1.01233258e-01 3.80075177e+01] [-5.80161388e-02 9.98287968e-01 -7.43370761e-03 -1.21109066e+00] [-1.01494600e-01 1.50957174e-03 9.94834945e-01 -4.64991853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07824100799999 meters 0.06300303338906157 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.21, Z:-4.66 [[ 9.93120574e-01 5.90388792e-02 1.01123370e-01 3.80694380e+01] [-5.85859773e-02 9.98254602e-01 -7.44529558e-03 -1.21413721e+00] [-1.01386431e-01 1.46966476e-03 9.94846034e-01 -4.65763550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138241007999994 meters 0.06268018151806763 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.22, Z:-4.66 [[ 9.92737238e-01 6.28998765e-02 1.02549415e-01 3.81307144e+01] [-6.24513744e-02 9.98019211e-01 -7.58151882e-03 -1.21718520e+00] [-1.02823163e-01 1.12210415e-03 9.94699019e-01 -4.66425021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.198241008 meters 0.0624113395687403 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.22, Z:-4.67 [[ 9.92341666e-01 6.59078400e-02 1.04470927e-01 3.81921991e+01] [-6.54587046e-02 9.97825371e-01 -7.72573703e-03 -1.22173192e+00] [-1.04752928e-01 8.28039222e-04 9.94497933e-01 -4.67058164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258241008 meters 0.06246721166724168 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.22, Z:-4.68 [[ 9.92074826e-01 6.89235905e-02 1.05057504e-01 3.82528737e+01] [-6.84836511e-02 9.97621797e-01 -7.79354111e-03 -1.22475241e+00] [-1.05344815e-01 5.37054461e-04 9.94435610e-01 -4.68034933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318241007999994 meters 0.06267112244416713 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.23, Z:-4.69 [[ 9.92312907e-01 6.87766090e-02 1.02882807e-01 3.83136204e+01] [-6.83515898e-02 9.97631926e-01 -7.65508023e-03 -1.23333771e+00] [-1.03165663e-01 5.64031501e-04 9.94664028e-01 -4.69040466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.378241007999996 meters 0.06296038634381594 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.25, Z:-4.70 [[ 9.92858340e-01 6.48778832e-02 1.00115819e-01 3.83744878e+01] [-6.44531155e-02 9.97892741e-01 -7.47489710e-03 -1.24578378e+00] [-1.00389804e-01 9.68737503e-04 9.94947712e-01 -4.69903758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438241008 meters 0.06332874597601967 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.26, Z:-4.71 [[ 9.93086415e-01 6.08020311e-02 1.00411577e-01 3.84355004e+01] [-6.03536224e-02 9.98148880e-01 -7.50029687e-03 -1.25820360e+00] [-1.00681736e-01 1.38824054e-03 9.94917716e-01 -4.70625005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498241007999994 meters 0.0650788764809558 Centerline is valid? [True, True] Translation: X:38.49, Y:-1.27, Z:-4.72 [[ 9.93868880e-01 5.37207506e-02 9.66371022e-02 3.84929044e+01] [-5.32694202e-02 9.98553886e-01 -7.24613295e-03 -1.27374756e+00] [-9.68866216e-02 2.05390364e-03 9.95293306e-01 -4.71980545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.558241007999996 meters 0.0658786779351907 Centerline is valid? [True, True] Translation: X:38.55, Y:-1.29, Z:-4.73 [[ 9.94114045e-01 5.11414601e-02 9.55081977e-02 3.85529713e+01] [-5.06893077e-02 9.98688834e-01 -7.15595490e-03 -1.28593020e+00] [-9.57489366e-02 2.27259084e-03 9.95402922e-01 -4.72862404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.618241008 meters 0.0655503240669751 Centerline is valid? [True, True] Translation: X:38.61, Y:-1.29, Z:-4.73 [[ 9.93927653e-01 5.19819782e-02 9.69829579e-02 3.86148318e+01] [-5.15176792e-02 9.98645496e-01 -7.28707834e-03 -1.29253701e+00] [-9.72303909e-02 2.24649176e-03 9.95259365e-01 -4.73294168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67824100799999 meters 0.06577609524348732 Centerline is valid? [True, True] Translation: X:38.67, Y:-1.30, Z:-4.74 [[ 9.93649557e-01 5.42032199e-02 9.86030885e-02 3.86740799e+01] [-5.37312602e-02 9.98527733e-01 -7.43765135e-03 -1.29948428e+00] [-9.88610631e-02 2.09235077e-03 9.95099046e-01 -4.73989356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.738241007999996 meters 0.06422956448490517 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.29, Z:-4.74 [[ 9.93218319e-01 6.05517014e-02 9.92515055e-02 3.87357903e+01] [-6.01049583e-02 9.98163977e-01 -7.48786084e-03 -1.29433165e+00] [-9.95226802e-02 1.47157297e-03 9.95034206e-01 -4.74374872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.798241008 meters 0.06407288454810796 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.29, Z:-4.75 [[ 9.92916467e-01 6.59676206e-02 9.88188397e-02 3.87976497e+01] [-6.55516480e-02 9.97821337e-01 -7.45392910e-03 -1.28872637e+00] [-9.90952647e-02 9.23391151e-04 9.95077523e-01 -4.75260268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85824100799999 meters 0.06420975680966803 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.28, Z:-4.76 [[ 9.92328092e-01 7.45229790e-02 9.86472656e-02 3.88587645e+01] [-7.41482293e-02 9.97219292e-01 -7.46479301e-03 -1.28099735e+00] [-9.89292550e-02 9.30037372e-05 9.95094465e-01 -4.76442757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.918241007999995 meters 0.06457916654211888 Centerline is valid? [True, True] Translation: X:38.92, Y:-1.28, Z:-4.77 [[ 9.92280532e-01 7.67481846e-02 9.74118193e-02 3.89190554e+01] [-7.63912112e-02 9.97050503e-01 -7.39442553e-03 -1.28165492e+00] [-9.76920121e-02 -1.04062360e-04 9.95216690e-01 -4.77445912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.978241008 meters 0.0644678326100054 Centerline is valid? [True, True] Translation: X:38.98, Y:-1.29, Z:-4.78 [[ 9.92460388e-01 7.57845566e-02 9.63279818e-02 3.89805310e+01] [-7.54301061e-02 9.97124215e-01 -7.32107333e-03 -1.28887578e+00] [-9.66057875e-02 -1.54612255e-07 9.95322722e-01 -4.78095890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03824100799999 meters 0.06491243235629725 Centerline is valid? [True, True] Translation: X:39.04, Y:-1.30, Z:-4.79 [[ 9.93083175e-01 6.98761856e-02 9.43563821e-02 3.90399597e+01] [-6.95074540e-02 9.97555501e-01 -7.19283890e-03 -1.30256594e+00] [-9.46283361e-02 5.84615404e-04 9.95512499e-01 -4.79151522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.098241007999995 meters 0.06502980565434849 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.32, Z:-4.79 [[ 9.93344947e-01 6.44946279e-02 9.54267183e-02 3.91011001e+01] [-6.40907860e-02 9.97917415e-01 -7.29411962e-03 -1.31593971e+00] [-9.56984156e-02 1.12960349e-03 9.95409733e-01 -4.79498024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.158241008 meters 0.06531509952543273 Centerline is valid? [True, True] Translation: X:39.16, Y:-1.33, Z:-4.80 [[ 9.93311903e-01 5.81742594e-02 9.97357464e-02 3.91630021e+01] [-5.76988353e-02 9.98304745e-01 -7.64720103e-03 -1.33081833e+00] [-1.00011539e-01 1.84141941e-03 9.94984573e-01 -4.79873161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21824100799999 meters 0.06471273265308561 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.33, Z:-4.81 [[ 9.93019398e-01 6.12617281e-02 1.00794223e-01 3.92253684e+01] [-6.07889461e-02 9.98120491e-01 -7.75821647e-03 -1.33213525e+00] [-1.01080061e-01 1.57688488e-03 9.94877045e-01 -4.80576437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.278241007999995 meters 0.06442948944270341 Centerline is valid? [True, True] Translation: X:39.29, Y:-1.33, Z:-4.82 [[ 9.92775588e-01 6.68523115e-02 9.96363450e-02 3.92870678e+01] [-6.64173972e-02 9.97762374e-01 -7.67943225e-03 -1.33017254e+00] [-9.99267839e-02 1.00636617e-03 9.94994284e-01 -4.81631066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.338241008 meters 0.06425751017397081 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.33, Z:-4.83 [[ 9.92456850e-01 7.39670137e-02 9.77664638e-02 3.93498773e+01] [-7.35806186e-02 9.97260642e-01 -7.55680925e-03 -1.32736151e+00] [-9.80576010e-02 3.06090221e-04 9.95180694e-01 -4.82728988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39824100799999 meters 0.06462654766759886 Centerline is valid? [True, True] Translation: X:39.41, Y:-1.33, Z:-4.84 [[ 9.92283059e-01 7.97391143e-02 9.49526431e-02 3.94115793e+01] [-7.93986059e-02 9.96815740e-01 -7.36485731e-03 -1.32849529e+00] [-9.52375564e-02 -2.31084351e-04 9.95454547e-01 -4.83709761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.458241007999995 meters 0.0653404560126177 Centerline is valid? [True, True] Translation: X:39.47, Y:-1.33, Z:-4.85 [[ 9.92287767e-01 8.33285302e-02 9.17678818e-02 3.94713816e+01] [-8.30239089e-02 9.96521986e-01 -7.13869888e-03 -1.33261958e+00] [-9.20435691e-02 -5.35284687e-04 9.95754837e-01 -4.85067455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.518241008 meters 0.06513977934804122 Centerline is valid? [True, True] Translation: X:39.53, Y:-1.34, Z:-4.86 [[ 9.92302485e-01 8.39279878e-02 9.10597123e-02 3.95331466e+01] [-8.36288553e-02 9.96471661e-01 -7.10237769e-03 -1.33869103e+00] [-9.13345110e-02 -5.67512473e-04 9.95820107e-01 -4.85595160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57824100799999 meters 0.06473169902870123 Centerline is valid? [True, True] Translation: X:39.59, Y:-1.35, Z:-4.86 [[ 9.92295405e-01 8.19166325e-02 9.29488826e-02 3.95947065e+01] [-8.15940213e-02 9.96639117e-01 -7.27225417e-03 -1.34599486e+00] [-9.32322109e-02 -3.67848715e-04 9.95644324e-01 -4.86193495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.638241007999994 meters 0.06422261469596988 Centerline is valid? [True, True] Translation: X:39.66, Y:-1.36, Z:-4.87 [[ 9.92403619e-01 7.75492759e-02 9.55048015e-02 3.96559089e+01] [-7.71862461e-02 9.96988518e-01 -7.49520060e-03 -1.35549360e+00] [-9.57984379e-02 6.66070801e-05 9.95400751e-01 -4.86748724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.698241008 meters 0.06422956821834173 Centerline is valid? [True, True] Translation: X:39.72, Y:-1.36, Z:-4.88 [[ 9.92421635e-01 7.64458433e-02 9.62046283e-02 3.97170817e+01] [-7.60701019e-02 9.97073716e-01 -7.57267171e-03 -1.35712086e+00] [-9.65020055e-02 1.96987362e-04 9.95332771e-01 -4.87542857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758241008 meters 0.06425023687404414 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.36, Z:-4.88 [[ 9.92606366e-01 7.25888514e-02 9.72803233e-02 3.97778323e+01] [-7.21838783e-02 9.97361768e-01 -7.68056749e-03 -1.36290010e+00] [-9.75811989e-02 6.01709171e-04 9.95227385e-01 -4.88074859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818241007999994 meters 0.06503678357635886 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.37, Z:-4.89 [[ 9.93499585e-01 6.57509512e-02 9.29267817e-02 3.98379443e+01] [-6.53494362e-02 9.97835295e-01 -7.36044098e-03 -1.36933160e+00] [-9.32095786e-02 1.23988227e-03 9.95645739e-01 -4.89070820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.878241007999996 meters 0.06618985764086961 Centerline is valid? [True, True] Translation: X:39.90, Y:-1.38, Z:-4.90 [[ 9.94137375e-01 6.15645820e-02 8.88857771e-02 3.98976507e+01] [-6.11805376e-02 9.98101880e-01 -7.04123861e-03 -1.37962623e+00] [-8.91505521e-02 1.56187885e-03 9.96016937e-01 -4.90220697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938241008 meters 0.06867420070617536 Centerline is valid? [True, True] Translation: X:39.96, Y:-1.39, Z:-4.91 [[ 9.94785066e-01 5.36739414e-02 8.67282021e-02 3.99560528e+01] [-5.32781094e-02 9.98556053e-01 -6.87402099e-03 -1.39358269e+00] [-8.69719270e-02 2.21745878e-03 9.96208295e-01 -4.91429522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998241007999994 meters 0.0683305905154583 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.40, Z:-4.92 [[ 9.94972519e-01 4.75929076e-02 8.81169765e-02 4.00170412e+01] [-4.71605197e-02 9.98862911e-01 -6.98354831e-03 -1.40158388e+00] [-8.83491471e-02 2.79279624e-03 9.96085653e-01 -4.91560182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.058241007999996 meters 0.06742790081381621 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.41, Z:-4.91 [[ 9.94921465e-01 4.49891235e-02 9.00403042e-02 4.00791466e+01] [-4.45272480e-02 9.98982706e-01 -7.13282298e-03 -1.40980291e+00] [-9.02696062e-02 3.08735174e-03 9.95912580e-01 -4.91261460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118241008 meters 0.06705660698816311 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.41, Z:-4.92 [[ 9.94723807e-01 5.10408810e-02 8.89908728e-02 4.01381186e+01] [-5.06114290e-02 9.98693345e-01 -7.07707261e-03 -1.40884912e+00] [-8.92358125e-02 2.53577737e-03 9.96007299e-01 -4.92218275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17824100799999 meters 0.06507769064350068 Centerline is valid? [True, True] Translation: X:40.20, Y:-1.40, Z:-4.93 [[ 9.94188597e-01 6.17509069e-02 8.81808266e-02 4.01991205e+01] [-6.13714141e-02 9.98090375e-01 -7.01088555e-03 -1.39979513e+00] [-8.84453628e-02 1.55836044e-03 9.96079811e-01 -4.92977391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.238241007999996 meters 0.06391057444019978 Centerline is valid? [True, True] Translation: X:40.26, Y:-1.39, Z:-4.94 [[ 9.93617568e-01 6.92290509e-02 8.90587850e-02 4.02603683e+01] [-6.88719322e-02 9.97600384e-01 -7.08033501e-03 -1.39468204e+00] [-8.93352430e-02 9.01494657e-04 9.96001206e-01 -4.93745802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.298241008 meters 0.0636039994117939 Centerline is valid? [True, True] Translation: X:40.32, Y:-1.40, Z:-4.95 [[ 9.93279125e-01 7.27093561e-02 9.00551505e-02 4.03224918e+01] [-7.23580121e-02 9.97352991e-01 -7.16439736e-03 -1.39569575e+00] [-9.03376924e-02 6.00034662e-04 9.95911011e-01 -4.94527021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35824100799999 meters 0.06310248751519587 Centerline is valid? [True, True] Translation: X:40.38, Y:-1.40, Z:-4.95 [[ 9.92772902e-01 7.74754018e-02 9.16489367e-02 4.03835094e+01] [-7.71308889e-02 9.96994248e-01 -7.30039679e-03 -1.39850774e+00] [-9.19390639e-02 1.78672153e-04 9.95764619e-01 -4.95053070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.418241007999995 meters 0.06291231629024423 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.40, Z:-4.96 [[ 9.92320298e-01 8.23290926e-02 9.23165549e-02 4.04456627e+01] [-8.19986886e-02 9.96605166e-01 -7.37284697e-03 -1.39763901e+00] [-9.26101553e-02 -2.53610737e-04 9.95702413e-01 -4.95738855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.478241008 meters 0.06413176206497691 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.39, Z:-4.97 [[ 9.91959127e-01 8.87173230e-02 9.02570029e-02 4.05056296e+01] [-8.84260031e-02 9.96056515e-01 -7.22920844e-03 -1.39369703e+00] [-9.05424317e-02 -8.09986728e-04 9.95892269e-01 -4.97278562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53824100799999 meters 0.06453013366644035 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.40, Z:-4.98 [[ 9.92050674e-01 9.09560832e-02 8.69623492e-02 4.05659684e+01] [-9.06921870e-02 9.95854448e-01 -6.98894132e-03 -1.39793125e+00] [-8.72375290e-02 -9.53421689e-04 9.96187083e-01 -4.98235352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.598241007999995 meters 0.06464790240487814 Centerline is valid? [True, True] Translation: X:40.63, Y:-1.41, Z:-4.99 [[ 9.92552950e-01 8.82352019e-02 8.39832729e-02 4.06266467e+01] [-8.79792599e-02 9.96099431e-01 -6.75087313e-03 -1.40882319e+00] [-8.42513549e-02 -6.88187152e-04 9.96444296e-01 -4.99341863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.658241008 meters 0.06430022918979282 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.43, Z:-5.00 [[ 9.93285310e-01 8.16002024e-02 8.20103669e-02 4.06865208e+01] [-8.13336628e-02 9.96665135e-01 -6.59117031e-03 -1.42849203e+00] [-8.22747143e-02 -1.23290887e-04 9.96609681e-01 -5.00125082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71824100799999 meters 0.0640731961812716 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.44, Z:-5.01 [[ 9.93405299e-01 7.90816191e-02 8.30181257e-02 4.07477348e+01] [-7.87981130e-02 9.96868139e-01 -6.69111125e-03 -1.44107340e+00] [-8.32872684e-02 1.05313726e-04 9.96525574e-01 -5.00669666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778241007999995 meters 0.0640759163773799 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.44, Z:-5.01 [[ 9.92939911e-01 8.19680261e-02 8.57413341e-02 4.08090532e+01] [-8.16740727e-02 9.96634953e-01 -6.93660093e-03 -1.44274873e+00] [-8.60213900e-02 -1.15216046e-04 9.96293284e-01 -5.01427130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838241008 meters 0.06427107724973788 Centerline is valid? [True, True] Translation: X:40.87, Y:-1.44, Z:-5.02 [[ 9.92557125e-01 8.60589120e-02 8.61639008e-02 4.08714508e+01] [-8.57777001e-02 9.96289937e-01 -6.96765853e-03 -1.44412044e+00] [-8.64438563e-02 -4.75142117e-04 9.96256610e-01 -5.02118496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89824100799999 meters 0.06410030399311552 Centerline is valid? [True, True] Translation: X:40.93, Y:-1.45, Z:-5.03 [[ 9.92021695e-01 8.93135264e-02 8.89721906e-02 4.09335809e+01] [-8.90245382e-02 9.96003272e-01 -7.21901079e-03 -1.44577486e+00] [-8.92613483e-02 -7.59292863e-04 9.96007949e-01 -5.02616191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.958241007999995 meters 0.06367024542497919 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.46, Z:-5.03 [[ 9.92225375e-01 8.68319400e-02 8.91572764e-02 4.09946117e+01] [-8.65299499e-02 9.96222840e-01 -7.25403300e-03 -1.45617600e+00] [-8.94503968e-02 -5.17139047e-04 9.95991144e-01 -5.03050956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.018241008 meters 0.06322220815819797 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.47, Z:-5.04 [[ 9.92514864e-01 8.27978021e-02 8.97706503e-02 4.10550780e+01] [-8.24732228e-02 9.96566358e-01 -7.32538636e-03 -1.46812504e+00] [-9.00689359e-02 -1.33119993e-04 9.95935525e-01 -5.03714580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07824100799999 meters 0.0631341327151777 Centerline is valid? [True, True] Translation: X:41.12, Y:-1.48, Z:-5.04 [[ 9.92804098e-01 7.84277311e-02 9.04937205e-02 4.11163495e+01] [-7.80778256e-02 9.96919760e-01 -7.40570305e-03 -1.48057182e+00] [-9.07957907e-02 2.86859407e-04 9.95869491e-01 -5.04206480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.138241007999994 meters 0.063971010214316 Centerline is valid? [True, True] Translation: X:41.17, Y:-1.49, Z:-5.06 [[ 9.93561272e-01 7.15777050e-02 8.78215874e-02 4.11742858e+01] [-7.12190485e-02 9.97434608e-01 -7.21453309e-03 -1.49080610e+00] [-8.81126904e-02 9.13510782e-04 9.96110094e-01 -5.05602074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.198241008 meters 0.06500756407426563 Centerline is valid? [True, True] Translation: X:41.23, Y:-1.50, Z:-5.06 [[ 9.94155100e-01 6.56805875e-02 8.56837051e-02 4.12341858e+01] [-6.53174027e-02 9.97839716e-01 -7.03832512e-03 -1.50189010e+00] [-8.59608853e-02 1.40054973e-03 9.96297528e-01 -5.06433421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25824100799999 meters 0.0646927404733484 Centerline is valid? [True, True] Translation: X:41.30, Y:-1.51, Z:-5.07 [[ 9.94129692e-01 6.37254542e-02 8.74369636e-02 4.12959913e+01] [-6.33401703e-02 9.97966191e-01 -7.17665344e-03 -1.51003718e+00] [-8.77164690e-02 1.59625211e-03 9.96144203e-01 -5.06559847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.318241007999994 meters 0.0645996126102773 Centerline is valid? [True, True] Translation: X:41.36, Y:-1.51, Z:-5.07 [[ 9.93357927e-01 6.38872527e-02 9.56997746e-02 4.13558796e+01] [-6.34233030e-02 9.97955565e-01 -7.88506126e-03 -1.51256698e+00] [-9.60078776e-02 1.76309231e-03 9.95379013e-01 -5.06878457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.378241007999996 meters 0.06299301360120113 Centerline is valid? [True, True] Translation: X:41.42, Y:-1.51, Z:-5.07 [[ 9.92579468e-01 6.79544888e-02 1.00837434e-01 4.14182462e+01] [-6.74601393e-02 9.97687377e-01 -8.30828888e-03 -1.50611259e+00] [-1.01168821e-01 1.44412959e-03 9.94868225e-01 -5.06783667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438241008 meters 0.062249148728883215 Centerline is valid? [True, True] Translation: X:41.48, Y:-1.50, Z:-5.07 [[ 9.91369624e-01 7.81128997e-02 1.05283635e-01 4.14799418e+01] [-7.76306098e-02 9.96944427e-01 -8.67743206e-03 -1.49835315e+00] [-1.05639753e-01 4.29309751e-04 9.94404374e-01 -5.07068351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498241007999994 meters 0.06230558960278077 Centerline is valid? [True, True] Translation: X:41.54, Y:-1.49, Z:-5.08 [[ 9.90658869e-01 8.51084896e-02 1.06543659e-01 4.15421148e+01] [-8.46551090e-02 9.96371638e-01 -8.77903665e-03 -1.49425975e+00] [-1.06904251e-01 -3.22434551e-04 9.94269268e-01 -5.07769729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.558241007999996 meters 0.0629249699936411 Centerline is valid? [True, True] Translation: X:41.60, Y:-1.49, Z:-5.09 [[ 9.90558276e-01 8.96468860e-02 1.03719515e-01 4.16029511e+01] [-8.92396309e-02 9.95973317e-01 -8.56976068e-03 -1.49185731e+00] [-1.04070122e-01 -7.67043866e-04 9.94569666e-01 -5.08897947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618241008 meters 0.06331206752444324 Centerline is valid? [True, True] Translation: X:41.66, Y:-1.49, Z:-5.10 [[ 9.90718156e-01 8.98176423e-02 1.02031009e-01 4.16638924e+01] [-8.94223262e-02 9.95957944e-01 -8.45108092e-03 -1.49487035e+00] [-1.02377650e-01 -7.51210868e-04 9.94745320e-01 -5.10098889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67824100799999 meters 0.0639703975574377 Centerline is valid? [True, True] Translation: X:41.72, Y:-1.50, Z:-5.12 [[ 9.91557333e-01 8.67520482e-02 9.63749818e-02 4.17232560e+01] [-8.63829618e-02 9.96229858e-01 -8.00333742e-03 -1.50053484e+00] [-9.67059404e-02 -3.89388464e-04 9.95312920e-01 -5.11578972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.738241007999996 meters 0.06383599932932094 Centerline is valid? [True, True] Translation: X:41.78, Y:-1.51, Z:-5.12 [[ 9.92162999e-01 8.10580414e-02 9.50903688e-02 4.17841480e+01] [-8.06708403e-02 9.96709366e-01 -7.91548326e-03 -1.51353330e+00] [-9.54190747e-02 1.82429652e-04 9.95437174e-01 -5.12053095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.798241008 meters 0.0642595431281253 Centerline is valid? [True, True] Translation: X:41.84, Y:-1.53, Z:-5.13 [[ 9.92657175e-01 7.37448666e-02 9.58823588e-02 4.18438193e+01] [-7.33146945e-02 9.97276718e-01 -8.00648812e-03 -1.52893665e+00] [-9.62116815e-02 9.18112045e-04 9.95360472e-01 -5.12717053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85824100799999 meters 0.0649903952133945 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.54, Z:-5.13 [[ 9.93073229e-01 6.43793168e-02 9.82897031e-02 4.19053127e+01] [-6.38800580e-02 9.97923719e-01 -8.22132670e-03 -1.54015713e+00] [-9.86149094e-02 1.88562752e-03 9.95123884e-01 -5.13132510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.918241007999995 meters 0.06457752978442367 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.54, Z:-5.14 [[ 9.93058100e-01 6.35423222e-02 9.89847619e-02 4.19676948e+01] [-6.30316091e-02 9.97977171e-01 -8.28144547e-03 -1.54318372e+00] [-9.93107550e-02 1.98478768e-03 9.95054488e-01 -5.13514895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.978241008 meters 0.0650278696063238 Centerline is valid? [True, True] Translation: X:42.03, Y:-1.55, Z:-5.15 [[ 9.92811700e-01 6.72577350e-02 9.90016409e-02 4.20281257e+01] [-6.67625746e-02 9.97734286e-01 -8.30979180e-03 -1.54727307e+00] [-9.93362293e-02 1.64045409e-03 9.95052573e-01 -5.14729227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03824100799999 meters 0.06422240753667323 Centerline is valid? [True, True] Translation: X:42.09, Y:-1.54, Z:-5.15 [[ 9.92538089e-01 7.38411141e-02 9.70341745e-02 4.20909949e+01] [-7.33944214e-02 9.97269530e-01 -8.16964083e-03 -1.54157458e+00] [-9.73724810e-02 9.86912606e-04 9.95247520e-01 -5.15409899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.098241007999995 meters 0.06418196000117242 Centerline is valid? [True, True] Translation: X:42.15, Y:-1.54, Z:-5.16 [[ 9.92403015e-01 7.70720135e-02 9.58966169e-02 4.21532057e+01] [-7.66504940e-02 9.97025307e-01 -8.07710061e-03 -1.54237246e+00] [-9.62338723e-02 6.65215939e-04 9.95358528e-01 -5.16499038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.158241008 meters 0.06498430099922903 Centerline is valid? [True, True] Translation: X:42.21, Y:-1.55, Z:-5.18 [[ 9.92686317e-01 7.68767069e-02 9.30797980e-02 4.22126564e+01] [-7.64764782e-02 9.97040369e-01 -7.86450844e-03 -1.54854717e+00] [-9.34089137e-02 6.88574769e-04 9.95627591e-01 -5.17802154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21824100799999 meters 0.06484190185440684 Centerline is valid? [True, True] Translation: X:42.27, Y:-1.56, Z:-5.18 [[ 9.92979104e-01 7.33883123e-02 9.27720534e-02 4.22742147e+01] [-7.29737470e-02 9.97302908e-01 -7.85766073e-03 -1.55731331e+00] [-9.30984990e-02 1.03256856e-03 9.95656368e-01 -5.18121115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.278241007999995 meters 0.06500910939363826 Centerline is valid? [True, True] Translation: X:42.34, Y:-1.57, Z:-5.18 [[ 9.93387478e-01 6.68975173e-02 9.33061707e-02 4.23352424e+01] [-6.64473369e-02 9.97758447e-01 -7.92670550e-03 -1.56956597e+00] [-9.36272969e-02 1.67434343e-03 9.95605909e-01 -5.18291039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.338241008 meters 0.06584202976328055 Centerline is valid? [True, True] Translation: X:42.40, Y:-1.58, Z:-5.19 [[ 9.93684147e-01 6.22160106e-02 9.33862110e-02 4.23952624e+01] [-6.17437140e-02 9.98060445e-01 -7.94110291e-03 -1.58051179e+00] [-9.36991471e-02 2.12493657e-03 9.95598290e-01 -5.18823694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39824100799999 meters 0.06647067507377974 Centerline is valid? [True, True] Translation: X:42.46, Y:-1.59, Z:-5.19 [[ 9.93689691e-01 5.67337571e-02 9.67578359e-02 4.24566677e+01] [-5.61987178e-02 9.98385533e-01 -8.24817791e-03 -1.59036772e+00] [-9.70695737e-02 2.75846305e-03 9.95273776e-01 -5.19239026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.458241007999995 meters 0.06603563689484362 Centerline is valid? [True, True] Translation: X:42.52, Y:-1.59, Z:-5.20 [[ 9.93833316e-01 5.87585592e-02 9.40360120e-02 4.25179133e+01] [-5.82604390e-02 9.98269073e-01 -8.03614623e-03 -1.59382032e+00] [-9.43454348e-02 2.50801052e-03 9.95536362e-01 -5.20150483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.518241008 meters 0.06548481219382622 Centerline is valid? [True, True] Translation: X:42.58, Y:-1.59, Z:-5.21 [[ 9.93645672e-01 6.31821612e-02 9.31466162e-02 4.25788746e+01] [-6.27104229e-02 9.97999815e-01 -7.98574248e-03 -1.59421446e+00] [-9.34648622e-02 2.09373477e-03 9.95620377e-01 -5.21164429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57824100799999 meters 0.06415493131663175 Centerline is valid? [True, True] Translation: X:42.64, Y:-1.59, Z:-5.22 [[ 9.93107467e-01 7.26425379e-02 9.19816331e-02 4.26402833e+01] [-7.22227949e-02 9.97357330e-01 -7.88821312e-03 -1.58978890e+00] [-9.23115759e-02 1.19067272e-03 9.95729459e-01 -5.21940610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.638241007999994 meters 0.06359335460817427 Centerline is valid? [True, True] Translation: X:42.70, Y:-1.59, Z:-5.23 [[ 9.92516161e-01 8.09346080e-02 9.14399271e-02 4.27022755e+01] [-8.05550041e-02 9.96719327e-01 -7.84060757e-03 -1.58612016e+00] [-9.17745191e-02 4.15986023e-04 9.95779727e-01 -5.22608823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.698241008 meters 0.06427790718664668 Centerline is valid? [True, True] Translation: X:42.76, Y:-1.58, Z:-5.24 [[ 9.91529991e-01 9.30457357e-02 9.06132918e-02 4.27629564e+01] [-9.27214273e-02 9.95661606e-01 -7.79124865e-03 -1.57738369e+00] [-9.09451181e-02 -6.76537043e-04 9.95855676e-01 -5.23950309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75824100799999 meters 0.06543332093368191 Centerline is valid? [True, True] Translation: X:42.82, Y:-1.57, Z:-5.25 [[ 9.90785342e-01 1.00719858e-01 9.05533842e-02 4.28234447e+01] [-1.00425862e-01 9.94913900e-01 -7.80881680e-03 -1.57295037e+00] [-9.08793236e-02 -1.35704044e-03 9.95860988e-01 -5.24974634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.818241007999994 meters 0.06626004236875184 Centerline is valid? [True, True] Translation: X:42.88, Y:-1.58, Z:-5.26 [[ 9.90590517e-01 1.03666390e-01 8.93515986e-02 4.28832223e+01] [-1.03390988e-01 9.94610849e-01 -7.71765159e-03 -1.57636355e+00] [-8.96701305e-02 -1.59311755e-03 9.95970245e-01 -5.25881042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.878241007999996 meters 0.06671527573369432 Centerline is valid? [True, True] Translation: X:42.94, Y:-1.58, Z:-5.27 [[ 9.90581425e-01 1.05063652e-01 8.78070024e-02 4.29443457e+01] [-1.04802946e-01 9.94464068e-01 -7.58681704e-03 -1.58446485e+00] [-8.81180075e-02 -1.68707246e-03 9.96108614e-01 -5.26710645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938241008 meters 0.0660509571457725 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.59, Z:-5.27 [[ 9.90608745e-01 1.04324600e-01 8.83781210e-02 4.30052095e+01] [-1.04057532e-01 9.94541963e-01 -7.63640592e-03 -1.59219730e+00] [-8.86924149e-02 -1.63171865e-03 9.96057726e-01 -5.27359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.998241007999994 meters 0.06545948616855288 Centerline is valid? [True, True] Translation: X:43.07, Y:-1.61, Z:-5.28 [[ 9.90596863e-01 1.03502879e-01 8.94707170e-02 4.30660698e+01] [-1.03223938e-01 9.94627936e-01 -7.75165551e-03 -1.60595153e+00] [-8.97923933e-02 -1.55675412e-03 9.95959288e-01 -5.27895956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.058241007999996 meters 0.06465763038945307 Centerline is valid? [True, True] Translation: X:43.13, Y:-1.62, Z:-5.28 [[ 9.90628929e-01 1.01309226e-01 9.16011252e-02 4.31268245e+01] [-1.01004943e-01 9.94854051e-01 -7.96360419e-03 -1.61734619e+00] [-9.19365370e-02 -1.36318971e-03 9.95763935e-01 -5.28362608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.118241008 meters 0.06387814564928526 Centerline is valid? [True, True] Translation: X:43.19, Y:-1.63, Z:-5.29 [[ 9.90842331e-01 9.74966219e-02 9.34124383e-02 4.31868888e+01] [-9.71627629e-02 9.95235329e-01 -8.12637024e-03 -1.63252356e+00] [-9.37596523e-02 -1.02425896e-03 9.95594334e-01 -5.28906133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17824100799999 meters 0.0636498705963491 Centerline is valid? [True, True] Translation: X:43.25, Y:-1.65, Z:-5.30 [[ 9.91342586e-01 9.28548307e-02 9.28324193e-02 4.32467621e+01] [-9.25050313e-02 9.95679486e-01 -8.07339909e-03 -1.64572095e+00] [-9.31809897e-02 -5.83961523e-04 9.95649016e-01 -5.29896380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.238241007999996 meters 0.06359901557200823 Centerline is valid? [True, True] Translation: X:43.31, Y:-1.66, Z:-5.31 [[ 9.91744150e-01 9.04787097e-02 9.08688233e-02 4.33072019e+01] [-9.01317591e-02 9.95898334e-01 -7.92297484e-03 -1.65819379e+00] [-9.12129703e-02 -3.32602946e-04 9.95831353e-01 -5.30702087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.298241008 meters 0.06398489629366236 Centerline is valid? [True, True] Translation: X:43.37, Y:-1.67, Z:-5.32 [[ 9.92453550e-01 8.66504811e-02 8.67620075e-02 4.33664345e+01] [-8.63176078e-02 9.96238773e-01 -7.58802888e-03 -1.66806698e+00] [-8.70931822e-02 4.16772552e-05 9.96200169e-01 -5.31760569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35824100799999 meters 0.06425138723791303 Centerline is valid? [True, True] Translation: X:43.43, Y:-1.68, Z:-5.33 [[ 9.92910792e-01 8.12526576e-02 8.67534667e-02 4.34269346e+01] [-8.08988809e-02 9.96693401e-01 -7.59180808e-03 -1.67922760e+00] [-8.70834623e-02 5.19729803e-04 9.96200884e-01 -5.32645221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.418241007999995 meters 0.06459972276857837 Centerline is valid? [True, True] Translation: X:43.49, Y:-1.69, Z:-5.33 [[ 9.93040594e-01 7.84962362e-02 8.77993102e-02 4.34882348e+01] [-7.81212959e-02 9.96914096e-01 -7.70377632e-03 -1.68719406e+00] [-8.81330874e-02 7.91166726e-04 9.96108394e-01 -5.33447132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.478241008 meters 0.06417638509712921 Centerline is valid? [True, True] Translation: X:43.55, Y:-1.70, Z:-5.33 [[ 9.93148399e-01 7.41751621e-02 9.03011825e-02 4.35506348e+01] [-7.37583678e-02 9.97244465e-01 -7.94856683e-03 -1.69651013e+00] [-9.06419407e-02 1.23363859e-03 9.95882783e-01 -5.33495193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53824100799999 meters 0.0642357021017065 Centerline is valid? [True, True] Translation: X:43.61, Y:-1.71, Z:-5.34 [[ 9.93124623e-01 6.92645982e-02 9.43710637e-02 4.36122629e+01] [-6.87867394e-02 9.97596767e-01 -8.31117596e-03 -1.70820974e+00] [-9.47199382e-02 1.76255573e-03 9.95502399e-01 -5.33661954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.598241007999995 meters 0.06534344948215967 Centerline is valid? [True, True] Translation: X:43.67, Y:-1.72, Z:-5.34 [[ 9.93259463e-01 6.37794332e-02 9.67875141e-02 4.36729953e+01] [-6.32484271e-02 9.97961209e-01 -8.54760533e-03 -1.71714846e+00] [-9.71353460e-02 2.36833185e-03 9.95268364e-01 -5.34314718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.658241008 meters 0.06615559091072298 Centerline is valid? [True, True] Translation: X:43.73, Y:-1.72, Z:-5.35 [[ 9.93382816e-01 6.27232362e-02 9.62100658e-02 4.37328353e+01] [-6.21916690e-02 9.98027885e-01 -8.51681729e-03 -1.72276658e+00] [-9.65545309e-02 2.47699538e-03 9.95324614e-01 -5.35351810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71824100799999 meters 0.06566607864596583 Centerline is valid? [True, True] Translation: X:43.80, Y:-1.73, Z:-5.36 [[ 9.93372655e-01 6.21483704e-02 9.66868549e-02 4.37955666e+01] [-6.16069535e-02 9.98063627e-01 -8.57784639e-03 -1.72596254e+00] [-9.70327323e-02 2.56441547e-03 9.95277887e-01 -5.35902952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.778241007999995 meters 0.06567126464049225 Centerline is valid? [True, True] Translation: X:43.86, Y:-1.73, Z:-5.37 [[ 9.93326247e-01 6.26276140e-02 9.68542636e-02 4.38571026e+01] [-6.20840109e-02 9.98033711e-01 -8.61905702e-03 -1.72756208e+00] [-9.72036111e-02 2.54843441e-03 9.95261254e-01 -5.36810868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.838241008 meters 0.06507722133472627 Centerline is valid? [True, True] Translation: X:43.92, Y:-1.73, Z:-5.38 [[ 9.93296408e-01 6.50833802e-02 9.55321948e-02 4.39189179e+01] [-6.45638149e-02 9.97877184e-01 -8.52293597e-03 -1.72695669e+00] [-9.58840990e-02 2.29787875e-03 9.95389853e-01 -5.37557760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89824100799999 meters 0.06457130042072462 Centerline is valid? [True, True] Translation: X:43.98, Y:-1.73, Z:-5.38 [[ 9.92654124e-01 7.12422244e-02 9.77871938e-02 4.39783030e+01] [-7.07248218e-02 9.97457472e-01 -8.75168700e-03 -1.72560570e+00] [-9.81620568e-02 1.77141633e-03 9.95168866e-01 -5.38289458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.958241007999995 meters 0.06390592954870448 Centerline is valid? [True, True] Translation: X:44.04, Y:-1.72, Z:-5.39 [[ 9.92101468e-01 7.71144357e-02 9.89345249e-02 4.40400370e+01] [-7.66131037e-02 9.97021511e-01 -8.86220995e-03 -1.72078036e+00] [-9.93232539e-02 1.21253049e-03 9.95054481e-01 -5.39193905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.018241008 meters 0.06335660443859199 Centerline is valid? [True, True] Translation: X:44.10, Y:-1.71, Z:-5.40 [[ 9.91367735e-01 8.46274154e-02 1.00140969e-01 4.41020228e+01] [-8.41514252e-02 9.96412554e-01 -8.97546073e-03 -1.71489580e+00] [-1.00541288e-01 4.70976952e-04 9.94932775e-01 -5.39844498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07824100799999 meters 0.06320311697647228 Centerline is valid? [True, True] Translation: X:44.16, Y:-1.71, Z:-5.40 [[ 9.90646416e-01 9.05246648e-02 1.02102714e-01 4.41642199e+01] [-9.00610432e-02 9.95894205e-01 -9.15097674e-03 -1.71323381e+00] [-1.02511890e-01 -1.30094586e-04 9.94731771e-01 -5.40356840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.138241007999994 meters 0.06314672803397413 Centerline is valid? [True, True] Translation: X:44.23, Y:-1.72, Z:-5.41 [[ 9.90296371e-01 9.38819080e-02 1.02466016e-01 4.42271757e+01] [-9.34304799e-02 9.95583236e-01 -9.20684307e-03 -1.71576495e+00] [-1.02877804e-01 -4.55945814e-04 9.94693897e-01 -5.40999999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.198241008 meters 0.063284888354207 Centerline is valid? [True, True] Translation: X:44.29, Y:-1.72, Z:-5.42 [[ 9.90081196e-01 9.52931950e-02 1.03239686e-01 4.42881133e+01] [-9.48396500e-02 9.95449080e-01 -9.30426328e-03 -1.71886434e+00] [-1.03656483e-01 -5.79239546e-04 9.94612989e-01 -5.41876144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25824100799999 meters 0.06337898831029494 Centerline is valid? [True, True] Translation: X:44.35, Y:-1.72, Z:-5.43 [[ 9.90041428e-01 9.46803566e-02 1.04180614e-01 4.43493995e+01] [-9.42125530e-02 9.95507601e-01 -9.41330756e-03 -1.72399505e+00] [-1.04603849e-01 -4.95557186e-04 9.94513846e-01 -5.42782624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.318241007999994 meters 0.06333267337852325 Centerline is valid? [True, True] Translation: X:44.41, Y:-1.73, Z:-5.44 [[ 9.90220605e-01 9.35422111e-02 1.03503661e-01 4.44109968e+01] [-9.30718359e-02 9.95615253e-01 -9.37553803e-03 -1.73287005e+00] [-1.03926832e-01 -3.49424816e-04 9.94584884e-01 -5.43510422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.378241007999996 meters 0.06348165179701526 Centerline is valid? [True, True] Translation: X:44.47, Y:-1.74, Z:-5.44 [[ 9.90378718e-01 9.38333432e-02 1.01711837e-01 4.44706461e+01] [-9.33778114e-02 9.95587859e-01 -9.24120537e-03 -1.74038680e+00] [-1.02130204e-01 -3.45335636e-04 9.94770980e-01 -5.44494692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438241008 meters 0.063637914455771 Centerline is valid? [True, True] Translation: X:44.53, Y:-1.75, Z:-5.45 [[ 9.90533327e-01 9.39481801e-02 1.00087295e-01 4.45319074e+01] [-9.35055911e-02 9.95577034e-01 -9.11450576e-03 -1.74662725e+00] [-1.00500903e-01 -3.30499947e-04 9.94936912e-01 -5.45349071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.498241007999994 meters 0.06374723041824974 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.75, Z:-5.46 [[ 9.90539960e-01 9.51299567e-02 9.88983245e-02 4.45931467e+01] [-9.47015132e-02 9.95464772e-01 -9.02833810e-03 -1.75227753e+00] [-9.93086635e-02 -4.22891331e-04 9.95056587e-01 -5.46190851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.558241007999996 meters 0.06434204634286822 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.76, Z:-5.47 [[ 9.90343005e-01 9.76570844e-02 9.84064375e-02 4.46532133e+01] [-9.72428185e-02 9.95219913e-01 -9.00886172e-03 -1.75621166e+00] [-9.88158253e-02 -6.47456155e-04 9.95105529e-01 -5.47365452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618241008 meters 0.0642055392239774 Centerline is valid? [True, True] Translation: X:44.72, Y:-1.77, Z:-5.48 [[ 9.89965682e-01 1.00775052e-01 9.90572414e-02 4.47156809e+01] [-1.00369902e-01 9.94908778e-01 -9.07783886e-03 -1.76541761e+00] [-9.94677386e-02 -9.55616642e-04 9.95040329e-01 -5.47894918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67824100799999 meters 0.06459781027205122 Centerline is valid? [True, True] Translation: X:44.78, Y:-1.77, Z:-5.49 [[ 9.89732940e-01 1.03744981e-01 9.83142257e-02 4.47769216e+01] [-1.03357808e-01 9.94603186e-01 -9.03695119e-03 -1.76885254e+00] [-9.87211804e-02 -1.21737461e-03 9.95114389e-01 -5.48930401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.738241007999996 meters 0.06508656441305395 Centerline is valid? [True, True] Translation: X:44.84, Y:-1.78, Z:-5.50 [[ 9.90031793e-01 1.02412693e-01 9.66886227e-02 4.48363438e+01] [-1.02029455e-01 9.94741452e-01 -8.91259321e-03 -1.78174955e+00] [-9.70929436e-02 -1.04133685e-03 9.95274774e-01 -5.50157404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.798241008 meters 0.06410341615910678 Centerline is valid? [True, True] Translation: X:44.90, Y:-1.80, Z:-5.50 [[ 9.90371360e-01 9.75578913e-02 9.82192761e-02 4.48972929e+01] [-9.71375468e-02 9.95229692e-01 -9.06406338e-03 -1.79972697e+00] [-9.86350108e-02 -5.63990752e-04 9.95123518e-01 -5.50329125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85824100799999 meters 0.06414759506975967 Centerline is valid? [True, True] Translation: X:44.96, Y:-1.81, Z:-5.51 [[ 9.90571402e-01 9.51888843e-02 9.85260027e-02 4.49574024e+01] [-9.47518984e-02 9.95459182e-01 -9.11564520e-03 -1.81100243e+00] [-9.89463221e-02 -3.05828349e-04 9.95092725e-01 -5.51329841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.918241007999995 meters 0.06388945540750655 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.83, Z:-5.52 [[ 9.91066407e-01 9.04710534e-02 9.79916594e-02 4.50172418e+01] [-9.00135288e-02 9.95899068e-01 -9.08907084e-03 -1.82686368e+00] [-9.84121001e-02 1.87297725e-04 9.95145730e-01 -5.52039020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.978241008 meters 0.06346212006285122 Centerline is valid? [True, True] Translation: X:45.08, Y:-1.83, Z:-5.53 [[ 9.90897002e-01 9.20477224e-02 9.82361893e-02 4.50793229e+01] [-9.15936818e-02 9.95754595e-01 -9.13144071e-03 -1.83114472e+00] [-9.86596652e-02 5.05029686e-05 9.95121233e-01 -5.52646697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03824100799999 meters 0.06363317477133847 Centerline is valid? [True, True] Translation: X:45.14, Y:-1.84, Z:-5.54 [[ 9.90961134e-01 9.18160869e-02 9.78051013e-02 4.51408634e+01] [-9.13624408e-02 9.95775977e-01 -9.11635277e-03 -1.83565278e+00] [-9.82289981e-02 9.82385098e-05 9.95163833e-01 -5.53868341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.098241007999995 meters 0.06335936041884613 Centerline is valid? [True, True] Translation: X:45.20, Y:-1.84, Z:-5.54 [[ 9.90939708e-01 9.15468631e-02 9.82734339e-02 4.52018665e+01] [-9.10849713e-02 9.95800758e-01 -9.18580721e-03 -1.84335234e+00] [-9.87016917e-02 1.51348208e-04 9.95117055e-01 -5.54485403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.158241008 meters 0.06304560921572973 Centerline is valid? [True, True] Translation: X:45.26, Y:-1.85, Z:-5.55 [[ 9.91061675e-01 9.06517546e-02 9.78724444e-02 4.52630933e+01] [-9.01871885e-02 9.95882619e-01 -9.16949254e-03 -1.85030223e+00] [-9.83006969e-02 2.60692043e-04 9.95156724e-01 -5.54988282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21824100799999 meters 0.06297071575954885 Centerline is valid? [True, True] Translation: X:45.32, Y:-1.86, Z:-5.56 [[ 9.91403259e-01 8.74180490e-02 9.73532901e-02 4.53240880e+01] [-8.69406690e-02 9.96171533e-01 -9.14308472e-03 -1.86004432e+00] [-9.77798469e-02 6.00523822e-04 9.95207888e-01 -5.55783521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.278241007999995 meters 0.06290639396057306 Centerline is valid? [True, True] Translation: X:45.39, Y:-1.86, Z:-5.57 [[ 9.91373682e-01 8.83425771e-02 9.68184422e-02 4.53850354e+01] [-8.78727217e-02 9.96090011e-01 -9.11453347e-03 -1.86476788e+00] [-9.72450846e-02 5.28208589e-04 9.95260325e-01 -5.56919821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.338241008 meters 0.06253904590138014 Centerline is valid? [True, True] Translation: X:45.45, Y:-1.87, Z:-5.58 [[ 9.91399408e-01 8.81173295e-02 9.67602726e-02 4.54469307e+01] [-8.76447283e-02 9.96109938e-01 -9.13201085e-03 -1.87169084e+00] [-9.71885575e-02 5.72942342e-04 9.95265822e-01 -5.57506122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39824100799999 meters 0.062275006645843234 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.88, Z:-5.58 [[ 9.91395457e-01 8.77899033e-02 9.70977929e-02 4.55089622e+01] [-8.73099768e-02 9.96138812e-01 -9.18883642e-03 -1.87716996e+00] [-9.75295671e-02 6.32164640e-04 9.95232427e-01 -5.58071663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.458241007999995 meters 0.06234886913028669 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.88, Z:-5.59 [[ 9.91336307e-01 8.76174446e-02 9.78545385e-02 4.55695153e+01] [-8.71265155e-02 9.96153964e-01 -9.28711746e-03 -1.88090485e+00] [-9.82918999e-02 6.80931751e-04 9.95157394e-01 -5.59096330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.518241008 meters 0.0621600691033934 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.88, Z:-5.60 [[ 9.91608821e-01 8.82701955e-02 9.44474349e-02 4.56305635e+01] [-8.78141454e-02 9.96096379e-01 -8.98214923e-03 -1.88488209e+00] [-9.48716041e-02 6.12957636e-04 9.95489328e-01 -5.59734256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57824100799999 meters 0.06215772623541414 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.89, Z:-5.60 [[ 9.91567971e-01 8.83403685e-02 9.48100146e-02 4.56918309e+01] [-8.78791975e-02 9.96090149e-01 -9.03673840e-03 -1.89005053e+00] [-9.52376303e-02 6.28712368e-04 9.95454368e-01 -5.60497603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.638241007999994 meters 0.061738445648322884 Centerline is valid? [True, True] Translation: X:45.75, Y:-1.90, Z:-5.61 [[ 9.91763214e-01 8.63347017e-02 9.46152521e-02 4.57532377e+01] [-8.58642696e-02 9.96265834e-01 -9.03965852e-03 -1.89642034e+00] [-9.50423792e-02 8.41131276e-04 9.95472872e-01 -5.60895895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.698241008 meters 0.061946483155058185 Centerline is valid? [True, True] Translation: X:45.81, Y:-1.90, Z:-5.62 [[ 9.92023744e-01 8.31838369e-02 9.47066080e-02 4.58143635e+01] [-8.26960122e-02 9.96533536e-01 -9.07091444e-03 -1.90290010e+00] [-9.51328644e-02 1.16670369e-03 9.95463900e-01 -5.61722643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75824100799999 meters 0.06259944210965322 Centerline is valid? [True, True] Translation: X:45.87, Y:-1.92, Z:-5.63 [[ 9.92250004e-01 7.81485230e-02 9.66061000e-02 4.58735729e+01] [-7.76145553e-02 9.96940263e-01 -9.27856882e-03 -1.91558404e+00] [-9.70356173e-02 1.70862045e-03 9.95279443e-01 -5.62557910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.818241007999994 meters 0.06219845136662234 Centerline is valid? [True, True] Translation: X:45.94, Y:-1.92, Z:-5.63 [[ 9.92394653e-01 7.59966860e-02 9.68367534e-02 4.59352334e+01] [-7.54490197e-02 9.97106196e-01 -9.31012989e-03 -1.92088135e+00] [-9.72640659e-02 1.93308500e-03 9.95256733e-01 -5.63018761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.878241007999996 meters 0.06210025068360673 Centerline is valid? [True, True] Translation: X:46.00, Y:-1.92, Z:-5.64 [[ 9.92570868e-01 7.67208245e-02 9.44298037e-02 4.59969088e+01] [-7.62013973e-02 9.97050923e-01 -9.09968797e-03 -1.92314817e+00] [-9.48494585e-02 1.83640219e-03 9.95489934e-01 -5.63903856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.938241008 meters 0.06179956490910366 Centerline is valid? [True, True] Translation: X:46.06, Y:-1.93, Z:-5.65 [[ 9.92724244e-01 7.71890527e-02 9.24144223e-02 4.60587416e+01] [-7.66917487e-02 9.97014897e-01 -8.92584933e-03 -1.92554250e+00] [-9.28275336e-02 1.77348338e-03 9.95680623e-01 -5.64679523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.998241007999994 meters 0.06170080510659606 Centerline is valid? [True, True] Translation: X:46.12, Y:-1.93, Z:-5.66 [[ 9.92506345e-01 8.06669454e-02 9.17823486e-02 4.61189238e+01] [-8.01892829e-02 9.96740043e-01 -8.88626844e-03 -1.92643333e+00] [-9.21999702e-02 1.45971709e-03 9.95739441e-01 -5.65656054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.058241007999996 meters 0.06100732424229072 Centerline is valid? [True, True] Translation: X:46.18, Y:-1.92, Z:-5.66 [[ 9.92032999e-01 8.40806369e-02 9.38135096e-02 4.61793317e+01] [-8.35943735e-02 9.96458239e-01 -9.10813647e-03 -1.92481050e+00] [-9.42470625e-02 1.19329038e-03 9.95548124e-01 -5.66391408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118241008 meters 0.05987037192515507 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.92, Z:-5.67 [[ 9.91332891e-01 9.14309629e-02 9.43370443e-02 4.62415918e+01] [-9.09723244e-02 9.95811293e-01 -9.16000712e-03 -1.91896266e+00] [-9.47794023e-02 4.98556138e-04 9.95498175e-01 -5.66629288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17824100799999 meters 0.059397093587247596 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.92, Z:-5.67 [[ 9.90454441e-01 9.86497523e-02 9.62716330e-02 4.63030831e+01] [-9.82061660e-02 9.95122197e-01 -9.34673131e-03 -1.91887820e+00] [-9.67240917e-02 -1.96956445e-04 9.95311213e-01 -5.66988867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.238241007999996 meters 0.05938329727049377 Centerline is valid? [True, True] Translation: X:46.36, Y:-1.92, Z:-5.68 [[ 9.90205573e-01 1.01467432e-01 9.59024675e-02 4.63644591e+01] [-1.01038579e-01 9.94838759e-01 -9.33000504e-03 -1.92172372e+00] [-9.63541834e-02 -4.51226033e-04 9.95347009e-01 -5.67662272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.298241008 meters 0.05983879965835077 Centerline is valid? [True, True] Translation: X:46.42, Y:-1.93, Z:-5.69 [[ 9.90221480e-01 1.01982004e-01 9.51897633e-02 4.64239955e+01] [-1.01559769e-01 9.94786130e-01 -9.28270138e-03 -1.92534183e+00] [-9.56401247e-02 -4.75520106e-04 9.95415863e-01 -5.69122899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35824100799999 meters 0.05974405879915386 Centerline is valid? [True, True] Translation: X:46.48, Y:-1.94, Z:-5.70 [[ 9.90528549e-01 1.01450664e-01 9.25254410e-02 4.64849382e+01] [-1.01047332e-01 9.94840495e-01 -9.04574845e-03 -1.93741052e+00] [-9.29657527e-02 -3.89376826e-04 9.95669231e-01 -5.69854086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.418241007999995 meters 0.05926121877892307 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.95, Z:-5.70 [[ 9.90493422e-01 1.01753265e-01 9.25691892e-02 4.65462517e+01] [-1.01350833e-01 9.94809579e-01 -9.05041418e-03 -1.95131655e+00] [-9.30096254e-02 -4.17588737e-04 9.95665122e-01 -5.70331665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.478241008 meters 0.05918451301434073 Centerline is valid? [True, True] Translation: X:46.61, Y:-1.96, Z:-5.71 [[ 9.90498058e-01 1.00326824e-01 9.40644735e-02 4.66072860e+01] [-9.99022953e-02 9.94954501e-01 -9.22341435e-03 -1.96193595e+00] [-9.45152273e-02 -2.61482814e-04 9.95523382e-01 -5.71146494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53824100799999 meters 0.059091203443217964 Centerline is valid? [True, True] Translation: X:46.67, Y:-1.97, Z:-5.72 [[ 9.90518260e-01 9.70186037e-02 9.72674984e-02 4.66676807e+01] [-9.65459145e-02 9.95282565e-01 -9.56571684e-03 -1.97418461e+00] [-9.77366977e-02 8.42376184e-05 9.95212304e-01 -5.71757040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.598241007999995 meters 0.05913992301457063 Centerline is valid? [True, True] Translation: X:46.73, Y:-1.98, Z:-5.73 [[ 9.90632857e-01 9.59210304e-02 9.71889868e-02 4.67281559e+01] [-9.54440149e-02 9.95388929e-01 -9.55617034e-03 -1.98457745e+00] [-9.76574791e-02 1.90549219e-04 9.95220066e-01 -5.72677741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.658241008 meters 0.05951522452928052 Centerline is valid? [True, True] Translation: X:46.79, Y:-1.99, Z:-5.74 [[ 9.90553644e-01 9.91557676e-02 9.47185959e-02 4.67894454e+01] [-9.87152976e-02 9.95071919e-01 -9.33630932e-03 -1.98944521e+00] [-9.51775639e-02 -1.02059171e-04 9.95460306e-01 -5.73570748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71824100799999 meters 0.059524548171694516 Centerline is valid? [True, True] Translation: X:46.85, Y:-1.99, Z:-5.74 [[ 9.90343865e-01 1.00680769e-01 9.53016886e-02 4.68505712e+01] [-1.00239762e-01 9.94918756e-01 -9.41591125e-03 -1.99440467e+00] [-9.57654386e-02 -2.28028623e-04 9.95403902e-01 -5.74313053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.778241007999995 meters 0.05974529086826242 Centerline is valid? [True, True] Translation: X:46.91, Y:-2.00, Z:-5.75 [[ 9.90102951e-01 1.01688559e-01 9.67242681e-02 4.69111464e+01] [-1.01236773e-01 9.94816236e-01 -9.57982248e-03 -1.99505477e+00] [-9.71970306e-02 -3.07042311e-04 9.95265112e-01 -5.75383008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.838241008 meters 0.05972451968386077 Centerline is valid? [True, True] Translation: X:46.97, Y:-2.00, Z:-5.76 [[ 9.89776914e-01 1.03085237e-01 9.85651808e-02 4.69728454e+01] [-1.02620896e-01 9.94672432e-01 -9.78286296e-03 -2.00098884e+00] [-9.90485369e-02 -4.31995241e-04 9.95082510e-01 -5.75711772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89824100799999 meters 0.05972390446669491 Centerline is valid? [True, True] Translation: X:47.03, Y:-2.01, Z:-5.76 [[ 9.89460401e-01 1.05040309e-01 9.96727115e-02 4.70347704e+01] [-1.04572957e-01 9.94467777e-01 -9.91647407e-03 -2.00627820e+00] [-1.00162929e-01 -6.11111809e-04 9.94970861e-01 -5.76298912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.958241007999995 meters 0.05982461760616288 Centerline is valid? [True, True] Translation: X:47.10, Y:-2.01, Z:-5.77 [[ 9.89457188e-01 1.05504411e-01 9.92133645e-02 4.70959563e+01] [-1.05041361e-01 9.94418634e-01 -9.89405685e-03 -2.01241876e+00] [-9.97034850e-02 -6.31761182e-04 9.95016993e-01 -5.77072505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.018241008 meters 0.05972455049266105 Centerline is valid? [True, True] Translation: X:47.16, Y:-2.03, Z:-5.78 [[ 9.90208169e-01 9.92469596e-02 9.81724122e-02 4.71565469e+01] [-9.87606842e-02 9.95062832e-01 -9.81257743e-03 -2.02723764e+00] [-9.86615871e-02 2.09197260e-05 9.95121043e-01 -5.77928999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07824100799999 meters 0.06001393185418876 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.04, Z:-5.79 [[ 9.90716981e-01 9.52189726e-02 9.70217068e-02 4.72168559e+01] [-9.47224155e-02 9.95456253e-01 -9.72170370e-03 -2.03719372e+00] [-9.75065554e-02 4.41326508e-04 9.95234785e-01 -5.79059229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.138241007999994 meters 0.06020378240910381 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.04, Z:-5.80 [[ 9.90647394e-01 9.75751070e-02 9.53773564e-02 4.72784603e+01] [-9.71041216e-02 9.95228138e-01 -9.57823893e-03 -2.04013075e+00] [-9.58568265e-02 2.27123020e-04 9.95395106e-01 -5.79976081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.198241008 meters 0.0598792824995441 Centerline is valid? [True, True] Translation: X:47.34, Y:-2.04, Z:-5.80 [[ 9.90205957e-01 1.00886872e-01 9.65090757e-02 4.73408737e+01] [-1.00417853e-01 9.94897901e-01 -9.71702618e-03 -2.04405293e+00] [-9.69969972e-02 -6.93769827e-05 9.95284672e-01 -5.80378713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25824100799999 meters 0.059628045615807236 Centerline is valid? [True, True] Translation: X:47.40, Y:-2.05, Z:-5.81 [[ 9.89771968e-01 1.02782787e-01 9.89300245e-02 4.74018336e+01] [-1.02298244e-01 9.94703793e-01 -9.97163611e-03 -2.04929794e+00] [-9.94309832e-02 -2.50721877e-04 9.95044430e-01 -5.80855574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.318241007999994 meters 0.05945575051465385 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.05, Z:-5.81 [[ 9.89401907e-01 1.03526256e-01 1.01814446e-01 4.74641318e+01] [-1.03014414e-01 9.94626673e-01 -1.02865304e-02 -2.05336925e+00] [-1.02332289e-01 -3.10842649e-04 9.94750223e-01 -5.81475578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.378241007999996 meters 0.059500506060714047 Centerline is valid? [True, True] Translation: X:47.53, Y:-2.06, Z:-5.82 [[ 9.89255326e-01 1.03396271e-01 1.03359136e-01 4.75252655e+01] [-1.02866876e-01 9.94640200e-01 -1.04536707e-02 -2.05953361e+00] [-1.03886022e-01 -2.90881983e-04 9.94589166e-01 -5.82170395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438241008 meters 0.059349093110681816 Centerline is valid? [True, True] Translation: X:47.59, Y:-2.07, Z:-5.83 [[ 9.89662908e-01 9.94474444e-02 1.03332152e-01 4.75864616e+01] [-9.88944601e-02 9.95042805e-01 -1.04738462e-02 -2.07192255e+00] [-1.03861511e-01 1.46599750e-04 9.94591758e-01 -5.82737696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.498241007999994 meters 0.05940753536015243 Centerline is valid? [True, True] Translation: X:47.65, Y:-2.09, Z:-5.84 [[ 9.90235588e-01 9.42642621e-02 1.02702134e-01 4.76473044e+01] [-9.36872263e-02 9.95546954e-01 -1.04386670e-02 -2.08534205e+00] [-1.03228790e-01 7.14861486e-04 9.94657381e-01 -5.83534689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.558241007999996 meters 0.060278039590307184 Centerline is valid? [True, True] Translation: X:47.71, Y:-2.10, Z:-5.85 [[ 9.91038103e-01 8.78034253e-02 1.00667951e-01 4.77071184e+01] [-8.72130974e-02 9.96136855e-01 -1.02587293e-02 -2.09858912e+00] [-1.01179808e-01 1.38722780e-03 9.94867188e-01 -5.84575287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618241008 meters 0.061074248348943504 Centerline is valid? [True, True] Translation: X:47.77, Y:-2.11, Z:-5.86 [[ 9.91329839e-01 8.60422144e-02 9.93070329e-02 4.77682601e+01] [-8.54587801e-02 9.96290290e-01 -1.01219825e-02 -2.10540586e+00] [-9.98095504e-02 1.54756537e-03 9.95005356e-01 -5.85632839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67824100799999 meters 0.06124459128561607 Centerline is valid? [True, True] Translation: X:47.83, Y:-2.11, Z:-5.86 [[ 9.91459188e-01 8.51112917e-02 9.88167303e-02 4.78295817e+01] [-8.45267737e-02 9.96370075e-01 -1.00944210e-02 -2.11161190e+00] [-9.93171822e-02 1.65554710e-03 9.95054449e-01 -5.86340758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.738241007999996 meters 0.061334707975765575 Centerline is valid? [True, True] Translation: X:47.89, Y:-2.12, Z:-5.87 [[ 9.91524562e-01 8.56021192e-02 9.77308554e-02 4.78911483e+01] [-8.50306177e-02 9.96328100e-01 -1.00055485e-02 -2.11652436e+00] [-9.82284937e-02 1.61063214e-03 9.95162584e-01 -5.87120745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.798241008 meters 0.0619149299624523 Centerline is valid? [True, True] Translation: X:47.95, Y:-2.12, Z:-5.88 [[ 9.91548098e-01 8.68829051e-02 9.63521105e-02 4.79510457e+01] [-8.63311074e-02 9.96217421e-01 -9.88891910e-03 -2.12181263e+00] [-9.68468290e-02 1.48715453e-03 9.95298187e-01 -5.88252335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85824100799999 meters 0.061202073070789904 Centerline is valid? [True, True] Translation: X:48.01, Y:-2.12, Z:-5.89 [[ 9.91042539e-01 9.34573057e-02 9.53961066e-02 4.80140990e+01] [-9.29455548e-02 9.95622926e-01 -9.80372811e-03 -2.11800516e+00] [-9.58947808e-02 8.49267545e-04 9.95391114e-01 -5.88771031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.918241007999995 meters 0.06108896462790213 Centerline is valid? [True, True] Translation: X:48.08, Y:-2.12, Z:-5.90 [[ 9.90347527e-01 9.93692833e-02 9.66308495e-02 4.80753684e+01] [-9.88717696e-02 9.95050584e-01 -9.93524106e-03 -2.11646413e+00] [-9.71398410e-02 2.85278323e-04 9.95270702e-01 -5.89678805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.978241008 meters 0.06114141048630897 Centerline is valid? [True, True] Translation: X:48.14, Y:-2.12, Z:-5.90 [[ 9.89574762e-01 1.05375885e-01 9.81718554e-02 4.81372015e+01] [-1.04889507e-01 9.94432422e-01 -1.01168245e-02 -2.11671557e+00] [-9.86913452e-02 -2.85843326e-04 9.95118052e-01 -5.90339918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03824100799999 meters 0.06095783929466093 Centerline is valid? [True, True] Translation: X:48.20, Y:-2.12, Z:-5.91 [[ 9.89112451e-01 1.07957552e-01 1.00008628e-01 4.81991019e+01] [-1.07463568e-01 9.94155363e-01 -1.03293768e-02 -2.12305749e+00] [-1.00539249e-01 -5.30368802e-04 9.94932952e-01 -5.90593282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.098241007999995 meters 0.061076973976385986 Centerline is valid? [True, True] Translation: X:48.26, Y:-2.13, Z:-5.91 [[ 9.88947878e-01 1.08840601e-01 1.00676797e-01 4.82602785e+01] [-1.08342163e-01 9.94059034e-01 -1.04217745e-02 -2.12990667e+00] [-1.01212992e-01 -6.00950193e-04 9.94864598e-01 -5.91393537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.158241008 meters 0.06141039906300994 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.14, Z:-5.93 [[ 9.89369720e-01 1.06148747e-01 9.93981922e-02 4.83197903e+01] [-1.05647070e-01 9.94350217e-01 -1.03122334e-02 -2.13955748e+00] [-9.99312446e-02 -2.98516271e-04 9.94994300e-01 -5.92642435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21824100799999 meters 0.06145242261111057 Centerline is valid? [True, True] Translation: X:48.38, Y:-2.15, Z:-5.93 [[ 9.89801786e-01 1.03979916e-01 9.73683807e-02 4.83804830e+01] [-1.03486166e-01 9.94579395e-01 -1.01212559e-02 -2.15221461e+00] [-9.78929925e-02 -5.82431996e-05 9.95196945e-01 -5.93457543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.278241007999995 meters 0.06159075832382236 Centerline is valid? [True, True] Translation: X:48.44, Y:-2.17, Z:-5.94 [[ 9.90388139e-01 9.93269804e-02 9.62573876e-02 4.84400996e+01] [-9.88201959e-02 9.95054759e-01 -1.00297197e-02 -2.17037454e+00] [-9.67775935e-02 4.21141515e-04 9.95305943e-01 -5.94053125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.338241008 meters 0.06185733436666669 Centerline is valid? [True, True] Translation: X:48.50, Y:-2.18, Z:-5.95 [[ 9.90586028e-01 9.74512488e-02 9.61383157e-02 4.85008517e+01] [-9.69360650e-02 9.95240111e-01 -1.00259725e-02 -2.17799092e+00] [-9.66577516e-02 6.12318241e-04 9.95317489e-01 -5.95043271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39824100799999 meters 0.062382547449996675 Centerline is valid? [True, True] Translation: X:48.56, Y:-2.18, Z:-5.96 [[ 9.90553037e-01 9.76369579e-02 9.62896974e-02 4.85616011e+01] [-9.71189901e-02 9.95221907e-01 -1.00626442e-02 -2.18165874e+00] [-9.68121022e-02 6.16024568e-04 9.95302485e-01 -5.96130401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.458241007999995 meters 0.06267109174586992 Centerline is valid? [True, True] Translation: X:48.62, Y:-2.19, Z:-5.97 [[ 9.90960506e-01 9.51381487e-02 9.45833413e-02 4.86211291e+01] [-9.46249277e-02 9.95463701e-01 -9.90668563e-03 -2.19442237e+00] [-9.50967867e-02 8.67192367e-04 9.95467653e-01 -5.96692233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.518241008 meters 0.06306720505412801 Centerline is valid? [True, True] Translation: X:48.68, Y:-2.20, Z:-5.98 [[ 9.91201040e-01 9.41072870e-02 9.30823146e-02 4.86819562e+01] [-9.36040713e-02 9.95561591e-01 -9.76713460e-03 -2.20142464e+00] [-9.35883357e-02 9.68310358e-04 9.95610509e-01 -5.97533271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57824100799999 meters 0.0632689901983789 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.20, Z:-5.98 [[ 9.91660342e-01 9.24282858e-02 8.98152476e-02 4.87423257e+01] [-9.19511900e-02 9.95718729e-01 -9.44412819e-03 -2.20355153e+00] [-9.03036287e-02 1.10674849e-03 9.95913666e-01 -5.98223614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.638241007999994 meters 0.06376772802563417 Centerline is valid? [True, True] Translation: X:48.80, Y:-2.21, Z:-5.99 [[ 9.91880613e-01 9.02737579e-02 8.95739782e-02 4.88026015e+01] [-8.97894482e-02 9.95916126e-01 -9.42995223e-03 -2.21197904e+00] [-9.00594466e-02 1.31058873e-03 9.95935529e-01 -5.99144135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.698241008 meters 0.0640126748182699 Centerline is valid? [True, True] Translation: X:48.86, Y:-2.23, Z:-5.99 [[ 9.92118972e-01 8.57218908e-02 9.13876484e-02 4.88624140e+01] [-8.51966200e-02 9.96317516e-01 -9.64067104e-03 -2.22650116e+00] [-9.18775315e-02 1.77877389e-03 9.95768726e-01 -5.99319347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75824100799999 meters 0.06426902090943876 Centerline is valid? [True, True] Translation: X:48.92, Y:-2.23, Z:-6.00 [[ 9.92095297e-01 8.58452918e-02 9.15287203e-02 4.89243490e+01] [-8.53172865e-02 9.96306875e-01 -9.67320179e-03 -2.22790006e+00] [-9.20210922e-02 1.78775595e-03 9.95755453e-01 -6.00286856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.818241007999994 meters 0.0642152183249786 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.23, Z:-6.01 [[ 9.91930077e-01 8.84761022e-02 9.08113507e-02 4.89852138e+01] [-8.79651647e-02 9.96077085e-01 -9.62132360e-03 -2.22794129e+00] [-9.13063628e-02 1.55544484e-03 9.95821635e-01 -6.01375676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.878241007999996 meters 0.06419672073274468 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.23, Z:-6.02 [[ 9.91727056e-01 8.98744050e-02 9.16517145e-02 4.90456563e+01] [-8.93581758e-02 9.95952039e-01 -9.72896308e-03 -2.23339266e+00] [-9.21550967e-02 1.45864589e-03 9.95743597e-01 -6.02090930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.938241008 meters 0.06379644994190295 Centerline is valid? [True, True] Translation: X:49.11, Y:-2.24, Z:-6.02 [[ 9.91525910e-01 9.05843137e-02 9.31174104e-02 4.91081146e+01] [-9.00524498e-02 9.95887753e-01 -9.90654036e-03 -2.23999094e+00] [-9.36318657e-02 1.43714052e-03 9.95605850e-01 -6.02366507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.998241007999994 meters 0.0636840458824613 Centerline is valid? [True, True] Translation: X:49.17, Y:-2.25, Z:-6.03 [[ 9.91507036e-01 9.01214310e-02 9.37652644e-02 4.91695836e+01] [-8.95797237e-02 9.95929663e-01 -9.97896256e-03 -2.24610305e+00] [-9.42829265e-02 1.49474512e-03 9.95544321e-01 -6.03168364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.058241007999996 meters 0.06305804922839077 Centerline is valid? [True, True] Translation: X:49.23, Y:-2.25, Z:-6.04 [[ 9.91989990e-01 8.81702061e-02 9.04537143e-02 4.92307802e+01] [-8.76561783e-02 9.96104071e-01 -9.64747291e-03 -2.24734603e+00] [-9.09519327e-02 1.64136965e-03 9.95853931e-01 -6.03568689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.118241008 meters 0.06421897761468483 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.26, Z:-6.05 [[ 9.92592762e-01 8.37113492e-02 8.80455487e-02 4.92889200e+01] [-8.32057666e-02 9.96488023e-01 -9.40325981e-03 -2.26014542e+00] [-8.85234943e-02 2.00771025e-03 9.96072066e-01 -6.04534261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17824100799999 meters 0.06450905347035632 Centerline is valid? [True, True] Translation: X:49.35, Y:-2.27, Z:-6.05 [[ 9.92789993e-01 8.07813706e-02 8.85573270e-02 4.93502513e+01] [-8.02588579e-02 9.96729247e-01 -9.45109503e-03 -2.27014089e+00] [-8.90311503e-02 2.27544264e-03 9.96026243e-01 -6.05025458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.238241007999996 meters 0.06522269718199405 Centerline is valid? [True, True] Translation: X:49.41, Y:-2.28, Z:-6.06 [[ 9.92755321e-01 7.87572669e-02 9.07423028e-02 4.94103074e+01] [-7.81981539e-02 9.96890587e-01 -9.70599816e-03 -2.28038981e+00] [-9.12245654e-02 2.53980076e-03 9.95827108e-01 -6.05600696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.298241008 meters 0.06454609352053749 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.29, Z:-6.06 [[ 9.92674938e-01 7.80140634e-02 9.22511462e-02 4.94723573e+01] [-7.74312085e-02 9.96948682e-01 -9.88603032e-03 -2.28565801e+00] [-9.27409080e-02 2.67049679e-03 9.95686694e-01 -6.06142755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35824100799999 meters 0.06461689259029399 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.29, Z:-6.07 [[ 9.92211962e-01 8.36793940e-02 9.22669001e-02 4.95323790e+01] [-8.31182383e-02 9.96490370e-01 -9.91471468e-03 -2.28709503e+00] [-9.27727347e-02 2.16843632e-03 9.95684949e-01 -6.07337993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.418241007999995 meters 0.0629298229329947 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.28, Z:-6.08 [[ 9.91624293e-01 9.01881707e-02 9.24519047e-02 4.95946823e+01] [-8.96528050e-02 9.95923514e-01 -9.93619973e-03 -2.28422027e+00] [-9.29711535e-02 1.56440446e-03 9.95667574e-01 -6.07846111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.478241008 meters 0.062199480864391456 Centerline is valid? [True, True] Translation: X:49.66, Y:-2.28, Z:-6.09 [[ 9.90523169e-01 1.02628716e-01 9.12754003e-02 4.96556162e+01] [-1.02159157e-01 9.94719654e-01 -9.81413000e-03 -2.27825386e+00] [-9.18006462e-02 3.96505179e-04 9.95777327e-01 -6.08788185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53824100799999 meters 0.0625550155741755 Centerline is valid? [True, True] Translation: X:49.72, Y:-2.27, Z:-6.10 [[ 9.89693009e-01 1.10152385e-01 9.15106571e-02 4.97172240e+01] [-1.09712532e-01 9.93914665e-01 -9.83869300e-03 -2.27445849e+00] [-9.20375396e-02 -3.02580214e-04 9.95755492e-01 -6.09861567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.598241007999995 meters 0.06351930478794679 Centerline is valid? [True, True] Translation: X:49.78, Y:-2.27, Z:-6.11 [[ 9.88636509e-01 1.18217404e-01 9.28574083e-02 4.97788237e+01] [-1.17797934e-01 9.92987185e-01 -1.00049029e-02 -2.27109024e+00] [-9.33889701e-02 -1.04719851e-03 9.95629150e-01 -6.10876719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.658241008 meters 0.06418419698311537 Centerline is valid? [True, True] Translation: X:49.84, Y:-2.28, Z:-6.11 [[ 9.88290322e-01 1.21884788e-01 9.17950836e-02 4.98404101e+01] [-1.21488336e-01 9.92543333e-01 -9.91542247e-03 -2.27754630e+00] [-9.23191375e-02 -1.35271593e-03 9.95728551e-01 -6.11436212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71824100799999 meters 0.0653241561326107 Centerline is valid? [True, True] Translation: X:49.90, Y:-2.28, Z:-6.12 [[ 9.87804986e-01 1.25962060e-01 9.15143066e-02 4.99010793e+01] [-1.25585325e-01 9.92033557e-01 -9.88676220e-03 -2.28082088e+00] [-9.20306200e-02 -1.72666094e-03 9.95754680e-01 -6.12412914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.778241007999995 meters 0.06493722677690549 Centerline is valid? [True, True] Translation: X:49.96, Y:-2.29, Z:-6.13 [[ 9.88166900e-01 1.23638736e-01 9.07724713e-02 4.99611667e+01] [-1.23256648e-01 9.92326193e-01 -9.82474617e-03 -2.29443641e+00] [-9.12906200e-02 -1.47982155e-03 9.95823194e-01 -6.13348743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.838241008 meters 0.06332814269362208 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.31, Z:-6.14 [[ 9.88606718e-01 1.18791828e-01 9.24405682e-02 5.00208794e+01] [-1.18371976e-01 9.92918652e-01 -1.00312050e-02 -2.31300876e+00] [-9.29775896e-02 -1.02545612e-03 9.95667674e-01 -6.13581227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89824100799999 meters 0.06295485975422567 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.33, Z:-6.14 [[ 9.88955990e-01 1.14165764e-01 9.45104645e-02 5.00793304e+01] [-1.13705435e-01 9.93461533e-01 -1.02594401e-02 -2.33006697e+00] [-9.50637878e-02 -6.00218703e-04 9.95471002e-01 -6.14377410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.958241007999995 meters 0.062233451121624005 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.35, Z:-6.15 [[ 9.89294826e-01 1.10716312e-01 9.50665278e-02 5.01406701e+01] [-1.10234652e-01 9.93852014e-01 -1.03197062e-02 -2.34512555e+00] [-9.56246199e-02 -2.70393647e-04 9.95417430e-01 -6.14731607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.018241008 meters 0.062142587251650526 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.36, Z:-6.15 [[ 9.89836172e-01 1.04229841e-01 9.67496359e-02 5.02011586e+01] [-1.03699596e-01 9.94553169e-01 -1.05065817e-02 -2.35695319e+00] [-9.73177563e-02 3.66896450e-04 9.95253294e-01 -6.15481689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07824100799999 meters 0.06249479554611849 Centerline is valid? [True, True] Translation: X:50.26, Y:-2.36, Z:-6.17 [[ 9.89834558e-01 1.04866817e-01 9.60754865e-02 5.02607496e+01] [-1.04344758e-01 9.94486222e-01 -1.04559167e-02 -2.36386062e+00] [-9.66422262e-02 3.24654296e-04 9.95319132e-01 -6.16596761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.138241007999994 meters 0.06290935041252377 Centerline is valid? [True, True] Translation: X:50.32, Y:-2.37, Z:-6.17 [[ 9.89922443e-01 1.05555689e-01 9.44010203e-02 5.03205846e+01] [-1.05052716e-01 9.94413355e-01 -1.02959226e-02 -2.37106345e+00] [-9.49604285e-02 2.75081311e-04 9.95481010e-01 -6.17386632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.198241008 meters 0.0638497213391581 Centerline is valid? [True, True] Translation: X:50.38, Y:-2.38, Z:-6.19 [[ 9.90442586e-01 1.03716233e-01 9.09198909e-02 5.03785956e+01] [-1.03240823e-01 9.94606828e-01 -9.92924787e-03 -2.37796367e+00] [-9.14593685e-02 4.47705587e-04 9.95808708e-01 -6.18826074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25824100799999 meters 0.06339971910600754 Centerline is valid? [True, True] Translation: X:50.44, Y:-2.38, Z:-6.19 [[ 9.90563641e-01 1.02198486e-01 9.13189065e-02 5.04413056e+01] [-1.01713109e-01 9.94763856e-01 -9.96564783e-03 -2.38430897e+00] [-9.18592216e-02 5.83278500e-04 9.95771833e-01 -6.19211694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.318241007999994 meters 0.0631284457998547 Centerline is valid? [True, True] Translation: X:50.50, Y:-2.40, Z:-6.19 [[ 9.90857207e-01 9.41659285e-02 9.66166281e-02 5.05025895e+01] [-9.35817290e-02 9.95555487e-01 -1.05703970e-02 -2.40015561e+00] [-9.71825854e-02 1.43220291e-03 9.95265539e-01 -6.18894843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.378241007999996 meters 0.06473757318134049 Centerline is valid? [True, True] Translation: X:50.56, Y:-2.42, Z:-6.20 [[ 9.91107919e-01 8.76579243e-02 1.00105851e-01 5.05614239e+01] [-8.69946726e-02 9.96148263e-01 -1.09801782e-02 -2.41528519e+00] [-1.00682769e-01 2.17386591e-03 9.94916205e-01 -6.19654883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43824100799999 meters 0.06658085210763787 Centerline is valid? [True, True] Translation: X:50.62, Y:-2.42, Z:-6.21 [[ 9.91658820e-01 8.17991219e-02 9.96076711e-02 5.06197432e+01] [-8.11126934e-02 9.96645021e-01 -1.09285730e-02 -2.42481789e+00] [-1.00167437e-01 2.75796936e-03 9.94966772e-01 -6.20548729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.498241007999994 meters 0.06694354565339843 Centerline is valid? [True, True] Translation: X:50.68, Y:-2.43, Z:-6.22 [[ 9.91678190e-01 8.19526286e-02 9.92881374e-02 5.06819450e+01] [-8.12710295e-02 9.96632467e-01 -1.08970023e-02 -2.42911338e+00] [-9.98468194e-02 2.73707033e-03 9.94999056e-01 -6.21525262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.558241007999996 meters 0.06378972497255113 Centerline is valid? [True, True] Translation: X:50.74, Y:-2.42, Z:-6.22 [[ 9.91036921e-01 8.89160584e-02 9.96983192e-02 5.07449934e+01] [-8.82611108e-02 9.96036968e-01 -1.09697098e-02 -2.41954202e+00] [-1.00278595e-01 2.07190305e-03 9.94957241e-01 -6.21697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618241008 meters 0.06300693958417158 Centerline is valid? [True, True] Translation: X:50.81, Y:-2.41, Z:-6.23 [[ 9.90143104e-01 9.61525951e-02 1.01839635e-01 5.08055163e+01] [-9.55068963e-02 9.95365660e-01 -1.12087639e-02 -2.41156941e+00] [-1.02445427e-01 1.37189279e-03 9.94737680e-01 -6.22657414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67824100799999 meters 0.06261278832483 Centerline is valid? [True, True] Translation: X:50.87, Y:-2.41, Z:-6.24 [[ 9.89728561e-01 1.01332781e-01 1.00841678e-01 5.08676725e+01] [-1.00726773e-01 9.94852244e-01 -1.10964077e-02 -2.41065032e+00] [-1.01446999e-01 8.24974897e-04 9.94840603e-01 -6.23589099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.738241007999996 meters 0.06250962836659435 Centerline is valid? [True, True] Translation: X:50.93, Y:-2.41, Z:-6.24 [[ 9.89231480e-01 1.07164257e-01 9.96840026e-02 5.09304813e+01] [-1.06599161e-01 9.94241299e-01 -1.09935844e-02 -2.40779914e+00] [-1.00288072e-01 2.48968702e-04 9.94958412e-01 -6.24365447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.798241008 meters 0.06249774968315461 Centerline is valid? [True, True] Translation: X:50.99, Y:-2.41, Z:-6.25 [[ 9.89049743e-01 1.09470495e-01 9.89788692e-02 5.09926622e+01] [-1.08924474e-01 9.93990045e-01 -1.09201001e-02 -2.41054636e+00] [-9.95794394e-02 1.93008588e-05 9.95029615e-01 -6.24875607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85824100799999 meters 0.062366371260525216 Centerline is valid? [True, True] Translation: X:51.05, Y:-2.42, Z:-6.25 [[ 9.89074381e-01 1.07097281e-01 1.01301737e-01 5.10542125e+01] [-1.06510430e-01 9.94248505e-01 -1.11999513e-02 -2.41876518e+00] [-1.01918585e-01 2.87893421e-04 9.94792702e-01 -6.25435359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.918241007999995 meters 0.06278544894259856 Centerline is valid? [True, True] Translation: X:51.11, Y:-2.43, Z:-6.26 [[ 9.89394620e-01 1.04029986e-01 1.01370842e-01 5.11140081e+01] [-1.03423787e-01 9.94573963e-01 -1.12318070e-02 -2.42915348e+00] [-1.01989245e-01 6.28533110e-04 9.94785303e-01 -6.26483331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.978241008 meters 0.06288112502191379 Centerline is valid? [True, True] Translation: X:51.18, Y:-2.44, Z:-6.27 [[ 9.89522959e-01 1.01469984e-01 1.02704218e-01 5.11756727e+01] [-1.00831704e-01 9.94838171e-01 -1.14009655e-02 -2.44163238e+00] [-1.03330932e-01 9.25675859e-04 9.94646601e-01 -6.27076900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03824100799999 meters 0.0628574015641938 Centerline is valid? [True, True] Translation: X:51.24, Y:-2.45, Z:-6.28 [[ 9.89472702e-01 1.01331422e-01 1.03323351e-01 5.12373115e+01] [-1.00681844e-01 9.94852249e-01 -1.14964981e-02 -2.45200907e+00] [-1.03956424e-01 9.72685525e-04 9.94581377e-01 -6.27671375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.098241007999995 meters 0.06284121988237613 Centerline is valid? [True, True] Translation: X:51.30, Y:-2.46, Z:-6.29 [[ 9.89353113e-01 1.03086642e-01 1.02730528e-01 5.12998792e+01] [-1.02451247e-01 9.94672051e-01 -1.14565880e-02 -2.45620813e+00] [-1.03364206e-01 8.09740307e-04 9.94643245e-01 -6.28596200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.158241008 meters 0.06307158943244763 Centerline is valid? [True, True] Translation: X:51.36, Y:-2.46, Z:-6.30 [[ 9.89167423e-01 1.05289570e-01 1.02283507e-01 5.13600580e+01] [-1.04668660e-01 9.94441422e-01 -1.14337248e-02 -2.46332938e+00] [-1.02918808e-01 6.03990469e-04 9.94689577e-01 -6.29622574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21824100799999 meters 0.0628366269153456 Centerline is valid? [True, True] Translation: X:51.42, Y:-2.47, Z:-6.30 [[ 9.88735511e-01 1.07721743e-01 1.03913982e-01 5.14216398e+01] [-1.07091478e-01 9.94181010e-01 -1.16419710e-02 -2.47010179e+00] [-1.04563401e-01 3.82528223e-04 9.94518149e-01 -6.30233443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.278241007999995 meters 0.06312692165385357 Centerline is valid? [True, True] Translation: X:51.48, Y:-2.48, Z:-6.31 [[ 9.88742458e-01 1.10134096e-01 1.01285898e-01 5.14808919e+01] [-1.09545300e-01 9.93916726e-01 -1.13740538e-02 -2.48024439e+00] [-1.01922419e-01 1.50615771e-04 9.94792339e-01 -6.31171514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.338241008 meters 0.06345374592119611 Centerline is valid? [True, True] Translation: X:51.54, Y:-2.49, Z:-6.32 [[ 9.88998414e-01 1.10932346e-01 9.78578155e-02 5.15415423e+01] [-1.10386457e-01 9.93827958e-01 -1.09918240e-02 -2.48812837e+00] [-9.84731818e-02 6.87188868e-05 9.95139703e-01 -6.32261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39824100799999 meters 0.0638417086012948 Centerline is valid? [True, True] Translation: X:51.60, Y:-2.50, Z:-6.34 [[ 9.89453012e-01 1.09751723e-01 9.45372711e-02 5.16015778e+01] [-1.09236377e-01 9.93959016e-01 -1.06249291e-02 -2.50122762e+00] [-9.51322772e-02 1.85959118e-04 9.95464623e-01 -6.33604251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.458241007999995 meters 0.06398302815527851 Centerline is valid? [True, True] Translation: X:51.66, Y:-2.51, Z:-6.34 [[ 9.89696474e-01 1.07646737e-01 9.44090553e-02 5.16627727e+01] [-1.07123135e-01 9.94189131e-01 -1.06115502e-02 -2.51485807e+00] [-9.50027555e-02 3.88819781e-04 9.95476934e-01 -6.34416592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.518241008 meters 0.06352078303265453 Centerline is valid? [True, True] Translation: X:51.72, Y:-2.53, Z:-6.35 [[ 9.89550995e-01 1.06535399e-01 9.71547072e-02 5.17234305e+01] [-1.05972773e-01 9.94308765e-01 -1.09476819e-02 -2.53027051e+00] [-9.77680926e-02 5.37535799e-04 9.95209079e-01 -6.34631173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57824100799999 meters 0.06332214195305878 Centerline is valid? [True, True] Translation: X:51.78, Y:-2.54, Z:-6.35 [[ 9.89379749e-01 1.05741747e-01 9.97316159e-02 5.17839566e+01] [-1.05142338e-01 9.94393409e-01 -1.12621905e-02 -2.53900633e+00] [-1.00363345e-01 6.56567969e-04 9.94950636e-01 -6.35140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.638241007999994 meters 0.06374133178467652 Centerline is valid? [True, True] Translation: X:51.84, Y:-2.54, Z:-6.36 [[ 9.89600428e-01 1.06086728e-01 9.71421635e-02 5.18447674e+01] [-1.05517862e-01 9.94356684e-01 -1.09893228e-02 -2.54226564e+00] [-9.77597810e-02 6.24805218e-04 9.95209845e-01 -6.36428312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.698241008 meters 0.06405283178910261 Centerline is valid? [True, True] Translation: X:51.90, Y:-2.55, Z:-6.37 [[ 9.89628797e-01 1.06887352e-01 9.59684229e-02 5.19042516e+01] [-1.06333820e-01 9.94270979e-01 -1.08783885e-02 -2.54821278e+00] [-9.65813799e-02 5.60877524e-04 9.95324933e-01 -6.37480512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75824100799999 meters 0.06371254636062608 Centerline is valid? [True, True] Translation: X:51.97, Y:-2.55, Z:-6.38 [[ 9.89608556e-01 1.07255899e-01 9.57657507e-02 5.19673023e+01] [-1.06704670e-01 9.94231300e-01 -1.08735942e-02 -2.55340261e+00] [-9.63795640e-02 5.41949082e-04 9.95344506e-01 -6.37936330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.818241007999994 meters 0.06364159860580797 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.56, Z:-6.39 [[ 9.89383391e-01 1.08450697e-01 9.67416728e-02 5.20283629e+01] [-1.07891196e-01 9.94101724e-01 -1.10114705e-02 -2.55957106e+00] [-9.73652654e-02 4.56991267e-04 9.95248610e-01 -6.38640093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.878241007999996 meters 0.06342704043901079 Centerline is valid? [True, True] Translation: X:52.09, Y:-2.57, Z:-6.39 [[ 9.88888419e-01 1.11333718e-01 9.85114138e-02 5.20897129e+01] [-1.10765434e-01 9.93783057e-01 -1.12363312e-02 -2.56587493e+00] [-9.91499564e-02 1.99818239e-04 9.95072483e-01 -6.39174181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93824100799999 meters 0.06333818116134529 Centerline is valid? [True, True] Translation: X:52.15, Y:-2.57, Z:-6.40 [[ 9.88582638e-01 1.13866890e-01 9.86848455e-02 5.21519299e+01] [-1.13307002e-01 9.93496014e-01 -1.12779904e-02 -2.57179223e+00] [-9.93271903e-02 -3.24584793e-05 9.95054827e-01 -6.39861294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.998241007999994 meters 0.06381057632215938 Centerline is valid? [True, True] Translation: X:52.21, Y:-2.58, Z:-6.41 [[ 9.88555200e-01 1.15145040e-01 9.74691522e-02 5.22114415e+01] [-1.14602312e-01 9.93348681e-01 -1.11672461e-02 -2.57657913e+00] [-9.81067068e-02 -1.30751033e-04 9.95175892e-01 -6.41001189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.058241007999996 meters 0.06392225163001367 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.59, Z:-6.42 [[ 9.88677891e-01 1.15830995e-01 9.53897700e-02 5.22719102e+01] [-1.15312837e-01 9.93268921e-01 -1.09453581e-02 -2.58669203e+00] [-9.60155056e-02 -1.78231397e-04 9.95379822e-01 -6.41697240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118241008 meters 0.06364059364359631 Centerline is valid? [True, True] Translation: X:52.33, Y:-2.60, Z:-6.42 [[ 9.89000373e-01 1.10903414e-01 9.78708053e-02 5.23318304e+01] [-1.10331438e-01 9.93831134e-01 -1.12539322e-02 -2.60294672e+00] [-9.85151529e-02 3.31916445e-04 9.95135496e-01 -6.42080956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17824100799999 meters 0.06407641094380624 Centerline is valid? [True, True] Translation: X:52.39, Y:-2.62, Z:-6.43 [[ 9.89962781e-01 1.01492265e-01 9.83514742e-02 5.23923061e+01] [-1.00866816e-01 9.94835492e-01 -1.13238154e-02 -2.61846176e+00] [-9.89928170e-02 1.28975577e-03 9.95087312e-01 -6.42859404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.238241007999996 meters 0.06459504203808902 Centerline is valid? [True, True] Translation: X:52.45, Y:-2.62, Z:-6.44 [[ 9.90567590e-01 9.92113401e-02 9.45143382e-02 5.24522020e+01] [-9.86230466e-02 9.95065309e-01 -1.08869118e-02 -2.62325941e+00] [-9.51280443e-02 1.46293001e-03 9.95463970e-01 -6.44043855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.298241008 meters 0.06544658110842981 Centerline is valid? [True, True] Translation: X:52.51, Y:-2.63, Z:-6.45 [[ 9.90696455e-01 9.93253826e-02 9.30322644e-02 5.25114235e+01] [-9.87553843e-02 9.95053973e-01 -1.07221662e-02 -2.63300991e+00] [-9.36371076e-02 1.43497506e-03 9.95605360e-01 -6.45416330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35824100799999 meters 0.06464998449864685 Centerline is valid? [True, True] Translation: X:52.57, Y:-2.64, Z:-6.46 [[ 9.90683200e-01 1.00312634e-01 9.21095644e-02 5.25730640e+01] [-9.97563995e-02 9.94955054e-01 -1.06348641e-02 -2.64173693e+00] [-9.27116879e-02 1.34726270e-03 9.95692085e-01 -6.45533024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.418241007999995 meters 0.06444785931484244 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.65, Z:-6.46 [[ 9.90516090e-01 1.02119129e-01 9.19214862e-02 5.26350601e+01] [-1.01570575e-01 9.94771452e-01 -1.06384885e-02 -2.64571696e+00] [-9.25272635e-02 1.20107577e-03 9.95709427e-01 -6.46372332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.478241008 meters 0.06384105599274682 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.65, Z:-6.47 [[ 9.90133112e-01 1.03096616e-01 9.49078945e-02 5.26961853e+01] [-1.02515311e-01 9.94670675e-01 -1.09935643e-02 -2.65054846e+00] [-9.55354988e-02 1.15557966e-03 9.95425353e-01 -6.46805391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53824100799999 meters 0.06370343880410151 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.66, Z:-6.48 [[ 9.89846374e-01 1.05919248e-01 9.47906556e-02 5.27573797e+01] [-1.05352481e-01 9.94374345e-01 -1.09779989e-02 -2.65531457e+00] [-9.54201775e-02 8.80101724e-04 9.95436696e-01 -6.47642252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.598241007999995 meters 0.06370650847769592 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.66, Z:-6.49 [[ 9.89501902e-01 1.11246635e-01 9.22505985e-02 5.28174066e+01] [-1.10731021e-01 9.93792757e-01 -1.07050214e-02 -2.65914286e+00] [-9.28688743e-02 3.77636109e-04 9.95678276e-01 -6.48634065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.658241008 meters 0.06369844931780445 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.66, Z:-6.49 [[ 9.88948588e-01 1.16355639e-01 9.18806642e-02 5.28795874e+01] [-1.15864469e-01 9.93207611e-01 -1.06801925e-02 -2.66276425e+00] [-9.24992756e-02 -8.35430267e-05 9.95712748e-01 -6.49326874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71824100799999 meters 0.06327825930295879 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.67, Z:-6.50 [[ 9.88735708e-01 1.16374574e-01 9.41204462e-02 5.29411388e+01] [-1.15856723e-01 9.93205394e-01 -1.09665456e-02 -2.67154202e+00] [-9.47571619e-02 -6.14712045e-05 9.95500415e-01 -6.49754803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.778241007999995 meters 0.06308217283990118 Centerline is valid? [True, True] Translation: X:53.00, Y:-2.69, Z:-6.50 [[ 9.89401173e-01 1.08943092e-01 9.60037532e-02 5.30017790e+01] [-1.08367075e-01 9.94047751e-01 -1.12091913e-02 -2.68715192e+00] [-9.66534789e-02 6.86741046e-04 9.95317855e-01 -6.50318929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.838241008 meters 0.06351578342486515 Centerline is valid? [True, True] Translation: X:53.06, Y:-2.70, Z:-6.51 [[ 9.89914167e-01 1.06146861e-01 9.38231681e-02 5.30624639e+01] [-1.05581814e-01 9.94349997e-01 -1.09801964e-02 -2.69533338e+00] [-9.44585803e-02 9.63431645e-04 9.95528326e-01 -6.51341390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89824100799999 meters 0.06367230170959227 Centerline is valid? [True, True] Translation: X:53.12, Y:-2.70, Z:-6.52 [[ 9.89838015e-01 1.06145264e-01 9.46249818e-02 5.31221688e+01] [-1.05570245e-01 9.94350156e-01 -1.10765486e-02 -2.70081885e+00] [-9.52660887e-02 9.74406406e-04 9.95451366e-01 -6.52223669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.958241007999995 meters 0.06358525102225711 Centerline is valid? [True, True] Translation: X:53.18, Y:-2.71, Z:-6.53 [[ 9.90040970e-01 1.04858279e-01 9.39341163e-02 5.31828779e+01] [-1.04283983e-01 9.94486556e-01 -1.10155184e-02 -2.70941581e+00] [-9.45712841e-02 1.10999076e-03 9.95517474e-01 -6.52752949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.018241008 meters 0.06360811948579931 Centerline is valid? [True, True] Translation: X:53.24, Y:-2.72, Z:-6.53 [[ 9.90382562e-01 1.02562458e-01 9.28618523e-02 5.32439222e+01] [-1.01989408e-01 9.94725674e-01 -1.09084474e-02 -2.71622415e+00] [-9.34908658e-02 1.33261069e-03 9.95619246e-01 -6.53391654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07824100799999 meters 0.0646062359494567 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.73, Z:-6.54 [[ 9.90720215e-01 1.00063451e-01 9.19823987e-02 5.33037805e+01] [-9.94884245e-02 9.94979810e-01 -1.08272947e-02 -2.72605300e+00] [-9.26040461e-02 1.57563578e-03 9.95701767e-01 -6.54414512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.138241007999994 meters 0.06438444055744366 Centerline is valid? [True, True] Translation: X:53.36, Y:-2.73, Z:-6.55 [[ 9.91074159e-01 9.79873291e-02 9.03907896e-02 5.33646245e+01] [-9.74217208e-02 9.95186110e-01 -1.06590371e-02 -2.73454940e+00] [-9.10001089e-02 1.75786990e-03 9.95849331e-01 -6.54952942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.198241008 meters 0.06475676037048579 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.74, Z:-6.56 [[ 9.91119308e-01 9.67685807e-02 9.12050398e-02 5.34267633e+01] [-9.61858255e-02 9.95305084e-01 -1.07738737e-02 -2.74386431e+00] [-9.18194123e-02 1.90556220e-03 9.95773852e-01 -6.55621662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25824100799999 meters 0.0649792714625371 Centerline is valid? [True, True] Translation: X:53.49, Y:-2.75, Z:-6.56 [[ 9.90864290e-01 9.75935278e-02 9.30777203e-02 5.34867918e+01] [-9.69876190e-02 9.95224556e-01 -1.10220482e-02 -2.75202504e+00] [-9.37089134e-02 1.89396745e-03 9.95597837e-01 -6.56348679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.318241007999994 meters 0.06449767908565233 Centerline is valid? [True, True] Translation: X:53.55, Y:-2.75, Z:-6.57 [[ 9.90436010e-01 1.01146293e-01 9.38399542e-02 5.35474732e+01] [-1.00543915e-01 9.94870283e-01 -1.11373300e-02 -2.75374894e+00] [-9.44850815e-02 1.59577632e-03 9.95524999e-01 -6.57042364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.378241007999996 meters 0.06339089856405578 Centerline is valid? [True, True] Translation: X:53.61, Y:-2.75, Z:-6.58 [[ 9.89316991e-01 1.09858083e-01 9.58284532e-02 5.36088123e+01] [-1.09270220e-01 9.93946974e-01 -1.13768280e-02 -2.75005692e+00] [-9.64982376e-02 7.84093019e-04 9.95332847e-01 -6.57690679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43824100799999 meters 0.06283619515079225 Centerline is valid? [True, True] Translation: X:53.67, Y:-2.74, Z:-6.58 [[ 9.88314718e-01 1.18446818e-01 9.59394062e-02 5.36719639e+01] [-1.17898319e-01 9.92960396e-01 -1.13858874e-02 -2.74443609e+00] [-9.66126529e-02 -5.82546284e-05 9.95322054e-01 -6.58210519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.498241007999994 meters 0.06323258027089146 Centerline is valid? [True, True] Translation: X:53.73, Y:-2.75, Z:-6.59 [[ 9.87702163e-01 1.24355471e-01 9.47636743e-02 5.37336006e+01] [-1.23845330e-01 9.92237547e-01 -1.12687468e-02 -2.74568473e+00] [-9.54294060e-02 -6.05872841e-04 9.95436016e-01 -6.59196587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.558241007999996 meters 0.0637653374902158 Centerline is valid? [True, True] Translation: X:53.79, Y:-2.75, Z:-6.60 [[ 9.87136756e-01 1.28912278e-01 9.45655792e-02 5.37940928e+01] [-1.28422928e-01 9.91655475e-01 -1.12680940e-02 -2.74883448e+00] [-9.52290700e-02 -1.02123888e-03 9.95454862e-01 -6.60047565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.618241008 meters 0.06437113669394534 Centerline is valid? [True, True] Translation: X:53.86, Y:-2.75, Z:-6.61 [[ 9.86656260e-01 1.33148749e-01 9.37061150e-02 5.38555875e+01] [-1.32685036e-01 9.91095086e-01 -1.11897670e-02 -2.75162154e+00] [-9.43615736e-02 -1.39294562e-03 9.95537017e-01 -6.60932245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67824100799999 meters 0.06467353308392929 Centerline is valid? [True, True] Translation: X:53.92, Y:-2.76, Z:-6.62 [[ 9.86677356e-01 1.33902053e-01 9.24014857e-02 5.39159489e+01] [-1.33454357e-01 9.90993520e-01 -1.10352656e-02 -2.75980902e+00] [-9.30469183e-02 -1.44313413e-03 9.95660679e-01 -6.61928805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.738241007999996 meters 0.06433298161236084 Centerline is valid? [True, True] Translation: X:53.98, Y:-2.77, Z:-6.62 [[ 9.86755773e-01 1.33400800e-01 9.22890639e-02 5.39774941e+01] [-1.32950091e-01 9.91061219e-01 -1.10423682e-02 -2.77271875e+00] [-9.29371729e-02 -1.37371891e-03 9.95671027e-01 -6.62482543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.798241008 meters 0.06408661166744063 Centerline is valid? [True, True] Translation: X:54.04, Y:-2.79, Z:-6.64 [[ 9.87417075e-01 1.28579797e-01 9.20584360e-02 5.40359791e+01] [-1.28107885e-01 9.91698766e-01 -1.10420395e-02 -2.78985457e+00] [-9.27140207e-02 -8.90313191e-04 9.95692381e-01 -6.63636757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85824100799999 meters 0.06324537737117672 Centerline is valid? [True, True] Translation: X:54.10, Y:-2.81, Z:-6.64 [[ 9.88380449e-01 1.21363070e-01 9.15155374e-02 5.40957725e+01] [-1.20863998e-01 9.92608165e-01 -1.09966223e-02 -2.80790021e+00] [-9.21736534e-02 -1.92087243e-04 9.95742929e-01 -6.64204326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.918241007999995 meters 0.06286367808238015 Centerline is valid? [True, True] Translation: X:54.16, Y:-2.83, Z:-6.65 [[ 9.88687009e-01 1.16471456e-01 9.45113615e-02 5.41559312e+01] [-1.15914519e-01 9.93193995e-01 -1.13803403e-02 -2.82519010e+00] [-9.51936015e-02 2.96355613e-04 9.95458734e-01 -6.64596614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.978241008 meters 0.061852916204417366 Centerline is valid? [True, True] Translation: X:54.22, Y:-2.84, Z:-6.64 [[ 9.88110253e-01 1.14893872e-01 1.02164208e-01 5.42159308e+01] [-1.14231227e-01 9.93377638e-01 -1.23326612e-02 -2.83818703e+00] [-1.02904586e-01 5.15686232e-04 9.94691098e-01 -6.64259007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03824100799999 meters 0.06186152942789289 Centerline is valid? [True, True] Translation: X:54.28, Y:-2.84, Z:-6.65 [[ 9.88059915e-01 1.16725140e-01 1.00562651e-01 5.42771430e+01] [-1.16092814e-01 9.93164206e-01 -1.21374629e-02 -2.83964167e+00] [-1.01291973e-01 3.17939375e-04 9.94856691e-01 -6.65331588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.098241007999995 meters 0.062421020364152285 Centerline is valid? [True, True] Translation: X:54.34, Y:-2.84, Z:-6.67 [[ 9.88111734e-01 1.17872673e-01 9.86976902e-02 5.43375344e+01] [-1.17267041e-01 9.93028693e-01 -1.19355073e-02 -2.84112721e+00] [-9.94165084e-02 2.19628697e-04 9.95045883e-01 -6.66754772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.158241008 meters 0.06285790852284974 Centerline is valid? [True, True] Translation: X:54.40, Y:-2.85, Z:-6.68 [[ 9.88356294e-01 1.19044417e-01 9.47642481e-02 5.43968320e+01] [-1.18489719e-01 9.92888923e-01 -1.14792563e-02 -2.84901069e+00] [-9.54569136e-02 1.17006090e-04 9.95433556e-01 -6.67947025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21824100799999 meters 0.06311152189380725 Centerline is valid? [True, True] Translation: X:54.46, Y:-2.86, Z:-6.69 [[ 9.88534445e-01 1.20581728e-01 9.08828761e-02 5.44572319e+01] [-1.20076446e-01 9.92703403e-01 -1.10272547e-02 -2.85546995e+00] [-9.15494258e-02 -1.20717366e-05 9.95800533e-01 -6.68826496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.278241007999995 meters 0.06298852634981247 Centerline is valid? [True, True] Translation: X:54.52, Y:-2.86, Z:-6.70 [[ 9.88573063e-01 1.20485363e-01 9.05901511e-02 5.45191703e+01] [-1.19981379e-01 9.92715104e-01 -1.10087037e-02 -2.86167078e+00] [-9.12565989e-02 1.37766589e-05 9.95827411e-01 -6.69662658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.338241008 meters 0.06256810356970559 Centerline is valid? [True, True] Translation: X:54.58, Y:-2.87, Z:-6.70 [[ 9.88517823e-01 1.18458597e-01 9.38087161e-02 5.45797913e+01] [-1.17905931e-01 9.92958963e-01 -1.14318950e-02 -2.87165407e+00] [-9.45024118e-02 2.40027936e-04 9.95524604e-01 -6.70035323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39824100799999 meters 0.061969696126268646 Centerline is valid? [True, True] Translation: X:54.64, Y:-2.88, Z:-6.70 [[ 9.88184270e-01 1.18862022e-01 9.67660499e-02 5.46414126e+01] [-1.18275932e-01 9.92910760e-01 -1.17909618e-02 -2.88212319e+00] [-9.74815497e-02 2.06548182e-04 9.95237311e-01 -6.70299902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.458241007999995 meters 0.06171095672330913 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.88, Z:-6.71 [[ 9.87905919e-01 1.20888798e-01 9.70968252e-02 5.47028530e+01] [-1.20306293e-01 9.92666056e-01 -1.18531834e-02 -2.88491819e+00] [-9.78176396e-02 2.84708918e-05 9.95204355e-01 -6.70846216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.518241008 meters 0.06192668035348771 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.89, Z:-6.72 [[ 9.87903447e-01 1.22331627e-01 9.52982245e-02 5.47644047e+01] [-1.21775158e-01 9.92489277e-01 -1.16552985e-02 -2.88892138e+00] [-9.60082775e-02 -9.06468036e-05 9.95380531e-01 -6.71807499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57824100799999 meters 0.062085035406674066 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.89, Z:-6.73 [[ 9.87654990e-01 1.25616118e-01 9.35853223e-02 5.48247270e+01] [-1.25092089e-01 9.92078851e-01 -1.14683311e-02 -2.89313155e+00] [-9.42846262e-02 -3.80029102e-04 9.95545210e-01 -6.72613005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.638241007999994 meters 0.06199298709044825 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.90, Z:-6.73 [[ 9.87319114e-01 1.27227829e-01 9.49423360e-02 5.48861759e+01] [-1.26693885e-01 9.91873383e-01 -1.16555279e-02 -2.89890104e+00] [-9.56536835e-02 -5.20887897e-04 9.95414538e-01 -6.73232665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.698241008 meters 0.06162725178604208 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.91, Z:-6.74 [[ 9.87643849e-01 1.23759195e-01 9.61420249e-02 5.49466430e+01] [-1.23193013e-01 9.92312267e-01 -1.18256921e-02 -2.91006125e+00] [-9.68664488e-02 -1.64453656e-04 9.95297375e-01 -6.74029479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75824100799999 meters 0.06168626702258733 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.93, Z:-6.74 [[ 9.88955101e-01 1.12501729e-01 9.64944011e-02 5.50049290e+01] [-1.11875619e-01 9.93651060e-01 -1.18918612e-02 -2.93439410e+00] [-9.72196189e-02 9.65145904e-04 9.95262485e-01 -6.74410756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.818241007999994 meters 0.06215943604229354 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.95, Z:-6.75 [[ 9.89820592e-01 1.06421942e-01 9.44963806e-02 5.50651455e+01] [-1.05791632e-01 9.94319846e-01 -1.16693688e-02 -2.94776029e+00] [-9.52015036e-02 1.55365527e-03 9.95456810e-01 -6.75113676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.878241007999996 meters 0.06327273206590212 Centerline is valid? [True, True] Translation: X:55.12, Y:-2.96, Z:-6.76 [[ 9.90517399e-01 1.01171095e-01 9.29499435e-02 5.51243582e+01] [-1.00538073e-01 9.94866978e-01 -1.14800540e-02 -2.96007453e+00] [-9.36342790e-02 2.02618498e-03 9.95604598e-01 -6.76145709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93824100799999 meters 0.06331024077933689 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.97, Z:-6.77 [[ 9.90641662e-01 1.00231060e-01 9.26435758e-02 5.51853388e+01] [-9.95972612e-02 9.94961935e-01 -1.14513425e-02 -2.96908597e+00] [-9.33246117e-02 2.11713058e-03 9.95633484e-01 -6.76767032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.998241007999994 meters 0.064772332169321 Centerline is valid? [True, True] Translation: X:55.24, Y:-2.98, Z:-6.78 [[ 9.91064964e-01 9.67173839e-02 9.18476147e-02 5.52438371e+01] [-9.60768447e-02 9.95308858e-01 -1.13805268e-02 -2.98061765e+00] [-9.25174393e-02 2.45441241e-03 9.95708039e-01 -6.77690775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.058241007999996 meters 0.06387448037253887 Centerline is valid? [True, True] Translation: X:55.31, Y:-2.98, Z:-6.78 [[ 9.91224310e-01 9.45518449e-02 9.23813575e-02 5.53055851e+01] [-9.38948875e-02 9.95516366e-01 -1.14418523e-02 -2.98347002e+00] [-9.30490015e-02 2.66730499e-03 9.95657958e-01 -6.78144648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.118241008 meters 0.06397478331312736 Centerline is valid? [True, True] Translation: X:55.37, Y:-2.99, Z:-6.79 [[ 9.91522793e-01 9.05025175e-02 9.32300696e-02 5.53669207e+01] [-8.98134091e-02 9.95891407e-01 -1.15696287e-02 -2.98777387e+00] [-9.38941058e-02 3.09824015e-03 9.95577369e-01 -6.78632112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17824100799999 meters 0.06566984265502177 Centerline is valid? [True, True] Translation: X:55.43, Y:-3.00, Z:-6.79 [[ 9.91440506e-01 9.01201933e-02 9.44673168e-02 5.54266605e+01] [-8.94088269e-02 9.95925762e-01 -1.17446920e-02 -3.00010900e+00] [-9.51408684e-02 3.19795143e-03 9.95458682e-01 -6.79430368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.238241007999996 meters 0.06477794136537152 Centerline is valid? [True, True] Translation: X:55.49, Y:-3.00, Z:-6.80 [[ 9.91052402e-01 9.24050003e-02 9.63143410e-02 5.54885428e+01] [-9.16737318e-02 9.95716795e-01 -1.19996516e-02 -3.00026040e+00] [-9.70106347e-02 3.06278851e-03 9.95278632e-01 -6.80048470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.298241008 meters 0.06291691367681808 Centerline is valid? [True, True] Translation: X:55.55, Y:-3.00, Z:-6.81 [[ 9.90713115e-01 9.62063894e-02 9.60825444e-02 5.55508575e+01] [-9.54960306e-02 9.95357776e-01 -1.19752024e-02 -2.99650917e+00] [-9.67885987e-02 2.68848843e-03 9.95301331e-01 -6.80731287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35824100799999 meters 0.061980407867549686 Centerline is valid? [True, True] Translation: X:55.61, Y:-2.99, Z:-6.82 [[ 9.89922331e-01 1.06500156e-01 9.33353922e-02 5.56116579e+01] [-1.05875038e-01 9.94311335e-01 -1.16381206e-02 -2.99167269e+00] [-9.40439000e-02 1.63894735e-03 9.95566702e-01 -6.81861505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.418241007999995 meters 0.06146990627496504 Centerline is valid? [True, True] Translation: X:55.67, Y:-2.99, Z:-6.83 [[ 9.89132929e-01 1.13549188e-01 9.33950246e-02 5.56728701e+01] [-1.12954453e-01 9.93531901e-01 -1.16469989e-02 -2.99125728e+00] [-9.41134436e-02 9.71046222e-04 9.95561006e-01 -6.82659229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.478241008 meters 0.06092336362717911 Centerline is valid? [True, True] Translation: X:55.73, Y:-2.99, Z:-6.83 [[ 9.88194940e-01 1.19280013e-01 9.61407263e-02 5.57346738e+01] [-1.18676425e-01 9.92860556e-01 -1.19925995e-02 -2.99082993e+00] [-9.68848124e-02 4.41388482e-04 9.95295503e-01 -6.83037389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53824100799999 meters 0.06101594790248293 Centerline is valid? [True, True] Translation: X:55.80, Y:-2.99, Z:-6.84 [[ 9.87955039e-01 1.20165226e-01 9.74944046e-02 5.57968833e+01] [-1.19548569e-01 9.92753840e-01 -1.21635553e-02 -2.99459822e+00] [-9.82495810e-02 3.61729145e-04 9.95161740e-01 -6.83795254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.598241007999995 meters 0.0609974688885895 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.00, Z:-6.84 [[ 9.87660568e-01 1.21203330e-01 9.91784036e-02 5.58568097e+01] [-1.20569781e-01 9.92627665e-01 -1.23793148e-02 -3.00252432e+00] [-9.99476414e-02 2.68642671e-04 9.94992662e-01 -6.84451031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.658241008 meters 0.0611265142624958 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.01, Z:-6.85 [[ 9.87704050e-01 1.20735163e-01 9.93163080e-02 5.59182331e+01] [-1.20095405e-01 9.92684697e-01 -1.24172053e-02 -3.01346385e+00] [-1.00088972e-01 3.37091774e-04 9.94978434e-01 -6.85046814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71824100799999 meters 0.06133357058336248 Centerline is valid? [True, True] Translation: X:55.98, Y:-3.02, Z:-6.86 [[ 9.88040204e-01 1.17754416e-01 9.95512533e-02 5.59786412e+01] [-1.17093809e-01 9.93042523e-01 -1.24734853e-02 -3.02410051e+00] [-1.00327436e-01 6.67469569e-04 9.94954250e-01 -6.85995597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.778241007999995 meters 0.06218784773980692 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.04, Z:-6.87 [[ 9.89086104e-01 1.11297288e-01 9.65483922e-02 5.60378310e+01] [-1.10642803e-01 9.93786296e-01 -1.21230528e-02 -3.04115106e+00] [-9.72977320e-02 1.30835840e-03 9.95254460e-01 -6.86996096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.838241008 meters 0.06384821106654745 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.06, Z:-6.88 [[ 9.89866973e-01 1.05512351e-01 9.50290413e-02 5.60959705e+01] [-1.04851702e-01 9.94416276e-01 -1.19327894e-02 -3.05690179e+00] [-9.57574820e-02 1.84791734e-03 9.95402979e-01 -6.88183149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89824100799999 meters 0.06489979640849923 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.07, Z:-6.89 [[ 9.90227029e-01 1.01490477e-01 9.56562322e-02 5.61551984e+01] [-1.00800376e-01 9.94833916e-01 -1.20317443e-02 -3.07336476e+00] [-9.63831716e-02 2.27197427e-03 9.95341711e-01 -6.88742970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.958241007999995 meters 0.0640409112453709 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.08, Z:-6.89 [[ 9.90174903e-01 1.01414632e-01 9.62742609e-02 5.62166923e+01] [-1.00714487e-01 9.94841583e-01 -1.21168027e-02 -3.07868578e+00] [-9.70064592e-02 2.30154119e-03 9.95281091e-01 -6.89068536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.018241008 meters 0.06256279772853275 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.08, Z:-6.90 [[ 9.89180473e-01 1.08562491e-01 9.86720720e-02 5.62780216e+01] [-1.07859624e-01 9.94088226e-01 -1.24458748e-02 -3.07699599e+00] [-9.94399002e-02 1.66848365e-03 9.95042171e-01 -6.89635118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07824100799999 meters 0.0621712541366764 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.08, Z:-6.91 [[ 9.88214326e-01 1.16467377e-01 9.93367792e-02 5.63386614e+01] [-1.15794475e-01 9.93194126e-01 -1.25326732e-02 -3.07673529e+00] [-1.00120353e-01 8.82317047e-04 9.94974943e-01 -6.90694592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.138241007999994 meters 0.06216827147519551 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.08, Z:-6.92 [[ 9.87392701e-01 1.23402691e-01 9.91333943e-02 5.64005355e+01] [-1.22767469e-01 9.92356662e-01 -1.25061758e-02 -3.07626650e+00] [-9.99189800e-02 1.78150857e-04 9.94995561e-01 -6.91547889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.198241008 meters 0.06210378376267697 Centerline is valid? [True, True] Translation: X:56.46, Y:-3.08, Z:-6.92 [[ 9.87430704e-01 1.23438129e-01 9.87098390e-02 5.64621452e+01] [-1.22806369e-01 9.92352251e-01 -1.24741913e-02 -3.08382895e+00] [-9.94947218e-02 1.95202520e-04 9.95038071e-01 -6.92251033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25824100799999 meters 0.062462788355840675 Centerline is valid? [True, True] Translation: X:56.52, Y:-3.10, Z:-6.93 [[ 9.88355162e-01 1.17021895e-01 9.72622719e-02 5.65222389e+01] [-1.16374595e-01 9.93128963e-01 -1.23213401e-02 -3.09871143e+00] [-9.80358458e-02 8.59002562e-04 9.95182513e-01 -6.93053806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.318241007999994 meters 0.06281532007016895 Centerline is valid? [True, True] Translation: X:56.58, Y:-3.11, Z:-6.94 [[ 9.88902423e-01 1.11967484e-01 9.76487579e-02 5.65824217e+01] [-1.11289900e-01 9.93710925e-01 -1.23755770e-02 -3.11056000e+00] [-9.84202998e-02 1.37091758e-03 9.95143992e-01 -6.93755060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.378241007999996 meters 0.06336010163196061 Centerline is valid? [True, True] Translation: X:56.64, Y:-3.12, Z:-6.94 [[ 9.89205406e-01 1.06723650e-01 1.00412780e-01 5.66425177e+01] [-1.05978996e-01 9.94286795e-01 -1.27366297e-02 -3.12256327e+00] [-1.01198401e-01 1.95749736e-03 9.94864338e-01 -6.94389437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43824100799999 meters 0.06343351515268397 Centerline is valid? [True, True] Translation: X:56.70, Y:-3.13, Z:-6.95 [[ 9.89318810e-01 1.06144473e-01 9.99081704e-02 5.67033765e+01] [-1.05402271e-01 9.94348652e-01 -1.26932934e-02 -3.13033772e+00] [-1.00690877e-01 2.02716585e-03 9.94915694e-01 -6.95073865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.498241007999994 meters 0.06351504646977028 Centerline is valid? [True, True] Translation: X:56.76, Y:-3.14, Z:-6.96 [[ 9.89343700e-01 1.06788102e-01 9.89714373e-02 5.67646642e+01] [-1.06060836e-01 9.94279861e-01 -1.25959521e-02 -3.13701396e+00] [-9.97504047e-02 1.96473246e-03 9.95010551e-01 -6.95907679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.558241007999996 meters 0.06308666189383653 Centerline is valid? [True, True] Translation: X:56.83, Y:-3.14, Z:-6.97 [[ 9.88992216e-01 1.10115153e-01 9.88385005e-02 5.68266228e+01] [-1.09404256e-01 9.93917469e-01 -1.26005155e-02 -3.13751316e+00] [-9.96248200e-02 1.64845913e-03 9.95023707e-01 -6.96853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61824100799999 meters 0.06299251623700852 Centerline is valid? [True, True] Translation: X:56.89, Y:-3.14, Z:-6.98 [[ 9.88673929e-01 1.14124580e-01 9.74650874e-02 5.68870097e+01] [-1.13450697e-01 9.93465662e-01 -1.24465649e-02 -3.14024773e+00] [-9.82486766e-02 1.24811208e-03 9.95161112e-01 -6.97825230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67824100799999 meters 0.06231518743186266 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.14, Z:-6.98 [[ 9.88170118e-01 1.18667252e-01 9.71488568e-02 5.69490531e+01] [-1.18017821e-01 9.92933746e-01 -1.24245915e-02 -3.14190576e+00] [-9.79367704e-02 8.12313674e-04 9.95192308e-01 -6.98334483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.738241007999996 meters 0.062091160016265405 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.15, Z:-6.99 [[ 9.88030938e-01 1.20179484e-01 9.67044871e-02 5.70113594e+01] [-1.19541255e-01 9.92751948e-01 -1.23878289e-02 -3.14748850e+00] [-9.74923309e-02 6.79382376e-04 9.95236044e-01 -6.98700862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.798241008 meters 0.06224979556888059 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.16, Z:-7.00 [[ 9.88049820e-01 1.19332322e-01 9.75569045e-02 5.70711716e+01] [-1.18675872e-01 9.92854048e-01 -1.25250539e-02 -3.15670669e+00] [-9.83544113e-02 7.97726536e-04 9.95151131e-01 -6.99647689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85824100799999 meters 0.06231784228434129 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.17, Z:-7.00 [[ 9.88155218e-01 1.18413032e-01 9.76095230e-02 5.71330016e+01] [-1.17749443e-01 9.92964011e-01 -1.25515735e-02 -3.16668234e+00] [-9.84090133e-02 9.09435874e-04 9.95145637e-01 -7.00279346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.918241007999995 meters 0.06301082705747979 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.19, Z:-7.01 [[ 9.88954846e-01 1.10967045e-01 9.82579621e-02 5.71917333e+01] [-1.10255112e-01 9.93822650e-01 -1.26629519e-02 -3.18631402e+00] [-9.90561587e-02 1.68964510e-03 9.95080410e-01 -7.00988451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978241008 meters 0.06368686221648379 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.20, Z:-7.02 [[ 9.89689854e-01 1.05603133e-01 9.67572853e-02 5.72511232e+01] [-1.04885208e-01 9.94405893e-01 -1.24905476e-02 -3.20058649e+00] [-9.75350556e-02 2.21336024e-03 9.95229629e-01 -7.01697628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03824100799999 meters 0.06474104758212812 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.21, Z:-7.03 [[ 9.90292004e-01 9.92666211e-02 9.73030527e-02 5.73102123e+01] [-9.85078399e-02 9.95056715e-01 -1.25832815e-02 -3.21246536e+00] [-9.80711558e-02 2.87600955e-03 9.95175249e-01 -7.02627549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.098241007999995 meters 0.06549375362428207 Centerline is valid? [True, True] Translation: X:57.37, Y:-3.22, Z:-7.03 [[ 9.90328699e-01 9.89968093e-02 9.72044243e-02 5.73702452e+01] [-9.82382165e-02 9.95083524e-01 -1.25711227e-02 -3.22200992e+00] [-9.79710222e-02 2.90035430e-03 9.95185041e-01 -7.03499866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.158241008 meters 0.06542251099061919 Centerline is valid? [True, True] Translation: X:57.43, Y:-3.23, Z:-7.04 [[ 9.90132412e-01 1.00407826e-01 9.77551824e-02 5.74317499e+01] [-9.96454445e-02 9.94942434e-01 -1.26624714e-02 -3.22893256e+00] [-9.85321904e-02 2.79666472e-03 9.95129934e-01 -7.04137351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21824100799999 meters 0.06381214029218436 Centerline is valid? [True, True] Translation: X:57.49, Y:-3.23, Z:-7.05 [[ 9.89846732e-01 1.02008947e-01 9.89829403e-02 5.74946238e+01] [-1.01233065e-01 9.94779839e-01 -1.28428670e-02 -3.22836622e+00] [-9.97763207e-02 2.69212348e-03 9.95006250e-01 -7.04502858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.278241007999995 meters 0.06373116296456412 Centerline is valid? [True, True] Translation: X:57.56, Y:-3.23, Z:-7.05 [[ 9.89522211e-01 1.05668330e-01 9.83869823e-02 5.75551665e+01] [-1.04917503e-01 9.94398695e-01 -1.27887756e-02 -3.23119772e+00] [-9.91872554e-02 2.33226097e-03 9.95066053e-01 -7.05423909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.338241008 meters 0.06339682120788827 Centerline is valid? [True, True] Translation: X:57.62, Y:-3.24, Z:-7.06 [[ 9.89350475e-01 1.07406829e-01 9.82314172e-02 5.76171586e+01] [-1.06664639e-01 9.94212770e-01 -1.27915211e-02 -3.23647352e+00] [-9.90368261e-02 2.17747876e-03 9.95081386e-01 -7.06148995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39824100799999 meters 0.06359979237994556 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.24, Z:-7.07 [[ 9.89426202e-01 1.08076604e-01 9.67224809e-02 5.76784473e+01] [-1.07359395e-01 9.94140379e-01 -1.26042785e-02 -3.24048745e+00] [-9.75179514e-02 2.08693639e-03 9.95231578e-01 -7.07021713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.458241007999995 meters 0.06371571229583263 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.25, Z:-7.08 [[ 9.89549008e-01 1.07323782e-01 9.63035134e-02 5.77391643e+01] [-1.06606888e-01 9.94221742e-01 -1.25737694e-02 -3.24691255e+00] [-9.70965114e-02 2.17574317e-03 9.95272593e-01 -7.07870760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518241008 meters 0.06427065655776033 Centerline is valid? [True, True] Translation: X:57.80, Y:-3.26, Z:-7.09 [[ 9.89692172e-01 1.04290451e-01 9.81473681e-02 5.77988580e+01] [-1.03529846e-01 9.94543661e-01 -1.28248861e-02 -3.25628038e+00] [-9.89493560e-02 2.53150748e-03 9.95089250e-01 -7.08505288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57824100799999 meters 0.06437764833316945 Centerline is valid? [True, True] Translation: X:57.86, Y:-3.26, Z:-7.09 [[ 9.89474258e-01 1.05049715e-01 9.95251195e-02 5.78594552e+01] [-1.04269245e-01 9.94463800e-01 -1.30259041e-02 -3.26333708e+00] [-1.00342496e-01 2.51138770e-03 9.94949786e-01 -7.09122433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.638241007999994 meters 0.06308377223227694 Centerline is valid? [True, True] Translation: X:57.92, Y:-3.26, Z:-7.10 [[ 9.88666800e-01 1.13340941e-01 9.84468908e-02 5.79217258e+01] [-1.12615958e-01 9.93554742e-01 -1.29081776e-02 -3.25813989e+00] [-9.92754002e-02 1.67519572e-03 9.95058586e-01 -7.09832009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.698241008 meters 0.062449266901668125 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.25, Z:-7.11 [[ 9.87251292e-01 1.26672035e-01 9.63798803e-02 5.79846821e+01] [-1.26040272e-01 9.91944598e-01 -1.26397657e-02 -3.24846404e+00] [-9.72046065e-02 3.30878619e-04 9.95264364e-01 -7.10793208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75824100799999 meters 0.06282065014021346 Centerline is valid? [True, True] Translation: X:58.05, Y:-3.25, Z:-7.12 [[ 9.86518358e-01 1.32976247e-01 9.53878811e-02 5.80461822e+01] [-1.32386631e-01 9.91119184e-01 -1.25117354e-02 -3.24837797e+00] [-9.62045225e-02 -2.85023556e-04 9.95361547e-01 -7.11805207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.818241007999994 meters 0.06369145268305149 Centerline is valid? [True, True] Translation: X:58.11, Y:-3.25, Z:-7.13 [[ 9.86097779e-01 1.37045652e-01 9.39662632e-02 5.81065951e+01] [-1.36489901e-01 9.90564519e-01 -1.23466881e-02 -3.24876944e+00] [-9.47717062e-02 -6.50404192e-04 9.95498820e-01 -7.13201345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.878241007999996 meters 0.06344984307462986 Centerline is valid? [True, True] Translation: X:58.17, Y:-3.26, Z:-7.14 [[ 9.86052675e-01 1.37443993e-01 9.38577142e-02 5.81689363e+01] [-1.36889568e-01 9.90509314e-01 -1.23509348e-02 -3.25782851e+00] [-9.46645018e-02 -6.69469725e-04 9.95509007e-01 -7.13700577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93824100799999 meters 0.0632274197777297 Centerline is valid? [True, True] Translation: X:58.23, Y:-3.27, Z:-7.14 [[ 9.86241711e-01 1.35804329e-01 9.42574764e-02 5.82290809e+01] [-1.35235301e-01 9.90735557e-01 -1.24285446e-02 -3.27167392e+00] [-9.50720835e-02 -4.89389137e-04 9.95470270e-01 -7.14493652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.998241007999994 meters 0.06293450056244007 Centerline is valid? [True, True] Translation: X:58.29, Y:-3.29, Z:-7.15 [[ 9.86723918e-01 1.31687098e-01 9.50495511e-02 5.82892784e+01] [-1.31087356e-01 9.91291331e-01 -1.25539667e-02 -3.28628503e+00] [-9.58749914e-02 -7.24951630e-05 9.95393380e-01 -7.15207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.058241007999996 meters 0.06277751460143007 Centerline is valid? [True, True] Translation: X:58.35, Y:-3.30, Z:-7.16 [[ 9.87007377e-01 1.29440398e-01 9.51925439e-02 5.83501185e+01] [-1.28826521e-01 9.91587190e-01 -1.25925260e-02 -3.30155120e+00] [-9.60216887e-02 1.65591889e-04 9.95379228e-01 -7.15650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11824100799999 meters 0.06324908911156521 Centerline is valid? [True, True] Translation: X:58.41, Y:-3.32, Z:-7.17 [[ 9.87674141e-01 1.26027560e-01 9.28269600e-02 5.84087490e+01] [-1.25426514e-01 9.92026610e-01 -1.23042816e-02 -3.31604261e+00] [-9.36374930e-02 5.09658751e-04 9.95606227e-01 -7.17096946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17824100799999 meters 0.0632913118161418 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.33, Z:-7.18 [[ 9.87755109e-01 1.25662263e-01 9.24599374e-02 5.84687474e+01] [-1.25062597e-01 9.92072921e-01 -1.22746052e-02 -3.32809521e+00] [-9.32694549e-02 5.61024090e-04 9.95640745e-01 -7.18016616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.238241007999996 meters 0.06278545971447026 Centerline is valid? [True, True] Translation: X:58.53, Y:-3.34, Z:-7.18 [[ 9.87972289e-01 1.23728993e-01 9.27463851e-02 5.85301261e+01] [-1.23115408e-01 9.92315753e-01 -1.23305913e-02 -3.34353979e+00] [-9.35593506e-02 7.63773497e-04 9.95613411e-01 -7.17992425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.298241008 meters 0.06341497800220697 Centerline is valid? [True, True] Translation: X:58.59, Y:-3.36, Z:-7.19 [[ 9.88389324e-01 1.20635383e-01 9.23777537e-02 5.85884474e+01] [-1.20010568e-01 9.92696297e-01 -1.23096063e-02 -3.35826701e+00] [-9.31880280e-02 1.08037675e-03 9.95647942e-01 -7.19207603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35824100799999 meters 0.06359066896268771 Centerline is valid? [True, True] Translation: X:58.65, Y:-3.37, Z:-7.20 [[ 9.89007786e-01 1.16145227e-01 9.15089402e-02 5.86481772e+01] [-1.15511921e-01 9.93231109e-01 -1.22049630e-02 -3.37423889e+00] [-9.23070743e-02 1.50042996e-03 9.95729458e-01 -7.19717830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.418241007999995 meters 0.0649472623337021 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.39, Z:-7.21 [[ 9.89569235e-01 1.12727270e-01 8.96955484e-02 5.87052747e+01] [-1.12103783e-01 9.93624346e-01 -1.19750102e-02 -3.39406786e+00] [-9.04735908e-02 1.79489139e-03 9.95897238e-01 -7.20784952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478241008 meters 0.06498803235789019 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.41, Z:-7.21 [[ 9.89533929e-01 1.12694342e-01 9.01254085e-02 5.87661258e+01] [-1.12065024e-01 9.93628066e-01 -1.20289842e-02 -3.40857600e+00] [-9.09067339e-02 1.80318190e-03 9.95857778e-01 -7.21369121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53824100799999 meters 0.06433419289808258 Centerline is valid? [True, True] Translation: X:58.83, Y:-3.42, Z:-7.22 [[ 9.89140012e-01 1.14231477e-01 9.24835431e-02 5.88270738e+01] [-1.13573075e-01 9.93452653e-01 -1.23685895e-02 -3.41632322e+00] [-9.32909035e-02 1.73062632e-03 9.95637390e-01 -7.21956005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.598241007999995 meters 0.06366743106732 Centerline is valid? [True, True] Translation: X:58.89, Y:-3.42, Z:-7.23 [[ 9.88484820e-01 1.20274850e-01 9.18244054e-02 5.88877367e+01] [-1.19651235e-01 9.92739955e-01 -1.22867107e-02 -3.42096968e+00] [-9.26355384e-02 1.15832348e-03 9.95699410e-01 -7.23061227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.658241008 meters 0.0624758792175554 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.42, Z:-7.23 [[ 9.87438704e-01 1.25986964e-01 9.53524552e-02 5.89495996e+01] [-1.25340283e-01 9.92031682e-01 -1.27654078e-02 -3.42388329e+00] [-9.62009314e-02 6.53553985e-04 9.95361720e-01 -7.23151648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71824100799999 meters 0.06264010320434137 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.43, Z:-7.24 [[ 9.86678855e-01 1.31354494e-01 9.59730871e-02 5.90095491e+01] [-1.30724640e-01 9.91335453e-01 -1.28486985e-02 -3.43000845e+00] [-9.68292580e-02 1.31491916e-04 9.95300998e-01 -7.24145274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.778241007999995 meters 0.06309477892972089 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.43, Z:-7.25 [[ 9.85863648e-01 1.37389131e-01 9.59014836e-02 5.90720482e+01] [-1.36786749e-01 9.90517053e-01 -1.28589657e-02 -3.43202795e+00] [-9.67587371e-02 -4.40865384e-04 9.95307768e-01 -7.25193912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.838241008 meters 0.06297339757224342 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.44, Z:-7.25 [[ 9.85505822e-01 1.40719616e-01 9.47431496e-02 5.91327307e+01] [-1.40144793e-01 9.90049216e-01 -1.27274210e-02 -3.44339768e+00] [-9.55913787e-02 -7.34811583e-04 9.95420388e-01 -7.25496219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89824100799999 meters 0.06263506803475799 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.46, Z:-7.26 [[ 9.85678684e-01 1.38744324e-01 9.58516801e-02 5.91935036e+01] [-1.38144630e-01 9.90328093e-01 -1.28968473e-02 -3.45574748e+00] [-9.67139760e-02 -5.29247405e-04 9.95312075e-01 -7.26170363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.958241007999995 meters 0.06294693677791546 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.47, Z:-7.28 [[ 9.86518148e-01 1.34854765e-01 9.27153518e-02 5.92526808e+01] [-1.34274558e-01 9.90865368e-01 -1.24966193e-02 -3.46923592e+00] [-9.35536598e-02 -1.21171152e-04 9.95614232e-01 -7.27558049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.018241008 meters 0.06353990803565066 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.48, Z:-7.29 [[ 9.87010548e-01 1.32124439e-01 9.13964490e-02 5.93113387e+01] [-1.31546866e-01 9.91233125e-01 -1.23415803e-02 -3.48252100e+00] [-9.22258121e-02 1.58353492e-04 9.95738105e-01 -7.28935114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07824100799999 meters 0.06368649775953412 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.50, Z:-7.29 [[ 9.87776716e-01 1.27732715e-01 8.93393168e-02 5.93715587e+01] [-1.27161814e-01 9.91808465e-01 -1.20765305e-02 -3.50254167e+00] [-9.01500586e-02 5.68366094e-04 9.95928031e-01 -7.29348435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.138241007999994 meters 0.06371737979266079 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.52, Z:-7.30 [[ 9.88169708e-01 1.23997007e-01 9.02517008e-02 5.94323289e+01] [-1.23398816e-01 9.92282167e-01 -1.21997333e-02 -3.51797623e+00] [-9.10678836e-02 9.18453897e-04 9.95844263e-01 -7.29822714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.198241008 meters 0.06434877762544562 Centerline is valid? [True, True] Translation: X:59.49, Y:-3.53, Z:-7.31 [[ 9.88447018e-01 1.20563327e-01 9.18530198e-02 5.94927047e+01] [-1.19926255e-01 9.92704807e-01 -1.24442837e-02 -3.52782421e+00] [-9.26832585e-02 1.28492642e-03 9.95694814e-01 -7.30756890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25824100799999 meters 0.06455211110927063 Centerline is valid? [True, True] Translation: X:59.55, Y:-3.53, Z:-7.32 [[ 9.88322833e-01 1.21655092e-01 9.17497508e-02 5.95528308e+01] [-1.21022640e-01 9.92571713e-01 -1.24465071e-02 -3.53419730e+00] [-9.25823882e-02 1.19737004e-03 9.95704307e-01 -7.31555342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.318241007999994 meters 0.06429696065577643 Centerline is valid? [True, True] Translation: X:59.61, Y:-3.54, Z:-7.32 [[ 9.88219899e-01 1.21238370e-01 9.33953316e-02 5.96149703e+01] [-1.20579838e-01 9.92622607e-01 -1.26832056e-02 -3.54368411e+00] [-9.42440087e-02 1.27220229e-03 9.95548315e-01 -7.31775046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378241007999996 meters 0.06532018089245942 Centerline is valid? [True, True] Translation: X:59.67, Y:-3.55, Z:-7.33 [[ 9.88521852e-01 1.19959132e-01 9.18387428e-02 5.96737295e+01] [-1.19316308e-01 9.92777875e-01 -1.24783349e-02 -3.55174613e+00] [-9.26723621e-02 1.37724699e-03 9.95695705e-01 -7.33179400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43824100799999 meters 0.06552843521426262 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.56, Z:-7.34 [[ 9.88653713e-01 1.19917846e-01 9.04629568e-02 5.97349236e+01] [-1.19293403e-01 9.92782878e-01 -1.22980520e-02 -3.55675433e+00] [-9.12848305e-02 1.36688079e-03 9.95823886e-01 -7.34153821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.498241007999994 meters 0.06506577056618477 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.56, Z:-7.34 [[ 9.88529112e-01 1.19656152e-01 9.21553068e-02 5.97970567e+01] [-1.19004992e-01 9.92814352e-01 -1.25488711e-02 -3.56288032e+00] [-9.29946609e-02 1.43798280e-03 9.95665569e-01 -7.34494520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.558241007999996 meters 0.06455067210561577 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.57, Z:-7.35 [[ 9.88141619e-01 1.20570457e-01 9.50731647e-02 5.98579313e+01] [-1.19878796e-01 9.92703752e-01 -1.29743964e-02 -3.57082234e+00] [-9.59438162e-02 1.42328446e-03 9.95385733e-01 -7.34551820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61824100799999 meters 0.06427982782095658 Centerline is valid? [True, True] Translation: X:59.92, Y:-3.58, Z:-7.35 [[ 9.87908334e-01 1.19616677e-01 9.86355650e-02 5.99195794e+01] [-1.18867401e-01 9.92818905e-01 -1.34596776e-02 -3.57897351e+00] [-9.95372556e-02 1.57237442e-03 9.95032594e-01 -7.34901828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67824100799999 meters 0.06521803987879976 Centerline is valid? [True, True] Translation: X:59.98, Y:-3.59, Z:-7.36 [[ 9.87986549e-01 1.18236431e-01 9.95124426e-02 5.99795767e+01] [-1.17464392e-01 9.92983929e-01 -1.36026855e-02 -3.58735397e+00] [-1.00422589e-01 1.75010179e-03 9.94943335e-01 -7.36065630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.738241007999996 meters 0.0654976723134266 Centerline is valid? [True, True] Translation: X:60.04, Y:-3.59, Z:-7.37 [[ 9.88226661e-01 1.16159145e-01 9.95746964e-02 6.00411135e+01] [-1.15373091e-01 9.93228626e-01 -1.36362335e-02 -3.59382104e+00] [-1.00484412e-01 1.98744899e-03 9.94936648e-01 -7.36859261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.798241008 meters 0.06589788179471116 Centerline is valid? [True, True] Translation: X:60.10, Y:-3.60, Z:-7.37 [[ 9.88423392e-01 1.15245520e-01 9.86796213e-02 6.01018272e+01] [-1.14466739e-01 9.93334851e-01 -1.35366267e-02 -3.60472039e+00] [-9.95819425e-02 2.08438402e-03 9.95027182e-01 -7.37494871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85824100799999 meters 0.06655408904309887 Centerline is valid? [True, True] Translation: X:60.16, Y:-3.61, Z:-7.38 [[ 9.88687370e-01 1.12694761e-01 9.89806766e-02 6.01626624e+01] [-1.11896145e-01 9.93626825e-01 -1.36009531e-02 -3.61484171e+00] [-9.98826116e-02 2.37153437e-03 9.94996402e-01 -7.38146593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.918241007999995 meters 0.0667878107850213 Centerline is valid? [True, True] Translation: X:60.22, Y:-3.62, Z:-7.39 [[ 9.88553445e-01 1.13120076e-01 9.98295273e-02 6.02235700e+01] [-1.12307447e-01 9.93578493e-01 -1.37410322e-02 -3.62037021e+00] [-1.00742858e-01 2.37214539e-03 9.94909669e-01 -7.39055821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.978241008 meters 0.06616176347560652 Centerline is valid? [True, True] Translation: X:60.28, Y:-3.62, Z:-7.40 [[ 9.88119480e-01 1.16457621e-01 1.00287168e-01 6.02847463e+01] [-1.15651901e-01 9.93193509e-01 -1.38308557e-02 -3.62385013e+00] [-1.01215272e-01 2.06813640e-03 9.94862398e-01 -7.39889887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03824100799999 meters 0.06573420775479756 Centerline is valid? [True, True] Translation: X:60.35, Y:-3.63, Z:-7.41 [[ 9.87739710e-01 1.20398793e-01 9.93699907e-02 6.03452427e+01] [-1.19627523e-01 9.92724235e-01 -1.37057966e-02 -3.62847556e+00] [-1.00297159e-01 1.65037367e-03 9.94956158e-01 -7.40815929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.098241007999995 meters 0.06514637855526467 Centerline is valid? [True, True] Translation: X:60.41, Y:-3.63, Z:-7.42 [[ 9.87204677e-01 1.24870014e-01 9.91685691e-02 6.04074423e+01] [-1.24122028e-01 9.92172363e-01 -1.37012195e-02 -3.63107984e+00] [-1.00103185e-01 1.21690407e-03 9.94976317e-01 -7.41733930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.158241008 meters 0.06447621776714028 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.64, Z:-7.42 [[ 9.86771000e-01 1.28353405e-01 9.90373563e-02 6.04699502e+01] [-1.27624124e-01 9.91728111e-01 -1.36907389e-02 -3.63524159e+00] [-9.99753832e-02 8.70068231e-04 9.94989530e-01 -7.42261165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21824100799999 meters 0.06429972675040135 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.63, Z:-7.43 [[ 9.85690608e-01 1.34652334e-01 1.01404018e-01 6.05317262e+01] [-1.33919906e-01 9.90892874e-01 -1.40274988e-02 -3.63296154e+00] [-1.02369355e-01 2.46757184e-04 9.94746427e-01 -7.43165327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.278241007999995 meters 0.06440712699691022 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.63, Z:-7.44 [[ 9.84874374e-01 1.40446522e-01 1.01475324e-01 6.05940748e+01] [-1.39743824e-01 9.90088202e-01 -1.40362500e-02 -3.63444065e+00] [-1.02440864e-01 -3.56606916e-04 9.94739032e-01 -7.43949008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.338241008 meters 0.06533460753664742 Centerline is valid? [True, True] Translation: X:60.66, Y:-3.64, Z:-7.45 [[ 9.83816683e-01 1.48941343e-01 9.96052717e-02 6.06561442e+01] [-1.48304709e-01 9.88845319e-01 -1.38075295e-02 -3.63505702e+00] [-1.00550719e-01 -1.18785297e-03 9.94931225e-01 -7.44802136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39824100799999 meters 0.06663178394385362 Centerline is valid? [True, True] Translation: X:60.72, Y:-3.64, Z:-7.46 [[ 9.83039526e-01 1.53951638e-01 9.96603409e-02 6.07166176e+01] [-1.53339384e-01 9.88076929e-01 -1.38208061e-02 -3.63648411e+00] [-1.00599819e-01 -1.69545667e-03 9.94925526e-01 -7.45814622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.458241007999995 meters 0.06803167773266651 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.64, Z:-7.47 [[ 9.82397250e-01 1.58177470e-01 9.93757114e-02 6.07768434e+01] [-1.57589275e-01 9.87408440e-01 -1.37910773e-02 -3.63929945e+00] [-1.00305854e-01 -2.11222996e-03 9.94954408e-01 -7.46765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.518241008 meters 0.06748238625138644 Centerline is valid? [True, True] Translation: X:60.84, Y:-3.65, Z:-7.47 [[ 9.82253676e-01 1.58144904e-01 1.00836029e-01 6.08378384e+01] [-1.57536959e-01 9.87413640e-01 -1.40146246e-02 -3.65114362e+00] [-1.01783211e-01 -2.11948474e-03 9.94804345e-01 -7.47331953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57824100799999 meters 0.06702620206588221 Centerline is valid? [True, True] Translation: X:60.90, Y:-3.67, Z:-7.48 [[ 9.82581388e-01 1.56262279e-01 1.00577908e-01 6.08979787e+01] [-1.55645296e-01 9.87713775e-01 -1.40014325e-02 -3.66582926e+00] [-1.01530081e-01 -1.89693125e-03 9.94830661e-01 -7.47968558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.638241007999994 meters 0.06605447958280661 Centerline is valid? [True, True] Translation: X:60.96, Y:-3.68, Z:-7.49 [[ 9.82988592e-01 1.53987915e-01 1.00105697e-01 6.09579989e+01] [-1.53362713e-01 9.88071383e-01 -1.39577963e-02 -3.67974261e+00] [-1.01060907e-01 -1.63212681e-03 9.94878902e-01 -7.48759762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.698241008 meters 0.06570577338322275 Centerline is valid? [True, True] Translation: X:61.02, Y:-3.69, Z:-7.50 [[ 9.83326890e-01 1.52369216e-01 9.92564798e-02 6.10181199e+01] [-1.51744091e-01 9.88322607e-01 -1.38620270e-02 -3.69207911e+00] [-1.00209569e-01 -1.43068043e-03 9.94965324e-01 -7.49623234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75824100799999 meters 0.06584723044149296 Centerline is valid? [True, True] Translation: X:61.08, Y:-3.70, Z:-7.51 [[ 9.83584545e-01 1.51407287e-01 9.81696336e-02 6.10782282e+01] [-1.50788814e-01 9.88470614e-01 -1.37324163e-02 -3.70187840e+00] [-9.91169858e-02 -1.29589018e-03 9.95074944e-01 -7.50636622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.818241007999994 meters 0.06489568531012059 Centerline is valid? [True, True] Translation: X:61.14, Y:-3.71, Z:-7.51 [[ 9.83533402e-01 1.49413393e-01 1.01674405e-01 6.11391904e+01] [-1.48736184e-01 9.88774199e-01 -1.42523874e-02 -3.71334634e+00] [-1.02662526e-01 -1.10496398e-03 9.94715630e-01 -7.50981693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.878241007999996 meters 0.06442238407698127 Centerline is valid? [True, True] Translation: X:61.20, Y:-3.72, Z:-7.52 [[ 9.83739437e-01 1.47828684e-01 1.01997061e-01 6.12003914e+01] [-1.47138501e-01 9.89012535e-01 -1.42991899e-02 -3.72384330e+00] [-1.02990202e-01 -9.41017660e-04 9.94681925e-01 -7.51501381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93824100799999 meters 0.06426401503774096 Centerline is valid? [True, True] Translation: X:61.26, Y:-3.73, Z:-7.52 [[ 9.83977533e-01 1.45887478e-01 1.02494185e-01 6.12605242e+01] [-1.45177472e-01 9.89300930e-01 -1.43934717e-02 -3.73399868e+00] [-1.03497420e-01 -7.16993881e-04 9.94629464e-01 -7.52481240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998241007999994 meters 0.06407460760707806 Centerline is valid? [True, True] Translation: X:61.32, Y:-3.75, Z:-7.54 [[ 9.84622301e-01 1.44083518e-01 9.87869644e-02 6.13201506e+01] [-1.43412769e-01 9.89565412e-01 -1.38951074e-02 -3.74620772e+00] [-9.97582190e-02 -4.85879469e-04 9.95011589e-01 -7.53711856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058241007999996 meters 0.06406713934765217 Centerline is valid? [True, True] Translation: X:61.38, Y:-3.76, Z:-7.55 [[ 9.84784148e-01 1.43735017e-01 9.76751047e-02 6.13801404e+01] [-1.43075380e-01 9.89616120e-01 -1.37611751e-02 -3.75716862e+00] [-9.86388209e-02 -4.23115647e-04 9.95123210e-01 -7.54720831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11824100799999 meters 0.06387430595512258 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.77, Z:-7.55 [[ 9.85353370e-01 1.40471739e-01 9.66769211e-02 6.14400625e+01] [-1.39807707e-01 9.90084686e-01 -1.36425772e-02 -3.77116479e+00] [-9.76347356e-02 -7.34192888e-05 9.95222313e-01 -7.55497070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17824100799999 meters 0.06401690856332418 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.78, Z:-7.56 [[ 9.85180668e-01 1.41147634e-01 9.74494551e-02 6.15005179e+01] [-1.40473942e-01 9.89988551e-01 -1.37746262e-02 -3.78167229e+00] [-9.84181008e-02 -1.18613633e-04 9.95145147e-01 -7.56042234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238241007999996 meters 0.06384405106280643 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.79, Z:-7.57 [[ 9.84987238e-01 1.41476650e-01 9.89166263e-02 6.15607863e+01] [-1.40781764e-01 9.89941584e-01 -1.40055143e-02 -3.79173813e+00] [-9.99031350e-02 -1.30404279e-04 9.94997159e-01 -7.56602915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298241008 meters 0.06411930124981208 Centerline is valid? [True, True] Translation: X:61.62, Y:-3.80, Z:-7.57 [[ 9.84799867e-01 1.42452700e-01 9.93803312e-02 6.16221016e+01] [-1.41754167e-01 9.89801588e-01 -1.40915650e-02 -3.79769175e+00] [-1.00374191e-01 -2.10204693e-04 9.94949736e-01 -7.57364190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35824100799999 meters 0.06413667627376174 Centerline is valid? [True, True] Translation: X:61.68, Y:-3.81, Z:-7.58 [[ 9.84856943e-01 1.43113430e-01 9.78537036e-02 6.16829507e+01] [-1.42437236e-01 9.89706261e-01 -1.38978594e-02 -3.80847524e+00] [-9.88353934e-02 -2.50607729e-04 9.95103765e-01 -7.58056089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418241007999995 meters 0.0640379285742243 Centerline is valid? [True, True] Translation: X:61.74, Y:-3.82, Z:-7.59 [[ 9.84618667e-01 1.43462217e-01 9.97229829e-02 6.17439692e+01] [-1.42759229e-01 9.89655759e-01 -1.41873783e-02 -3.81824618e+00] [-1.00726777e-01 -2.67218679e-04 9.94914089e-01 -7.58629808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.478241008 meters 0.06431799427336136 Centerline is valid? [True, True] Translation: X:61.80, Y:-3.83, Z:-7.60 [[ 9.84819476e-01 1.42134248e-01 9.96416306e-02 6.18049070e+01] [-1.41423323e-01 9.89847384e-01 -1.41985846e-02 -3.82833738e+00] [-1.00648113e-01 -1.08607864e-04 9.94922080e-01 -7.59578123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53824100799999 meters 0.0643158995904171 Centerline is valid? [True, True] Translation: X:61.86, Y:-3.84, Z:-7.60 [[ 9.84964626e-01 1.40398665e-01 1.00662307e-01 6.18638943e+01] [-1.39661140e-01 9.90095049e-01 -1.43722218e-02 -3.83991764e+00] [-1.01683092e-01 9.75175849e-05 9.94816837e-01 -7.60467680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598241007999995 meters 0.06407953959891548 Centerline is valid? [True, True] Translation: X:61.93, Y:-3.85, Z:-7.61 [[ 9.84784808e-01 1.41184626e-01 1.01320203e-01 6.19253667e+01] [-1.40439349e-01 9.89983283e-01 -1.44875528e-02 -3.85176114e+00] [-1.02350727e-01 3.77785492e-05 9.94748374e-01 -7.60737485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658241008 meters 0.06405329810120326 Centerline is valid? [True, True] Translation: X:61.99, Y:-3.86, Z:-7.61 [[ 9.84077552e-01 1.45702701e-01 1.01794375e-01 6.19881816e+01] [-1.44972115e-01 9.89328335e-01 -1.45784756e-02 -3.85639964e+00] [-1.02832182e-01 -4.10995169e-04 9.94698634e-01 -7.61260771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71824100799999 meters 0.06487583945809267 Centerline is valid? [True, True] Translation: X:62.05, Y:-3.86, Z:-7.63 [[ 9.83731242e-01 1.49355701e-01 9.98284461e-02 6.20482786e+01] [-1.48668919e-01 9.88783250e-01 -1.43261215e-02 -3.85665382e+00] [-1.00848383e-01 -7.48333934e-04 9.94901525e-01 -7.62560623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.778241007999995 meters 0.0650974810609778 Centerline is valid? [True, True] Translation: X:62.11, Y:-3.86, Z:-7.64 [[ 9.83883964e-01 1.49478252e-01 9.81254179e-02 6.21087705e+01] [-1.48814506e-01 9.88764737e-01 -1.40903141e-02 -3.86474545e+00] [-9.91291486e-02 -7.39251513e-04 9.95074301e-01 -7.63573562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838241008 meters 0.06492398737442534 Centerline is valid? [True, True] Translation: X:62.17, Y:-3.88, Z:-7.64 [[ 9.84150863e-01 1.48221958e-01 9.73515772e-02 6.21700844e+01] [-1.47560428e-01 9.88953946e-01 -1.40004715e-02 -3.87654500e+00] [-9.83514038e-02 -5.86664219e-04 9.95151575e-01 -7.64387091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89824100799999 meters 0.0648022258654649 Centerline is valid? [True, True] Translation: X:62.23, Y:-3.89, Z:-7.65 [[ 9.84279662e-01 1.46556576e-01 9.85632630e-02 6.22298806e+01] [-1.45867410e-01 9.89202209e-01 -1.42016720e-02 -3.88955081e+00] [-9.95803459e-02 -3.98751039e-04 9.95029445e-01 -7.65119336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958241007999995 meters 0.06439068031641108 Centerline is valid? [True, True] Translation: X:62.29, Y:-3.90, Z:-7.65 [[ 9.84339538e-01 1.44614288e-01 1.00808642e-01 6.22901344e+01] [-1.43880742e-01 9.89488087e-01 -1.45484746e-02 -3.90420813e+00] [-1.01852868e-01 -1.83783490e-04 9.94799457e-01 -7.65435977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018241008 meters 0.06433874171184481 Centerline is valid? [True, True] Translation: X:62.35, Y:-3.91, Z:-7.66 [[ 9.84144684e-01 1.45728456e-01 1.01106174e-01 6.23521001e+01] [-1.44994232e-01 9.89324588e-01 -1.46127735e-02 -3.91173680e+00] [-1.02156321e-01 -2.78728666e-04 9.94768319e-01 -7.66000169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07824100799999 meters 0.06456276090323887 Centerline is valid? [True, True] Translation: X:62.41, Y:-3.92, Z:-7.67 [[ 9.84506537e-01 1.45282595e-01 9.81827224e-02 6.24109193e+01] [-1.44585147e-01 9.89390180e-01 -1.42199212e-02 -3.92186329e+00] [-9.92069285e-02 -1.96158031e-04 9.95066805e-01 -7.67060930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.138241007999994 meters 0.06467712576090712 Centerline is valid? [True, True] Translation: X:62.47, Y:-3.93, Z:-7.68 [[ 9.84960445e-01 1.44611106e-01 9.45544848e-02 6.24714761e+01] [-1.43960250e-01 9.89488562e-01 -1.37051539e-02 -3.93332895e+00] [-9.55424987e-02 -1.13052749e-04 9.95425345e-01 -7.67884779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198241008 meters 0.06439223850603616 Centerline is valid? [True, True] Translation: X:62.53, Y:-3.94, Z:-7.69 [[ 9.85066207e-01 1.43756468e-01 9.47557106e-02 6.25331870e+01] [-1.43098759e-01 9.89613095e-01 -1.37356501e-02 -3.94471700e+00] [-9.57460805e-02 -2.88998998e-05 9.95405790e-01 -7.68614452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25824100799999 meters 0.06436805123922015 Centerline is valid? [True, True] Translation: X:62.59, Y:-3.95, Z:-7.69 [[ 9.85254881e-01 1.42391994e-01 9.48543100e-02 6.25936749e+01] [-1.41724011e-01 9.89810337e-01 -1.37768580e-02 -3.95433236e+00] [-9.58494908e-02 1.30583329e-04 9.95395830e-01 -7.69349253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318241007999994 meters 0.06419987230755214 Centerline is valid? [True, True] Translation: X:62.66, Y:-3.96, Z:-7.70 [[ 9.85024225e-01 1.41970489e-01 9.78348456e-02 6.26553475e+01] [-1.41254733e-01 9.89870869e-01 -1.42394817e-02 -3.96214934e+00] [-9.88654498e-02 2.06599377e-04 9.95100789e-01 -7.69979259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378241007999996 meters 0.0641938975933859 Centerline is valid? [True, True] Translation: X:62.72, Y:-3.97, Z:-7.71 [[ 9.85071674e-01 1.39766484e-01 1.00494412e-01 6.27164813e+01] [-1.38999152e-01 9.90184393e-01 -1.46322936e-02 -3.97313601e+00] [-1.01553102e-01 4.45220018e-04 9.94830020e-01 -7.70540075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43824100799999 meters 0.0638863845283198 Centerline is valid? [True, True] Translation: X:62.78, Y:-3.98, Z:-7.71 [[ 9.85152813e-01 1.39875730e-01 9.95425314e-02 6.27765140e+01] [-1.39121094e-01 9.90168963e-01 -1.45171086e-02 -3.98412081e+00] [-1.00594516e-01 4.53104568e-04 9.94927403e-01 -7.71182437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.498241007999994 meters 0.0638585907546648 Centerline is valid? [True, True] Translation: X:62.84, Y:-3.99, Z:-7.72 [[ 9.84965218e-01 1.41816745e-01 9.86485145e-02 6.28380186e+01] [-1.41083278e-01 9.89892891e-01 -1.44073785e-02 -3.99031379e+00] [-9.96946707e-02 2.73110958e-04 9.95018039e-01 -7.72139275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558241007999996 meters 0.06404991703003997 Centerline is valid? [True, True] Translation: X:62.90, Y:-3.99, Z:-7.73 [[ 9.84742122e-01 1.44010650e-01 9.76928102e-02 6.28994180e+01] [-1.43299986e-01 9.89576135e-01 -1.42893854e-02 -3.99430121e+00] [-9.87322973e-02 7.19813784e-05 9.95114028e-01 -7.73283358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61824100799999 meters 0.0641409827965573 Centerline is valid? [True, True] Translation: X:62.96, Y:-4.00, Z:-7.74 [[ 9.84837036e-01 1.44380237e-01 9.61787932e-02 6.29603235e+01] [-1.43691201e-01 9.89522281e-01 -1.40888132e-02 -4.00330779e+00] [-9.72052050e-02 5.51387464e-05 9.95264359e-01 -7.74155015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67824100799999 meters 0.064041214945762 Centerline is valid? [True, True] Translation: X:63.02, Y:-4.01, Z:-7.75 [[ 9.84631250e-01 1.45570993e-01 9.64903483e-02 6.30225544e+01] [-1.44881019e-01 9.89347808e-01 -1.41564850e-02 -4.01147221e+00] [-9.75232881e-02 -4.07024097e-05 9.95233242e-01 -7.74930697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.738241007999996 meters 0.06401152313316537 Centerline is valid? [True, True] Translation: X:63.08, Y:-4.03, Z:-7.76 [[ 9.85087614e-01 1.42880595e-01 9.58515905e-02 6.30829248e+01] [-1.42184461e-01 9.89739902e-01 -1.40892321e-02 -4.02500547e+00] [-9.68812216e-02 2.50521339e-04 9.95295919e-01 -7.75611293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.798241008 meters 0.06486278028762135 Centerline is valid? [True, True] Translation: X:63.14, Y:-4.04, Z:-7.76 [[ 9.86014904e-01 1.35518360e-01 9.70019745e-02 6.31418415e+01] [-1.34767445e-01 9.90774321e-01 -1.42821953e-02 -4.04221019e+00] [-9.80425651e-02 1.00974912e-03 9.95181710e-01 -7.76498604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85824100799999 meters 0.06539818327875382 Centerline is valid? [True, True] Translation: X:63.20, Y:-4.06, Z:-7.77 [[ 9.86804710e-01 1.29132701e-01 9.76791151e-02 6.32026250e+01] [-1.28337536e-01 9.91625897e-01 -1.44068223e-02 -4.05714429e+00] [-9.87215321e-02 1.68082315e-03 9.95113679e-01 -7.77003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.918241007999995 meters 0.06572686658815133 Centerline is valid? [True, True] Translation: X:63.26, Y:-4.07, Z:-7.78 [[ 9.87218111e-01 1.26218445e-01 9.73103613e-02 6.32632082e+01] [-1.25414642e-01 9.92000516e-01 -1.43577347e-02 -4.06675691e+00] [-9.83441396e-02 1.97007159e-03 9.95150516e-01 -7.77609409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.978241008 meters 0.06602346808230927 Centerline is valid? [True, True] Translation: X:63.32, Y:-4.07, Z:-7.78 [[ 9.87050234e-01 1.26923819e-01 9.80927081e-02 6.33235672e+01] [-1.26109482e-01 9.91910600e-01 -1.44831116e-02 -4.07347317e+00] [-9.91374488e-02 1.92513803e-03 9.95071887e-01 -7.78473353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.038241008 meters 0.0655505225351749 Centerline is valid? [True, True] Translation: X:63.39, Y:-4.08, Z:-7.79 [[ 9.86886105e-01 1.28483337e-01 9.77130929e-02 6.33850218e+01] [-1.27680852e-01 9.91710066e-01 -1.44480075e-02 -4.07588072e+00] [-9.87593860e-02 1.78244689e-03 9.95109746e-01 -7.79303787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.098241008 meters 0.06507653369381095 Centerline is valid? [True, True] Translation: X:63.45, Y:-4.08, Z:-7.80 [[ 9.86420372e-01 1.31967300e-01 9.77725970e-02 6.34467000e+01] [-1.31178584e-01 9.91252998e-01 -1.44800719e-02 -4.07752049e+00] [-9.88282759e-02 1.45776713e-03 9.95103435e-01 -7.80125433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.158241008 meters 0.06504040666354306 Centerline is valid? [True, True] Translation: X:63.51, Y:-4.08, Z:-7.81 [[ 9.86218871e-01 1.34051375e-01 9.69668378e-02 6.35080062e+01] [-1.33283448e-01 9.90973581e-01 -1.43834678e-02 -4.08467880e+00] [-9.80196982e-02 1.26117293e-03 9.95183676e-01 -7.80808725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.218241008 meters 0.06455322365156108 Centerline is valid? [True, True] Translation: X:63.57, Y:-4.09, Z:-7.81 [[ 9.85593121e-01 1.36633490e-01 9.96869606e-02 6.35687228e+01] [-1.35832087e-01 9.90621100e-01 -1.48148520e-02 -4.08983069e+00] [-1.00776211e-01 1.06072830e-03 9.94908554e-01 -7.81237739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.278241008 meters 0.06437543603254102 Centerline is valid? [True, True] Translation: X:63.63, Y:-4.10, Z:-7.82 [[ 9.85232097e-01 1.38719272e-01 1.00372702e-01 6.36306120e+01] [-1.37915604e-01 9.90331360e-01 -1.49359879e-02 -4.09537379e+00] [-1.01474144e-01 8.72452830e-04 9.94837794e-01 -7.82113544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.338241008 meters 0.06420775803159862 Centerline is valid? [True, True] Translation: X:63.69, Y:-4.10, Z:-7.83 [[ 9.84541497e-01 1.44974124e-01 9.82880717e-02 6.36904944e+01] [-1.44234140e-01 9.89435421e-01 -1.46308388e-02 -4.09909674e+00] [-9.93707926e-02 2.28172431e-04 9.95050448e-01 -7.83203061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.398241008 meters 0.0640914490225933 Centerline is valid? [True, True] Translation: X:63.75, Y:-4.11, Z:-7.84 [[ 9.84026539e-01 1.48936304e-01 9.75179345e-02 6.37519659e+01] [-1.48225314e-01 9.88846780e-01 -1.45362108e-02 -4.10781751e+00] [-9.85952651e-02 -1.50609297e-04 9.95127605e-01 -7.83829848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.458241008 meters 0.06433836484056171 Centerline is valid? [True, True] Translation: X:63.81, Y:-4.11, Z:-7.85 [[ 9.83551115e-01 1.52821028e-01 9.62960885e-02 6.38133803e+01] [-1.52144242e-01 9.88253749e-01 -1.43756089e-02 -4.11210683e+00] [-9.73618658e-02 -5.11749178e-04 9.95248916e-01 -7.84971164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.518241008 meters 0.06499514273707879 Centerline is valid? [True, True] Translation: X:63.87, Y:-4.12, Z:-7.86 [[ 9.83348112e-01 1.54899851e-01 9.50396076e-02 6.38730943e+01] [-1.54248173e-01 9.87929940e-01 -1.42104001e-02 -4.11966690e+00] [-9.60936627e-02 -6.85915699e-04 9.95372060e-01 -7.86289026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.578241008 meters 0.06517740842047011 Centerline is valid? [True, True] Translation: X:63.93, Y:-4.13, Z:-7.87 [[ 9.83173398e-01 1.56557460e-01 9.41266791e-02 6.39339107e+01] [-1.55923942e-01 9.87668512e-01 -1.40937866e-02 -4.13163982e+00] [-9.51724445e-02 -8.19966803e-04 9.95460463e-01 -7.87056496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63824100800001 meters 0.06406005209414356 Centerline is valid? [True, True] Translation: X:63.99, Y:-4.16, Z:-7.87 [[ 9.84320990e-01 1.47421607e-01 9.68455380e-02 6.39927027e+01] [-1.46704113e-01 9.89073739e-01 -1.45272774e-02 -4.15529389e+00] [-9.79290130e-02 9.18653374e-05 9.95193398e-01 -7.86964578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.698241008 meters 0.0643791923033146 Centerline is valid? [True, True] Translation: X:64.05, Y:-4.18, Z:-7.87 [[ 9.85810175e-01 1.34847947e-01 9.99716436e-02 6.40504344e+01] [-1.34018538e-01 9.90865333e-01 -1.49974312e-02 -4.18117827e+00] [-1.01080809e-01 1.38656678e-03 9.94877252e-01 -7.87333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.758241008 meters 0.06502414710817375 Centerline is valid? [True, True] Translation: X:64.11, Y:-4.19, Z:-7.88 [[ 9.86327929e-01 1.30563431e-01 1.00550517e-01 6.41111792e+01] [-1.29699904e-01 9.91438217e-01 -1.51062077e-02 -4.19239943e+00] [-1.01661943e-01 1.85828209e-03 9.94817268e-01 -7.88133986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.818241008 meters 0.06540203811460256 Centerline is valid? [True, True] Translation: X:64.17, Y:-4.21, Z:-7.89 [[ 9.86648195e-01 1.29563204e-01 9.86849310e-02 6.41705715e+01] [-1.28724134e-01 9.91569251e-01 -1.48498407e-02 -4.20583639e+00] [-9.97769361e-02 1.94843632e-03 9.95007923e-01 -7.88943820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.878241008 meters 0.06602044748135395 Centerline is valid? [True, True] Translation: X:64.23, Y:-4.22, Z:-7.90 [[ 9.86954923e-01 1.27998217e-01 9.76546766e-02 6.42304048e+01] [-1.27166881e-01 9.91772163e-01 -1.47160317e-02 -4.21692467e+00] [-9.87348156e-02 2.10561932e-03 9.95111553e-01 -7.89836602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.938241008 meters 0.0667243001889355 Centerline is valid? [True, True] Translation: X:64.29, Y:-4.23, Z:-7.91 [[ 9.87581376e-01 1.24175557e-01 9.62468571e-02 6.42904881e+01] [-1.23347560e-01 9.92257174e-01 -1.45286210e-02 -4.22945374e+00] [-9.73057340e-02 2.47638054e-03 9.95251456e-01 -7.90599573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99824100800001 meters 0.06761519140755723 Centerline is valid? [True, True] Translation: X:64.35, Y:-4.24, Z:-7.91 [[ 9.88046722e-01 1.19892709e-01 9.68989873e-02 6.43508416e+01] [-1.19032612e-01 9.92782558e-01 -1.46297624e-02 -4.24123558e+00] [-9.79536263e-02 2.92074925e-03 9.95186694e-01 -7.91249974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.058241008 meters 0.06724154194902625 Centerline is valid? [True, True] Translation: X:64.41, Y:-4.25, Z:-7.92 [[ 9.88088076e-01 1.18996756e-01 9.75793374e-02 6.44121692e+01] [-1.18119058e-01 9.92889983e-01 -1.47434381e-02 -4.24877001e+00] [-9.86399680e-02 3.04183604e-03 9.95118538e-01 -7.91747309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.118241008 meters 0.06724731986585977 Centerline is valid? [True, True] Translation: X:64.47, Y:-4.25, Z:-7.93 [[ 9.87632678e-01 1.23326031e-01 9.68110741e-02 6.44721308e+01] [-1.22481903e-01 9.92362805e-01 -1.46371359e-02 -4.25082996e+00] [-9.78768490e-02 2.59850919e-03 9.95195142e-01 -7.92819859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.178241008 meters 0.0662764395473989 Centerline is valid? [True, True] Translation: X:64.53, Y:-4.25, Z:-7.94 [[ 9.86906362e-01 1.28929430e-01 9.69176708e-02 6.45320805e+01] [-1.28110183e-01 9.91651659e-01 -1.46550005e-02 -4.25167425e+00] [-9.79980299e-02 2.04697267e-03 9.95184504e-01 -7.93729144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.238241008 meters 0.06406966688945705 Centerline is valid? [True, True] Translation: X:64.60, Y:-4.24, Z:-7.94 [[ 9.85092127e-01 1.40714046e-01 9.89598831e-02 6.45957581e+01] [-1.39918985e-01 9.90049876e-01 -1.49639697e-02 -4.24412313e+00] [-1.00080861e-01 8.94522366e-04 9.94978905e-01 -7.93828983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.298241008 meters 0.06381280070723427 Centerline is valid? [True, True] Translation: X:64.66, Y:-4.24, Z:-7.95 [[ 9.83587568e-01 1.50353511e-01 9.97462660e-02 6.46590391e+01] [-1.49594674e-01 9.88632295e-01 -1.50870266e-02 -4.23946983e+00] [-1.00880767e-01 -8.20982904e-05 9.94898519e-01 -7.94575065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35824100800001 meters 0.06391019938088151 Centerline is valid? [True, True] Translation: X:64.72, Y:-4.24, Z:-7.95 [[ 9.82933668e-01 1.54406483e-01 1.00000213e-01 6.47216192e+01] [-1.53662369e-01 9.88007293e-01 -1.51481214e-02 -4.24485695e+00] [-1.01139908e-01 -4.76671106e-04 9.94872098e-01 -7.95358098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.418241008 meters 0.06424522380486246 Centerline is valid? [True, True] Translation: X:64.78, Y:-4.25, Z:-7.96 [[ 9.82345441e-01 1.58068196e-01 1.00059384e-01 6.47813502e+01] [-1.57339327e-01 9.87427852e-01 -1.51846710e-02 -4.25131137e+00] [-1.01201636e-01 -8.26683878e-04 9.94865592e-01 -7.96270876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.478241008 meters 0.06441446604925373 Centerline is valid? [True, True] Translation: X:64.84, Y:-4.26, Z:-7.97 [[ 9.82311417e-01 1.58903685e-01 9.90651246e-02 6.48419060e+01] [-1.58191443e-01 9.87293694e-01 -1.50541952e-02 -4.26060423e+00] [-1.00198540e-01 -8.83347202e-04 9.94967071e-01 -7.97178919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.538241008 meters 0.06479988447603881 Centerline is valid? [True, True] Translation: X:64.90, Y:-4.27, Z:-7.98 [[ 9.82398540e-01 1.60073379e-01 9.62788750e-02 6.49020696e+01] [-1.59403888e-01 9.87104661e-01 -1.46556712e-02 -4.27011897e+00] [-9.73833091e-02 -9.49516942e-04 9.95246497e-01 -7.98326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.598241008 meters 0.06414121264277041 Centerline is valid? [True, True] Translation: X:64.96, Y:-4.29, Z:-7.99 [[ 9.82470297e-01 1.59073934e-01 9.71987569e-02 6.49628023e+01] [-1.58386111e-01 9.87266305e-01 -1.48014728e-02 -4.28826917e+00] [-9.83155861e-02 -8.52925781e-04 9.95154922e-01 -7.98531327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.658241008 meters 0.06397352627392643 Centerline is valid? [True, True] Translation: X:65.02, Y:-4.30, Z:-7.99 [[ 9.82628460e-01 1.57625406e-01 9.79568355e-02 6.50230234e+01] [-1.56919093e-01 9.87498724e-01 -1.49220931e-02 -4.30243250e+00] [-9.90843511e-02 -7.08424432e-04 9.95078786e-01 -7.99328062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.718241008 meters 0.06361186192110842 Centerline is valid? [True, True] Translation: X:65.08, Y:-4.32, Z:-8.00 [[ 9.82959855e-01 1.54185606e-01 1.00083582e-01 6.50824721e+01] [-1.53427891e-01 9.88041841e-01 -1.52709579e-02 -4.32021182e+00] [-1.01241328e-01 -3.44874347e-04 9.94861837e-01 -8.00093764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.778241008 meters 0.063439692479097 Centerline is valid? [True, True] Translation: X:65.14, Y:-4.34, Z:-8.01 [[ 9.83429220e-01 1.51041905e-01 1.00266209e-01 6.51417039e+01] [-1.50262438e-01 9.88527361e-01 -1.53250425e-02 -4.33616923e+00] [-1.01430614e-01 4.84964249e-06 9.94842616e-01 -8.00658811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.838241008 meters 0.06323410107339272 Centerline is valid? [True, True] Translation: X:65.20, Y:-4.35, Z:-8.02 [[ 9.83783527e-01 1.49030583e-01 9.97990824e-02 6.52008982e+01] [-1.48246876e-01 9.88832562e-01 -1.52652570e-02 -4.34795836e+00] [-1.00959572e-01 2.22806218e-04 9.94890504e-01 -8.01517586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.898241008 meters 0.06361848396943937 Centerline is valid? [True, True] Translation: X:65.26, Y:-4.36, Z:-8.03 [[ 9.84457916e-01 1.46945986e-01 9.61742608e-02 6.52602165e+01] [-1.46206460e-01 9.89144420e-01 -1.47305024e-02 -4.35985307e+00] [-9.72948216e-02 4.40261488e-04 9.95255507e-01 -8.02662967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.958241008 meters 0.06378674302003176 Centerline is valid? [True, True] Translation: X:65.32, Y:-4.37, Z:-8.04 [[ 9.84780612e-01 1.45105486e-01 9.56637017e-02 6.53186423e+01] [-1.44363018e-01 9.89415983e-01 -1.46741789e-02 -4.37356192e+00] [-9.67804993e-02 6.40546192e-04 9.95305543e-01 -8.03638185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.018241008 meters 0.06367805951672724 Centerline is valid? [True, True] Translation: X:65.38, Y:-4.38, Z:-8.04 [[ 9.84732188e-01 1.45474452e-01 9.56017901e-02 6.53793999e+01] [-1.44733092e-01 9.89361814e-01 -1.46810372e-02 -4.38313935e+00] [-9.67204764e-02 6.20147248e-04 9.95311391e-01 -8.04372799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.078241008 meters 0.06358187025295939 Centerline is valid? [True, True] Translation: X:65.44, Y:-4.39, Z:-8.05 [[ 9.84911018e-01 1.43913497e-01 9.61207111e-02 6.54411374e+01] [-1.43154386e-01 9.89589948e-01 -1.47836789e-02 -4.39236306e+00] [-9.72476604e-02 8.00506823e-04 9.95259892e-01 -8.04934832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13824100800001 meters 0.06370403510211241 Centerline is valid? [True, True] Translation: X:65.50, Y:-4.40, Z:-8.06 [[ 9.85062324e-01 1.42189846e-01 9.71301524e-02 6.55028383e+01] [-1.41403755e-01 9.89838893e-01 -1.49647505e-02 -4.40243031e+00] [-9.82710381e-02 1.00664369e-03 9.95159178e-01 -8.05692021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.198241008 meters 0.06364109213518594 Centerline is valid? [True, True] Translation: X:65.56, Y:-4.41, Z:-8.06 [[ 9.85362297e-01 1.39877759e-01 9.74441205e-02 6.55633304e+01] [-1.39072677e-01 9.90167969e-01 -1.50394287e-02 -4.41319427e+00] [-9.85897284e-02 1.26747132e-03 9.95127358e-01 -8.06193170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.258241008 meters 0.06412788839159876 Centerline is valid? [True, True] Translation: X:65.62, Y:-4.43, Z:-8.07 [[ 9.85611954e-01 1.38637053e-01 9.66894142e-02 6.56221514e+01] [-1.37836220e-01 9.90342263e-01 -1.49458587e-02 -4.42614444e+00] [-9.78276630e-02 1.40351358e-03 9.95202381e-01 -8.07024331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.318241008 meters 0.06414079558900311 Centerline is valid? [True, True] Translation: X:65.68, Y:-4.43, Z:-8.08 [[ 9.85600111e-01 1.39377836e-01 9.57404822e-02 6.56834791e+01] [-1.38594225e-01 9.90238371e-01 -1.48192088e-02 -4.43417752e+00] [-9.68713684e-02 1.33673597e-03 9.95296012e-01 -8.07910497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.378241008 meters 0.06371258280674111 Centerline is valid? [True, True] Translation: X:65.75, Y:-4.44, Z:-8.09 [[ 9.85387365e-01 1.41431703e-01 9.49147750e-02 6.57467082e+01] [-1.40669204e-01 9.89947354e-01 -1.47109286e-02 -4.43753285e+00] [-9.60412220e-02 1.14437736e-03 9.95376700e-01 -8.08514795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.438241008 meters 0.06375194931231029 Centerline is valid? [True, True] Translation: X:65.81, Y:-4.44, Z:-8.10 [[ 9.84827719e-01 1.46246617e-01 9.34146218e-02 6.58073495e+01] [-1.45526939e-01 9.89247920e-01 -1.45073467e-02 -4.44118788e+00] [-9.45318706e-02 6.92893230e-04 9.95521595e-01 -8.09518838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49824100800001 meters 0.06322494125697155 Centerline is valid? [True, True] Translation: X:65.87, Y:-4.45, Z:-8.10 [[ 9.84191942e-01 1.49319542e-01 9.52360029e-02 6.58692986e+01] [-1.48584781e-01 9.88788906e-01 -1.48007300e-02 -4.44811983e+00] [-9.63783414e-02 4.16138549e-04 9.95344685e-01 -8.09884127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.558241008 meters 0.06298386976615532 Centerline is valid? [True, True] Translation: X:65.93, Y:-4.46, Z:-8.10 [[ 9.83611661e-01 1.50663089e-01 9.90390513e-02 6.59282921e+01] [-1.49872207e-01 9.88585114e-01 -1.54205443e-02 -4.45740200e+00] [-1.00231839e-01 3.24625949e-04 9.94964056e-01 -8.10468223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.618241008 meters 0.06255043936315696 Centerline is valid? [True, True] Translation: X:65.99, Y:-4.47, Z:-8.11 [[ 9.83354562e-01 1.50592087e-01 1.01665281e-01 6.59894091e+01] [-1.49757990e-01 9.88595927e-01 -1.58315720e-02 -4.46918183e+00] [-1.02889992e-01 3.42860445e-04 9.94692682e-01 -8.10710046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.678241008 meters 0.06260217221054334 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.48, Z:-8.12 [[ 9.83375357e-01 1.50178509e-01 1.02075087e-01 6.60492821e+01] [-1.49332948e-01 9.88658812e-01 -1.59193148e-02 -4.48168139e+00] [-1.03308173e-01 4.11488184e-04 9.94649311e-01 -8.11569255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.738241008 meters 0.06276337312247607 Centerline is valid? [True, True] Translation: X:66.11, Y:-4.49, Z:-8.13 [[ 9.83671531e-01 1.49698606e-01 9.99031883e-02 6.61089555e+01] [-1.48883739e-01 9.88731561e-01 -1.56055211e-02 -4.49349244e+00] [-1.01113560e-01 4.76746611e-04 9.94874776e-01 -8.12537259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.798241008 meters 0.06307174591265555 Centerline is valid? [True, True] Translation: X:66.17, Y:-4.51, Z:-8.14 [[ 9.84262307e-01 1.48366975e-01 9.59945390e-02 6.61688374e+01] [-1.47606124e-01 9.88932184e-01 -1.50188957e-02 -4.50701618e+00] [-9.71603972e-02 6.13151038e-04 9.95268547e-01 -8.13558546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85824100800001 meters 0.06337451277785248 Centerline is valid? [True, True] Translation: X:66.23, Y:-4.51, Z:-8.15 [[ 9.84305517e-01 1.49241892e-01 9.41780558e-02 6.62287714e+01] [-1.48513404e-01 9.88800581e-01 -1.47370489e-02 -4.51449922e+00] [-9.53227013e-02 5.19054888e-04 9.95446288e-01 -8.14761526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.918241008 meters 0.06341080770722489 Centerline is valid? [True, True] Translation: X:66.29, Y:-4.52, Z:-8.16 [[ 9.84109817e-01 1.50857001e-01 9.36484615e-02 6.62912775e+01] [-1.50142234e-01 9.88555523e-01 -1.46726931e-02 -4.51987220e+00] [-9.47901823e-02 3.78952155e-04 9.95497201e-01 -8.15618572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.978241008 meters 0.06350565790262933 Centerline is valid? [True, True] Translation: X:66.35, Y:-4.53, Z:-8.16 [[ 9.84014420e-01 1.51093477e-01 9.42676140e-02 6.63511108e+01] [-1.50367707e-01 9.88519404e-01 -1.47966197e-02 -4.52879864e+00] [-9.54210383e-02 3.85282118e-04 9.95436928e-01 -8.16338752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.038241008 meters 0.06329781397828708 Centerline is valid? [True, True] Translation: X:66.41, Y:-4.54, Z:-8.17 [[ 9.83751527e-01 1.52906174e-01 9.40884393e-02 6.64132664e+01] [-1.52189634e-01 9.88240684e-01 -1.47873395e-02 -4.53741250e+00] [-9.52430991e-02 2.27782727e-04 9.95454017e-01 -8.17037179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.098241008 meters 0.06297730347421325 Centerline is valid? [True, True] Translation: X:66.47, Y:-4.55, Z:-8.18 [[ 9.83585153e-01 1.53533595e-01 9.48033810e-02 6.64744094e+01] [-1.52806501e-01 9.88143409e-01 -1.49256699e-02 -4.54777724e+00] [-9.59709279e-02 1.94094380e-04 9.95384118e-01 -8.17532588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.158241008 meters 0.06298511455946372 Centerline is valid? [True, True] Translation: X:66.54, Y:-4.56, Z:-8.18 [[ 9.83468247e-01 1.54571908e-01 9.43277892e-02 6.65366327e+01] [-1.53854821e-01 9.87981534e-01 -1.48721783e-02 -4.55669889e+00] [-9.54929349e-02 1.13530048e-04 9.95430101e-01 -8.18228286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.218241008 meters 0.06300708498034087 Centerline is valid? [True, True] Translation: X:66.60, Y:-4.56, Z:-8.19 [[ 9.83231390e-01 1.56019670e-01 9.44134334e-02 6.65987979e+01] [-1.55305469e-01 9.87753948e-01 -1.49113574e-02 -4.56227530e+00] [-9.55837067e-02 -1.60792106e-06 9.95421396e-01 -8.19123405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.278241008 meters 0.06280022566055327 Centerline is valid? [True, True] Translation: X:66.66, Y:-4.58, Z:-8.20 [[ 9.83779382e-01 1.53257292e-01 9.32219381e-02 6.66588328e+01] [-1.52546194e-01 9.88186277e-01 -1.47492359e-02 -4.57877387e+00] [-9.43810679e-02 2.89342289e-04 9.95536102e-01 -8.19644277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.338241008 meters 0.06264761138879647 Centerline is valid? [True, True] Translation: X:66.72, Y:-4.59, Z:-8.20 [[ 9.83936808e-01 1.51366226e-01 9.46394445e-02 6.67198689e+01] [-1.50621945e-01 9.88477623e-01 -1.50006329e-02 -4.59175801e+00] [-9.58195623e-02 5.04897719e-04 9.95398592e-01 -8.20262071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.398241008 meters 0.0627294722906243 Centerline is valid? [True, True] Translation: X:66.78, Y:-4.60, Z:-8.21 [[ 9.84110670e-01 1.49639042e-01 9.55737715e-02 6.67796279e+01] [-1.48871139e-01 9.88740454e-01 -1.51558079e-02 -4.60461978e+00] [-9.67655548e-02 6.86816027e-04 9.95306966e-01 -8.20968365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.458241008 meters 0.06283095526265271 Centerline is valid? [True, True] Translation: X:66.84, Y:-4.61, Z:-8.22 [[ 9.84294840e-01 1.48293915e-01 9.57736049e-02 6.68401429e+01] [-1.47515259e-01 9.88942982e-01 -1.51995789e-02 -4.61438208e+00] [-9.69686395e-02 8.32798959e-04 9.95287089e-01 -8.21931874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.518241008 meters 0.06285827373778084 Centerline is valid? [True, True] Translation: X:66.90, Y:-4.63, Z:-8.23 [[ 9.84512175e-01 1.47267408e-01 9.51214373e-02 6.69003965e+01] [-1.46493239e-01 9.89096267e-01 -1.51098070e-02 -4.62571049e+00] [-9.63094407e-02 9.41141556e-04 9.95350996e-01 -8.22578023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.578241008 meters 0.06249276761049116 Centerline is valid? [True, True] Translation: X:66.96, Y:-4.64, Z:-8.23 [[ 9.84369313e-01 1.47854438e-01 9.56876224e-02 6.69609721e+01] [-1.47071541e-01 9.89008713e-01 -1.52226100e-02 -4.63663709e+00] [-9.68866228e-02 9.11744097e-04 9.95295007e-01 -8.23060106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63824100800001 meters 0.06252282275440471 Centerline is valid? [True, True] Translation: X:67.02, Y:-4.64, Z:-8.24 [[ 9.84100456e-01 1.50224431e-01 9.47571277e-02 6.70226566e+01] [-1.49465593e-01 9.88651678e-01 -1.50962484e-02 -4.64387900e+00] [-9.59496186e-02 6.93294606e-04 9.95385950e-01 -8.24014271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.698241008 meters 0.06273084487190918 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.65, Z:-8.25 [[ 9.83887972e-01 1.52336792e-01 9.35839794e-02 6.70841341e+01] [-1.51603709e-01 9.88328510e-01 -1.49355542e-02 -4.64849061e+00] [-9.47669494e-02 5.07233693e-04 9.95499356e-01 -8.25173346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.758241008 meters 0.06268406813446334 Centerline is valid? [True, True] Translation: X:67.15, Y:-4.66, Z:-8.26 [[ 9.83859834e-01 1.52509269e-01 9.35988797e-02 6.71456514e+01] [-1.51774701e-01 9.88301908e-01 -1.49592560e-02 -4.65925595e+00] [-9.47853766e-02 5.11869190e-04 9.95497599e-01 -8.25802279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.818241008 meters 0.062294302141815396 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.67, Z:-8.26 [[ 9.83878943e-01 1.52077900e-01 9.40985580e-02 6.72065570e+01] [-1.51330950e-01 9.88368339e-01 -1.50655533e-02 -4.66946512e+00] [-9.52951732e-02 5.82656473e-04 9.95448889e-01 -8.26292741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.878241008 meters 0.06244230730481814 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.68, Z:-8.27 [[ 9.84284233e-01 1.48166009e-01 9.60800854e-02 6.72659006e+01] [-1.47366220e-01 9.88961992e-01 -1.54069859e-02 -4.68283965e+00] [-9.73023442e-02 1.00589431e-03 9.95254360e-01 -8.27117409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.938241008 meters 0.062490305665652786 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.70, Z:-8.28 [[ 9.84792577e-01 1.44299906e-01 9.67528679e-02 6.73264747e+01] [-1.43468177e-01 9.89532983e-01 -1.55356639e-02 -4.69531748e+00] [-9.79819489e-02 1.41844885e-03 9.95187181e-01 -8.27631990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99824100800001 meters 0.06353961673974245 Centerline is valid? [True, True] Translation: X:67.39, Y:-4.71, Z:-8.29 [[ 9.85138284e-01 1.40944598e-01 9.81691521e-02 6.73855147e+01] [-1.40069203e-01 9.90015844e-01 -1.57875559e-02 -4.70980068e+00] [-9.94141867e-02 1.80245077e-03 9.95044507e-01 -8.28574077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.058241008 meters 0.0633044522926015 Centerline is valid? [True, True] Translation: X:67.45, Y:-4.72, Z:-8.29 [[ 9.85461935e-01 1.39594771e-01 9.68404588e-02 6.74462184e+01] [-1.38734407e-01 9.90206828e-01 -1.55949168e-02 -4.71948478e+00] [-9.80690524e-02 1.93309327e-03 9.95177735e-01 -8.29065555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.118241008 meters 0.06368297345122594 Centerline is valid? [True, True] Translation: X:67.51, Y:-4.73, Z:-8.30 [[ 9.85722701e-01 1.38232879e-01 9.61375455e-02 6.75068434e+01] [-1.37376523e-01 9.90397582e-01 -1.55022858e-02 -4.72974264e+00] [-9.73573181e-02 2.07391327e-03 9.95247332e-01 -8.29788384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.178241008 meters 0.06383151589107175 Centerline is valid? [True, True] Translation: X:67.57, Y:-4.74, Z:-8.31 [[ 9.85860624e-01 1.38669096e-01 9.40729025e-02 6.75678644e+01] [-1.37849120e-01 9.90336734e-01 -1.51911948e-02 -4.73614060e+00] [-9.52704004e-02 2.00853395e-03 9.95449404e-01 -8.30875330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.238241008 meters 0.06376705930819199 Centerline is valid? [True, True] Translation: X:67.63, Y:-4.74, Z:-8.32 [[ 9.85913446e-01 1.38636813e-01 9.35655448e-02 6.76291326e+01] [-1.37823460e-01 9.90341226e-01 -1.51310964e-02 -4.74412711e+00] [-9.47595433e-02 2.02242425e-03 9.95498136e-01 -8.31596652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.298241008 meters 0.06306137279074826 Centerline is valid? [True, True] Translation: X:67.69, Y:-4.75, Z:-8.32 [[ 9.85596031e-01 1.41382688e-01 9.27976220e-02 6.76907880e+01] [-1.40592740e-01 9.89953442e-01 -1.50287486e-02 -4.75013764e+00] [-9.39901302e-02 1.76560308e-03 9.95571564e-01 -8.32095525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35824100800001 meters 0.06295997518755347 Centerline is valid? [True, True] Translation: X:67.75, Y:-4.75, Z:-8.33 [[ 9.84703015e-01 1.47619751e-01 9.25655528e-02 6.77500834e+01] [-1.46858661e-01 9.89043468e-01 -1.50183809e-02 -4.75395976e+00] [-9.37683650e-02 1.19459189e-03 9.95593324e-01 -8.33318620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.418241008 meters 0.062199389296545095 Centerline is valid? [True, True] Translation: X:67.81, Y:-4.76, Z:-8.34 [[ 9.84057140e-01 1.51840795e-01 9.26062490e-02 6.78120444e+01] [-1.51097553e-01 9.88404645e-01 -1.50262071e-02 -4.75851380e+00] [-9.38140379e-02 7.94068700e-04 9.95589421e-01 -8.33827703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.478241008 meters 0.062148120930168284 Centerline is valid? [True, True] Translation: X:67.87, Y:-4.76, Z:-8.35 [[ 9.82751203e-01 1.59333755e-01 9.38766626e-02 6.78726908e+01] [-1.58601790e-01 9.87224769e-01 -1.52554365e-02 -4.75907557e+00] [-9.51080725e-02 1.03291848e-04 9.95466948e-01 -8.35052470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.538241008 meters 0.06261956816279521 Centerline is valid? [True, True] Translation: X:67.93, Y:-4.76, Z:-8.36 [[ 9.81437323e-01 1.66912180e-01 9.44516012e-02 6.79339116e+01] [-1.66204266e-01 9.85971575e-01 -1.53686587e-02 -4.76132421e+00] [-9.56918103e-02 -6.14883846e-04 9.95410819e-01 -8.35892044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.598241008 meters 0.06368545221388959 Centerline is valid? [True, True] Translation: X:68.00, Y:-4.76, Z:-8.36 [[ 9.79844965e-01 1.76213807e-01 9.40879335e-02 6.79957096e+01] [-1.75551812e-01 9.84350783e-01 -1.53328843e-02 -4.76402525e+00] [-9.53173969e-02 -1.49345776e-03 9.95445811e-01 -8.36458035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.658241008 meters 0.06372382668417884 Centerline is valid? [True, True] Translation: X:68.06, Y:-4.77, Z:-8.37 [[ 9.80050777e-01 1.75524888e-01 9.32281503e-02 6.80557803e+01] [-1.74869693e-01 9.84474011e-01 -1.52154896e-02 -4.77396935e+00] [-9.44513882e-02 -1.39082562e-03 9.95528503e-01 -8.37378477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.718241008 meters 0.0636390059338342 Centerline is valid? [True, True] Translation: X:68.12, Y:-4.79, Z:-8.38 [[ 9.80492943e-01 1.73660840e-01 9.20624828e-02 6.81165008e+01] [-1.73013013e-01 9.84804804e-01 -1.50331724e-02 -4.78567368e+00] [-9.32742486e-02 -1.18808803e-03 9.95639746e-01 -8.38424783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.778241008 meters 0.064026213115259 Centerline is valid? [True, True] Translation: X:68.18, Y:-4.80, Z:-8.40 [[ 9.81001343e-01 1.71733909e-01 9.02431691e-02 6.81752424e+01] [-1.71101034e-01 9.85142905e-01 -1.47612027e-02 -4.80029600e+00] [-9.14374168e-02 -9.59939851e-04 9.95810362e-01 -8.39589129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.838241008 meters 0.06317928978250453 Centerline is valid? [True, True] Translation: X:68.24, Y:-4.82, Z:-8.40 [[ 9.81222326e-01 1.70557768e-01 9.00710483e-02 6.82353548e+01] [-1.69920670e-01 9.85347329e-01 -1.47515297e-02 -4.81574231e+00] [-9.12672548e-02 -8.30402662e-04 9.95826089e-01 -8.39883652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.898241008 meters 0.06340176340965699 Centerline is valid? [True, True] Translation: X:68.29, Y:-4.83, Z:-8.41 [[ 9.81629689e-01 1.68490627e-01 8.95212913e-02 6.82946486e+01] [-1.67850815e-01 9.85703065e-01 -1.46823552e-02 -4.82917080e+00] [-9.07152504e-02 -6.13585992e-04 9.95876683e-01 -8.41021385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.958241008 meters 0.06339440401000124 Centerline is valid? [True, True] Translation: X:68.35, Y:-4.84, Z:-8.42 [[ 9.81893228e-01 1.66064197e-01 9.11502706e-02 6.83545775e+01] [-1.65388133e-01 9.86114874e-01 -1.49740365e-02 -4.84365595e+00] [-9.23712889e-02 -3.72268048e-04 9.95724564e-01 -8.41853606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.018241008 meters 0.06303578204033462 Centerline is valid? [True, True] Translation: X:68.42, Y:-4.86, Z:-8.42 [[ 9.82158381e-01 1.64302589e-01 9.14853719e-02 6.84150307e+01] [-1.63611996e-01 9.86409968e-01 -1.50495948e-02 -4.86076348e+00] [-9.27147701e-02 -1.87018684e-04 9.95692692e-01 -8.42253333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.078241008 meters 0.06269838771321565 Centerline is valid? [True, True] Translation: X:68.48, Y:-4.87, Z:-8.43 [[ 9.82169627e-01 1.63889929e-01 9.21027423e-02 6.84756968e+01] [-1.63186124e-01 9.86478624e-01 -1.51728131e-02 -4.87451050e+00] [-9.33440577e-02 -1.27613342e-04 9.95633904e-01 -8.42673451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13824100800001 meters 0.06285858666075615 Centerline is valid? [True, True] Translation: X:68.54, Y:-4.88, Z:-8.44 [[ 9.82258715e-01 1.63650519e-01 9.15768734e-02 6.85362252e+01] [-1.62951731e-01 9.86518373e-01 -1.51073699e-02 -4.88415217e+00] [-9.28145971e-02 -8.32643256e-05 9.95683405e-01 -8.43512184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.198241008 meters 0.06325908159931858 Centerline is valid? [True, True] Translation: X:68.60, Y:-4.89, Z:-8.45 [[ 9.82610696e-01 1.63266137e-01 8.84329602e-02 6.85959668e+01] [-1.62611160e-01 9.86582063e-01 -1.46096815e-02 -4.89288768e+00] [-8.96316386e-02 -2.45568660e-05 9.95974984e-01 -8.44806996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.258241008 meters 0.06345815517758331 Centerline is valid? [True, True] Translation: X:68.66, Y:-4.90, Z:-8.46 [[ 9.82791409e-01 1.62495017e-01 8.78431315e-02 6.86559333e+01] [-1.61843961e-01 9.86709362e-01 -1.45315885e-02 -4.90433387e+00] [-8.90369509e-02 6.46400225e-05 9.96028321e-01 -8.45625230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.318241008 meters 0.0633352848449289 Centerline is valid? [True, True] Translation: X:68.71, Y:-4.92, Z:-8.46 [[ 9.83503015e-01 1.56678936e-01 9.04075789e-02 6.87144640e+01] [-1.55962788e-01 9.87649389e-01 -1.49764388e-02 -4.92319972e+00] [-9.16374825e-02 6.29154688e-04 9.95792235e-01 -8.46061206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.378241008 meters 0.0631071204148859 Centerline is valid? [True, True] Translation: X:68.77, Y:-4.93, Z:-8.47 [[ 9.83750613e-01 1.53775617e-01 9.26703389e-02 6.87748447e+01] [-1.53008297e-01 9.88105344e-01 -1.53717236e-02 -4.93445646e+00] [-9.39318534e-02 9.42611802e-04 9.95578183e-01 -8.46665061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.438241008 meters 0.06320470550426428 Centerline is valid? [True, True] Translation: X:68.84, Y:-4.95, Z:-8.47 [[ 9.83783632e-01 1.52752445e-01 9.40024256e-02 6.88360609e+01] [-1.51956100e-01 9.88263897e-01 -1.56145234e-02 -4.94518828e+00] [-9.52843601e-02 1.07707055e-03 9.95449512e-01 -8.47239721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49824100800001 meters 0.06287091152739106 Centerline is valid? [True, True] Translation: X:68.90, Y:-4.95, Z:-8.48 [[ 9.83873552e-01 1.52835971e-01 9.29193190e-02 6.88978522e+01] [-1.52056376e-01 9.88250984e-01 -1.54548168e-02 -4.95247202e+00] [-9.41896603e-02 1.07661053e-03 9.95553690e-01 -8.47846220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.558241008 meters 0.06359182821225236 Centerline is valid? [True, True] Translation: X:68.96, Y:-4.96, Z:-8.49 [[ 9.84001708e-01 1.52566162e-01 9.20011167e-02 6.89576775e+01] [-1.51798708e-01 9.88292632e-01 -1.53240062e-02 -4.96011281e+00] [-9.32619507e-02 1.11319764e-03 9.95640984e-01 -8.49114417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.618241008 meters 0.06367079659662266 Centerline is valid? [True, True] Translation: X:69.02, Y:-4.97, Z:-8.50 [[ 9.83985651e-01 1.52552198e-01 9.21957943e-02 6.90196840e+01] [-1.51779676e-01 9.88294763e-01 -1.53750500e-02 -4.96882115e+00] [-9.34621183e-02 1.13538074e-03 9.95622189e-01 -8.49864471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.678241008 meters 0.06320631880567242 Centerline is valid? [True, True] Translation: X:69.08, Y:-4.98, Z:-8.50 [[ 9.83707416e-01 1.53279185e-01 9.39425971e-02 6.90809993e+01] [-1.52477866e-01 9.88182298e-01 -1.56922416e-02 -4.97709347e+00] [-9.52377054e-02 1.11240770e-03 9.95453938e-01 -8.50073571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.738241008 meters 0.06278985551107465 Centerline is valid? [True, True] Translation: X:69.14, Y:-4.99, Z:-8.50 [[ 9.83360436e-01 1.54188790e-01 9.60628434e-02 6.91429222e+01] [-1.53352502e-01 9.88040821e-01 -1.60731779e-02 -4.98685734e+00] [-9.73923145e-02 1.07424982e-03 9.95245489e-01 -8.50304105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.798241008 meters 0.06293002325403758 Centerline is valid? [True, True] Translation: X:69.20, Y:-4.99, Z:-8.52 [[ 9.82776443e-01 1.57635153e-01 9.64449153e-02 6.92034077e+01] [-1.56808214e-01 9.87497144e-01 -1.61423150e-02 -4.99045046e+00] [-9.77836747e-02 7.40932009e-04 9.95207418e-01 -8.51507230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85824100800001 meters 0.06325271718452276 Centerline is valid? [True, True] Translation: X:69.26, Y:-5.00, Z:-8.53 [[ 9.82191302e-01 1.61498274e-01 9.60133051e-02 6.92636929e+01] [-1.60695074e-01 9.86872923e-01 -1.60911984e-02 -4.99753696e+00] [-9.73516318e-02 3.75769871e-04 9.95249978e-01 -8.52577662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.918241008 meters 0.06317430737611941 Centerline is valid? [True, True] Translation: X:69.33, Y:-5.00, Z:-8.53 [[ 9.81135823e-01 1.67430933e-01 9.66404632e-02 6.93257591e+01] [-1.66643822e-01 9.85883789e-01 -1.62170029e-02 -5.00284608e+00] [-9.79914939e-02 -1.93453701e-04 9.95187233e-01 -8.53227343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.978241008 meters 0.06313125331186775 Centerline is valid? [True, True] Translation: X:69.39, Y:-5.01, Z:-8.54 [[ 9.80707814e-01 1.69818491e-01 9.68187133e-02 6.93878470e+01] [-1.69037945e-01 9.85475272e-01 -1.62684376e-02 -5.01393272e+00] [-9.81751293e-02 -4.11452471e-04 9.95169068e-01 -8.53773065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.038241008 meters 0.06339958222816419 Centerline is valid? [True, True] Translation: X:69.45, Y:-5.02, Z:-8.55 [[ 9.80554288e-01 1.70825127e-01 9.66026115e-02 6.94485941e+01] [-1.70050327e-01 9.85301244e-01 -1.62587001e-02 -5.02388480e+00] [-9.79600677e-02 -4.84767549e-04 9.95190228e-01 -8.54768006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.098241008 meters 0.06332745998075338 Centerline is valid? [True, True] Translation: X:69.51, Y:-5.04, Z:-8.55 [[ 9.81043845e-01 1.67490168e-01 9.74680401e-02 6.95066062e+01] [-1.66682416e-01 9.85873738e-01 -1.64299936e-02 -5.04264350e+00] [-9.88430434e-02 -1.27664367e-04 9.95103028e-01 -8.55496154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.158241008 meters 0.06340058674174948 Centerline is valid? [True, True] Translation: X:69.57, Y:-5.06, Z:-8.56 [[ 9.81632824e-01 1.63810606e-01 9.77910273e-02 6.95654600e+01] [-1.62977238e-01 9.86491772e-01 -1.65046712e-02 -5.05985008e+00] [-9.91736840e-02 2.63815499e-04 9.95070103e-01 -8.56447544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.218241008 meters 0.06352687767363428 Centerline is valid? [True, True] Translation: X:69.63, Y:-5.08, Z:-8.57 [[ 9.82420244e-01 1.59851468e-01 9.64259974e-02 6.96260596e+01] [-1.59019964e-01 9.87140846e-01 -1.62972799e-02 -5.07625077e+00] [-9.77911847e-02 6.77119093e-04 9.95206725e-01 -8.56723997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.278241008 meters 0.06472141099078005 Centerline is valid? [True, True] Translation: X:69.68, Y:-5.09, Z:-8.58 [[ 9.83087869e-01 1.56845150e-01 9.45401589e-02 6.96843439e+01] [-1.56029856e-01 9.87622721e-01 -1.60014001e-02 -5.08961800e+00] [-9.58797510e-02 9.79694927e-04 9.95392442e-01 -8.58406233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.338241008 meters 0.06548097005951459 Centerline is valid? [True, True] Translation: X:69.74, Y:-5.10, Z:-8.59 [[ 9.84036762e-01 1.50966538e-01 9.42377640e-02 6.97438484e+01] [-1.50127530e-01 9.88537629e-01 -1.59712502e-02 -5.10424857e+00] [-9.55687002e-02 1.56861454e-03 9.95421601e-01 -8.59084714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.398241008 meters 0.0654834818063628 Centerline is valid? [True, True] Translation: X:69.81, Y:-5.11, Z:-8.59 [[ 9.84688086e-01 1.46749396e-01 9.40956291e-02 6.98055348e+01] [-1.45891545e-01 9.89171686e-01 -1.59697233e-02 -5.11448292e+00] [-9.54202793e-02 1.99743949e-03 9.95435071e-01 -8.59295510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.458241008 meters 0.06550128845927136 Centerline is valid? [True, True] Translation: X:69.87, Y:-5.12, Z:-8.60 [[ 9.84786605e-01 1.46510075e-01 9.34352242e-02 6.98668333e+01] [-1.45663015e-01 9.89207140e-01 -1.58593892e-02 -5.12093618e+00] [-9.47503512e-02 2.00805751e-03 9.95499040e-01 -8.59835362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.518241008 meters 0.0656544888743684 Centerline is valid? [True, True] Translation: X:69.93, Y:-5.13, Z:-8.61 [[ 9.84126597e-01 1.49859438e-01 9.50630795e-02 6.99267317e+01] [-1.48995390e-01 9.88705775e-01 -1.61636483e-02 -5.12626822e+00] [-9.64116910e-02 1.74311558e-03 9.95340016e-01 -8.60939105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.578241008 meters 0.06425805341277398 Centerline is valid? [True, True] Translation: X:69.99, Y:-5.12, Z:-8.61 [[ 9.82651946e-01 1.58465839e-01 9.63521239e-02 6.99897629e+01] [-1.57618931e-01 9.87364036e-01 -1.63869874e-02 -5.12284855e+00] [-9.77313997e-02 9.15786287e-04 9.95212407e-01 -8.61299480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.638241008 meters 0.06406134263248904 Centerline is valid? [True, True] Translation: X:70.05, Y:-5.12, Z:-8.62 [[ 9.81321928e-01 1.66573560e-01 9.62316057e-02 7.00516367e+01] [-1.65767339e-01 9.86029024e-01 -1.63692545e-02 -5.12422200e+00] [-9.76138412e-02 1.11451151e-04 9.95224359e-01 -8.62166604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.698241008 meters 0.06509807949321447 Centerline is valid? [True, True] Translation: X:70.11, Y:-5.12, Z:-8.63 [[ 9.79859989e-01 1.75389627e-01 9.54614089e-02 7.01124600e+01] [-1.74635760e-01 9.84498824e-01 -1.62608994e-02 -5.12275003e+00] [-9.68336379e-02 -7.37570947e-04 9.95300308e-01 -8.63356702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.758241008 meters 0.066786180190544 Centerline is valid? [True, True] Translation: X:70.17, Y:-5.12, Z:-8.64 [[ 9.78134168e-01 1.85022970e-01 9.49739420e-02 7.01743489e+01] [-1.84320007e-01 9.82732792e-01 -1.61985771e-02 -5.12155814e+00] [-9.63311161e-02 -1.66121593e-03 9.95347957e-01 -8.64287468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.818241008 meters 0.0677919309079508 Centerline is valid? [True, True] Translation: X:70.23, Y:-5.13, Z:-8.65 [[ 9.77783469e-01 1.87889170e-01 9.29362539e-02 7.02333915e+01] [-1.87227034e-01 9.82188435e-01 -1.58718580e-02 -5.13034917e+00] [-9.42630641e-02 -1.88093872e-03 9.95545547e-01 -8.65275819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.878241008 meters 0.06715132152392986 Centerline is valid? [True, True] Translation: X:70.29, Y:-5.15, Z:-8.66 [[ 9.78283534e-01 1.85339994e-01 9.27923132e-02 7.02927323e+01] [-1.84667662e-01 9.82673114e-01 -1.58558014e-02 -5.14691015e+00] [-9.41232255e-02 -1.62427008e-03 9.95559230e-01 -8.65971554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.938241008 meters 0.0651250493053876 Centerline is valid? [True, True] Translation: X:70.35, Y:-5.17, Z:-8.66 [[ 9.79507165e-01 1.77493160e-01 9.51939702e-02 7.03509687e+01] [-1.76745874e-01 9.84121653e-01 -1.62931788e-02 -5.17375903e+00] [-9.65743752e-02 -8.65856047e-04 9.95325394e-01 -8.66299764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99824100800001 meters 0.0644078002906751 Centerline is valid? [True, True] Translation: X:70.41, Y:-5.19, Z:-8.67 [[ 9.80333905e-01 1.72532932e-01 9.58009537e-02 7.04104894e+01] [-1.71752040e-01 9.85003678e-01 -1.64009295e-02 -5.19492424e+00] [-9.71939922e-02 -3.75621969e-04 9.95265385e-01 -8.66943722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.058241008 meters 0.06417447927456954 Centerline is valid? [True, True] Translation: X:70.47, Y:-5.22, Z:-8.68 [[ 9.81220595e-01 1.66333845e-01 9.76688079e-02 7.04681018e+01] [-1.65490732e-01 9.86069465e-01 -1.67280748e-02 -5.21630852e+00] [-9.90906741e-02 2.50649020e-04 9.95078377e-01 -8.67857578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.118241008 meters 0.06400525653981257 Centerline is valid? [True, True] Translation: X:70.53, Y:-5.23, Z:-8.68 [[ 9.82028025e-01 1.61804176e-01 9.71615500e-02 7.05280664e+01] [-1.60946627e-01 9.86822627e-01 -1.66518940e-02 -5.23305805e+00] [-9.85755620e-02 7.14802836e-04 9.95129312e-01 -8.68402338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.178241008 meters 0.06403598050982397 Centerline is valid? [True, True] Translation: X:70.59, Y:-5.25, Z:-8.69 [[ 9.82749519e-01 1.57738946e-01 9.65495096e-02 7.05882155e+01] [-1.56870216e-01 9.87480190e-01 -1.65713413e-02 -5.24557953e+00] [-9.79546740e-02 1.13973521e-03 9.95190224e-01 -8.69003224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.238241008 meters 0.06467688644799524 Centerline is valid? [True, True] Translation: X:70.65, Y:-5.26, Z:-8.70 [[ 9.83614402e-01 1.53609616e-01 9.43758137e-02 7.06480045e+01] [-1.52759445e-01 9.88130431e-01 -1.62112115e-02 -5.25962065e+00] [-9.57458115e-02 1.52878424e-03 9.95404643e-01 -8.70042622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.298241008 meters 0.06535714781292151 Centerline is valid? [True, True] Translation: X:70.71, Y:-5.28, Z:-8.71 [[ 9.84743451e-01 1.46876441e-01 9.33147718e-02 7.07075877e+01] [-1.46014600e-01 9.89152478e-01 -1.60346959e-02 -5.27604880e+00] [-9.46576569e-02 2.16474271e-03 9.95507530e-01 -8.70638461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35824100800001 meters 0.0662738057565456 Centerline is valid? [True, True] Translation: X:70.77, Y:-5.29, Z:-8.71 [[ 9.85284836e-01 1.42487744e-01 9.43982820e-02 7.07664298e+01] [-1.41585504e-01 9.89793104e-01 -1.62220792e-02 -5.29211469e+00] [-9.57462161e-02 2.61794034e-03 9.95402335e-01 -8.71303558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.418241008 meters 0.06664231350150883 Centerline is valid? [True, True] Translation: X:70.83, Y:-5.30, Z:-8.72 [[ 9.85732583e-01 1.39304730e-01 9.44746934e-02 7.08269072e+01] [-1.38384463e-01 9.90245166e-01 -1.62558004e-02 -5.30197267e+00] [-9.58176183e-02 2.95004243e-03 9.95394535e-01 -8.71893908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.478241008 meters 0.06707837635818564 Centerline is valid? [True, True] Translation: X:70.89, Y:-5.31, Z:-8.73 [[ 9.85816979e-01 1.39503455e-01 9.32934566e-02 7.08866391e+01] [-1.38605122e-01 9.90217298e-01 -1.60724263e-02 -5.30990960e+00] [-9.46229536e-02 2.91351986e-03 9.95508919e-01 -8.72816874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.538241008 meters 0.06652429827411208 Centerline is valid? [True, True] Translation: X:70.95, Y:-5.32, Z:-8.73 [[ 9.85411401e-01 1.43039470e-01 9.22175713e-02 7.09479248e+01] [-1.42175440e-01 9.89713666e-01 -1.59060628e-02 -5.31576207e+00] [-9.35441853e-02 2.56294183e-03 9.95611830e-01 -8.73415521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.598241008 meters 0.06505790145037316 Centerline is valid? [True, True] Translation: X:71.01, Y:-5.32, Z:-8.74 [[ 9.84814700e-01 1.46746502e-01 9.27656809e-02 7.10095907e+01] [-1.45886110e-01 9.89171574e-01 -1.60262186e-02 -5.31812029e+00] [-9.41129661e-02 2.24963128e-03 9.95558983e-01 -8.73843502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.658241008 meters 0.06453561020260157 Centerline is valid? [True, True] Translation: X:71.07, Y:-5.32, Z:-8.75 [[ 9.83394148e-01 1.55406644e-01 9.37268664e-02 7.10702090e+01] [-1.54567125e-01 9.87849534e-01 -1.61957323e-02 -5.31881190e+00] [-9.51049657e-02 1.43969618e-03 9.95466209e-01 -8.75005287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.718241008 meters 0.06397600522495299 Centerline is valid? [True, True] Translation: X:71.13, Y:-5.32, Z:-8.76 [[ 9.82095760e-01 1.63079348e-01 9.43029416e-02 7.11306892e+01] [-1.62263540e-01 9.86612699e-01 -1.63072389e-02 -5.31902859e+00] [-9.56998536e-02 7.13341065e-04 9.95409980e-01 -8.75850469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.778241008 meters 0.06334741307486531 Centerline is valid? [True, True] Translation: X:71.19, Y:-5.32, Z:-8.76 [[ 9.79996318e-01 1.74106288e-01 9.64065162e-02 7.11945991e+01] [-1.73306548e-01 9.84726797e-01 -1.66726101e-02 -5.31808936e+00] [-9.78368861e-02 -3.68783976e-04 9.95202395e-01 -8.75926532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.838241008 meters 0.06339451864608857 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.33, Z:-8.77 [[ 9.79364582e-01 1.76582075e-01 9.83045539e-02 7.12554627e+01] [-1.75762372e-01 9.84285722e-01 -1.70060584e-02 -5.32668194e+00] [-9.97627339e-02 -6.23110360e-04 9.95011060e-01 -8.76547185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.898241008 meters 0.06354528118820951 Centerline is valid? [True, True] Translation: X:71.32, Y:-5.34, Z:-8.78 [[ 9.79417624e-01 1.76352851e-01 9.81875265e-02 7.13152921e+01] [-1.75531672e-01 9.84326846e-01 -1.70086025e-02 -5.33833368e+00] [-9.96481339e-02 -5.76495585e-04 9.95022571e-01 -8.77514098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.958241008 meters 0.06366735195786916 Centerline is valid? [True, True] Translation: X:71.37, Y:-5.35, Z:-8.78 [[ 9.79638165e-01 1.76092122e-01 9.64397718e-02 7.13742866e+01] [-1.75296314e-01 9.84373556e-01 -1.67303241e-02 -5.35244093e+00] [-9.78788394e-02 -5.15872468e-04 9.95198205e-01 -8.78384021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.018241008 meters 0.06344047392868514 Centerline is valid? [True, True] Translation: X:71.43, Y:-5.37, Z:-8.79 [[ 9.80018854e-01 1.74119161e-01 9.61538504e-02 7.14332713e+01] [-1.73316681e-01 9.84724545e-01 -1.67002830e-02 -5.36945569e+00] [-9.75928958e-02 -2.98474012e-04 9.95226375e-01 -8.79386117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.078241008 meters 0.06297702275748128 Centerline is valid? [True, True] Translation: X:71.49, Y:-5.39, Z:-8.80 [[ 9.80154606e-01 1.72384971e-01 9.78793619e-02 7.14918734e+01] [-1.71542249e-01 9.85029650e-01 -1.70248573e-02 -5.38567178e+00] [-9.93489031e-02 -1.03453542e-04 9.95052654e-01 -8.79901251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.138241008 meters 0.06270089918527323 Centerline is valid? [True, True] Translation: X:71.55, Y:-5.40, Z:-8.80 [[ 9.79990085e-01 1.72653996e-01 9.90456002e-02 7.15527047e+01] [-1.71790371e-01 9.84982530e-01 -1.72477016e-02 -5.39548006e+00] [-1.00536070e-01 -1.12503856e-04 9.94933408e-01 -8.80356066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.198241008 meters 0.0629367726456526 Centerline is valid? [True, True] Translation: X:71.61, Y:-5.40, Z:-8.81 [[ 9.79809539e-01 1.74319254e-01 9.79084544e-02 7.16137066e+01] [-1.73481479e-01 9.84689155e-01 -1.70717772e-02 -5.40326707e+00] [-9.93853326e-02 -2.58213266e-04 9.95048988e-01 -8.81222523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.258241008 meters 0.06342442603755431 Centerline is valid? [True, True] Translation: X:71.67, Y:-5.41, Z:-8.83 [[ 9.79889097e-01 1.75311949e-01 9.53051880e-02 7.16727323e+01] [-1.74520686e-01 9.84512881e-01 -1.66408086e-02 -5.41216727e+00] [-9.67465179e-02 -3.26579863e-04 9.95309000e-01 -8.82632147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.318241008 meters 0.06394777594364662 Centerline is valid? [True, True] Translation: X:71.73, Y:-5.42, Z:-8.84 [[ 9.79689108e-01 1.77893834e-01 9.25366742e-02 7.17340105e+01] [-1.77157191e-01 9.84049537e-01 -1.61814196e-02 -5.41976042e+00] [-9.39392462e-02 -5.40776753e-04 9.95577785e-01 -8.83601933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.378241008 meters 0.06423378368767621 Centerline is valid? [True, True] Translation: X:71.79, Y:-5.43, Z:-8.84 [[ 9.79441282e-01 1.79618502e-01 9.18257500e-02 7.17945943e+01] [-1.78900540e-01 9.83736095e-01 -1.60589973e-02 -5.42729284e+00] [-9.32167978e-02 -6.98831384e-04 9.95645590e-01 -8.84449274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.438241008 meters 0.0637376173406334 Centerline is valid? [True, True] Translation: X:71.85, Y:-5.44, Z:-8.85 [[ 9.79221026e-01 1.79304148e-01 9.47428346e-02 7.18546420e+01] [-1.78536173e-01 9.83793462e-01 -1.65909485e-02 -5.43861228e+00] [-9.61822071e-02 -6.68817493e-04 9.95363519e-01 -8.84874182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49824100800001 meters 0.0631843280636646 Centerline is valid? [True, True] Translation: X:71.91, Y:-5.45, Z:-8.86 [[ 9.79867140e-01 1.75780016e-01 9.46666411e-02 7.19133032e+01] [-1.74995074e-01 9.84429425e-01 -1.65961065e-02 -5.45391681e+00] [-9.61098909e-02 -3.04216387e-04 9.95370683e-01 -8.85665835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.558241008 meters 0.06285698248709537 Centerline is valid? [True, True] Translation: X:71.97, Y:-5.48, Z:-8.87 [[ 9.81306954e-01 1.68443346e-01 9.30779283e-02 7.19715292e+01] [-1.67649771e-01 9.85711244e-01 -1.63369981e-02 -5.47520297e+00] [-9.44998191e-02 4.27116443e-04 9.95524787e-01 -8.86515753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.618241008 meters 0.06334053009580402 Centerline is valid? [True, True] Translation: X:72.03, Y:-5.50, Z:-8.87 [[ 9.82301765e-01 1.62434251e-01 9.32649787e-02 7.20294285e+01] [-1.61608564e-01 9.86718835e-01 -1.63894013e-02 -5.49566137e+00] [-9.46885112e-02 1.02691854e-03 9.95506420e-01 -8.87206352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.678241008 meters 0.06307452168824024 Centerline is valid? [True, True] Translation: X:72.09, Y:-5.51, Z:-8.87 [[ 9.83185414e-01 1.54903410e-01 9.67025105e-02 7.20901540e+01] [-1.53977232e-01 9.87927911e-01 -1.70133500e-02 -5.51460727e+00] [-9.81705351e-02 1.83729270e-03 9.95167911e-01 -8.86929297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.738241008 meters 0.06312667131791874 Centerline is valid? [True, True] Translation: X:72.15, Y:-5.52, Z:-8.88 [[ 9.83038724e-01 1.55271539e-01 9.75992602e-02 7.21511263e+01] [-1.54327478e-01 9.87870113e-01 -1.71950643e-02 -5.52484722e+00] [-9.90852963e-02 1.84116645e-03 9.95077240e-01 -8.87605229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.798241008 meters 0.06279780602327172 Centerline is valid? [True, True] Translation: X:72.21, Y:-5.53, Z:-8.89 [[ 9.82275530e-01 1.59838267e-01 9.79107296e-02 7.22107661e+01] [-1.58908148e-01 9.87142207e-01 -1.72760905e-02 -5.52963501e+00] [-9.94131941e-02 1.41106827e-03 9.95045238e-01 -8.88582802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85824100800001 meters 0.06269293648811326 Centerline is valid? [True, True] Translation: X:72.27, Y:-5.54, Z:-8.90 [[ 9.81580491e-01 1.64549984e-01 9.70723518e-02 7.22720821e+01] [-1.63657966e-01 9.86368304e-01 -1.71358968e-02 -5.53516099e+00] [-9.85688025e-02 9.33598351e-04 9.95129800e-01 -8.89528536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.918241008 meters 0.0626423846426436 Centerline is valid? [True, True] Translation: X:72.33, Y:-5.54, Z:-8.91 [[ 9.80575496e-01 1.71648252e-01 9.49135136e-02 7.23345839e+01] [-1.70826734e-01 9.85158273e-01 -1.67751286e-02 -5.53691616e+00] [-9.63842546e-02 2.35514546e-04 9.95344172e-01 -8.90565728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.978241008 meters 0.06260965284918024 Centerline is valid? [True, True] Translation: X:72.40, Y:-5.54, Z:-8.91 [[ 9.79964443e-01 1.75672660e-01 9.38552456e-02 7.23959767e+01] [-1.74885423e-01 9.84448627e-01 -1.66129461e-02 -5.54416741e+00] [-9.53141081e-02 -1.33817885e-04 9.95447238e-01 -8.91214939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.038241008 meters 0.0629246508923773 Centerline is valid? [True, True] Translation: X:72.46, Y:-5.55, Z:-8.92 [[ 9.78979022e-01 1.81086638e-01 9.38493652e-02 7.24578055e+01] [-1.80322143e-01 9.83466940e-01 -1.66343822e-02 -5.55165730e+00] [-9.53100124e-02 -6.38407404e-04 9.95447434e-01 -8.91820836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.098241008 meters 0.0629731053864513 Centerline is valid? [True, True] Translation: X:72.52, Y:-5.56, Z:-8.93 [[ 9.79115380e-01 1.80504258e-01 9.35483084e-02 7.25178979e+01] [-1.79739930e-01 9.83574045e-01 -1.66028942e-02 -5.56416835e+00] [-9.50085811e-02 -5.58217403e-04 9.95476297e-01 -8.92733770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.158241008 meters 0.0629270011802308 Centerline is valid? [True, True] Translation: X:72.58, Y:-5.58, Z:-8.94 [[ 9.79777091e-01 1.77033836e-01 9.32516599e-02 7.25781427e+01] [-1.76256474e-01 9.84204746e-01 -1.65732806e-02 -5.58074233e+00] [-9.47127577e-02 -1.98088119e-04 9.95504623e-01 -8.93744917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.218241008 meters 0.06289183289852592 Centerline is valid? [True, True] Translation: X:72.64, Y:-5.59, Z:-8.94 [[ 9.79879562e-01 1.76779587e-01 9.26553951e-02 7.26379629e+01] [-1.76008614e-01 9.84250454e-01 -1.64927894e-02 -5.59440985e+00] [-9.41117032e-02 -1.47200361e-04 9.95561633e-01 -8.94367333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.278241008 meters 0.0627189229360154 Centerline is valid? [True, True] Translation: X:72.70, Y:-5.61, Z:-8.95 [[ 9.79852576e-01 1.76285017e-01 9.38750326e-02 7.26983384e+01] [-1.75489090e-01 9.84339162e-01 -1.67329791e-02 -5.60675500e+00] [-9.53546444e-02 -7.81913837e-05 9.95443361e-01 -8.94986263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.338241008 meters 0.06265757761354762 Centerline is valid? [True, True] Translation: X:72.76, Y:-5.62, Z:-8.96 [[ 9.79819807e-01 1.75935468e-01 9.48675733e-02 7.27594293e+01] [-1.75118728e-01 9.84401702e-01 -1.69328314e-02 -5.61757826e+00] [-9.63668862e-02 -2.19650851e-05 9.95345881e-01 -8.95650574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.398241008 meters 0.06284154899550941 Centerline is valid? [True, True] Translation: X:72.82, Y:-5.63, Z:-8.97 [[ 9.79905809e-01 1.75949873e-01 9.39481066e-02 7.28189494e+01] [-1.75146816e-01 9.84399127e-01 -1.67913930e-02 -5.62835872e+00] [-9.54368776e-02 -7.28154446e-07 9.95435484e-01 -8.96584328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.458241008 meters 0.06314568437521373 Centerline is valid? [True, True] Translation: X:72.88, Y:-5.64, Z:-8.97 [[ 9.80485040e-01 1.73241317e-01 9.29329435e-02 7.28781832e+01] [-1.72441533e-01 9.84879367e-01 -1.66297908e-02 -5.64380451e+00] [-9.44087054e-02 2.79761843e-04 9.95533484e-01 -8.97495905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.518241008 meters 0.06323698944234198 Centerline is valid? [True, True] Translation: X:72.94, Y:-5.66, Z:-8.98 [[ 9.81040550e-01 1.69850190e-01 9.33292687e-02 7.29389234e+01] [-1.69026240e-01 9.85469693e-01 -1.67216491e-02 -5.65777052e+00] [-9.48133410e-02 6.29520485e-04 9.95494869e-01 -8.98232847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.578241008 meters 0.06352323330342785 Centerline is valid? [True, True] Translation: X:73.00, Y:-5.68, Z:-8.99 [[ 9.82037957e-01 1.63651140e-01 9.39135493e-02 7.29985070e+01] [-1.62785950e-01 9.86517466e-01 -1.68530163e-02 -5.67507493e+00] [-9.54053720e-02 1.26249543e-03 9.95437703e-01 -8.98706289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.638241008 meters 0.06359656896436185 Centerline is valid? [True, True] Translation: X:73.06, Y:-5.69, Z:-8.99 [[ 9.82604057e-01 1.59952375e-01 9.43636825e-02 7.30586977e+01] [-1.59059680e-01 9.87123351e-01 -1.69560819e-02 -5.68909203e+00] [-9.58607601e-02 1.65165772e-03 9.95393383e-01 -8.99169848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.698241008 meters 0.065165359384251 Centerline is valid? [True, True] Translation: X:73.12, Y:-5.71, Z:-9.00 [[ 9.83535674e-01 1.54091339e-01 9.44109997e-02 7.31167143e+01] [-1.53168526e-01 9.88054051e-01 -1.69880932e-02 -5.70769447e+00] [-9.59008888e-02 2.24760206e-03 9.95388350e-01 -9.00073772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.758241008 meters 0.06543151626522958 Centerline is valid? [True, True] Translation: X:73.18, Y:-5.72, Z:-9.01 [[ 9.83452978e-01 1.53308744e-01 9.65228911e-02 7.31776287e+01] [-1.52338299e-01 9.88175433e-01 -1.73884145e-02 -5.71684067e+00] [-9.80473457e-02 2.39655493e-03 9.95178866e-01 -9.00945886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.818241008 meters 0.06465428591234973 Centerline is valid? [True, True] Translation: X:73.24, Y:-5.72, Z:-9.02 [[ 9.83091413e-01 1.55947384e-01 9.59775308e-02 7.32395004e+01] [-1.54998356e-01 9.87763040e-01 -1.73114470e-02 -5.72222965e+00] [-9.75027325e-02 2.14237541e-03 9.95232951e-01 -9.01659649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.878241008 meters 0.06395184677229032 Centerline is valid? [True, True] Translation: X:73.30, Y:-5.73, Z:-9.02 [[ 9.82391053e-01 1.59462762e-01 9.73624460e-02 7.32990906e+01] [-1.58500571e-01 9.87202217e-01 -1.75883949e-02 -5.73004413e+00] [-9.89211166e-02 1.84667859e-03 9.95093565e-01 -9.02225117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.938241008 meters 0.06268002921762007 Centerline is valid? [True, True] Translation: X:73.36, Y:-5.73, Z:-9.03 [[ 9.80567680e-01 1.70130199e-01 9.76869471e-02 7.33610998e+01] [-1.69214082e-01 9.85421287e-01 -1.76488191e-02 -5.72713282e+00] [-9.92653943e-02 7.75854522e-04 9.95060691e-01 -9.03196394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99824100800001 meters 0.0629988508638594 Centerline is valid? [True, True] Translation: X:73.42, Y:-5.72, Z:-9.04 [[ 9.78644622e-01 1.81121943e-01 9.72087743e-02 7.34232011e+01] [-1.80268133e-01 9.83460590e-01 -1.75689321e-02 -5.72358215e+00] [-9.87831177e-02 -3.29903340e-04 9.95108932e-01 -9.04354535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.058241008 meters 0.06260240956318981 Centerline is valid? [True, True] Translation: X:73.48, Y:-5.74, Z:-9.05 [[ 9.78297376e-01 1.82202684e-01 9.86733264e-02 7.34844898e+01] [-1.81326030e-01 9.83260903e-01 -1.78568658e-02 -5.73764876e+00] [-1.00275193e-01 -4.22717580e-04 9.94959651e-01 -9.04588352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.118241008 meters 0.062195951581843475 Centerline is valid? [True, True] Translation: X:73.54, Y:-5.75, Z:-9.05 [[ 9.78600877e-01 1.80114827e-01 9.94935767e-02 7.35440895e+01] [-1.79212180e-01 9.83645570e-01 -1.80107577e-02 -5.75442820e+00] [-1.01110420e-01 -2.05117443e-04 9.94875189e-01 -9.05048383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.178241008 meters 0.062126825677685515 Centerline is valid? [True, True] Translation: X:73.60, Y:-5.77, Z:-9.06 [[ 9.79160901e-01 1.76659959e-01 1.00175787e-01 7.36036874e+01] [-1.75724355e-01 9.84271928e-01 -1.81582869e-02 -5.77183009e+00] [-1.01808057e-01 1.76559001e-04 9.94804045e-01 -9.05931135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.238241008 meters 0.062203194180559716 Centerline is valid? [True, True] Translation: X:73.66, Y:-5.79, Z:-9.07 [[ 9.79456926e-01 1.75355639e-01 9.95717359e-02 7.36633256e+01] [-1.74422238e-01 9.84505099e-01 -1.80719091e-02 -5.78657413e+00] [-1.01197893e-01 3.33131571e-04 9.94866260e-01 -9.06939384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.298241008 meters 0.06220014195391093 Centerline is valid? [True, True] Translation: X:73.72, Y:-5.80, Z:-9.08 [[ 9.79372697e-01 1.75774166e-01 9.96622419e-02 7.37234851e+01] [-1.74838912e-01 9.84430467e-01 -1.81110436e-02 -5.79858267e+00] [-1.01294001e-01 3.12623703e-04 9.94856486e-01 -9.07646546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35824100800001 meters 0.062230554721287294 Centerline is valid? [True, True] Translation: X:73.78, Y:-5.81, Z:-9.09 [[ 9.79395598e-01 1.75372106e-01 1.00144327e-01 7.37835731e+01] [-1.74423109e-01 9.84502148e-01 -1.82235883e-02 -5.80891602e+00] [-1.01788214e-01 3.80617185e-04 9.94806019e-01 -9.08601537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.418241008 meters 0.062448242549983796 Centerline is valid? [True, True] Translation: X:73.85, Y:-5.82, Z:-9.10 [[ 9.79376911e-01 1.75700973e-01 9.97498578e-02 7.38450235e+01] [-1.74758951e-01 9.84443515e-01 -1.81734753e-02 -5.81778289e+00] [-1.01391198e-01 3.66501585e-04 9.94846566e-01 -9.09598873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.478241008 meters 0.062442712367609295 Centerline is valid? [True, True] Translation: X:73.91, Y:-5.83, Z:-9.10 [[ 9.79484885e-01 1.75584098e-01 9.88917800e-02 7.39060464e+01] [-1.74654999e-01 9.84464354e-01 -1.80434926e-02 -5.82859051e+00] [-1.00523583e-01 4.01384463e-04 9.94934595e-01 -9.10269220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.538241008 meters 0.06278428958692256 Centerline is valid? [True, True] Translation: X:73.96, Y:-5.85, Z:-9.11 [[ 9.80376493e-01 1.71034934e-01 9.80254225e-02 7.39636139e+01] [-1.70097026e-01 9.85264569e-01 -1.79089694e-02 -5.84792527e+00] [-9.96440351e-02 8.83699700e-04 9.95022756e-01 -9.11097025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.598241008 meters 0.06346895383032476 Centerline is valid? [True, True] Translation: X:74.02, Y:-5.86, Z:-9.12 [[ 9.81311662e-01 1.65750647e-01 9.77453049e-02 7.40229375e+01] [-1.64789493e-01 9.86166643e-01 -1.78822676e-02 -5.86418225e+00] [-9.93571566e-02 1.44067848e-03 9.95050793e-01 -9.11973308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.658241008 meters 0.06487241182868911 Centerline is valid? [True, True] Translation: X:74.08, Y:-5.88, Z:-9.13 [[ 9.82311056e-01 1.60473645e-01 9.65049176e-02 7.40807112e+01] [-1.59510829e-01 9.87038189e-01 -1.76609210e-02 -5.87968742e+00] [-9.80881515e-02 1.95493854e-03 9.95175810e-01 -9.13055271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.718241008 meters 0.06551199444440473 Centerline is valid? [True, True] Translation: X:74.14, Y:-5.89, Z:-9.14 [[ 9.82575924e-01 1.58626336e-01 9.68619625e-02 7.41396041e+01] [-1.57646741e-01 9.87336339e-01 -1.77330039e-02 -5.89297712e+00] [-9.84482568e-02 2.15405001e-03 9.95139840e-01 -9.13772282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.778241008 meters 0.06467242417732051 Centerline is valid? [True, True] Translation: X:74.20, Y:-5.90, Z:-9.14 [[ 9.82617010e-01 1.57815269e-01 9.77658048e-02 7.42020697e+01] [-1.56811365e-01 9.87466032e-01 -1.79173344e-02 -5.90228878e+00] [-9.93680403e-02 2.27508821e-03 9.95048148e-01 -9.13790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.838241008 meters 0.06487229580306796 Centerline is valid? [True, True] Translation: X:74.26, Y:-5.91, Z:-9.14 [[ 9.82219549e-01 1.58582730e-01 1.00480221e-01 7.42624869e+01] [-1.57522909e-01 9.87343037e-01 -1.84461526e-02 -5.91144918e+00] [-1.02133688e-01 2.29023500e-03 9.94768046e-01 -9.14426049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.898241008 meters 0.06440962762074054 Centerline is valid? [True, True] Translation: X:74.32, Y:-5.91, Z:-9.15 [[ 9.81594354e-01 1.61962273e-01 1.01196577e-01 7.43238278e+01] [-1.60903762e-01 9.86794993e-01 -1.85909045e-02 -5.91438898e+00] [-1.02871300e-01 1.96581699e-03 9.94692732e-01 -9.15260755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.958241008 meters 0.0643932813676789 Centerline is valid? [True, True] Translation: X:74.38, Y:-5.92, Z:-9.16 [[ 9.81401589e-01 1.63478540e-01 1.00626479e-01 7.43831059e+01] [-1.62438234e-01 9.86545225e-01 -1.85024060e-02 -5.92340635e+00] [-1.02297319e-01 1.81270311e-03 9.94752217e-01 -9.16166500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.018241008 meters 0.06441596189824657 Centerline is valid? [True, True] Translation: X:74.45, Y:-5.93, Z:-9.17 [[ 9.81015876e-01 1.67388053e-01 9.79239054e-02 7.44453300e+01] [-1.66420534e-01 9.85890115e-01 -1.80246197e-02 -5.92914363e+00] [-9.95593164e-02 1.38588944e-03 9.95030664e-01 -9.17266478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.078241008 meters 0.06493561571005896 Centerline is valid? [True, True] Translation: X:74.50, Y:-5.94, Z:-9.18 [[ 9.81275661e-01 1.66342761e-01 9.70987322e-02 7.45038551e+01] [-1.65383616e-01 9.86066841e-01 -1.79009888e-02 -5.94244228e+00] [-9.87235400e-02 1.50726510e-03 9.95113758e-01 -9.18181472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.138241008 meters 0.06554550401135403 Centerline is valid? [True, True] Translation: X:74.56, Y:-5.96, Z:-9.19 [[ 9.81776312e-01 1.63073018e-01 9.75831151e-02 7.45638698e+01] [-1.62087305e-01 9.86612262e-01 -1.79986301e-02 -5.95669559e+00] [-9.92117888e-02 1.85364451e-03 9.95064613e-01 -9.19015595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.198241008 meters 0.06608171090868872 Centerline is valid? [True, True] Translation: X:74.62, Y:-5.97, Z:-9.20 [[ 9.82163493e-01 1.60814558e-01 9.74348573e-02 7.46238799e+01] [-1.59818636e-01 9.86982405e-01 -1.79926339e-02 -5.97100237e+00] [-9.90599673e-02 2.09980217e-03 9.95079250e-01 -9.19631466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.258241008 meters 0.06688602729541451 Centerline is valid? [True, True] Translation: X:74.68, Y:-5.98, Z:-9.20 [[ 9.82212574e-01 1.60884607e-01 9.68225320e-02 7.46827719e+01] [-1.59899387e-01 9.86970987e-01 -1.79013182e-02 -5.98428438e+00] [-9.84410765e-02 2.10103635e-03 9.95140663e-01 -9.20481675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.318241008 meters 0.06592530328667694 Centerline is valid? [True, True] Translation: X:74.74, Y:-5.99, Z:-9.21 [[ 9.81902434e-01 1.62956803e-01 9.65022867e-02 7.47442606e+01] [-1.61986198e-01 9.86631364e-01 -1.78612435e-02 -5.98994580e+00] [-9.81227938e-02 1.90595990e-03 9.95172490e-01 -9.21071037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.378241008 meters 0.0648477711344939 Centerline is valid? [True, True] Translation: X:74.81, Y:-6.00, Z:-9.21 [[ 9.81671755e-01 1.64427806e-01 9.63538407e-02 7.48065292e+01] [-1.63465180e-01 9.86387519e-01 -1.78548646e-02 -5.99680341e+00] [-9.79780621e-02 1.77711834e-03 9.95186988e-01 -9.21419431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.438241008 meters 0.06519367944412117 Centerline is valid? [True, True] Translation: X:74.87, Y:-6.01, Z:-9.22 [[ 9.81324220e-01 1.66507571e-01 9.63224011e-02 7.48656900e+01] [-1.65553199e-01 9.86038890e-01 -1.78730622e-02 -6.00707182e+00] [-9.79536336e-02 1.59278715e-03 9.95189705e-01 -9.22464509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49824100800001 meters 0.06435350099672177 Centerline is valid? [True, True] Translation: X:74.93, Y:-6.02, Z:-9.23 [[ 9.80855306e-01 1.69001189e-01 9.67546713e-02 7.49266477e+01] [-1.68048180e-01 9.85614893e-01 -1.79747417e-02 -6.01606919e+00] [-9.84005978e-02 1.37117441e-03 9.95145940e-01 -9.22895212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.558241008 meters 0.06382772886584766 Centerline is valid? [True, True] Translation: X:74.99, Y:-6.02, Z:-9.24 [[ 9.79879793e-01 1.74745836e-01 9.64338339e-02 7.49879876e+01] [-1.73824608e-01 9.84613238e-01 -1.79381260e-02 -6.02046593e+00] [-9.80846423e-02 8.14633789e-04 9.95177743e-01 -9.23812979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.618241008 meters 0.06357877721242221 Centerline is valid? [True, True] Translation: X:75.05, Y:-6.03, Z:-9.25 [[ 9.78851984e-01 1.81179357e-01 9.49886014e-02 7.50499518e+01] [-1.80313683e-01 9.83450052e-01 -1.76909902e-02 -6.02607759e+00] [-9.66217872e-02 1.89116305e-04 9.95321151e-01 -9.24656443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.678241008 meters 0.06398881743860435 Centerline is valid? [True, True] Translation: X:75.11, Y:-6.03, Z:-9.26 [[ 9.77658901e-01 1.88254658e-01 9.35053850e-02 7.51114645e+01] [-1.87445585e-01 9.82120134e-01 -1.74411922e-02 -6.03145307e+00] [-9.51169069e-02 -4.75634753e-04 9.95465995e-01 -9.25668471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.738241008 meters 0.06435358141292558 Centerline is valid? [True, True] Translation: X:75.17, Y:-6.04, Z:-9.27 [[ 9.77151128e-01 1.91143433e-01 9.29508487e-02 7.51722714e+01] [-1.90354872e-01 9.81561844e-01 -1.73599578e-02 -6.04128552e+00] [-9.45552484e-02 -7.30344600e-04 9.95519348e-01 -9.26516722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.798241008 meters 0.0638781635007719 Centerline is valid? [True, True] Translation: X:75.23, Y:-6.06, Z:-9.27 [[ 9.77815950e-01 1.88241970e-01 9.18745291e-02 7.52311796e+01] [-1.87456734e-01 9.82122590e-01 -1.71811098e-02 -6.06152753e+00] [-9.34662565e-02 -4.22536005e-04 9.95622358e-01 -9.27118037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85824100800001 meters 0.06396482482580713 Centerline is valid? [True, True] Translation: X:75.29, Y:-6.08, Z:-9.28 [[ 9.78985663e-01 1.82848474e-01 9.02967702e-02 7.52882776e+01] [-1.82065060e-01 9.83141100e-01 -1.69083224e-02 -6.08343456e+00] [-9.18661269e-02 1.13118300e-04 9.95771360e-01 -9.28332538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.918241008 meters 0.06385596287841343 Centerline is valid? [True, True] Translation: X:75.35, Y:-6.10, Z:-9.29 [[ 9.79572393e-01 1.79742182e-01 9.01702585e-02 7.53479230e+01] [-1.78946005e-01 9.83713662e-01 -1.69043983e-02 -6.10097852e+00] [-9.17401486e-02 4.23474369e-04 9.95782891e-01 -9.28995989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.978241008 meters 0.06354726980905255 Centerline is valid? [True, True] Translation: X:75.41, Y:-6.12, Z:-9.29 [[ 9.79492837e-01 1.79561355e-01 9.13865506e-02 7.54072496e+01] [-1.78740353e-01 9.83746663e-01 -1.71577602e-02 -6.11692034e+00] [-9.29820849e-02 4.71438959e-04 9.95667670e-01 -9.29287565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.038241008 meters 0.0637591916920534 Centerline is valid? [True, True] Translation: X:75.47, Y:-6.13, Z:-9.30 [[ 9.80367913e-01 1.72898633e-01 9.47882750e-02 7.54674351e+01] [-1.71983038e-01 9.84938946e-01 -1.78075365e-02 -6.13437727e+00] [-9.64395623e-02 1.15596190e-03 9.95338171e-01 -9.29718539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.098241008 meters 0.064436318592097 Centerline is valid? [True, True] Translation: X:75.53, Y:-6.14, Z:-9.31 [[ 9.80815516e-01 1.70727615e-01 9.40904047e-02 7.55266220e+01] [-1.69813134e-01 9.85317292e-01 -1.77012230e-02 -6.14147959e+00] [-9.57309904e-02 1.38384771e-03 9.95406280e-01 -9.31059263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.158241008 meters 0.06393090193834615 Centerline is valid? [True, True] Translation: X:75.59, Y:-6.15, Z:-9.32 [[ 9.80408859e-01 1.73576391e-01 9.31112491e-02 7.55889263e+01] [-1.72693096e-01 9.84819793e-01 -1.75233843e-02 -6.14626753e+00] [-9.47394469e-02 1.10041135e-03 9.95501495e-01 -9.31731272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.218241008 meters 0.06346423950715117 Centerline is valid? [True, True] Translation: X:75.65, Y:-6.15, Z:-9.32 [[ 9.79378439e-01 1.79626224e-01 9.24786104e-02 7.56505349e+01] [-1.78779731e-01 9.83734789e-01 -1.74262065e-02 -6.15341328e+00] [-9.41046300e-02 5.33549788e-04 9.95562170e-01 -9.32165697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.278241008 meters 0.06332087623128096 Centerline is valid? [True, True] Translation: X:75.71, Y:-6.16, Z:-9.33 [[ 9.78509833e-01 1.83493822e-01 9.40665950e-02 7.57110996e+01] [-1.82633541e-01 9.83020845e-01 -1.77484475e-02 -6.15997472e+00] [-9.57261542e-02 1.87315006e-04 9.95407690e-01 -9.32931266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.338241008 meters 0.06343001626847697 Centerline is valid? [True, True] Translation: X:75.77, Y:-6.17, Z:-9.34 [[ 9.78008402e-01 1.86086282e-01 9.41884378e-02 7.57729078e+01] [-1.85233919e-01 9.82533406e-01 -1.77905038e-02 -6.16813472e+00] [-9.58538553e-02 -4.76312095e-05 9.95395417e-01 -9.33670537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.398241008 meters 0.06356787828763058 Centerline is valid? [True, True] Translation: X:75.83, Y:-6.18, Z:-9.34 [[ 9.77759961e-01 1.87865648e-01 9.32306601e-02 7.58343859e+01] [-1.87036235e-01 9.82194716e-01 -1.76348133e-02 -6.17617008e+00] [-9.48836374e-02 -1.94897225e-04 9.95488351e-01 -9.34411587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.458241008 meters 0.0635509919056703 Centerline is valid? [True, True] Translation: X:75.89, Y:-6.19, Z:-9.35 [[ 9.77916446e-01 1.87922290e-01 9.14583942e-02 7.58938880e+01] [-1.87122344e-01 9.82183884e-01 -1.73218408e-02 -6.18887085e+00] [-9.30841209e-02 -1.74596090e-04 9.95658233e-01 -9.35413722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.518241008 meters 0.06364090873381795 Centerline is valid? [True, True] Translation: X:75.95, Y:-6.20, Z:-9.36 [[ 9.78723603e-01 1.83042645e-01 9.27119157e-02 7.59539421e+01] [-1.82196753e-01 9.83104924e-01 -1.75798607e-02 -6.20386744e+00] [-9.43634050e-02 3.14014617e-04 9.95537769e-01 -9.36228146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.578241008 meters 0.0637317525599498 Centerline is valid? [True, True] Translation: X:76.01, Y:-6.23, Z:-9.37 [[ 9.80116888e-01 1.74285516e-01 9.48443227e-02 7.60126007e+01] [-1.73356893e-01 9.84694419e-01 -1.80080040e-02 -6.22525804e+00] [-9.65312095e-02 1.20803181e-03 9.95329225e-01 -9.36653424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.638241008 meters 0.06447300060787838 Centerline is valid? [True, True] Translation: X:76.07, Y:-6.24, Z:-9.37 [[ 9.81160962e-01 1.67186818e-01 9.68077164e-02 7.60717392e+01] [-1.66182079e-01 9.85923260e-01 -1.84076711e-02 -6.24441790e+00] [-9.85224993e-02 1.97318075e-03 9.95132867e-01 -9.37216947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.698241008 meters 0.06666427205692342 Centerline is valid? [True, True] Translation: X:76.13, Y:-6.27, Z:-9.38 [[ 9.82997344e-01 1.56448027e-01 9.61261461e-02 7.61294271e+01] [-1.55404841e-01 9.87681508e-01 -1.82913530e-02 -6.26614236e+00] [-9.78036630e-02 3.04188306e-03 9.95201080e-01 -9.37852922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.758241008 meters 0.06813225629666701 Centerline is valid? [True, True] Translation: X:76.19, Y:-6.28, Z:-9.39 [[ 9.84065748e-01 1.50556861e-01 9.45898309e-02 7.61881483e+01] [-1.49519190e-01 9.88594889e-01 -1.80043599e-02 -6.28004058e+00] [-9.62217033e-02 3.57447900e-03 9.95353509e-01 -9.38845678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.818241008 meters 0.06814884444810672 Centerline is valid? [True, True] Translation: X:76.25, Y:-6.29, Z:-9.39 [[ 9.84551450e-01 1.47971437e-01 9.36103420e-02 7.62491717e+01] [-1.46941383e-01 9.88984296e-01 -1.78407267e-02 -6.29143716e+00] [-9.52190762e-02 3.80988029e-03 9.95449051e-01 -9.39229827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.878241008 meters 0.06843528456870471 Centerline is valid? [True, True] Translation: X:76.31, Y:-6.30, Z:-9.40 [[ 9.84414733e-01 1.49205638e-01 9.30876545e-02 7.63085458e+01] [-1.48192514e-01 9.88799376e-01 -1.77418598e-02 -6.30166981e+00] [-9.46922002e-02 3.67045466e-03 9.95499832e-01 -9.39999574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.938241008 meters 0.067118104412013 Centerline is valid? [True, True] Translation: X:76.37, Y:-6.31, Z:-9.41 [[ 9.83638181e-01 1.55275294e-01 9.13537740e-02 7.63692700e+01] [-1.54323602e-01 9.87866527e-01 -1.74341761e-02 -6.30561723e+00] [-9.29524323e-02 3.05087781e-03 9.95665876e-01 -9.40840869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99824100800001 meters 0.06575263664019124 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.31, Z:-9.42 [[ 9.82251424e-01 1.65118805e-01 8.89826950e-02 7.64304985e+01] [-1.64255493e-01 9.86271507e-01 -1.69896093e-02 -6.30548371e+00] [-9.05664007e-02 2.07217149e-03 9.95888263e-01 -9.41813137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.058241008 meters 0.06400365588043232 Centerline is valid? [True, True] Translation: X:76.49, Y:-6.30, Z:-9.43 [[ 9.80100382e-01 1.76557687e-01 9.07227927e-02 7.64913167e+01] [-1.75708206e-01 9.84289740e-01 -1.73301511e-02 -6.30341719e+00] [-9.23572854e-02 1.04454854e-03 9.95725384e-01 -9.42589951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.118241008 meters 0.06354435335483334 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.29, Z:-9.43 [[ 9.76810290e-01 1.92857392e-01 9.29929223e-02 7.65542367e+01] [-1.92036121e-01 9.81226677e-01 -1.77858543e-02 -6.29261102e+00] [-9.46772696e-02 -4.84594611e-04 9.95507900e-01 -9.43451336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.178241008 meters 0.06450824988346598 Centerline is valid? [True, True] Translation: X:76.62, Y:-6.29, Z:-9.44 [[ 9.74842814e-01 2.02406953e-01 9.33429908e-02 7.66171814e+01] [-2.01622086e-01 9.79300489e-01 -1.78630034e-02 -6.29178582e+00] [-9.50264326e-02 -1.40638795e-03 9.95473756e-01 -9.44262720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.238241008 meters 0.06591075188909387 Centerline is valid? [True, True] Translation: X:76.68, Y:-6.30, Z:-9.45 [[ 9.72814252e-01 2.11658682e-01 9.39842135e-02 7.66787057e+01] [-2.10905714e-01 9.77340886e-01 -1.79881223e-02 -6.29644658e+00] [-9.56619567e-02 -2.32270591e-03 9.95411169e-01 -9.44587777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298241008 meters 0.06674000605859164 Centerline is valid? [True, True] Translation: X:76.74, Y:-6.30, Z:-9.46 [[ 9.72296998e-01 2.13963959e-01 9.41168035e-02 7.67388712e+01] [-2.13217629e-01 9.76838272e-01 -1.80342187e-02 -6.30432585e+00] [-9.57955685e-02 -2.53274498e-03 9.95397807e-01 -9.45703245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35824100800001 meters 0.06544757282658062 Centerline is valid? [True, True] Translation: X:76.80, Y:-6.32, Z:-9.47 [[ 9.73043939e-01 2.11487283e-01 9.19707686e-02 7.67978608e+01] [-2.10761816e-01 9.77378234e-01 -1.76421217e-02 -6.32287213e+00] [-9.36213118e-02 -2.21736668e-03 9.95605410e-01 -9.46541280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.418241008 meters 0.0641422255356436 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.35, Z:-9.47 [[ 9.75178951e-01 2.01861369e-01 9.09835260e-02 7.68539495e+01] [-2.01107267e-01 9.79413302e-01 -1.74771844e-02 -6.34924960e+00] [-9.26384439e-02 -1.25406590e-03 9.95699024e-01 -9.47488922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.478241008 meters 0.06314492770593896 Centerline is valid? [True, True] Translation: X:76.91, Y:-6.38, Z:-9.48 [[ 9.77600163e-01 1.88798616e-01 9.30215195e-02 7.69099496e+01] [-1.87949413e-01 9.82015826e-01 -1.78867448e-02 -6.38180580e+00] [-9.47255970e-02 2.74473326e-06 9.95503421e-01 -9.47919932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.538241008 meters 0.06347169522421799 Centerline is valid? [True, True] Translation: X:76.97, Y:-6.41, Z:-9.49 [[ 9.78839799e-01 1.81252451e-01 9.49747175e-02 7.69683329e+01] [-1.80330019e-01 9.83436304e-01 -1.82789704e-02 -6.40574838e+00] [-9.67146933e-02 7.65391058e-04 9.95311852e-01 -9.48578664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.598241008 meters 0.06398034810193248 Centerline is valid? [True, True] Translation: X:77.03, Y:-6.42, Z:-9.49 [[ 9.79719978e-01 1.76145149e-01 9.55073367e-02 7.70270429e+01] [-1.75185843e-01 9.84363346e-01 -1.84044325e-02 -6.42491270e+00] [-9.72557731e-02 1.29965689e-03 9.95258572e-01 -9.49387878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.658241008 meters 0.06464357887815304 Centerline is valid? [True, True] Translation: X:77.08, Y:-6.45, Z:-9.50 [[ 9.80354426e-01 1.72236365e-01 9.61240513e-02 7.70849898e+01] [-1.71243326e-01 9.85054142e-01 -1.85488678e-02 -6.44613199e+00] [-9.78821844e-02 1.72386240e-03 9.95196516e-01 -9.50130773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.718241008 meters 0.0650268991537892 Centerline is valid? [True, True] Translation: X:77.14, Y:-6.46, Z:-9.51 [[ 9.80773461e-01 1.69922624e-01 9.59672865e-02 7.71445590e+01] [-1.68920882e-01 9.85455457e-01 -1.85277602e-02 -6.46194408e+00] [-9.77197719e-02 1.96065682e-03 9.95212039e-01 -9.51011577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.778241008 meters 0.06581425778931267 Centerline is valid? [True, True] Translation: X:77.20, Y:-6.47, Z:-9.52 [[ 9.81096251e-01 1.67767897e-01 9.64576568e-02 7.72036186e+01] [-1.66743242e-01 9.85824048e-01 -1.86450489e-02 -6.47305530e+00] [-9.82183183e-02 2.20892514e-03 9.95162440e-01 -9.52065209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.838241008 meters 0.06616982201558037 Centerline is valid? [True, True] Translation: X:77.26, Y:-6.49, Z:-9.53 [[ 9.81227326e-01 1.66997246e-01 9.64616763e-02 7.72633619e+01] [-1.65966829e-01 9.85954666e-01 -1.86657162e-02 -6.48677740e+00] [-9.82239630e-02 2.30587228e-03 9.95161663e-01 -9.52792903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.898241008 meters 0.06669067406584879 Centerline is valid? [True, True] Translation: X:77.32, Y:-6.50, Z:-9.53 [[ 9.81662144e-01 1.64229801e-01 9.67884655e-02 7.73244229e+01] [-1.63176480e-01 9.86418637e-01 -1.87539156e-02 -6.49874780e+00] [-9.85538980e-02 2.61640787e-03 9.95128275e-01 -9.53294860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.958241008 meters 0.0673531777391329 Centerline is valid? [True, True] Translation: X:77.39, Y:-6.51, Z:-9.54 [[ 9.81806930e-01 1.62569429e-01 9.81138798e-02 7.73853318e+01] [-1.61478402e-01 9.86693064e-01 -1.90137622e-02 -6.50886685e+00] [-9.98993412e-02 2.82457102e-03 9.94993539e-01 -9.54159007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.018241008 meters 0.06750364736698826 Centerline is valid? [True, True] Translation: X:77.45, Y:-6.52, Z:-9.55 [[ 9.81759976e-01 1.62995164e-01 9.78770995e-02 7.74462910e+01] [-1.61909420e-01 9.86622908e-01 -1.89888626e-02 -6.51745161e+00] [-9.96628813e-02 2.79528093e-03 9.95017335e-01 -9.54882799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.078241008 meters 0.06659235041775731 Centerline is valid? [True, True] Translation: X:77.51, Y:-6.52, Z:-9.56 [[ 9.81208409e-01 1.66345903e-01 9.77706423e-02 7.75077043e+01] [-1.65276518e-01 9.86064349e-01 -1.89939925e-02 -6.52263246e+00] [-9.95677176e-02 2.47787388e-03 9.95027703e-01 -9.55634334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.138241008 meters 0.06393167223726709 Centerline is valid? [True, True] Translation: X:77.57, Y:-6.52, Z:-9.56 [[ 9.79437348e-01 1.74679543e-01 1.00943241e-01 7.75713502e+01] [-1.73583016e-01 9.84623889e-01 -1.96146098e-02 -6.51756346e+00] [-1.02817398e-01 1.68924919e-03 9.94698813e-01 -9.55816216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.198241008 meters 0.06270501933210708 Centerline is valid? [True, True] Translation: X:77.64, Y:-6.51, Z:-9.57 [[ 9.77132730e-01 1.87986365e-01 9.93617327e-02 7.76350659e+01] [-1.86990230e-01 9.82171590e-01 -1.93293031e-02 -6.50667190e+00] [-1.01223916e-01 3.07621535e-04 9.94863621e-01 -9.56681158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.258241008 meters 0.06267862397791907 Centerline is valid? [True, True] Translation: X:77.70, Y:-6.51, Z:-9.57 [[ 9.75283880e-01 1.97037098e-01 9.99886721e-02 7.76975988e+01] [-1.96075488e-01 9.80395829e-01 -1.94530692e-02 -6.50809104e+00] [-1.01861453e-01 -6.33062871e-04 9.94798393e-01 -9.57349229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.318241008 meters 0.0633066990502675 Centerline is valid? [True, True] Translation: X:77.76, Y:-6.51, Z:-9.58 [[ 9.73925821e-01 2.03666167e-01 9.99429244e-02 7.77594380e+01] [-2.02738569e-01 9.79039518e-01 -1.94600955e-02 -6.51010883e+00] [-1.01811436e-01 -1.30959599e-03 9.94802853e-01 -9.58204366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.378241008 meters 0.06424984986241893 Centerline is valid? [True, True] Translation: X:77.82, Y:-6.51, Z:-9.59 [[ 9.72472823e-01 2.09765800e-01 1.01463874e-01 7.78210170e+01] [-2.08840358e-01 9.77749706e-01 -1.97792200e-02 -6.51287212e+00] [-1.03355277e-01 -1.95499797e-03 9.94642581e-01 -9.59004938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.438241008 meters 0.06413898260828098 Centerline is valid? [True, True] Translation: X:77.88, Y:-6.53, Z:-9.60 [[ 9.72426402e-01 2.09698305e-01 1.02046627e-01 7.78806394e+01] [-2.08759475e-01 9.77764219e-01 -1.99151485e-02 -6.52847044e+00] [-1.03953713e-01 -1.93718416e-03 9.94580250e-01 -9.59512383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49824100800001 meters 0.06395265346220189 Centerline is valid? [True, True] Translation: X:77.94, Y:-6.54, Z:-9.61 [[ 9.73239938e-01 2.07069342e-01 9.96308709e-02 7.79389103e+01] [-2.06158492e-01 9.78324969e-01 -1.94661511e-02 -6.54426680e+00] [-1.01502212e-01 -1.59451440e-03 9.94834036e-01 -9.60861699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.558241008 meters 0.06351625947573791 Centerline is valid? [True, True] Translation: X:78.00, Y:-6.57, Z:-9.62 [[ 9.73752851e-01 2.05785462e-01 9.72508582e-02 7.79979294e+01] [-2.04908954e-01 9.78596126e-01 -1.90247924e-02 -6.56500249e+00] [-9.90843387e-02 -1.40212577e-03 9.95078051e-01 -9.61668781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.618241008 meters 0.0639056291232019 Centerline is valid? [True, True] Translation: X:78.06, Y:-6.58, Z:-9.63 [[ 9.74069953e-01 2.05144941e-01 9.54111059e-02 7.80558419e+01] [-2.04295785e-01 9.78730759e-01 -1.86904645e-02 -6.57883863e+00] [-9.72160384e-02 -1.28626692e-03 9.95262472e-01 -9.62938303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.678241008 meters 0.06406212554937388 Centerline is valid? [True, True] Translation: X:78.12, Y:-6.59, Z:-9.64 [[ 9.74206312e-01 2.05005988e-01 9.43112228e-02 7.81160374e+01] [-2.04174883e-01 9.78759922e-01 -1.84833203e-02 -6.59217990e+00] [-9.60972363e-02 -1.24941562e-03 9.95371167e-01 -9.63970569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.738241008 meters 0.06373212442401222 Centerline is valid? [True, True] Translation: X:78.17, Y:-6.61, Z:-9.65 [[ 9.75079950e-01 2.02323558e-01 9.10179620e-02 7.81741138e+01] [-2.01536067e-01 9.79318289e-01 -1.78578219e-02 -6.61464615e+00] [-9.27486129e-02 -9.30597948e-04 9.95689123e-01 -9.64792920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.798241008 meters 0.06394395314061595 Centerline is valid? [True, True] Translation: X:78.23, Y:-6.63, Z:-9.66 [[ 9.75366862e-01 2.01129287e-01 9.05897027e-02 7.82337890e+01] [-2.00341883e-01 9.79564386e-01 -1.77973129e-02 -6.62892062e+00] [-9.23180074e-02 -7.90002332e-04 9.95729261e-01 -9.65826932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85824100800001 meters 0.0633240275712093 Centerline is valid? [True, True] Translation: X:78.29, Y:-6.65, Z:-9.66 [[ 9.76197887e-01 1.96976220e-01 9.07637284e-02 7.82926154e+01] [-1.96166612e-01 9.80408191e-01 -1.78448798e-02 -6.65046615e+00] [-9.25005197e-02 -3.84679107e-04 9.95712562e-01 -9.66425323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.918241008 meters 0.06338958634992585 Centerline is valid? [True, True] Translation: X:78.35, Y:-6.67, Z:-9.67 [[ 9.76566708e-01 1.94906476e-01 9.12629721e-02 7.83520015e+01] [-1.94076858e-01 9.80821817e-01 -1.79648530e-02 -6.66689758e+00] [-9.30141803e-02 -1.68153458e-04 9.95664770e-01 -9.67257774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.978241008 meters 0.06343820734745302 Centerline is valid? [True, True] Translation: X:78.41, Y:-6.68, Z:-9.68 [[ 9.76323167e-01 1.96259257e-01 9.09690984e-02 7.84118293e+01] [-1.95438845e-01 9.80552002e-01 -1.79284616e-02 -6.67902577e+00] [-9.27185581e-02 -2.74923007e-04 9.95692319e-01 -9.68139587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.038241008 meters 0.0635467579327242 Centerline is valid? [True, True] Translation: X:78.47, Y:-6.69, Z:-9.69 [[ 9.75457063e-01 2.00104197e-01 9.18794218e-02 7.84714648e+01] [-1.99282161e-01 9.79774423e-01 -1.81300866e-02 -6.69084363e+00] [-9.36490139e-02 -6.24808784e-04 9.95605078e-01 -9.68770983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.098241008 meters 0.06398437222786035 Centerline is valid? [True, True] Translation: X:78.53, Y:-6.70, Z:-9.70 [[ 9.75507728e-01 2.00729623e-01 8.99571635e-02 7.85312610e+01] [-1.99942662e-01 9.79646463e-01 -1.77690506e-02 -6.70269980e+00] [-9.16929919e-02 -6.52428486e-04 9.95787111e-01 -9.69767194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.158241008 meters 0.06376765044181125 Centerline is valid? [True, True] Translation: X:78.59, Y:-6.72, Z:-9.70 [[ 9.76326769e-01 1.96483065e-01 9.04458092e-02 7.85898901e+01] [-1.95667353e-01 9.80507190e-01 -1.78867689e-02 -6.72180428e+00] [-9.21972135e-02 -2.33960777e-04 9.95740739e-01 -9.70284589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.218241008 meters 0.06365358677031667 Centerline is valid? [True, True] Translation: X:78.65, Y:-6.73, Z:-9.71 [[ 9.76538094e-01 1.95281070e-01 9.07670333e-02 7.86496299e+01] [-1.94452626e-01 9.80747314e-01 -1.79689458e-02 -6.73471116e+00] [-9.25285190e-02 -1.02527907e-04 9.95710029e-01 -9.71060463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.278241008 meters 0.06345556192846262 Centerline is valid? [True, True] Translation: X:78.71, Y:-6.75, Z:-9.72 [[ 9.76986269e-01 1.91779284e-01 9.33731014e-02 7.87083949e+01] [-1.90884214e-01 9.81438046e-01 -1.85088623e-02 -6.75018073e+00] [-9.51895305e-02 2.59453264e-04 9.95459133e-01 -9.71619031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.338241008 meters 0.063437733587664 Centerline is valid? [True, True] Translation: X:78.77, Y:-6.76, Z:-9.72 [[ 9.77176455e-01 1.90629006e-01 9.37377099e-02 7.87687121e+01] [-1.89720766e-01 9.81662078e-01 -1.85901791e-02 -6.76417043e+00] [-9.55625825e-02 3.81895141e-04 9.95423351e-01 -9.72269688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.398241008 meters 0.06334916512908162 Centerline is valid? [True, True] Translation: X:78.83, Y:-6.78, Z:-9.73 [[ 9.77243604e-01 1.89556595e-01 9.52010286e-02 7.88283791e+01] [-1.88612171e-01 9.81869659e-01 -1.89055915e-02 -6.77833876e+00] [-9.70586810e-02 5.19295676e-04 9.95278525e-01 -9.72738564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.458241008 meters 0.06271463079827953 Centerline is valid? [True, True] Translation: X:78.89, Y:-6.79, Z:-9.73 [[ 9.77385967e-01 1.89285146e-01 9.42751508e-02 7.88901827e+01] [-1.88356975e-01 9.81922009e-01 -1.87301479e-02 -6.78860234e+00] [-9.61161842e-02 5.49201540e-04 9.95369970e-01 -9.72880819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.518241008 meters 0.06304988006790573 Centerline is valid? [True, True] Translation: X:78.95, Y:-6.80, Z:-9.74 [[ 9.77500901e-01 1.89381427e-01 9.28798384e-02 7.89511292e+01] [-1.88478967e-01 9.81903442e-01 -1.84745705e-02 -6.79729315e+00] [-9.46977735e-02 5.53013306e-04 9.95505915e-01 -9.73907002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.578241008 meters 0.06277818602863042 Centerline is valid? [True, True] Translation: X:79.01, Y:-6.81, Z:-9.74 [[ 9.77158450e-01 1.91595956e-01 9.19366791e-02 7.90122100e+01] [-1.90719544e-01 9.81473822e-01 -1.83082675e-02 -6.80714895e+00] [-9.37412338e-02 3.55956803e-04 9.95596532e-01 -9.74362633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.638241008 meters 0.06279863958072805 Centerline is valid? [True, True] Translation: X:79.07, Y:-6.82, Z:-9.75 [[ 9.77041900e-01 1.91897336e-01 9.25447942e-02 7.90724172e+01] [-1.91008393e-01 9.81414942e-01 -1.84527875e-02 -6.81671364e+00] [-9.43658846e-02 3.52314158e-04 9.95537521e-01 -9.75189880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.698241008 meters 0.06286333511702694 Centerline is valid? [True, True] Translation: X:79.13, Y:-6.83, Z:-9.76 [[ 9.76903372e-01 1.92315502e-01 9.31372652e-02 7.91332213e+01] [-1.91415023e-01 9.81333091e-01 -1.85917443e-02 -6.82694729e+00] [-9.49741610e-02 3.34465951e-04 9.95479682e-01 -9.75872452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.758241008 meters 0.06294300093229262 Centerline is valid? [True, True] Translation: X:79.19, Y:-6.84, Z:-9.77 [[ 9.76545426e-01 1.93567839e-01 9.42895624e-02 7.91940142e+01] [-1.92648455e-01 9.81086864e-01 -1.88451033e-02 -6.83594332e+00] [-9.61540570e-02 2.38360921e-04 9.95366435e-01 -9.76593811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.818241008 meters 0.06291600122064178 Centerline is valid? [True, True] Translation: X:79.26, Y:-6.85, Z:-9.77 [[ 9.76369428e-01 1.94423099e-01 9.43525263e-02 7.92559688e+01] [-1.93504374e-01 9.80917748e-01 -1.88793362e-02 -6.84797136e+00] [-9.62226466e-02 1.75580179e-04 9.95359820e-01 -9.77111272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.878241008 meters 0.06309110885053422 Centerline is valid? [True, True] Translation: X:79.32, Y:-6.86, Z:-9.78 [[ 9.76393578e-01 1.94739714e-01 9.34453005e-02 7.93169339e+01] [-1.93837542e-01 9.80854941e-01 -1.87240933e-02 -6.85682922e+00] [-9.53026093e-02 1.68877025e-04 9.95448333e-01 -9.78187357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.938241008 meters 0.06315001573934118 Centerline is valid? [True, True] Translation: X:79.38, Y:-6.86, Z:-9.79 [[ 9.75953085e-01 1.97134159e-01 9.30252611e-02 7.93787172e+01] [-1.96248938e-01 9.80376520e-01 -1.86609927e-02 -6.86494770e+00] [-9.48785009e-02 -4.38552939e-05 9.95488859e-01 -9.79091782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99824100800001 meters 0.0629874492402159 Centerline is valid? [True, True] Translation: X:79.44, Y:-6.88, Z:-9.80 [[ 9.75221176e-01 1.99502433e-01 9.56160891e-02 7.94393003e+01] [-1.98575726e-01 9.79897298e-01 -1.92085041e-02 -6.87515497e+00] [-9.75260906e-02 -2.54494305e-04 9.95232936e-01 -9.79701828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.058241008 meters 0.06281363688074405 Centerline is valid? [True, True] Translation: X:79.50, Y:-6.89, Z:-9.80 [[ 9.74544092e-01 2.01779443e-01 9.77183166e-02 7.95004894e+01] [-2.00820489e-01 9.79430873e-01 -1.96543981e-02 -6.88680978e+00] [-9.96741897e-02 -4.69762617e-04 9.95020018e-01 -9.80140743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.118241008 meters 0.06310458128108265 Centerline is valid? [True, True] Translation: X:79.56, Y:-6.89, Z:-9.81 [[ 9.73826763e-01 2.05666908e-01 9.67603142e-02 7.95618340e+01] [-2.04743583e-01 9.78621695e-01 -1.94844136e-02 -6.89426567e+00] [-9.86990418e-02 -8.36609958e-04 9.95116978e-01 -9.81138111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.178241008 meters 0.06406200926817922 Centerline is valid? [True, True] Translation: X:79.62, Y:-6.90, Z:-9.82 [[ 9.72943185e-01 2.10974428e-01 9.41878430e-02 7.96229123e+01] [-2.10121863e-01 9.77490701e-01 -1.89929674e-02 -6.90074467e+00] [-9.60747710e-02 -1.31184690e-03 9.95373255e-01 -9.82435072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.238241008 meters 0.06430947100618968 Centerline is valid? [True, True] Translation: X:79.68, Y:-6.91, Z:-9.83 [[ 9.72833670e-01 2.11719646e-01 9.36452941e-02 7.96829754e+01] [-2.10880200e-01 9.77329473e-01 -1.88849943e-02 -6.91271791e+00] [-9.55206302e-02 -1.37598006e-03 9.95426499e-01 -9.83316943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.298241008 meters 0.06361671019884377 Centerline is valid? [True, True] Translation: X:79.74, Y:-6.93, Z:-9.84 [[ 9.73026345e-01 2.09545016e-01 9.64915444e-02 7.97420742e+01] [-2.08640469e-01 9.77798297e-01 -1.94844688e-02 -6.92968762e+00] [-9.84321411e-02 -1.17313964e-03 9.95143074e-01 -9.83755222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35824100800001 meters 0.06299864649400523 Centerline is valid? [True, True] Translation: X:79.80, Y:-6.95, Z:-9.84 [[ 9.73660002e-01 2.06211644e-01 9.72777417e-02 7.98013643e+01] [-2.05274053e-01 9.78507064e-01 -1.96593287e-02 -6.94929440e+00] [-9.92409399e-02 -8.27094326e-04 9.95063089e-01 -9.84383356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.418241008 meters 0.06283784139123243 Centerline is valid? [True, True] Translation: X:79.86, Y:-6.96, Z:-9.85 [[ 9.73999856e-01 2.04213451e-01 9.80874419e-02 7.98617546e+01] [-2.03247319e-01 9.78926199e-01 -1.98500311e-02 -6.96441352e+00] [-1.00074010e-01 -6.02082086e-04 9.94979814e-01 -9.85146960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.478241008 meters 0.06256919418165378 Centerline is valid? [True, True] Translation: X:79.92, Y:-6.98, Z:-9.86 [[ 9.74142703e-01 2.03091068e-01 9.89950128e-02 7.99209206e+01] [-2.02100603e-01 9.79159733e-01 -2.00390732e-02 -6.98265995e+00] [-1.01001687e-01 -4.86034859e-04 9.94886136e-01 -9.85595721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.538241008 meters 0.06253586645619738 Centerline is valid? [True, True] Translation: X:79.98, Y:-7.00, Z:-9.86 [[ 9.74215253e-01 2.02669999e-01 9.91438997e-02 7.99798399e+01] [-2.01671981e-01 9.79247004e-01 -2.00927022e-02 -6.99858633e+00] [-1.01158555e-01 -4.19929742e-04 9.94870228e-01 -9.86376031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.598241008 meters 0.06253766323581143 Centerline is valid? [True, True] Translation: X:80.04, Y:-7.01, Z:-9.87 [[ 9.74676488e-01 2.00466145e-01 9.90912168e-02 8.00404153e+01] [-1.99455339e-01 9.79700616e-01 -2.01064913e-02 -7.01467022e+00] [-1.01110397e-01 -1.66947871e-04 9.94875198e-01 -9.87175763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.658241008 meters 0.06295338904617523 Centerline is valid? [True, True] Translation: X:80.10, Y:-7.03, Z:-9.88 [[ 9.74861924e-01 2.00709595e-01 9.67465098e-02 8.01001962e+01] [-1.99744707e-01 9.79650771e-01 -1.96575528e-02 -7.02750132e+00] [-9.87232524e-02 -1.61203481e-04 9.95114915e-01 -9.88230888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.718241008 meters 0.06289261009430148 Centerline is valid? [True, True] Translation: X:80.16, Y:-7.04, Z:-9.89 [[ 9.74793231e-01 2.01322670e-01 9.61630846e-02 8.01599701e+01] [-2.00370122e-01 9.79524958e-01 -1.95619925e-02 -7.03971554e+00] [-9.81324140e-02 -1.99311119e-04 9.95173347e-01 -9.89070978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.778241008 meters 0.0629847286479753 Centerline is valid? [True, True] Translation: X:80.22, Y:-7.05, Z:-9.90 [[ 9.74472099e-01 2.02632273e-01 9.66658664e-02 8.02195009e+01] [-2.01673793e-01 9.79254852e-01 -1.96879416e-02 -7.05040514e+00] [-9.86499311e-02 -3.09622222e-04 9.95122151e-01 -9.90026425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.838241008 meters 0.06301275247228147 Centerline is valid? [True, True] Translation: X:80.28, Y:-7.06, Z:-9.91 [[ 9.74670602e-01 2.01324281e-01 9.73948225e-02 8.02800354e+01] [-2.00342626e-01 9.79524634e-01 -1.98575748e-02 -7.06154307e+00] [-9.93984399e-02 -1.57740191e-04 9.95047700e-01 -9.90820688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.898241008 meters 0.0630156118445075 Centerline is valid? [True, True] Translation: X:80.34, Y:-7.08, Z:-9.92 [[ 9.75093004e-01 1.99154365e-01 9.76277212e-02 8.03407306e+01] [-1.98154906e-01 9.79968128e-01 -1.99274106e-02 -7.07729126e+00] [-9.96406860e-02 8.56667438e-05 9.95023480e-01 -9.91544912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.958241008 meters 0.06298000123589699 Centerline is valid? [True, True] Translation: X:80.40, Y:-7.09, Z:-9.92 [[ 9.75565896e-01 1.96397133e-01 9.84852746e-02 8.03996317e+01] [-1.95363167e-01 9.80524353e-01 -2.01302125e-02 -7.09460084e+00] [-1.00520726e-01 3.97953694e-04 9.94934885e-01 -9.92046988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.018241008 meters 0.0631991995454314 Centerline is valid? [True, True] Translation: X:80.46, Y:-7.11, Z:-9.93 [[ 9.75901128e-01 1.94738439e-01 9.84577475e-02 8.04608600e+01] [-1.93694623e-01 9.80855032e-01 -2.01444435e-02 -7.10633983e+00] [-1.00495675e-01 5.88248877e-04 9.94937321e-01 -9.92876275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.078241008 meters 0.06356108491123061 Centerline is valid? [True, True] Translation: X:80.52, Y:-7.12, Z:-9.94 [[ 9.75943288e-01 1.95130050e-01 9.72572008e-02 8.05202832e+01] [-1.94110798e-01 9.80777213e-01 -1.99262913e-02 -7.11578328e+00] [-9.92758646e-02 5.68257319e-04 9.95059787e-01 -9.93951207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.138241008 meters 0.06365935694476887 Centerline is valid? [True, True] Translation: X:80.58, Y:-7.13, Z:-9.95 [[ 9.76095880e-01 1.94939664e-01 9.61007867e-02 8.05793674e+01] [-1.93941596e-01 9.80815052e-01 -1.97101879e-02 -7.12963810e+00] [-9.80993955e-02 6.01093321e-04 9.95176440e-01 -9.94544394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.198241008 meters 0.06395498413607642 Centerline is valid? [True, True] Translation: X:80.64, Y:-7.15, Z:-9.95 [[ 9.76578035e-01 1.92346711e-01 9.64265705e-02 8.06387667e+01] [-1.91327198e-01 9.81326633e-01 -1.97975640e-02 -7.14536714e+00] [-9.84339580e-02 8.84840655e-04 9.95143192e-01 -9.95271724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.258241008 meters 0.06438987950195778 Centerline is valid? [True, True] Translation: X:80.70, Y:-7.16, Z:-9.96 [[ 9.77014553e-01 1.89808256e-01 9.70329279e-02 8.06988612e+01] [-1.88761132e-01 9.81820481e-01 -1.99443599e-02 -7.16033777e+00] [-9.90545201e-02 1.16988459e-03 9.95081320e-01 -9.96129222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.318241008 meters 0.06653768035115833 Centerline is valid? [True, True] Translation: X:80.75, Y:-7.18, Z:-9.97 [[ 9.76859333e-01 1.88323131e-01 1.01391526e-01 8.07546923e+01] [-1.87169026e-01 9.82106118e-01 -2.08645541e-02 -7.18442175e+00] [-1.03506516e-01 1.40438127e-03 9.94627784e-01 -9.97481089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.378241008 meters 0.06475720796924352 Centerline is valid? [True, True] Translation: X:80.82, Y:-7.19, Z:-9.97 [[ 9.77631295e-01 1.86291388e-01 9.76348796e-02 8.08172932e+01] [-1.85209117e-01 9.82493267e-01 -2.01137703e-02 -7.19230016e+00] [-9.96726340e-02 1.58098152e-03 9.95019028e-01 -9.97274304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.438241008 meters 0.0647004811706352 Centerline is valid? [True, True] Translation: X:80.88, Y:-7.20, Z:-9.98 [[ 9.77362638e-01 1.87935118e-01 9.71733818e-02 8.08783530e+01] [-1.86870617e-01 9.82180430e-01 -2.00243726e-02 -7.20243819e+00] [-9.92050768e-02 1.41222377e-03 9.95066007e-01 -9.98278485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49824100800001 meters 0.06428650710614345 Centerline is valid? [True, True] Translation: X:80.94, Y:-7.21, Z:-9.99 [[ 9.76710184e-01 1.91657332e-01 9.64607838e-02 8.09386436e+01] [-1.90626078e-01 9.81461362e-01 -1.98820042e-02 -7.21340378e+00] [-9.84830640e-02 1.03101503e-03 9.95138193e-01 -9.99098403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.558241008 meters 0.06410202970758513 Centerline is valid? [True, True] Translation: X:81.00, Y:-7.22, Z:-10.00 [[ 9.76063401e-01 1.94935823e-01 9.64378689e-02 8.09998563e+01] [-1.93918856e-01 9.80815734e-01 -1.98990710e-02 -7.22326626e+00] [-9.84668209e-02 7.21633735e-04 9.95140073e-01 -9.99857632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.618241008 meters 0.0638009225110656 Centerline is valid? [True, True] Translation: X:81.06, Y:-7.23, Z:-10.01 [[ 9.75102321e-01 1.99760158e-01 9.62878165e-02 8.10609354e+01] [-1.98767698e-01 9.79844791e-01 -1.98893976e-02 -7.23021845e+00] [-9.83202246e-02 2.55290102e-04 9.95154796e-01 -1.00055738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.678241008 meters 0.06381513083239848 Centerline is valid? [True, True] Translation: X:81.12, Y:-7.24, Z:-10.01 [[ 9.74715656e-01 2.01608261e-01 9.63509130e-02 8.11215984e+01] [-2.00621304e-01 9.79466233e-01 -1.99246432e-02 -7.24235597e+00] [-9.83894384e-02 9.08158786e-05 9.95147984e-01 -1.00149442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.738241008 meters 0.06434537073169709 Centerline is valid? [True, True] Translation: X:81.18, Y:-7.26, Z:-10.02 [[ 9.75203127e-01 2.00648165e-01 9.33765211e-02 8.11811223e+01] [-1.99714126e-01 9.79663345e-01 -1.93390420e-02 -7.25832540e+00] [-9.53578982e-02 2.10883941e-04 9.95443030e-01 -1.00245943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.798241008 meters 0.06458001154499415 Centerline is valid? [True, True] Translation: X:81.24, Y:-7.27, Z:-10.03 [[ 9.75662351e-01 1.98791020e-01 9.25478664e-02 8.12412437e+01] [-1.97865028e-01 9.80041825e-01 -1.91690635e-02 -7.27278637e+00] [-9.45114175e-02 3.90547428e-04 9.95523701e-01 -1.00334061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85824100800001 meters 0.06498254054257867 Centerline is valid? [True, True] Translation: X:81.30, Y:-7.29, Z:-10.04 [[ 9.76432358e-01 1.96425847e-01 8.94244775e-02 8.13004304e+01] [-1.95549219e-01 9.80518484e-01 -1.85473747e-02 -7.28969973e+00] [-9.13255369e-02 6.23370104e-04 9.95820896e-01 -1.00430035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.918241008 meters 0.06528432230021582 Centerline is valid? [True, True] Translation: X:81.36, Y:-7.30, Z:-10.05 [[ 9.76486876e-01 1.95626029e-01 9.05750398e-02 8.13598534e+01] [-1.94723030e-01 9.80678313e-01 -1.87879677e-02 -7.30172943e+00] [-9.25003928e-02 7.09157634e-04 9.95712395e-01 -1.00517004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.978241008 meters 0.06512079115789088 Centerline is valid? [True, True] Translation: X:81.42, Y:-7.31, Z:-10.05 [[ 9.76158456e-01 1.95592375e-01 9.41184933e-02 8.14198934e+01] [-1.94614828e-01 9.80684986e-01 -1.95455198e-02 -7.31368795e+00] [-9.61235479e-02 7.62670053e-04 9.95369118e-01 -1.00548491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.038241008 meters 0.06500545302887294 Centerline is valid? [True, True] Translation: X:81.48, Y:-7.33, Z:-10.06 [[ 9.75964542e-01 1.96446947e-01 9.43494023e-02 8.14794189e+01] [-1.95467030e-01 9.80514208e-01 -1.96093732e-02 -7.32514810e+00] [-9.63631310e-02 6.95855542e-04 9.95346002e-01 -1.00614824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.098241008 meters 0.06499177947138184 Centerline is valid? [True, True] Translation: X:81.54, Y:-7.34, Z:-10.07 [[ 9.76047571e-01 1.95787836e-01 9.48591687e-02 8.15401672e+01] [-1.94792305e-01 9.80645965e-01 -1.97344675e-02 -7.33869352e+00] [-9.68870297e-02 7.83942970e-04 9.95295076e-01 -1.00663518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.158241008 meters 0.06544262835932896 Centerline is valid? [True, True] Translation: X:81.60, Y:-7.35, Z:-10.08 [[ 9.76319735e-01 1.94772189e-01 9.41465335e-02 8.16001308e+01] [-1.93784341e-01 9.80848091e-01 -1.96125506e-02 -7.35206446e+00] [-9.61634270e-02 9.03996266e-04 9.95365148e-01 -1.00766082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.218241008 meters 0.0657953002799023 Centerline is valid? [True, True] Translation: X:81.66, Y:-7.37, Z:-10.08 [[ 9.77068513e-01 1.91054311e-01 9.39966611e-02 8.16596085e+01] [-1.90050316e-01 9.81578620e-01 -1.96033235e-02 -7.36980349e+00] [-9.60104124e-02 1.28969501e-03 9.95379494e-01 -1.00834004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.278241008 meters 0.06617701201828219 Centerline is valid? [True, True] Translation: X:81.72, Y:-7.39, Z:-10.09 [[ 9.77384451e-01 1.88882992e-01 9.50939052e-02 8.17187243e+01] [-1.87842853e-01 9.81998388e-01 -1.98552127e-02 -7.38705344e+00] [-9.71323735e-02 1.54346568e-03 9.95270275e-01 -1.00884413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.338241008 meters 0.06581417280691852 Centerline is valid? [True, True] Translation: X:81.78, Y:-7.40, Z:-10.09 [[ 9.77178836e-01 1.89314368e-01 9.63410235e-02 8.17801262e+01] [-1.88246287e-01 9.81915313e-01 -2.01408455e-02 -7.39724989e+00] [-9.84116777e-02 1.54536802e-03 9.95144589e-01 -1.00930876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.398241008 meters 0.0661027785185249 Centerline is valid? [True, True] Translation: X:81.84, Y:-7.41, Z:-10.10 [[ 9.76958198e-01 1.89925513e-01 9.73703206e-02 8.18406980e+01] [-1.88835069e-01 9.81797321e-01 -2.03798411e-02 -7.40677176e+00] [-9.94685716e-02 1.52332170e-03 9.95039538e-01 -1.01027098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.458241008 meters 0.06625878835130374 Centerline is valid? [True, True] Translation: X:81.90, Y:-7.42, Z:-10.11 [[ 9.76740554e-01 1.90785290e-01 9.78716717e-02 8.19008596e+01] [-1.89685504e-01 9.81630696e-01 -2.05082045e-02 -7.41797964e+00] [-9.99865009e-02 1.46635764e-03 9.94987713e-01 -1.01104323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.518241008 meters 0.06628055518716862 Centerline is valid? [True, True] Translation: X:81.96, Y:-7.43, Z:-10.11 [[ 9.77315567e-01 1.88335017e-01 9.68720994e-02 8.19604828e+01] [-1.87243388e-01 9.82103333e-01 -2.03213391e-02 -7.43292853e+00] [-9.89656315e-02 1.72170104e-03 9.95089363e-01 -1.01149338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.578241008 meters 0.06742233245869994 Centerline is valid? [True, True] Translation: X:82.02, Y:-7.45, Z:-10.13 [[ 9.77665097e-01 1.86396144e-01 9.70949850e-02 8.20183005e+01] [-1.85287734e-01 9.82472747e-01 -2.03901395e-02 -7.44889713e+00] [-9.91938199e-02 1.94421789e-03 9.95066232e-01 -1.01277805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.638241008 meters 0.06766506332508712 Centerline is valid? [True, True] Translation: X:82.08, Y:-7.46, Z:-10.13 [[ 9.77991432e-01 1.84636906e-01 9.71698059e-02 8.20786738e+01] [-1.83515976e-01 9.82804461e-01 -2.04273658e-02 -7.45949231e+00] [-9.92705644e-02 2.14557706e-03 9.95058165e-01 -1.01332112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.698241008 meters 0.06808341870529505 Centerline is valid? [True, True] Translation: X:82.14, Y:-7.47, Z:-10.14 [[ 9.78090294e-01 1.83679148e-01 9.79864681e-02 8.21393141e+01] [-1.82532393e-01 9.82983603e-01 -2.06194624e-02 -7.47344170e+00] [-1.00106457e-01 2.28199157e-03 9.94974115e-01 -1.01401217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.758241008 meters 0.06825581900187291 Centerline is valid? [True, True] Translation: X:82.20, Y:-7.48, Z:-10.15 [[ 9.77869200e-01 1.84145565e-01 9.93088062e-02 8.21997877e+01] [-1.82966965e-01 9.82896307e-01 -2.09270053e-02 -7.48313164e+00] [-1.01463874e-01 2.29364313e-03 9.94836580e-01 -1.01461292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.818241008 meters 0.06841299546011165 Centerline is valid? [True, True] Translation: X:82.26, Y:-7.50, Z:-10.16 [[ 9.77921218e-01 1.84506561e-01 9.81194179e-02 8.22602041e+01] [-1.83356848e-01 9.82828731e-01 -2.06870059e-02 -7.49530334e+00] [-1.00251471e-01 2.23939485e-03 9.94959611e-01 -1.01554908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.878241008 meters 0.06846279148274659 Centerline is valid? [True, True] Translation: X:82.32, Y:-7.50, Z:-10.16 [[ 9.77744192e-01 1.85705800e-01 9.76199345e-02 8.23196351e+01] [-1.84571549e-01 9.82603089e-01 -2.06037083e-02 -7.50481934e+00] [-9.97478773e-02 2.12729361e-03 9.95010470e-01 -1.01635934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.938241008 meters 0.06757398703156113 Centerline is valid? [True, True] Translation: X:82.38, Y:-7.51, Z:-10.17 [[ 9.77579615e-01 1.87460471e-01 9.58992572e-02 8.23826055e+01] [-1.86372632e-01 9.82270249e-01 -2.02583164e-02 -7.51193783e+00] [-9.79966208e-02 1.93112017e-03 9.95184874e-01 -1.01682674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99824100800001 meters 0.06827933964579652 Centerline is valid? [True, True] Translation: X:82.44, Y:-7.52, Z:-10.18 [[ 9.77459350e-01 1.88734854e-01 9.46169836e-02 8.24414363e+01] [-1.87679348e-01 9.82026423e-01 -2.00141656e-02 -7.52409376e+00] [-9.66937486e-02 1.80537951e-03 9.95312544e-01 -1.01817261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.058241008 meters 0.06756927217601973 Centerline is valid? [True, True] Translation: X:82.50, Y:-7.53, Z:-10.19 [[ 9.76954606e-01 1.91464473e-01 9.43453960e-02 8.25023243e+01] [-1.90425781e-01 9.81498320e-01 -1.99767560e-02 -7.53480553e+00] [-9.64246867e-02 1.55058809e-03 9.95339076e-01 -1.01864748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.118241008 meters 0.06662479831506618 Centerline is valid? [True, True] Translation: X:82.56, Y:-7.54, Z:-10.19 [[ 9.75294088e-01 1.99282597e-01 9.53304156e-02 8.25633848e+01] [-1.98256957e-01 9.79941729e-01 -2.02086026e-02 -7.54011929e+00] [-9.74454750e-02 8.09412597e-04 9.95240536e-01 -1.01918997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.178241008 meters 0.0666353247543777 Centerline is valid? [True, True] Translation: X:82.63, Y:-7.55, Z:-10.20 [[ 9.73993379e-01 2.05458346e-01 9.55184059e-02 8.26253169e+01] [-2.04456335e-01 9.78665839e-01 -2.02677961e-02 -7.54777288e+00] [-9.76447886e-02 2.11356028e-04 9.95221307e-01 -1.01996873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.238241008 meters 0.0671399258165686 Centerline is valid? [True, True] Translation: X:82.69, Y:-7.55, Z:-10.21 [[ 9.71865099e-01 2.14806740e-01 9.66245038e-02 8.26864996e+01] [-2.13826850e-01 9.76656301e-01 -2.05072575e-02 -7.55288681e+00] [-9.87740276e-02 -7.30625478e-04 9.95109621e-01 -1.02086107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.298241008 meters 0.06726835449705998 Centerline is valid? [True, True] Translation: X:82.75, Y:-7.57, Z:-10.21 [[ 9.71245374e-01 2.17915156e-01 9.58926892e-02 8.27463961e+01] [-2.16962680e-01 9.75967191e-01 -2.03773964e-02 -7.56701650e+00] [-9.80286620e-02 -1.01368286e-03 9.95183076e-01 -1.02140831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35824100800001 meters 0.06741065592144108 Centerline is valid? [True, True] Translation: X:82.80, Y:-7.58, Z:-10.22 [[ 9.71364756e-01 2.17777611e-01 9.49917009e-02 8.28048885e+01] [-2.16840034e-01 9.75997939e-01 -2.02094792e-02 -7.58484428e+00] [-9.71128764e-02 -9.67227759e-04 9.95272904e-01 -1.02225331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.418241008 meters 0.06713854420638998 Centerline is valid? [True, True] Translation: X:82.86, Y:-7.60, Z:-10.23 [[ 9.71835558e-01 2.15823623e-01 9.46351535e-02 8.28642256e+01] [-2.14881805e-01 9.76432078e-01 -2.01545615e-02 -7.60283858e+00] [-9.67546301e-02 -7.48453019e-04 9.95307983e-01 -1.02301304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.478241008 meters 0.06721021222001437 Centerline is valid? [True, True] Translation: X:82.92, Y:-7.62, Z:-10.24 [[ 9.73076006e-01 2.10543867e-01 9.37782848e-02 8.29221603e+01] [-2.09592232e-01 9.77584391e-01 -1.99963776e-02 -7.62264483e+00] [-9.58863021e-02 -1.97204809e-04 9.95392274e-01 -1.02406769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.538241008 meters 0.06736365717566857 Centerline is valid? [True, True] Translation: X:82.98, Y:-7.64, Z:-10.25 [[ 9.73679950e-01 2.07906481e-01 9.33929855e-02 8.29822345e+01] [-2.06949274e-01 9.78148705e-01 -1.99275836e-02 -7.64078848e+00] [-9.54953016e-02 7.54780348e-05 9.95429878e-01 -1.02499657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.598241008 meters 0.06730949765577222 Centerline is valid? [True, True] Translation: X:83.04, Y:-7.66, Z:-10.26 [[ 9.74266945e-01 2.05077000e-01 9.35272353e-02 8.30405552e+01] [-2.04101525e-01 9.78745769e-01 -1.99821638e-02 -7.65932100e+00] [-9.56372680e-02 3.78910326e-04 9.95416179e-01 -1.02575514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.658241008 meters 0.06725791620736431 Centerline is valid? [True, True] Translation: X:83.10, Y:-7.67, Z:-10.26 [[ 9.74151017e-01 2.05583592e-01 9.36225513e-02 8.31017872e+01] [-2.04606255e-01 9.78639496e-01 -2.00254230e-02 -7.67117235e+00] [-9.57396248e-02 3.52026609e-04 9.95406349e-01 -1.02640018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.718241008 meters 0.06741232329970116 Centerline is valid? [True, True] Translation: X:83.16, Y:-7.68, Z:-10.27 [[ 9.73394283e-01 2.09613246e-01 9.25519180e-02 8.31626586e+01] [-2.08673872e-01 9.77784376e-01 -1.98224253e-02 -7.67981992e+00] [-9.46508624e-02 -1.81316295e-05 9.95510529e-01 -1.02722776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.778241008 meters 0.06774140976232634 Centerline is valid? [True, True] Translation: X:83.22, Y:-7.69, Z:-10.28 [[ 9.72213387e-01 2.15399612e-01 9.16740832e-02 8.32244486e+01] [-2.14501622e-01 9.76525832e-01 -1.96559032e-02 -7.68621391e+00] [-9.37559843e-02 -5.54507301e-04 9.95595052e-01 -1.02793549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.838241008 meters 0.06807912692580102 Centerline is valid? [True, True] Translation: X:83.28, Y:-7.70, Z:-10.29 [[ 9.71782169e-01 2.17895732e-01 9.03375176e-02 8.32840271e+01] [-2.17032466e-01 9.75971757e-01 -1.93917138e-02 -7.69718204e+00] [-9.23922375e-02 -7.61652557e-04 9.95722398e-01 -1.02885995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.898241008 meters 0.06824101375757194 Centerline is valid? [True, True] Translation: X:83.34, Y:-7.71, Z:-10.30 [[ 9.71843997e-01 2.17991463e-01 8.94369480e-02 8.33439042e+01] [-2.17143970e-01 9.75950393e-01 -1.92179018e-02 -7.71185757e+00] [-9.14753630e-02 -7.43891410e-04 9.95807062e-01 -1.02967818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.958241008 meters 0.06797256274120349 Centerline is valid? [True, True] Translation: X:83.40, Y:-7.73, Z:-10.30 [[ 9.72181466e-01 2.16423850e-01 8.95763046e-02 8.34038572e+01] [-2.15565076e-01 9.76299332e-01 -1.92694708e-02 -7.72881253e+00] [-9.16236594e-02 -5.76100555e-04 9.95793539e-01 -1.03015028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.018241008 meters 0.0676749995117653 Centerline is valid? [True, True] Translation: X:83.46, Y:-7.74, Z:-10.31 [[ 9.72374563e-01 2.14763040e-01 9.14578912e-02 8.34640507e+01] [-2.13858250e-01 9.76666101e-01 -1.96971358e-02 -7.74360282e+00] [-9.35540387e-02 -4.06030691e-04 9.95614121e-01 -1.03076051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.078241008 meters 0.06755841916109899 Centerline is valid? [True, True] Translation: X:83.52, Y:-7.76, Z:-10.31 [[ 9.72680502e-01 2.12546428e-01 9.33630389e-02 8.35239971e+01] [-2.11591055e-01 9.77150953e-01 -2.01305676e-02 -7.75818800e+00] [-9.55084627e-02 -1.74173318e-04 9.95428603e-01 -1.03132212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.138241008 meters 0.0675529529464622 Centerline is valid? [True, True] Translation: X:83.58, Y:-7.77, Z:-10.32 [[ 9.72905107e-01 2.11824956e-01 9.26598134e-02 8.35843695e+01] [-2.10878625e-01 9.77307619e-01 -2.00005983e-02 -7.77182437e+00] [-9.47937674e-02 -8.12898148e-05 9.95496929e-01 -1.03197601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.198241008 meters 0.06754542402348755 Centerline is valid? [True, True] Translation: X:83.64, Y:-7.79, Z:-10.33 [[ 9.73383183e-01 2.09621040e-01 9.26509474e-02 8.36446848e+01] [-2.08662871e-01 9.77782693e-01 -2.00202628e-02 -7.78844313e+00] [-9.47891612e-02 1.54574493e-04 9.95497359e-01 -1.03264976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.258241008 meters 0.06752435571490967 Centerline is valid? [True, True] Translation: X:83.70, Y:-7.80, Z:-10.33 [[ 9.73737221e-01 2.08663616e-01 9.10786454e-02 8.37042355e+01] [-2.07731201e-01 9.77987435e-01 -1.97059666e-02 -7.80274101e+00] [-9.31856891e-02 2.68556744e-04 9.95648711e-01 -1.03343804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.318241008 meters 0.06785372979618479 Centerline is valid? [True, True] Translation: X:83.76, Y:-7.82, Z:-10.35 [[ 9.73726388e-01 2.09629062e-01 8.89526682e-02 8.37642043e+01] [-2.08741835e-01 9.77780967e-01 -1.92672552e-02 -7.81658062e+00] [-9.10152025e-02 1.92891691e-04 9.95849484e-01 -1.03450340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.378241008 meters 0.06786105912751476 Centerline is valid? [True, True] Translation: X:83.82, Y:-7.83, Z:-10.35 [[ 9.73413498e-01 2.11714406e-01 8.74252351e-02 8.38243037e+01] [-2.10863970e-01 9.77331576e-01 -1.89572171e-02 -7.83034966e+00] [-8.94569588e-02 1.83788980e-05 9.95990689e-01 -1.03535010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.438241008 meters 0.06767822889041704 Centerline is valid? [True, True] Translation: X:83.88, Y:-7.84, Z:-10.36 [[ 9.72824233e-01 2.14292638e-01 8.77022119e-02 8.38834490e+01] [-2.13445286e-01 9.76769485e-01 -1.90390035e-02 -7.84311234e+00] [-8.97447626e-02 -1.98019722e-04 9.95964778e-01 -1.03606678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.498241008 meters 0.06750934379097588 Centerline is valid? [True, True] Translation: X:83.94, Y:-7.86, Z:-10.37 [[ 9.72652911e-01 2.15214674e-01 8.73439109e-02 8.39439371e+01] [-2.14376274e-01 9.76566728e-01 -1.89799558e-02 -7.85532691e+00] [-8.93819223e-02 -2.63552868e-04 9.95997391e-01 -1.03684315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.558241008 meters 0.06758219651520696 Centerline is valid? [True, True] Translation: X:84.01, Y:-7.86, Z:-10.38 [[ 9.72233694e-01 2.17085472e-01 8.73815910e-02 8.40058791e+01] [-2.16252125e-01 9.76152511e-01 -1.90077361e-02 -7.86449818e+00] [-8.94240628e-02 -4.16493263e-04 9.95993556e-01 -1.03768855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.618241008 meters 0.06736625721225528 Centerline is valid? [True, True] Translation: X:84.07, Y:-7.88, Z:-10.38 [[ 9.72027296e-01 2.17339655e-01 8.90303844e-02 8.40655110e+01] [-2.16473179e-01 9.76095946e-01 -1.93924501e-02 -7.87633813e+00] [-9.11169456e-02 -4.22699472e-04 9.95840109e-01 -1.03838954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.678241008 meters 0.06663602744558184 Centerline is valid? [True, True] Translation: X:84.13, Y:-7.89, Z:-10.39 [[ 9.72158432e-01 2.15738640e-01 9.14594017e-02 8.41254889e+01] [-2.14814832e-01 9.76451112e-01 -1.99452959e-02 -7.89312971e+00] [-9.36086055e-02 -2.56848441e-04 9.95609041e-01 -1.03863811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.738241008 meters 0.0661235869921947 Centerline is valid? [True, True] Translation: X:84.19, Y:-7.91, Z:-10.39 [[ 9.72051950e-01 2.15886594e-01 9.22387422e-02 8.41861589e+01] [-2.14947161e-01 9.76418407e-01 -2.01199355e-02 -7.90619785e+00] [-9.44072301e-02 -2.68833249e-04 9.95533627e-01 -1.03889617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.798241008 meters 0.06580153586953344 Centerline is valid? [True, True] Translation: X:84.25, Y:-7.92, Z:-10.40 [[ 9.72005810e-01 2.15696545e-01 9.31649333e-02 8.42463208e+01] [-2.14735033e-01 9.76460418e-01 -2.03449826e-02 -7.91755310e+00] [-9.53602121e-02 -2.30333743e-04 9.95442804e-01 -1.03968070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85824100800001 meters 0.06535293961671777 Centerline is valid? [True, True] Translation: X:84.31, Y:-7.93, Z:-10.40 [[ 9.72523416e-01 2.12601047e-01 9.48630654e-02 8.43060294e+01] [-2.11587136e-01 9.77139082e-01 -2.07388154e-02 -7.93447237e+00] [-9.71035025e-02 9.71792514e-05 9.95274284e-01 -1.04007088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.918241008 meters 0.06522666145592758 Centerline is valid? [True, True] Translation: X:84.36, Y:-7.96, Z:-10.41 [[ 9.74516538e-01 2.03938821e-01 9.34155989e-02 8.43632324e+01] [-2.02913685e-01 9.78983155e-01 -2.04454946e-02 -7.95694834e+00] [-9.56219279e-02 9.69169186e-04 9.95417253e-01 -1.04081868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.978241008 meters 0.0660237460102779 Centerline is valid? [True, True] Translation: X:84.42, Y:-7.97, Z:-10.42 [[ 9.75388874e-01 2.01094917e-01 9.04288570e-02 8.44218557e+01] [-2.00120403e-01 9.79570992e-01 -1.98115135e-02 -7.96989156e+00] [-9.25654798e-02 1.22727050e-03 9.95705843e-01 -1.04221797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.038241008 meters 0.06578384755135094 Centerline is valid? [True, True] Translation: X:84.48, Y:-7.98, Z:-10.43 [[ 9.75521215e-01 2.00956262e-01 8.93025161e-02 8.44815443e+01] [-2.00003650e-01 9.79599426e-01 -1.95832681e-02 -7.98206515e+00] [-9.14160739e-02 1.24306425e-03 9.95812008e-01 -1.04306137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.098241008 meters 0.0655801793096225 Centerline is valid? [True, True] Translation: X:84.54, Y:-8.00, Z:-10.44 [[ 9.75235691e-01 2.02517652e-01 8.88928986e-02 8.45426997e+01] [-2.01578586e-01 9.79277984e-01 -1.95116380e-02 -7.99595047e+00] [-9.10023097e-02 1.10954097e-03 9.95850063e-01 -1.04377045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.158241008 meters 0.06489105119809031 Centerline is valid? [True, True] Translation: X:84.60, Y:-8.01, Z:-10.44 [[ 9.74994541e-01 2.03481862e-01 8.93351884e-02 8.46036903e+01] [-2.02535137e-01 9.79078153e-01 -1.96338438e-02 -8.00864518e+00] [-9.14612624e-02 1.04937589e-03 9.95808082e-01 -1.04414987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.218241008 meters 0.06444038094370644 Centerline is valid? [True, True] Translation: X:84.66, Y:-8.02, Z:-10.45 [[ 9.74481734e-01 2.05256035e-01 9.08587424e-02 8.46631880e+01] [-2.04282162e-01 9.78707879e-01 -1.99921588e-02 -8.01956946e+00] [-9.30276782e-02 9.21173226e-04 9.95663097e-01 -1.04505234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.278241008 meters 0.06388609566161836 Centerline is valid? [True, True] Translation: X:84.72, Y:-8.03, Z:-10.46 [[ 9.73748490e-01 2.08323605e-01 9.17341523e-02 8.47240043e+01] [-2.07342457e-01 9.78059736e-01 -2.02054061e-02 -8.03123755e+00] [-9.39307439e-02 6.54599152e-04 9.95578519e-01 -1.04563997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.338241008 meters 0.06341117458606214 Centerline is valid? [True, True] Translation: X:84.79, Y:-8.04, Z:-10.46 [[ 9.73181547e-01 2.09924497e-01 9.40711530e-02 8.47852943e+01] [-2.08897415e-01 9.77717451e-01 -2.07474318e-02 -8.04358066e+00] [-9.63304022e-02 5.39797128e-04 9.95349266e-01 -1.04618226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.398241008 meters 0.0626760883301054 Centerline is valid? [True, True] Translation: X:84.85, Y:-8.06, Z:-10.46 [[ 9.72799157e-01 2.10270372e-01 9.72017034e-02 8.48459449e+01] [-2.09174806e-01 9.77643131e-01 -2.14431399e-02 -8.05819200e+00] [-9.95374347e-02 5.27720951e-04 9.95033678e-01 -1.04635557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.458241008 meters 0.06267597654051946 Centerline is valid? [True, True] Translation: X:84.91, Y:-8.07, Z:-10.47 [[ 9.72996782e-01 2.08189427e-01 9.96715893e-02 8.49050467e+01] [-2.07023782e-01 9.78088210e-01 -2.20137994e-02 -8.07354054e+00] [-1.02070647e-01 7.84966606e-04 9.94776843e-01 -1.04711654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.518241008 meters 0.0627815639723178 Centerline is valid? [True, True] Translation: X:84.96, Y:-8.09, Z:-10.48 [[ 9.73504501e-01 2.05896616e-01 9.94764801e-02 8.49645794e+01] [-2.04721089e-01 9.78573189e-01 -2.19952077e-02 -8.08801151e+00] [-1.01873755e-01 1.04750029e-03 9.94796784e-01 -1.04806134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.578241008 meters 0.06323977262772063 Centerline is valid? [True, True] Translation: X:85.02, Y:-8.10, Z:-10.49 [[ 9.74206873e-01 2.03939271e-01 9.65905899e-02 8.50221076e+01] [-2.02819074e-01 9.78982756e-01 -2.13819305e-02 -8.10486706e+00] [-9.89211373e-02 1.24000968e-03 9.95094504e-01 -1.04915674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.638241008 meters 0.0634587021734323 Centerline is valid? [True, True] Translation: X:85.08, Y:-8.12, Z:-10.50 [[ 9.74534392e-01 2.03619394e-01 9.39247686e-02 8.50811962e+01] [-2.02557510e-01 9.79049324e-01 -2.08056901e-02 -8.11892429e+00] [-9.61934232e-02 1.25069329e-03 9.95361874e-01 -1.05022529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.698241008 meters 0.06345244652197174 Centerline is valid? [True, True] Translation: X:85.14, Y:-8.13, Z:-10.51 [[ 9.74558912e-01 2.02685662e-01 9.56736632e-02 8.51416546e+01] [-2.01577177e-01 9.79242867e-01 -2.12143551e-02 -8.13210430e+00] [-9.79875979e-02 1.38901186e-03 9.95186667e-01 -1.05094942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.758241008 meters 0.06302227195254667 Centerline is valid? [True, True] Translation: X:85.20, Y:-8.15, Z:-10.51 [[ 9.74521504e-01 2.01974875e-01 9.75396702e-02 8.52021156e+01] [-2.00816678e-01 9.79389535e-01 -2.16517793e-02 -8.14563730e+00] [-9.99024477e-02 1.51253199e-03 9.94996087e-01 -1.05121861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.818241008 meters 0.062979695565135 Centerline is valid? [True, True] Translation: X:85.26, Y:-8.16, Z:-10.52 [[ 9.74451149e-01 2.02005863e-01 9.81763186e-02 8.52623017e+01] [-2.00830180e-01 9.79383097e-01 -2.18171496e-02 -8.15957424e+00] [-1.00559419e-01 1.54297870e-03 9.94929858e-01 -1.05208095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.878241008 meters 0.06287443253832843 Centerline is valid? [True, True] Translation: X:85.32, Y:-8.17, Z:-10.53 [[ 9.74593135e-01 2.01512837e-01 9.77793335e-02 8.53228744e+01] [-2.00341833e-01 9.79484550e-01 -2.17524027e-02 -8.17136977e+00] [-1.00156735e-01 1.61045141e-03 9.94970369e-01 -1.05287264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.938241008 meters 0.06308854699702468 Centerline is valid? [True, True] Translation: X:85.38, Y:-8.19, Z:-10.54 [[ 9.74843181e-01 2.00297547e-01 9.77837653e-02 8.53824226e+01] [-1.99117907e-01 9.79733534e-01 -2.17775379e-02 -8.18808612e+00] [-1.00164021e-01 1.75918562e-03 9.94969383e-01 -1.05357734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.998241008 meters 0.0630580339535871 Centerline is valid? [True, True] Translation: X:85.44, Y:-8.20, Z:-10.54 [[ 9.74814218e-01 2.00269167e-01 9.81300246e-02 8.54427487e+01] [-1.99078673e-01 9.79739278e-01 -2.18775885e-02 -8.20244251e+00] [-1.00523246e-01 1.79098923e-03 9.94933098e-01 -1.05429918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.058241008 meters 0.06314828516410376 Centerline is valid? [True, True] Translation: X:85.50, Y:-8.22, Z:-10.55 [[ 9.74542120e-01 2.01696498e-01 9.79090388e-02 8.55013891e+01] [-2.00515769e-01 9.79446651e-01 -2.18559723e-02 -8.21508312e+00] [-1.00304953e-01 1.66725938e-03 9.94955344e-01 -1.05519422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.118241008 meters 0.06224904912504332 Centerline is valid? [True, True] Translation: X:85.56, Y:-8.22, Z:-10.56 [[ 9.73882029e-01 2.05289040e-01 9.70062083e-02 8.55628828e+01] [-2.04145797e-01 9.78700520e-01 -2.16745660e-02 -8.22173655e+00] [-9.93895773e-02 1.30506067e-03 9.95047742e-01 -1.05598803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.178241008 meters 0.06239685486717113 Centerline is valid? [True, True] Translation: X:85.62, Y:-8.23, Z:-10.57 [[ 9.73272891e-01 2.08990175e-01 9.51997210e-02 8.56224375e+01] [-2.07904669e-01 9.77917296e-01 -2.12934274e-02 -8.23244301e+00] [-9.75475709e-02 9.31849109e-04 9.95230427e-01 -1.05711743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.238241008 meters 0.061874520290796875 Centerline is valid? [True, True] Translation: X:85.68, Y:-8.24, Z:-10.58 [[ 9.72993858e-01 2.10458822e-01 9.48157994e-02 8.56844593e+01] [-2.09386670e-01 9.77602392e-01 -2.12317255e-02 -8.24343966e+00] [-9.71605562e-02 8.05174027e-04 9.95268395e-01 -1.05757601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.298241008 meters 0.06179316741467714 Centerline is valid? [True, True] Translation: X:85.74, Y:-8.26, Z:-10.58 [[ 9.72836391e-01 2.10353215e-01 9.66482310e-02 8.57441190e+01] [-2.09235750e-01 9.77625074e-01 -2.16706062e-02 -8.25695750e+00] [-9.90442157e-02 8.59689302e-04 9.95082662e-01 -1.05816564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35824100800001 meters 0.06197213698482525 Centerline is valid? [True, True] Translation: X:85.80, Y:-8.27, Z:-10.59 [[ 9.72920941e-01 2.09753789e-01 9.70988718e-02 8.58042948e+01] [-2.08620606e-01 9.77753778e-01 -2.17943103e-02 -8.27062823e+00] [-9.95102279e-02 9.47315399e-04 9.95036088e-01 -1.05909832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.418241008 meters 0.06200246693734213 Centerline is valid? [True, True] Translation: X:85.87, Y:-8.28, Z:-10.60 [[ 9.72814841e-01 2.10272445e-01 9.70401192e-02 8.58654253e+01] [-2.09140595e-01 9.77642396e-01 -2.18072879e-02 -8.28495327e+00] [-9.94560063e-02 9.19425039e-04 9.95041536e-01 -1.05986339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.478241008 meters 0.06187168270210652 Centerline is valid? [True, True] Translation: X:85.93, Y:-8.30, Z:-10.61 [[ 9.72793017e-01 2.10324633e-01 9.71457421e-02 8.59258216e+01] [-2.09187948e-01 9.77631149e-01 -2.18572369e-02 -8.29871957e+00] [-9.95698188e-02 9.40848988e-04 9.95030133e-01 -1.06057369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.538241008 meters 0.061644916564353384 Centerline is valid? [True, True] Translation: X:85.99, Y:-8.31, Z:-10.61 [[ 9.72466227e-01 2.11999389e-01 9.67765259e-02 8.59871974e+01] [-2.10877038e-01 9.77269478e-01 -2.18000683e-02 -8.31056883e+00] [-9.91983461e-02 7.91883039e-04 9.95067365e-01 -1.06129094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.598241008 meters 0.06166238842929386 Centerline is valid? [True, True] Translation: X:86.05, Y:-8.32, Z:-10.62 [[ 9.71819142e-01 2.15355092e-01 9.58631321e-02 8.60488901e+01] [-2.14267572e-01 9.76535694e-01 -2.16204763e-02 -8.32114883e+00] [-9.82698500e-02 4.70832087e-04 9.95159693e-01 -1.06222523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.658241008 meters 0.061483539819503254 Centerline is valid? [True, True] Translation: X:86.11, Y:-8.33, Z:-10.63 [[ 9.69966618e-01 2.23122929e-01 9.68551409e-02 8.61108707e+01] [-2.22048638e-01 9.74790271e-01 -2.18707475e-02 -8.32633005e+00] [-9.92933143e-02 -2.92657135e-04 9.95058165e-01 -1.06275733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.718241008 meters 0.06194173217243207 Centerline is valid? [True, True] Translation: X:86.17, Y:-8.33, Z:-10.64 [[ 9.68845324e-01 2.28085102e-01 9.65190399e-02 8.61707940e+01] [-2.27040272e-01 9.73640893e-01 -2.18203192e-02 -8.33490024e+00] [-9.89517739e-02 -7.73194872e-04 9.95091930e-01 -1.06365680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.778241008 meters 0.06149636401197856 Centerline is valid? [True, True] Translation: X:86.23, Y:-8.35, Z:-10.64 [[ 9.69719145e-01 2.25213479e-01 9.44651669e-02 8.62298198e+01] [-2.24198281e-01 9.74309333e-01 -2.13647975e-02 -8.35422110e+00] [-9.68499341e-02 -4.61074874e-04 9.95298889e-01 -1.06441382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.838241008 meters 0.061839526948974696 Centerline is valid? [True, True] Translation: X:86.29, Y:-8.37, Z:-10.66 [[ 9.70416691e-01 2.22917385e-01 9.27323293e-02 8.62873774e+01] [-2.21926519e-01 9.74837318e-01 -2.09957792e-02 -8.37157930e+00] [-9.50792595e-02 -2.05108431e-04 9.95469684e-01 -1.06565336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.898241008 meters 0.0618951152026481 Centerline is valid? [True, True] Translation: X:86.35, Y:-8.39, Z:-10.66 [[ 9.70857263e-01 2.21965000e-01 9.03754068e-02 8.63462732e+01] [-2.21018035e-01 9.75054630e-01 -2.04816368e-02 -8.38885362e+00] [-9.26671653e-02 -8.98489720e-05 9.95697137e-01 -1.06629926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.958241008 meters 0.06162742017220644 Centerline is valid? [True, True] Translation: X:86.41, Y:-8.41, Z:-10.67 [[ 9.70965130e-01 2.20747508e-01 9.21805475e-02 8.64054426e+01] [-2.19754791e-01 9.75330988e-01 -2.09116349e-02 -8.40601004e+00] [-9.45227357e-02 4.73514220e-05 9.95522702e-01 -1.06689076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.018241008 meters 0.061379155827129835 Centerline is valid? [True, True] Translation: X:86.46, Y:-8.43, Z:-10.68 [[ 9.71714586e-01 2.16535005e-01 9.42515480e-02 8.64631471e+01] [-2.15474743e-01 9.76274730e-01 -2.14076294e-02 -8.42698580e+00] [-9.66509057e-02 4.93277584e-04 9.95318220e-01 -1.06756412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.078241008 meters 0.06112141169118831 Centerline is valid? [True, True] Translation: X:86.52, Y:-8.44, Z:-10.68 [[ 9.71638218e-01 2.16735364e-01 9.45777701e-02 8.65240314e+01] [-2.15667636e-01 9.76230273e-01 -2.14924279e-02 -8.44004585e+00] [-9.69878516e-02 4.85500319e-04 9.95285447e-01 -1.06790592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.138241008 meters 0.06109187942587697 Centerline is valid? [True, True] Translation: X:86.58, Y:-8.45, Z:-10.69 [[ 9.71453524e-01 2.17518219e-01 9.46777422e-02 8.65833354e+01] [-2.16449741e-01 9.76056166e-01 -2.15376389e-02 -8.45400756e+00] [-9.70956230e-02 4.29842454e-04 9.95274965e-01 -1.06872512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.198241008 meters 0.06166069222000266 Centerline is valid? [True, True] Translation: X:86.64, Y:-8.47, Z:-10.70 [[ 9.71747696e-01 2.17456620e-01 9.17552960e-02 8.66430146e+01] [-2.16450370e-01 9.76069883e-01 -2.09002566e-02 -8.46702272e+00] [-9.41044802e-02 4.49308437e-04 9.95562226e-01 -1.06988111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.258241008 meters 0.06176567351633054 Centerline is valid? [True, True] Translation: X:86.70, Y:-8.48, Z:-10.71 [[ 9.72168723e-01 2.16342466e-01 8.99105755e-02 8.67027719e+01] [-2.15371495e-01 9.76317386e-01 -2.04812342e-02 -8.48167965e+00] [-9.22122188e-02 5.47040213e-04 9.95739227e-01 -1.07082864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.318241008 meters 0.06194751418274833 Centerline is valid? [True, True] Translation: X:86.76, Y:-8.50, Z:-10.72 [[ 9.72488446e-01 2.15231608e-01 8.91155304e-02 8.67624849e+01] [-2.14271237e-01 9.76562804e-01 -2.03205882e-02 -8.49540276e+00] [-9.14005452e-02 6.66642316e-04 9.95813987e-01 -1.07171097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.378241008 meters 0.06156038642625982 Centerline is valid? [True, True] Translation: X:86.82, Y:-8.51, Z:-10.72 [[ 9.72091745e-01 2.17038170e-01 8.90621812e-02 8.68232303e+01] [-2.16084690e-01 9.76162982e-01 -2.03283083e-02 -8.50734967e+00] [-9.13512232e-02 5.16006825e-04 9.95818602e-01 -1.07194833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.438241008 meters 0.06197061230722551 Centerline is valid? [True, True] Translation: X:86.89, Y:-8.52, Z:-10.73 [[ 9.71281308e-01 2.20783068e-01 8.86986925e-02 8.68850026e+01] [-2.19851089e-01 9.75322923e-01 -2.02656209e-02 -8.51729607e+00] [-9.09841740e-02 1.83114649e-04 9.95852322e-01 -1.07290746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.498241008 meters 0.06189674964111339 Centerline is valid? [True, True] Translation: X:86.95, Y:-8.53, Z:-10.73 [[ 9.70230344e-01 2.24777325e-01 9.01567160e-02 8.69467338e+01] [-2.23829174e-01 9.74410142e-01 -2.06246300e-02 -8.52524056e+00] [-9.24855676e-02 -1.69061430e-04 9.95714011e-01 -1.07337157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.558241008 meters 0.06193718583985338 Centerline is valid? [True, True] Translation: X:87.01, Y:-8.54, Z:-10.74 [[ 9.69661460e-01 2.26473345e-01 9.20134561e-02 8.70055910e+01] [-2.25490993e-01 9.74017313e-01 -2.10733743e-02 -8.53792919e+00] [-9.43952568e-02 -3.14166673e-04 9.95534749e-01 -1.07413777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.618241008 meters 0.061747985022837765 Centerline is valid? [True, True] Translation: X:87.07, Y:-8.55, Z:-10.74 [[ 9.69054505e-01 2.28529792e-01 9.33139833e-02 8.70666347e+01] [-2.27526890e-01 9.73536791e-01 -2.13923192e-02 -8.55113749e+00] [-9.57333781e-02 -5.01117147e-04 9.95406886e-01 -1.07436585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.678241008 meters 0.06184865373382584 Centerline is valid? [True, True] Translation: X:87.13, Y:-8.57, Z:-10.75 [[ 9.69235878e-01 2.28660037e-01 9.10845768e-02 8.71263113e+01] [-2.27703136e-01 9.73506218e-01 -2.09027514e-02 -8.56536135e+00] [-9.34510258e-02 -4.80547178e-04 9.95623762e-01 -1.07540544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.738241008 meters 0.06211648994085876 Centerline is valid? [True, True] Translation: X:87.18, Y:-8.58, Z:-10.77 [[ 9.70409480e-01 2.24559653e-01 8.87603695e-02 8.71840228e+01] [-2.23631966e-01 9.74460342e-01 -2.03908173e-02 -8.58283393e+00] [-9.10724148e-02 -6.22135329e-05 9.95844271e-01 -1.07680858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.798241008 meters 0.0621186596984722 Centerline is valid? [True, True] Translation: X:87.24, Y:-8.60, Z:-10.77 [[ 9.71684182e-01 2.19110581e-01 8.84330475e-02 8.72424819e+01] [-2.18165446e-01 9.75699921e-01 -2.03347388e-02 -8.60419018e+00] [-9.07396739e-02 4.65908709e-04 9.95874538e-01 -1.07744664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85824100800001 meters 0.06302352239474349 Centerline is valid? [True, True] Translation: X:87.30, Y:-8.63, Z:-10.78 [[ 9.73726149e-01 2.08929301e-01 9.05866135e-02 8.72983559e+01] [-2.07891178e-01 9.77929637e-01 -2.08538490e-02 -8.63000928e+00] [-9.29443142e-02 1.47378028e-03 9.95670218e-01 -1.07802404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.918241008 meters 0.06271609556833335 Centerline is valid? [True, True] Translation: X:87.36, Y:-8.65, Z:-10.78 [[ 9.74907327e-01 2.02563006e-01 9.23251491e-02 8.73587042e+01] [-2.01454361e-01 9.79266897e-01 -2.12717058e-02 -8.64743797e+00] [-9.47198229e-02 2.13863786e-03 9.95501673e-01 -1.07800876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.978241008 meters 0.06547334231844079 Centerline is valid? [True, True] Translation: X:87.41, Y:-8.67, Z:-10.79 [[ 9.76448933e-01 1.95376121e-01 9.15185893e-02 8.74148050e+01] [-1.94254742e-01 9.80724342e-01 -2.10916869e-02 -8.67062521e+00] [-9.38753203e-02 2.81703520e-03 9.95579976e-01 -1.07913703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.038241008 meters 0.068552965906286 Centerline is valid? [True, True] Translation: X:87.47, Y:-8.69, Z:-10.81 [[ 9.77563673e-01 1.91228489e-01 8.83228697e-02 8.74717064e+01] [-1.90166403e-01 9.81540613e-01 -2.03657507e-02 -8.68770117e+00] [-9.05869955e-02 3.11277562e-03 9.95883681e-01 -1.08062221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.098241008 meters 0.0667163880816169 Centerline is valid? [True, True] Translation: X:87.53, Y:-8.69, Z:-10.81 [[ 9.78046492e-01 1.89246209e-01 8.72406586e-02 8.75343280e+01] [-1.88201328e-01 9.81924239e-01 -2.01258422e-02 -8.69259155e+00] [-8.94724567e-02 3.26520163e-03 9.95983945e-01 -1.08084812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.158241008 meters 0.06612245886789254 Centerline is valid? [True, True] Translation: X:87.60, Y:-8.70, Z:-10.81 [[ 9.77954447e-01 1.89567505e-01 8.75743111e-02 8.75960365e+01] [-1.88515400e-01 9.81862300e-01 -2.02081173e-02 -8.70357466e+00] [-8.98167169e-02 3.25351191e-03 9.95952997e-01 -1.08126094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.218241008 meters 0.06514493069475479 Centerline is valid? [True, True] Translation: X:87.66, Y:-8.71, Z:-10.82 [[ 9.76993440e-01 1.92829149e-01 9.11083858e-02 8.76580187e+01] [-1.91703504e-01 9.81227506e-01 -2.10320872e-02 -8.70689409e+00] [-9.34536536e-02 3.08241443e-03 9.95618859e-01 -1.08177322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.278241008 meters 0.06383870904405468 Centerline is valid? [True, True] Translation: X:87.72, Y:-8.71, Z:-10.82 [[ 9.75413947e-01 2.00687355e-01 9.10616111e-02 8.77196339e+01] [-1.99596690e-01 9.79652566e-01 -2.10240847e-02 -8.70926798e+00] [-9.34280089e-02 2.33158932e-03 9.95623308e-01 -1.08249277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.338241008 meters 0.06331214385713485 Centerline is valid? [True, True] Translation: X:87.78, Y:-8.72, Z:-10.83 [[ 9.74720120e-01 2.04082695e-01 9.09447187e-02 8.77808276e+01] [-2.03007370e-01 9.78951555e-01 -2.10204971e-02 -8.71755866e+00] [-9.33203935e-02 2.02665333e-03 9.95634068e-01 -1.08334409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.398241008 meters 0.06299154448365989 Centerline is valid? [True, True] Translation: X:87.84, Y:-8.72, Z:-10.85 [[ 9.72948370e-01 2.12678108e-01 9.02191352e-02 8.78411439e+01] [-2.11656221e-01 9.77121582e-01 -2.08580355e-02 -8.72074247e+00] [-9.25911116e-02 1.19835037e-03 9.95703495e-01 -1.08469860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.458241008 meters 0.06194463927119886 Centerline is valid? [True, True] Translation: X:87.91, Y:-8.72, Z:-10.85 [[ 9.70456011e-01 2.24513121e-01 8.83684864e-02 8.79051396e+01] [-2.23581796e-01 9.74471064e-01 -2.04285681e-02 -8.71803719e+00] [-9.06990145e-02 6.74417796e-05 9.95878348e-01 -1.08522689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.518241008 meters 0.062421054029205225 Centerline is valid? [True, True] Translation: X:87.97, Y:-8.72, Z:-10.86 [[ 9.69080993e-01 2.30127790e-01 8.90125286e-02 8.79658778e+01] [-2.29204343e-01 9.73160320e-01 -2.06000378e-02 -8.72376314e+00] [-9.13641019e-02 -4.38953050e-04 9.95817457e-01 -1.08624449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.578241008 meters 0.06256744778153647 Centerline is valid? [True, True] Translation: X:88.03, Y:-8.73, Z:-10.87 [[ 9.66941329e-01 2.37329470e-01 9.32694427e-02 8.80277878e+01] [-2.36346641e-01 9.71428534e-01 -2.16071246e-02 -8.73019540e+00] [-9.57326055e-02 -1.15109768e-03 9.95406421e-01 -1.08655385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.638241008 meters 0.06314023579762729 Centerline is valid? [True, True] Translation: X:88.09, Y:-8.74, Z:-10.87 [[ 9.65113605e-01 2.43280748e-01 9.67998335e-02 8.80902914e+01] [-2.42249422e-01 9.69954274e-01 -2.24482633e-02 -8.73919385e+00] [-9.93526425e-02 -1.78457942e-03 9.95050686e-01 -1.08692671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.698241008 meters 0.06411607981010292 Centerline is valid? [True, True] Translation: X:88.15, Y:-8.75, Z:-10.88 [[ 9.64477186e-01 2.45259293e-01 9.81408996e-02 8.81506588e+01] [-2.44206289e-01 9.69455482e-01 -2.27893865e-02 -8.74832879e+00] [-1.00732542e-01 -1.98678156e-03 9.94911558e-01 -1.08798820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.758241008 meters 0.06355895537604707 Centerline is valid? [True, True] Translation: X:88.21, Y:-8.77, Z:-10.89 [[ 9.64438512e-01 2.45187360e-01 9.86991122e-02 8.82094316e+01] [-2.44120326e-01 9.69473701e-01 -2.29348957e-02 -8.76622735e+00] [-1.01309540e-01 -1.97516277e-03 9.94852992e-01 -1.08872402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.818241008 meters 0.06305112288472423 Centerline is valid? [True, True] Translation: X:88.27, Y:-8.79, Z:-10.89 [[ 9.65399917e-01 2.41647407e-01 9.80282145e-02 8.82663305e+01] [-2.40574181e-01 9.70362855e-01 -2.28033679e-02 -8.78987719e+00] [-1.00633313e-01 -1.56868793e-03 9.94922347e-01 -1.08936255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.878241008 meters 0.06195184696090355 Centerline is valid? [True, True] Translation: X:88.32, Y:-8.82, Z:-10.90 [[ 9.67552256e-01 2.32836191e-01 9.81322588e-02 8.83221903e+01] [-2.31713095e-01 9.72515764e-01 -2.28501706e-02 -8.81670473e+00] [-1.00755515e-01 -6.29795271e-04 9.94911016e-01 -1.09030513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.938241008 meters 0.061931014628106636 Centerline is valid? [True, True] Translation: X:88.38, Y:-8.84, Z:-10.91 [[ 9.69294427e-01 2.25737183e-01 9.75245533e-02 8.83804592e+01] [-2.24590222e-01 9.74188230e-01 -2.27271660e-02 -8.84192403e+00] [-1.00137638e-01 1.26254238e-04 9.94973586e-01 -1.09116461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.998241008 meters 0.06317403070892795 Centerline is valid? [True, True] Translation: X:88.43, Y:-8.87, Z:-10.92 [[ 9.72247128e-01 2.13039578e-01 9.66936470e-02 8.84339610e+01] [-2.11846446e-01 9.77042492e-01 -2.25621970e-02 -8.87492496e+00] [-9.92804427e-02 1.45182572e-03 9.95058433e-01 -1.09220124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.058241008 meters 0.06453512534268047 Centerline is valid? [True, True] Translation: X:88.49, Y:-8.90, Z:-10.93 [[ 9.73878508e-01 2.05478864e-01 9.66389592e-02 8.84904998e+01] [-2.04247908e-01 9.78658986e-01 -2.25694552e-02 -8.89973325e+00] [-9.92141318e-02 2.24160210e-03 9.95063582e-01 -1.09300441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.118241008 meters 0.06594815173544633 Centerline is valid? [True, True] Translation: X:88.55, Y:-8.92, Z:-10.94 [[ 9.74943489e-01 2.00783641e-01 9.57659833e-02 8.85472836e+01] [-1.99551741e-01 9.79631889e-01 -2.23710631e-02 -8.92379611e+00] [-9.83071546e-02 2.70025359e-03 9.95152457e-01 -1.09384784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.178241008 meters 0.06622607160861298 Centerline is valid? [True, True] Translation: X:88.61, Y:-8.94, Z:-10.95 [[ 9.74825597e-01 2.01792777e-01 9.48405497e-02 8.86063620e+01] [-2.00587548e-01 9.79424810e-01 -2.21738071e-02 -8.93931944e+00] [-9.73637014e-02 2.59176147e-03 9.95245494e-01 -1.09487969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.238241008 meters 0.06503224756960387 Centerline is valid? [True, True] Translation: X:88.67, Y:-8.95, Z:-10.96 [[ 9.74119203e-01 2.04624944e-01 9.60229719e-02 8.86670959e+01] [-2.03400585e-01 9.78837601e-01 -2.24755961e-02 -8.94652145e+00] [-9.85899631e-02 2.36278113e-03 9.95125337e-01 -1.09557048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.298241008 meters 0.0641800099059945 Centerline is valid? [True, True] Translation: X:88.73, Y:-8.96, Z:-10.96 [[ 9.73129136e-01 2.07852587e-01 9.90807118e-02 8.87264419e+01] [-2.06563442e-01 9.78157863e-01 -2.32107566e-02 -8.95694549e+00] [-1.01740993e-01 2.12061059e-03 9.94808662e-01 -1.09598365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35824100800001 meters 0.06398173550844792 Centerline is valid? [True, True] Translation: X:88.79, Y:-8.97, Z:-10.96 [[ 9.72846995e-01 2.08694588e-01 1.00076434e-01 8.87876990e+01] [-2.07382744e-01 9.77978688e-01 -2.34538672e-02 -8.96927901e+00] [-1.02767314e-01 2.06289881e-03 9.94703284e-01 -1.09649839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.418241008 meters 0.0640674149324351 Centerline is valid? [True, True] Translation: X:88.85, Y:-8.98, Z:-10.97 [[ 9.72732751e-01 2.08094841e-01 1.02408654e-01 8.88477166e+01] [-2.06716430e-01 9.78106207e-01 -2.40117846e-02 -8.98125566e+00] [-1.05163269e-01 2.18749790e-03 9.94452564e-01 -1.09715976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.478241008 meters 0.06440340932661648 Centerline is valid? [True, True] Translation: X:88.91, Y:-8.99, Z:-10.98 [[ 9.72780329e-01 2.07780426e-01 1.02594963e-01 8.89081222e+01] [-2.06392835e-01 9.78172910e-01 -2.40781207e-02 -8.99481573e+00] [-1.05358576e-01 2.24785686e-03 9.94431756e-01 -1.09801995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.538241008 meters 0.064751139739182 Centerline is valid? [True, True] Translation: X:88.97, Y:-9.01, Z:-10.99 [[ 9.72682785e-01 2.08261426e-01 1.02544515e-01 8.89674278e+01] [-2.06874915e-01 9.78070673e-01 -2.40941700e-02 -9.00709311e+00] [-1.05313669e-01 2.22209664e-03 9.94436571e-01 -1.09872040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.598241008 meters 0.06286107568719804 Centerline is valid? [True, True] Translation: X:89.03, Y:-9.01, Z:-10.99 [[ 9.71447210e-01 2.13888673e-01 1.02674013e-01 8.90302049e+01] [-2.12528699e-01 9.76856690e-01 -2.41362798e-02 -9.00603996e+00] [-1.05460274e-01 1.62594719e-03 9.94422188e-01 -1.09936532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.658241008 meters 0.06229093540163852 Centerline is valid? [True, True] Translation: X:89.09, Y:-9.01, Z:-11.00 [[ 9.70317197e-01 2.19103644e-01 1.02362739e-01 8.90920856e+01] [-2.17779024e-01 9.75701000e-01 -2.40801733e-02 -9.01194237e+00] [-1.05151480e-01 1.07294884e-03 9.94455637e-01 -1.10023208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.718241008 meters 0.0622805662101884 Centerline is valid? [True, True] Translation: X:89.15, Y:-9.02, Z:-11.01 [[ 9.69019558e-01 2.25401592e-01 1.00971369e-01 8.91528311e+01] [-2.24144196e-01 9.74265854e-01 -2.37786751e-02 -9.01691755e+00] [-1.03732709e-01 4.09854828e-04 9.94605126e-01 -1.10124029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.778241008 meters 0.06293862745942029 Centerline is valid? [True, True] Translation: X:89.21, Y:-9.02, Z:-11.02 [[ 9.66688346e-01 2.35921207e-01 9.92714785e-02 8.92142825e+01] [-2.34759725e-01 9.71771941e-01 -2.33915995e-02 -9.01681314e+00] [-1.01987812e-01 -6.92558449e-04 9.94785407e-01 -1.10235024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.838241008 meters 0.06367283085770735 Centerline is valid? [True, True] Translation: X:89.28, Y:-9.02, Z:-11.03 [[ 9.65467047e-01 2.40897328e-01 9.92061445e-02 8.92751855e+01] [-2.39762247e-01 9.70549858e-01 -2.33888542e-02 -9.02293406e+00] [-1.01918822e-01 -1.20472019e-03 9.94791990e-01 -1.10328892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.898241008 meters 0.06491913910872014 Centerline is valid? [True, True] Translation: X:89.34, Y:-9.03, Z:-11.04 [[ 9.64052541e-01 2.47187514e-01 9.74732352e-02 8.93361004e+01] [-2.46121466e-01 9.68965967e-01 -2.30038951e-02 -9.03319599e+00] [-1.00134523e-01 -1.81329199e-03 9.94972256e-01 -1.10394788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.958241008 meters 0.06548388291146098 Centerline is valid? [True, True] Translation: X:89.40, Y:-9.05, Z:-11.05 [[ 9.63510847e-01 2.48990331e-01 9.82377851e-02 8.93960136e+01] [-2.47916528e-01 9.68503877e-01 -2.31869735e-02 -9.04619648e+00] [-1.00917008e-01 -2.01387006e-03 9.94892809e-01 -1.10466271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.018241008 meters 0.06433498711658639 Centerline is valid? [True, True] Translation: X:89.45, Y:-9.07, Z:-11.05 [[ 9.64120974e-01 2.46472294e-01 9.86009951e-02 8.94539337e+01] [-2.45375052e-01 9.69148286e-01 -2.32955781e-02 -9.06758436e+00] [-1.01300700e-01 -1.73446883e-03 9.94854341e-01 -1.10533112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.078241008 meters 0.06436862624156081 Centerline is valid? [True, True] Translation: X:89.51, Y:-9.09, Z:-11.07 [[ 9.65220032e-01 2.42786449e-01 9.69795294e-02 8.95112353e+01] [-2.41704095e-01 9.70078886e-01 -2.29365309e-02 -9.08666804e+00] [-9.96464728e-02 -1.30155034e-03 9.95022053e-01 -1.10662117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.138241008 meters 0.06369707687137695 Centerline is valid? [True, True] Translation: X:89.57, Y:-9.11, Z:-11.07 [[ 9.65688323e-01 2.40713220e-01 9.74844017e-02 8.95698677e+01] [-2.39606789e-01 9.70595692e-01 -2.30779049e-02 -9.10728927e+00] [-1.00173097e-01 -1.07186123e-03 9.94969448e-01 -1.10700914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.198241008 meters 0.06336752768749193 Centerline is valid? [True, True] Translation: X:89.63, Y:-9.12, Z:-11.08 [[ 9.65788579e-01 2.40321049e-01 9.74587764e-02 8.96302880e+01] [-2.39210963e-01 9.70692935e-01 -2.30941588e-02 -9.12460336e+00] [-1.00152558e-01 -1.00913301e-03 9.94971581e-01 -1.10758519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.258241008 meters 0.06291938179817826 Centerline is valid? [True, True] Translation: X:89.69, Y:-9.14, Z:-11.08 [[ 9.65788685e-01 2.39495933e-01 9.94681563e-02 8.96893704e+01] [-2.38332104e-01 9.70896937e-01 -2.35996916e-02 -9.14285372e+00] [-1.02225358e-01 -9.14139872e-04 9.94760846e-01 -1.10809157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.318241008 meters 0.06305738726006457 Centerline is valid? [True, True] Translation: X:89.75, Y:-9.16, Z:-11.09 [[ 9.65694923e-01 2.39742974e-01 9.97828782e-02 8.97488014e+01] [-2.38570536e-01 9.70835960e-01 -2.36989082e-02 -9.15841096e+00] [-1.02554453e-01 -9.19339373e-04 9.94726967e-01 -1.10879847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.378241008 meters 0.06312281082551843 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.17, Z:-11.10 [[ 9.65986491e-01 2.38904833e-01 9.89675671e-02 8.98085160e+01] [-2.37744558e-01 9.71042657e-01 -2.35304649e-02 -9.17492889e+00] [-1.01723271e-01 -7.98889269e-04 9.94812413e-01 -1.10986472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.438241008 meters 0.06304038528096012 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.20, Z:-11.11 [[ 9.66658898e-01 2.36716263e-01 9.76523733e-02 8.98656481e+01] [-2.35572706e-01 9.71578677e-01 -2.32459395e-02 -9.19669005e+00] [-1.00379656e-01 -5.33339558e-04 9.94949064e-01 -1.11067821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.498241008 meters 0.06290087369682976 Centerline is valid? [True, True] Translation: X:89.92, Y:-9.22, Z:-11.11 [[ 9.67100698e-01 2.34970787e-01 9.74934353e-02 8.99242892e+01] [-2.33820005e-01 9.72002376e-01 -2.32289784e-02 -9.21786714e+00] [-1.00221982e-01 -3.31154316e-04 9.94965047e-01 -1.11142405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.558241008 meters 0.062805193859941 Centerline is valid? [True, True] Translation: X:89.98, Y:-9.24, Z:-11.12 [[ 9.67314223e-01 2.34439477e-01 9.66505336e-02 8.99831528e+01] [-2.33303232e-01 9.72130686e-01 -2.30549671e-02 -9.23805081e+00] [-9.93619439e-02 -2.47484256e-04 9.95051327e-01 -1.11213944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.618241008 meters 0.06268334174409335 Centerline is valid? [True, True] Translation: X:90.04, Y:-9.25, Z:-11.13 [[ 9.66877994e-01 2.35209397e-01 9.91134920e-02 9.00435061e+01] [-2.34015466e-01 9.71944672e-01 -2.36710074e-02 -9.25382118e+00] [-1.01900474e-01 -3.07113877e-04 9.94794551e-01 -1.11264761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.678241008 meters 0.06259627838292606 Centerline is valid? [True, True] Translation: X:90.10, Y:-9.27, Z:-11.13 [[ 9.66652851e-01 2.35122017e-01 1.01488438e-01 9.01026973e+01] [-2.33868831e-01 9.71965816e-01 -2.42450393e-02 -9.26876396e+00] [-1.04343835e-01 -2.98446003e-04 9.94541238e-01 -1.11321838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.738241008 meters 0.062484707010998154 Centerline is valid? [True, True] Translation: X:90.16, Y:-9.29, Z:-11.14 [[ 9.67131666e-01 2.33022284e-01 1.01769133e-01 9.01617512e+01] [-2.31748146e-01 9.72471394e-01 -2.43348286e-02 -9.28617351e+00] [-1.04638128e-01 -4.98246773e-05 9.94510362e-01 -1.11400876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.798241008 meters 0.06256449640590685 Centerline is valid? [True, True] Translation: X:90.22, Y:-9.30, Z:-11.15 [[ 9.67924720e-01 2.29672109e-01 1.01845267e-01 9.02203673e+01] [-2.28374933e-01 9.73268005e-01 -2.43778780e-02 -9.30368242e+00] [-1.04721658e-01 3.37044717e-04 9.94501514e-01 -1.11497871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85824100800001 meters 0.06302554910916919 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.32, Z:-11.16 [[ 9.69240583e-01 2.25154642e-01 9.93885234e-02 9.02775486e+01] [-2.23892890e-01 9.74322685e-01 -2.38176399e-02 -9.32470657e+00] [-1.02199145e-01 8.32639452e-04 9.94763611e-01 -1.11583749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.918241008 meters 0.06316351491855936 Centerline is valid? [True, True] Translation: X:90.34, Y:-9.34, Z:-11.17 [[ 9.70041207e-01 2.21921671e-01 9.88474992e-02 9.03368531e+01] [-2.20655998e-01 9.75063788e-01 -2.36968502e-02 -9.34194378e+00] [-1.01641462e-01 1.17562754e-03 9.94820401e-01 -1.11656824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.978241008 meters 0.06422356672028749 Centerline is valid? [True, True] Translation: X:90.39, Y:-9.36, Z:-11.17 [[ 9.71336895e-01 2.16047665e-01 9.91364819e-02 9.03940043e+01] [-2.14741297e-01 9.76381118e-01 -2.37926171e-02 -9.36144721e+00] [-1.01935328e-01 1.82195013e-03 9.94789359e-01 -1.11743570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.038241008 meters 0.06472320840734473 Centerline is valid? [True, True] Translation: X:90.45, Y:-9.38, Z:-11.18 [[ 9.72638154e-01 2.11318680e-01 9.65372355e-02 9.04537753e+01] [-2.10055630e-01 9.77414584e-01 -2.31810978e-02 -9.37636670e+00] [-9.92555008e-02 2.26863028e-03 9.95059395e-01 -1.11815500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.098241008 meters 0.06577767176032956 Centerline is valid? [True, True] Translation: X:90.51, Y:-9.39, Z:-11.19 [[ 9.73261853e-01 2.08250293e-01 9.69184194e-02 9.05116437e+01] [-2.06961469e-01 9.78072118e-01 -2.32783660e-02 -9.39229879e+00] [-9.96409302e-02 2.59756719e-03 9.95020069e-01 -1.11909937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.158241008 meters 0.0660576695776563 Centerline is valid? [True, True] Translation: X:90.57, Y:-9.41, Z:-11.19 [[ 9.74052107e-01 2.04248545e-01 9.74937192e-02 9.05722928e+01] [-2.02923032e-01 9.78914350e-01 -2.34294545e-02 -9.40600140e+00] [-1.00223433e-01 3.03778843e-03 9.94960318e-01 -1.11944840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.218241008 meters 0.06601469957079052 Centerline is valid? [True, True] Translation: X:90.63, Y:-9.42, Z:-11.20 [[ 9.73980524e-01 2.04108343e-01 9.84973253e-02 9.06335995e+01] [-2.02754010e-01 9.78943430e-01 -2.36764207e-02 -9.41621716e+00] [-1.01255864e-01 3.08964494e-03 9.94855620e-01 -1.12030919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.278241008 meters 0.0647841772541768 Centerline is valid? [True, True] Translation: X:90.70, Y:-9.42, Z:-11.21 [[ 9.73132666e-01 2.08278259e-01 9.81477493e-02 9.06955014e+01] [-2.06953548e-01 9.78066003e-01 -2.36034565e-02 -9.41952413e+00] [-1.00911064e-01 2.65726960e-03 9.94891902e-01 -1.12102769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.338241008 meters 0.06423773628762583 Centerline is valid? [True, True] Translation: X:90.76, Y:-9.43, Z:-11.22 [[ 9.72019472e-01 2.13346269e-01 9.82930120e-02 9.07569288e+01] [-2.12040982e-01 9.76974264e-01 -2.36624231e-02 -9.42677617e+00] [-1.01078033e-01 2.15818922e-03 9.94876160e-01 -1.12182627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.398241008 meters 0.06361193892176349 Centerline is valid? [True, True] Translation: X:90.82, Y:-9.43, Z:-11.23 [[ 9.70691456e-01 2.20065298e-01 9.65886257e-02 9.08189336e+01] [-2.18838023e-01 9.75484089e-01 -2.32532255e-02 -9.42948012e+00] [-9.93378955e-02 1.43444341e-03 9.95052725e-01 -1.12277004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.458241008 meters 0.06331880547358291 Centerline is valid? [True, True] Translation: X:90.88, Y:-9.44, Z:-11.24 [[ 9.69990481e-01 2.23419005e-01 9.59292212e-02 9.08803155e+01] [-2.22222663e-01 9.74721872e-01 -2.31162432e-02 -9.43696968e+00] [-9.86689182e-02 1.10488889e-03 9.95119703e-01 -1.12364532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.518241008 meters 0.06315202286008671 Centerline is valid? [True, True] Translation: X:90.94, Y:-9.45, Z:-11.24 [[ 9.69487518e-01 2.25683283e-01 9.57131563e-02 9.09411686e+01] [-2.24500716e-01 9.74200312e-01 -2.30906898e-02 -9.44620792e+00] [-9.84549694e-02 8.98463427e-04 9.95141101e-01 -1.12438322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.578241008 meters 0.0628774983409727 Centerline is valid? [True, True] Translation: X:91.00, Y:-9.46, Z:-11.25 [[ 9.69181088e-01 2.26712621e-01 9.63815613e-02 9.10019120e+01] [-2.25518027e-01 9.73961365e-01 -2.32568097e-02 -9.45783147e+00] [-9.91445293e-02 8.04280681e-04 9.95072719e-01 -1.12494440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.638241008 meters 0.06318684814927157 Centerline is valid? [True, True] Translation: X:91.06, Y:-9.47, Z:-11.26 [[ 9.69038983e-01 2.27620619e-01 9.56676732e-02 9.10613943e+01] [-2.26445499e-01 9.73749618e-01 -2.31109834e-02 -9.47077413e+00] [-9.84168965e-02 7.31929812e-04 9.95145004e-01 -1.12562826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.698241008 meters 0.06344720405563235 Centerline is valid? [True, True] Translation: X:91.12, Y:-9.48, Z:-11.27 [[ 9.69001240e-01 2.27604183e-01 9.60881546e-02 9.11211568e+01] [-2.26417532e-01 9.73753448e-01 -2.32233461e-02 -9.48287267e+00] [-9.88519026e-02 7.47408290e-04 9.95101876e-01 -1.12653151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.758241008 meters 0.06331078177815355 Centerline is valid? [True, True] Translation: X:91.18, Y:-9.50, Z:-11.27 [[ 9.69031983e-01 2.27289272e-01 9.65225462e-02 9.11825113e+01] [-2.26088068e-01 9.73826955e-01 -2.33505133e-02 -9.49779001e+00] [-9.93035785e-02 8.04798249e-04 9.95056858e-01 -1.12696555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.818241008 meters 0.0634782567910438 Centerline is valid? [True, True] Translation: X:91.24, Y:-9.51, Z:-11.28 [[ 9.69293816e-01 2.27104462e-01 9.43030330e-02 9.12413102e+01] [-2.25954471e-01 9.73870049e-01 -2.28408515e-02 -9.51220809e+00] [-9.70261587e-02 8.31304180e-04 9.95281485e-01 -1.12805155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.878241008 meters 0.06364710852997978 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.53, Z:-11.29 [[ 9.69629689e-01 2.25327091e-01 9.51102934e-02 9.13015897e+01] [-2.24146769e-01 9.74282621e-01 -2.30564578e-02 -9.52864782e+00] [-9.78595505e-02 1.03756099e-03 9.95199694e-01 -1.12861809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.938241008 meters 0.06436515910005276 Centerline is valid? [True, True] Translation: X:91.36, Y:-9.55, Z:-11.30 [[ 9.70790187e-01 2.20398126e-01 9.48212941e-02 9.13604344e+01] [-2.19198871e-01 9.75408757e-01 -2.30132792e-02 -9.54523843e+00] [-9.75616042e-02 1.55634493e-03 9.95228271e-01 -1.12950226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.998241008 meters 0.06497835180492648 Centerline is valid? [True, True] Translation: X:91.42, Y:-9.57, Z:-11.30 [[ 9.71868364e-01 2.16261676e-01 9.32886361e-02 9.14187272e+01] [-2.15079607e-01 9.76333464e-01 -2.26656247e-02 -9.56610134e+00] [-9.59825232e-02 1.96352036e-03 9.95381083e-01 -1.13021941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.058241008 meters 0.06582455160814193 Centerline is valid? [True, True] Translation: X:91.48, Y:-9.59, Z:-11.31 [[ 9.72852251e-01 2.12155109e-01 9.24592228e-02 9.14759971e+01] [-2.10975027e-01 9.77233173e-01 -2.24691464e-02 -9.58717731e+00] [-9.51211639e-02 2.35257261e-03 9.95462922e-01 -1.13091629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.118241008 meters 0.06604496997820616 Centerline is valid? [True, True] Translation: X:91.54, Y:-9.60, Z:-11.32 [[ 9.72897061e-01 2.12002394e-01 9.23379372e-02 9.15360640e+01] [-2.10824263e-01 9.77266275e-01 -2.24445520e-02 -9.60161815e+00] [-9.49970507e-02 2.36916109e-03 9.95474735e-01 -1.13181645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.178241008 meters 0.06589265056984235 Centerline is valid? [True, True] Translation: X:91.60, Y:-9.61, Z:-11.33 [[ 9.72248268e-01 2.15838539e-01 9.02609017e-02 9.15961135e+01] [-2.14727543e-01 9.76427083e-01 -2.19598218e-02 -9.61087082e+00] [-9.28729648e-02 1.96889699e-03 9.95676020e-01 -1.13295595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.238241008 meters 0.06539749683484275 Centerline is valid? [True, True] Translation: X:91.66, Y:-9.62, Z:-11.34 [[ 9.71161423e-01 2.20900824e-01 8.97124120e-02 9.16563238e+01] [-2.19822884e-01 9.75295128e-01 -2.18475176e-02 -9.61879166e+00] [-9.23222130e-02 1.49662518e-03 9.95728060e-01 -1.13391510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.298241008 meters 0.06421280001968134 Centerline is valid? [True, True] Translation: X:91.72, Y:-9.62, Z:-11.35 [[ 9.68744157e-01 2.31409817e-01 8.93546536e-02 9.17178998e+01] [-2.30383320e-01 9.72856225e-01 -2.17782260e-02 -9.62291783e+00] [-9.19689263e-02 5.11707489e-04 9.95761746e-01 -1.13452740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35824100800001 meters 0.06371121356890821 Centerline is valid? [True, True] Translation: X:91.78, Y:-9.63, Z:-11.35 [[ 9.67214572e-01 2.36689958e-01 9.20534363e-02 9.17790362e+01] [-2.35622698e-01 9.71585232e-01 -2.24517467e-02 -9.63168767e+00] [-9.47518623e-02 2.57775290e-05 9.95500921e-01 -1.13484481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.418241008 meters 0.06363835242233502 Centerline is valid? [True, True] Translation: X:91.84, Y:-9.64, Z:-11.35 [[ 9.65642354e-01 2.42659627e-01 9.30115597e-02 9.18399309e+01] [-2.41596089e-01 9.70111335e-01 -2.27008222e-02 -9.64255003e+00] [-9.57401414e-02 -5.50353708e-04 9.95406210e-01 -1.13538613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.478241008 meters 0.06393377386906718 Centerline is valid? [True, True] Translation: X:91.90, Y:-9.66, Z:-11.36 [[ 9.65192127e-01 2.44011547e-01 9.41409727e-02 9.18982315e+01] [-2.42926119e-01 9.69772095e-01 -2.29996806e-02 -9.65763074e+00] [-9.69074760e-02 -6.70190455e-04 9.95293169e-01 -1.13625222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.538241008 meters 0.06380159510109594 Centerline is valid? [True, True] Translation: X:91.96, Y:-9.68, Z:-11.37 [[ 9.65424016e-01 2.43313680e-01 9.35677379e-02 9.19574580e+01] [-2.42236345e-01 9.69947483e-01 -2.28786807e-02 -9.67827093e+00] [-9.63224879e-02 -5.77879006e-04 9.95350011e-01 -1.13696438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.598241008 meters 0.06359344025769827 Centerline is valid? [True, True] Translation: X:92.01, Y:-9.70, Z:-11.38 [[ 9.66388032e-01 2.39370692e-01 9.37861606e-02 9.20148519e+01] [-2.38267145e-01 9.70928240e-01 -2.29591125e-02 -9.70312558e+00] [-9.65553704e-02 -1.58749229e-04 9.95327602e-01 -1.13772552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.658241008 meters 0.06387726823664458 Centerline is valid? [True, True] Translation: X:92.07, Y:-9.72, Z:-11.39 [[ 9.67355218e-01 2.35380869e-01 9.39134060e-02 9.20737435e+01] [-2.34253434e-01 9.71903173e-01 -2.30119689e-02 -9.72364339e+00] [-9.66913146e-02 2.61210384e-04 9.95314383e-01 -1.13871220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.718241008 meters 0.06431278540169512 Centerline is valid? [True, True] Translation: X:92.13, Y:-9.75, Z:-11.40 [[ 9.68620236e-01 2.30177079e-01 9.37728666e-02 9.21313141e+01] [-2.29026030e-01 9.73148428e-01 -2.30046804e-02 -9.74833762e+00] [-9.65500678e-02 8.06371548e-04 9.95327802e-01 -1.13960075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.778241008 meters 0.06450753442970804 Centerline is valid? [True, True] Translation: X:92.19, Y:-9.78, Z:-11.40 [[ 9.70094734e-01 2.23736606e-01 9.41176822e-02 9.21884586e+01] [-2.22544562e-01 9.74648529e-01 -2.31119848e-02 -9.77520224e+00] [-9.69026575e-02 1.47543641e-03 9.95292770e-01 -1.13983166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.838241008 meters 0.06530939807896578 Centerline is valid? [True, True] Translation: X:92.25, Y:-9.80, Z:-11.41 [[ 9.70695720e-01 2.21155156e-01 9.40224208e-02 9.22456317e+01] [-2.19951214e-01 9.75237059e-01 -2.31115303e-02 -9.79645733e+00] [-9.68053832e-02 1.75391795e-03 9.95301784e-01 -1.14087569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.898241008 meters 0.06573314559404234 Centerline is valid? [True, True] Translation: X:92.30, Y:-9.82, Z:-11.42 [[ 9.71516860e-01 2.17955767e-01 9.30068531e-02 9.23042286e+01] [-2.16760996e-01 9.75956449e-01 -2.28840569e-02 -9.81606856e+00] [-9.57583503e-02 2.07198895e-03 9.95402454e-01 -1.14156619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.958241008 meters 0.06663104271028353 Centerline is valid? [True, True] Translation: X:92.36, Y:-9.83, Z:-11.42 [[ 9.72419529e-01 2.14091545e-01 9.25476595e-02 9.23635520e+01] [-2.12889338e-01 9.76810507e-01 -2.27895633e-02 -9.83355436e+00] [-9.52805790e-02 2.45860650e-03 9.95447420e-01 -1.14238200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.018241008 meters 0.06659337333838927 Centerline is valid? [True, True] Translation: X:92.42, Y:-9.85, Z:-11.43 [[ 9.72679837e-01 2.12425247e-01 9.36453339e-02 9.24234911e+01] [-2.11185177e-01 9.77173679e-01 -2.30742534e-02 -9.85086435e+00] [-9.64093095e-02 2.66735462e-03 9.95338199e-01 -1.14283788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.078241008 meters 0.06850744797584565 Centerline is valid? [True, True] Translation: X:92.48, Y:-9.87, Z:-11.44 [[ 9.73215044e-01 2.09813395e-01 9.39724236e-02 9.24814229e+01] [-2.08549979e-01 9.77736962e-01 -2.31805673e-02 -9.86957116e+00] [-9.67439055e-02 2.96172985e-03 9.95304900e-01 -1.14380147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.138241008 meters 0.06721437357216148 Centerline is valid? [True, True] Translation: X:92.54, Y:-9.88, Z:-11.44 [[ 9.73408131e-01 2.08833734e-01 9.41545670e-02 9.25434844e+01] [-2.07560057e-01 9.77946332e-01 -2.32334599e-02 -9.87819381e+00] [-9.69300436e-02 3.07291145e-03 9.95286453e-01 -1.14408549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.198241008 meters 0.06660736809113979 Centerline is valid? [True, True] Translation: X:92.61, Y:-9.88, Z:-11.45 [[ 9.73172966e-01 2.10447615e-01 9.29848372e-02 9.26056977e+01] [-2.09210718e-01 9.77600843e-01 -2.29666497e-02 -9.88460348e+00] [-9.57353319e-02 2.89709808e-03 9.95402609e-01 -1.14470503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.258241008 meters 0.06752836308105294 Centerline is valid? [True, True] Translation: X:92.67, Y:-9.89, Z:-11.46 [[ 9.72144212e-01 2.16550785e-01 8.96737900e-02 9.26651447e+01] [-2.15424542e-01 9.76268798e-01 -2.21698410e-02 -9.89476159e+00] [-9.23466196e-02 2.23434752e-03 9.95724414e-01 -1.14619769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.318241008 meters 0.06540216100051605 Centerline is valid? [True, True] Translation: X:92.73, Y:-9.89, Z:-11.47 [[ 9.70757667e-01 2.22853733e-01 8.92511386e-02 9.27288925e+01] [-2.21762166e-01 9.74850491e-01 -2.20921423e-02 -9.89444327e+00] [-9.19298326e-02 1.65359075e-03 9.95764114e-01 -1.14672263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.378241008 meters 0.06493426350220126 Centerline is valid? [True, True] Translation: X:92.79, Y:-9.90, Z:-11.48 [[ 9.68696176e-01 2.31275082e-01 9.02194826e-02 9.27902726e+01] [-2.30195896e-01 9.72888013e-01 -2.23329939e-02 -9.89704929e+00] [-9.29385182e-02 8.65731141e-04 9.95671473e-01 -1.14767136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.438241008 meters 0.0643106986254328 Centerline is valid? [True, True] Translation: X:92.85, Y:-9.91, Z:-11.48 [[ 9.67318880e-01 2.36449256e-01 9.15747401e-02 9.28521796e+01] [-2.35358583e-01 9.71643759e-01 -2.26879484e-02 -9.90538536e+00] [-9.43425732e-02 3.93579810e-04 9.95539715e-01 -1.14806507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.498241008 meters 0.06418851290689818 Centerline is valid? [True, True] Translation: X:92.91, Y:-9.91, Z:-11.49 [[ 9.65917928e-01 2.41746506e-01 9.25266623e-02 9.29141876e+01] [-2.40657106e-01 9.70339431e-01 -2.29247774e-02 -9.91171298e+00] [-9.53242537e-02 -1.23745314e-04 9.95446267e-01 -1.14866236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.558241008 meters 0.06431686364343144 Centerline is valid? [True, True] Translation: X:92.97, Y:-9.93, Z:-11.50 [[ 9.65280331e-01 2.44355472e-01 9.23270541e-02 9.29735640e+01] [-2.43280568e-01 9.69685658e-01 -2.28974015e-02 -9.92529896e+00] [-9.51233255e-02 -3.58966796e-04 9.95465431e-01 -1.14958078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.618241008 meters 0.06467265603764577 Centerline is valid? [True, True] Translation: X:93.03, Y:-9.94, Z:-11.50 [[ 9.64723572e-01 2.47513948e-01 8.96954545e-02 9.30331833e+01] [-2.46510615e-01 9.68884129e-01 -2.22724257e-02 -9.94078041e+00] [-9.24172383e-02 -6.24147544e-04 9.95720174e-01 -1.15048657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.678241008 meters 0.06526105046051561 Centerline is valid? [True, True] Translation: X:93.09, Y:-9.95, Z:-11.52 [[ 9.64405455e-01 2.49253969e-01 8.82869043e-02 9.30927433e+01] [-2.48289148e-01 9.68437842e-01 -2.19236053e-02 -9.95453073e+00] [-9.09649247e-02 -7.77435727e-04 9.95853794e-01 -1.15168230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.738241008 meters 0.06583304711347447 Centerline is valid? [True, True] Translation: X:93.15, Y:-9.97, Z:-11.52 [[ 9.63437187e-01 2.53429462e-01 8.69614482e-02 9.31515833e+01] [-2.52508513e-01 9.67353205e-01 -2.16154461e-02 -9.97100981e+00] [-8.96004265e-02 -1.13338142e-03 9.95977148e-01 -1.15249463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.798241008 meters 0.06601258750433307 Centerline is valid? [True, True] Translation: X:93.21, Y:-9.99, Z:-11.53 [[ 9.62512636e-01 2.56680983e-01 8.76601332e-02 9.32109093e+01] [-2.55756872e-01 9.66495127e-01 -2.18080667e-02 -9.98670609e+00] [-9.03208076e-02 -1.42914165e-03 9.95911698e-01 -1.15308478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85824100800001 meters 0.0662871899517959 Centerline is valid? [True, True] Translation: X:93.27, Y:-10.00, Z:-11.54 [[ 9.62188290e-01 2.57467266e-01 8.89061408e-02 9.32696042e+01] [-2.56517898e-01 9.66285853e-01 -2.21408692e-02 -1.00043209e+01] [-9.16092952e-02 -1.50233129e-03 9.95793894e-01 -1.15379523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.918241008 meters 0.06606464621055393 Centerline is valid? [True, True] Translation: X:93.33, Y:-10.03, Z:-11.54 [[ 9.62289505e-01 2.56472450e-01 9.06685811e-02 9.33272495e+01] [-2.55478386e-01 9.66550509e-01 -2.26032791e-02 -1.00262349e+01] [-9.34328815e-02 -1.41296454e-03 9.95624578e-01 -1.15446981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.978241008 meters 0.0651627676814578 Centerline is valid? [True, True] Translation: X:93.38, Y:-10.05, Z:-11.55 [[ 9.63795195e-01 2.50234988e-01 9.20938235e-02 9.33840660e+01] [-2.49178213e-01 9.68184808e-01 -2.29868777e-02 -1.00530199e+01] [-9.49159619e-02 -7.93132136e-04 9.95484973e-01 -1.15489675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.038241008 meters 0.06488288024075924 Centerline is valid? [True, True] Translation: X:93.44, Y:-10.07, Z:-11.56 [[ 9.64478425e-01 2.47686483e-01 9.18301344e-02 9.34428539e+01] [-2.46624245e-01 9.68840087e-01 -2.29209087e-02 -1.00728531e+01] [-9.46459146e-02 -5.40815660e-04 9.95510853e-01 -1.15568038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.098241008 meters 0.06516639221070449 Centerline is valid? [True, True] Translation: X:93.50, Y:-10.10, Z:-11.57 [[ 9.65757738e-01 2.43659560e-01 8.91179588e-02 9.35001229e+01] [-2.42640211e-01 9.69860817e-01 -2.22648509e-02 -1.00964320e+01] [-9.18570601e-02 -1.21148306e-04 9.95772196e-01 -1.15678197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.158241008 meters 0.06500896690541966 Centerline is valid? [True, True] Translation: X:93.56, Y:-10.12, Z:-11.57 [[ 9.65725880e-01 2.43382731e-01 9.02129225e-02 9.35595134e+01] [-2.42334832e-01 9.69930328e-01 -2.25607765e-02 -1.01151386e+01] [-9.29911529e-02 -7.42077082e-05 9.95666932e-01 -1.15731815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.218241008 meters 0.06489589269955184 Centerline is valid? [True, True] Translation: X:93.62, Y:-10.13, Z:-11.58 [[ 9.65898249e-01 2.41809183e-01 9.25683071e-02 9.36177737e+01] [-2.40696162e-01 9.70323816e-01 -2.31743208e-02 -1.01329095e+01] [-9.54249966e-02 1.03199620e-04 9.95436617e-01 -1.15774594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.278241008 meters 0.06481527038227393 Centerline is valid? [True, True] Translation: X:93.68, Y:-10.15, Z:-11.58 [[ 9.65652809e-01 2.42400235e-01 9.35776605e-02 9.36780214e+01] [-2.41263470e-01 9.70176335e-01 -2.34481547e-02 -1.01471862e+01] [-9.64706700e-02 6.59053290e-05 9.95335825e-01 -1.15827206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.338241008 meters 0.06499785696323207 Centerline is valid? [True, True] Translation: X:93.74, Y:-10.16, Z:-11.59 [[ 9.65785685e-01 2.41129988e-01 9.54690490e-02 9.37369340e+01] [-2.39938016e-01 9.70492803e-01 -2.39471967e-02 -1.01620348e+01] [-9.84264122e-02 2.21205502e-04 9.95144307e-01 -1.15912600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.398241008 meters 0.06483775975733844 Centerline is valid? [True, True] Translation: X:93.80, Y:-10.18, Z:-11.60 [[ 9.65930979e-01 2.40453815e-01 9.57042656e-02 9.37968839e+01] [-2.39250546e-01 9.70660531e-01 -2.40272808e-02 -1.01791571e+01] [-9.86738046e-02 3.11397048e-04 9.95119783e-01 -1.15956956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.458241008 meters 0.06508813810583589 Centerline is valid? [True, True] Translation: X:93.86, Y:-10.20, Z:-11.61 [[ 9.66791941e-01 2.37310151e-01 9.48537569e-02 9.38554248e+01] [-2.36110391e-01 9.71433716e-01 -2.38415289e-02 -1.01952638e+01] [-9.78019744e-02 6.53840309e-04 9.95205680e-01 -1.16056586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.518241008 meters 0.06523769544250713 Centerline is valid? [True, True] Translation: X:93.91, Y:-10.21, Z:-11.61 [[ 9.67894148e-01 2.33083930e-01 9.40893168e-02 9.39147494e+01] [-2.31881553e-01 9.72456009e-01 -2.36697448e-02 -1.02125535e+01] [-9.70147586e-02 1.09223056e-03 9.95282344e-01 -1.16115969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.578241008 meters 0.06573498301750764 Centerline is valid? [True, True] Translation: X:93.97, Y:-10.23, Z:-11.62 [[ 9.68527071e-01 2.30435042e-01 9.41010357e-02 9.39731164e+01] [-2.29217347e-01 9.73086727e-01 -2.36987285e-02 -1.02295318e+01] [-9.70294864e-02 1.38327031e-03 9.95280546e-01 -1.16202144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.638241008 meters 0.0655194614413782 Centerline is valid? [True, True] Translation: X:94.03, Y:-10.24, Z:-11.63 [[ 9.68583361e-01 2.30392905e-01 9.36236177e-02 9.40338626e+01] [-2.29186487e-01 9.73096696e-01 -2.35876038e-02 -1.02416215e+01] [-9.65392496e-02 1.38929259e-03 9.95328209e-01 -1.16253606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.698241008 meters 0.06543524008405092 Centerline is valid? [True, True] Translation: X:94.09, Y:-10.25, Z:-11.63 [[ 9.68047169e-01 2.32530007e-01 9.38854352e-02 9.40929863e+01] [-2.31324501e-01 9.72588479e-01 -2.36775559e-02 -1.02540638e+01] [-9.68176348e-02 1.20298957e-03 9.95301411e-01 -1.16327349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.758241008 meters 0.06454743716633293 Centerline is valid? [True, True] Translation: X:94.15, Y:-10.26, Z:-11.64 [[ 9.66652593e-01 2.37464163e-01 9.58829257e-02 9.41544404e+01] [-2.36228622e-01 9.71396013e-01 -2.42038049e-02 -1.02607144e+01] [-9.88878280e-02 7.46379392e-04 9.95098307e-01 -1.16361493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.818241008 meters 0.06439265960833211 Centerline is valid? [True, True] Translation: X:94.21, Y:-10.27, Z:-11.65 [[ 9.65671108e-01 2.40700660e-01 9.76857391e-02 9.42143408e+01] [-2.39432346e-01 9.70599297e-01 -2.46811066e-02 -1.02695242e+01] [-1.00754468e-01 4.44705834e-04 9.94911222e-01 -1.16458302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.878241008 meters 0.064336331689267 Centerline is valid? [True, True] Translation: X:94.28, Y:-10.28, Z:-11.65 [[ 9.65436261e-01 2.42368117e-01 9.58672091e-02 9.42757377e+01] [-2.41152759e-01 9.70184319e-01 -2.42432080e-02 -1.02793434e+01] [-9.88846437e-02 2.86630112e-04 9.95098862e-01 -1.16539187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.938241008 meters 0.06429633687122899 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.29, Z:-11.66 [[ 9.65497142e-01 2.42599985e-01 9.46600012e-02 9.43354050e+01] [-2.41413954e-01 9.70126367e-01 -2.39611136e-02 -1.02925615e+01] [-9.76451289e-02 2.82141491e-04 9.95221256e-01 -1.16619442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.998241008 meters 0.06445254694284175 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.30, Z:-11.67 [[ 9.65355200e-01 2.43994897e-01 9.24977219e-02 9.43955026e+01] [-2.42866764e-01 9.69776502e-01 -2.34365158e-02 -1.03018306e+01] [-9.54205075e-02 1.59939981e-04 9.95437040e-01 -1.16734226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.058241008 meters 0.06420483636304268 Centerline is valid? [True, True] Translation: X:94.45, Y:-10.31, Z:-11.68 [[ 9.64667040e-01 2.45425023e-01 9.58334970e-02 9.44546542e+01] [-2.44218541e-01 9.69415575e-01 -2.43053112e-02 -1.03131001e+01] [-9.88676161e-02 4.22158032e-05 9.95100594e-01 -1.16789272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.118241008 meters 0.06394396189939319 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.33, Z:-11.68 [[ 9.64297895e-01 2.46424838e-01 9.69761303e-02 9.45150218e+01] [-2.45192667e-01 9.69161905e-01 -2.46121637e-02 -1.03268245e+01] [-1.00050620e-01 -4.43783850e-05 9.94982347e-01 -1.16840154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.178241008 meters 0.06381953314005123 Centerline is valid? [True, True] Translation: X:94.57, Y:-10.34, Z:-11.69 [[ 9.63546791e-01 2.49402757e-01 9.68289505e-02 9.45748526e+01] [-2.48186813e-01 9.68399792e-01 -2.45997757e-02 -1.03365210e+01] [-9.99043874e-02 -3.28633783e-04 9.94996988e-01 -1.16916604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.238241008 meters 0.06386697979010121 Centerline is valid? [True, True] Translation: X:94.64, Y:-10.35, Z:-11.70 [[ 9.63118978e-01 2.51180824e-01 9.64884886e-02 9.46351509e+01] [-2.49981339e-01 9.67940051e-01 -2.45232172e-02 -1.03485275e+01] [-9.95548345e-02 -5.01545618e-04 9.95031951e-01 -1.16980655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.298241008 meters 0.0642578824606139 Centerline is valid? [True, True] Translation: X:94.69, Y:-10.36, Z:-11.71 [[ 9.62879634e-01 2.52650239e-01 9.50298193e-02 9.46938794e+01] [-2.51491542e-01 9.67557478e-01 -2.41770873e-02 -1.03597590e+01] [-9.80551591e-02 -6.19570803e-04 9.95180789e-01 -1.17086583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35824100800001 meters 0.06400009113042848 Centerline is valid? [True, True] Translation: X:94.75, Y:-10.38, Z:-11.71 [[ 9.63270764e-01 2.51791110e-01 9.33309799e-02 9.47535265e+01] [-2.50668212e-01 9.67781472e-01 -2.37585780e-02 -1.03760667e+01] [-9.63061919e-02 -5.09166293e-04 9.95351625e-01 -1.17149111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.418241008 meters 0.06419956846522534 Centerline is valid? [True, True] Translation: X:94.81, Y:-10.39, Z:-11.72 [[ 9.63673033e-01 2.50790303e-01 9.18613608e-02 9.48122564e+01] [-2.49695859e-01 9.68041362e-01 -2.34072442e-02 -1.03889281e+01] [-9.47959067e-02 -3.80471348e-04 9.95496656e-01 -1.17249932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.478241008 meters 0.06377135542084221 Centerline is valid? [True, True] Translation: X:94.87, Y:-10.40, Z:-11.73 [[ 9.63702503e-01 2.50983086e-01 9.10218480e-02 9.48724687e+01] [-2.49907604e-01 9.67991399e-01 -2.32129379e-02 -1.04043471e+01] [-9.39344208e-02 -3.76685651e-04 9.95578316e-01 -1.17286711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.538241008 meters 0.06312008931614488 Centerline is valid? [True, True] Translation: X:94.93, Y:-10.42, Z:-11.73 [[ 9.63788837e-01 2.49103159e-01 9.51771726e-02 9.49316505e+01] [-2.47915237e-01 9.68476941e-01 -2.42991857e-02 -1.04180927e+01] [-9.82299009e-02 -1.76587323e-04 9.95163733e-01 -1.17324461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.598241008 meters 0.06290570199294682 Centerline is valid? [True, True] Translation: X:94.99, Y:-10.43, Z:-11.74 [[ 9.64569797e-01 2.45527870e-01 9.65462194e-02 9.49911597e+01] [-2.44285513e-01 9.69389509e-01 -2.46691570e-02 -1.04325653e+01] [-9.96478578e-02 2.10281041e-04 9.95022744e-01 -1.17391185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.658241008 meters 0.06272140107418976 Centerline is valid? [True, True] Translation: X:95.05, Y:-10.45, Z:-11.74 [[ 9.64886381e-01 2.44133387e-01 9.69183183e-02 9.50518760e+01] [-2.42872137e-01 9.69741588e-01 -2.47866552e-02 -1.04490546e+01] [-1.00036974e-01 3.77546990e-04 9.94983649e-01 -1.17446576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.718241008 meters 0.062367030169161994 Centerline is valid? [True, True] Translation: X:95.11, Y:-10.46, Z:-11.75 [[ 9.65285703e-01 2.42966853e-01 9.58677246e-02 9.51118071e+01] [-2.41724463e-01 9.70034452e-01 -2.45447581e-02 -1.04624323e+01] [-9.89585584e-02 5.19129743e-04 9.95091420e-01 -1.17493134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.778241008 meters 0.06261055512495022 Centerline is valid? [True, True] Translation: X:95.17, Y:-10.47, Z:-11.76 [[ 9.65540221e-01 2.42369652e-01 9.48105128e-02 9.51706623e+01] [-2.41149553e-01 9.70183796e-01 -2.42959998e-02 -1.04744896e+01] [-9.78722362e-02 5.95252253e-04 9.95198810e-01 -1.17609834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.838241008 meters 0.06308169700591174 Centerline is valid? [True, True] Translation: X:95.23, Y:-10.49, Z:-11.77 [[ 9.65792785e-01 2.42468093e-01 9.19430303e-02 9.52295236e+01] [-2.41319352e-01 9.70159203e-01 -2.35815926e-02 -1.04860019e+01] [-9.49171608e-02 5.87299488e-04 9.95485001e-01 -1.17739696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.898241008 meters 0.06273364405378642 Centerline is valid? [True, True] Translation: X:95.29, Y:-10.50, Z:-11.78 [[ 9.65415665e-01 2.44728710e-01 8.98913411e-02 9.52902042e+01] [-2.43638839e-01 9.69591521e-01 -2.30737488e-02 -1.04978937e+01] [-9.28046909e-02 3.74736551e-04 9.95684262e-01 -1.17788959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.958241008 meters 0.06273901606431664 Centerline is valid? [True, True] Translation: X:95.35, Y:-10.51, Z:-11.79 [[ 9.65226750e-01 2.45565176e-01 8.96385290e-02 9.53493063e+01] [-2.44483062e-01 9.69380032e-01 -2.30301254e-02 -1.05123869e+01] [-9.25491969e-02 3.14191062e-04 9.95708063e-01 -1.17876645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.018241008 meters 0.0623900148519731 Centerline is valid? [True, True] Translation: X:95.41, Y:-10.53, Z:-11.79 [[ 9.64715356e-01 2.46513154e-01 9.24961997e-02 9.54096867e+01] [-2.45362297e-01 9.69139411e-01 -2.37938190e-02 -1.05250138e+01] [-9.55072018e-02 2.59182561e-04 9.95428705e-01 -1.17940161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.078241008 meters 0.062337667432293686 Centerline is valid? [True, True] Translation: X:95.47, Y:-10.54, Z:-11.80 [[ 9.63947052e-01 2.49271398e-01 9.31120333e-02 9.54696844e+01] [-2.48117816e-01 9.68433668e-01 -2.39537000e-02 -1.05379314e+01] [-9.61438003e-02 -1.26557817e-05 9.95367455e-01 -1.18018086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.138241008 meters 0.062464326396894004 Centerline is valid? [True, True] Translation: X:95.53, Y:-10.55, Z:-11.81 [[ 9.62747485e-01 2.54021204e-01 9.26849897e-02 9.55300296e+01] [-2.52898002e-01 9.67198539e-01 -2.38660151e-02 -1.05496470e+01] [-9.57072605e-02 -4.62902717e-04 9.95409416e-01 -1.18111403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.198241008 meters 0.06331522504710214 Centerline is valid? [True, True] Translation: X:95.59, Y:-10.56, Z:-11.82 [[ 9.60347063e-01 2.62807677e-01 9.30894398e-02 9.55895465e+01] [-2.61713226e-01 9.64847339e-01 -2.39958383e-02 -1.05601271e+01] [-9.61233888e-02 -1.31840480e-03 9.95368553e-01 -1.18192664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.258241008 meters 0.06480146219675596 Centerline is valid? [True, True] Translation: X:95.65, Y:-10.57, Z:-11.83 [[ 9.58560824e-01 2.69936177e-01 9.10802262e-02 9.56494866e+01] [-2.68919529e-01 9.62876186e-01 -2.34890867e-02 -1.05724109e+01] [-9.40395351e-02 -1.97753325e-03 9.95566500e-01 -1.18300587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.318241008 meters 0.0656222853059745 Centerline is valid? [True, True] Translation: X:95.71, Y:-10.59, Z:-11.84 [[ 9.57990804e-01 2.72543923e-01 8.92940615e-02 9.57082400e+01] [-2.71577581e-01 9.62140864e-01 -2.30342361e-02 -1.05874706e+01] [-9.21913066e-02 -2.18367878e-03 9.95738919e-01 -1.18404107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.378241008 meters 0.06699817876522328 Centerline is valid? [True, True] Translation: X:95.77, Y:-10.60, Z:-11.85 [[ 9.56876345e-01 2.75817434e-01 9.11723861e-02 9.57667207e+01] [-2.74824022e-01 9.61206673e-01 -2.35263395e-02 -1.06011406e+01] [-9.41244805e-02 -2.54456406e-03 9.95557184e-01 -1.18498439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.438241008 meters 0.06713459883473304 Centerline is valid? [True, True] Translation: X:95.83, Y:-10.62, Z:-11.85 [[ 9.56171340e-01 2.78376107e-01 9.07915805e-02 9.58254586e+01] [-2.77400257e-01 9.60468175e-01 -2.34516937e-02 -1.06191071e+01] [-9.37308149e-02 -2.76177035e-03 9.95593746e-01 -1.18549658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.498241008 meters 0.0689552487577945 Centerline is valid? [True, True] Translation: X:95.88, Y:-10.63, Z:-11.86 [[ 9.54882641e-01 2.82350640e-01 9.20720273e-02 9.58842229e+01] [-2.81364506e-01 9.59305977e-01 -2.37919596e-02 -1.06325118e+01] [-9.50429211e-02 -3.18727127e-03 9.95468073e-01 -1.18620190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.558241008 meters 0.06771901250248923 Centerline is valid? [True, True] Translation: X:95.94, Y:-10.65, Z:-11.87 [[ 9.54959843e-01 2.81099519e-01 9.50513481e-02 9.59427403e+01] [-2.80040047e-01 9.59673482e-01 -2.45841317e-02 -1.06535030e+01] [-9.81288458e-02 -3.14132552e-03 9.95168760e-01 -1.18650400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.618241008 meters 0.06536950958668979 Centerline is valid? [True, True] Translation: X:96.00, Y:-10.68, Z:-11.87 [[ 9.56443272e-01 2.75214510e-01 9.73305761e-02 9.59994017e+01] [-2.74072967e-01 9.61379336e-01 -2.51749988e-02 -1.06813335e+01] [-1.00500130e-01 -2.59722157e-03 9.94933655e-01 -1.18698356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.678241008 meters 0.064544569438125 Centerline is valid? [True, True] Translation: X:96.06, Y:-10.70, Z:-11.88 [[ 9.57926945e-01 2.70034657e-01 9.72484059e-02 9.60562536e+01] [-2.68865894e-01 9.62848468e-01 -2.51785309e-02 -1.07032618e+01] [-1.00434555e-01 -2.02758641e-03 9.94941601e-01 -1.18790733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.738241008 meters 0.06351322450481796 Centerline is valid? [True, True] Translation: X:96.11, Y:-10.73, Z:-11.89 [[ 9.60061457e-01 2.62321042e-01 9.73122230e-02 9.61116840e+01] [-2.61108813e-01 9.64979914e-01 -2.52180991e-02 -1.07322572e+01] [-1.00519579e-01 -1.19815415e-03 9.94934359e-01 -1.18877526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.798241008 meters 0.06286837219716174 Centerline is valid? [True, True] Translation: X:96.17, Y:-10.76, Z:-11.90 [[ 9.61581742e-01 2.56292831e-01 9.83592351e-02 9.61685574e+01] [-2.55020525e-01 9.66599028e-01 -2.55117953e-02 -1.07579214e+01] [-1.01612431e-01 -5.51947241e-04 9.94823909e-01 -1.18955593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85824100800001 meters 0.06300291962053374 Centerline is valid? [True, True] Translation: X:96.23, Y:-10.78, Z:-11.91 [[ 9.62275751e-01 2.53842822e-01 9.79244700e-02 9.62274185e+01] [-2.52566735e-01 9.67245444e-01 -2.54223259e-02 -1.07770757e+01] [-1.01170272e-01 -2.69175952e-04 9.94869089e-01 -1.19073493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.918241008 meters 0.06288061736295672 Centerline is valid? [True, True] Translation: X:96.29, Y:-10.79, Z:-11.91 [[ 9.62231082e-01 2.53427428e-01 9.94277860e-02 9.62853459e+01] [-2.52106514e-01 9.67354381e-01 -2.58419604e-02 -1.07939948e+01] [-1.02730966e-01 -2.00454956e-04 9.94709158e-01 -1.19142968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.978241008 meters 0.06236587071995801 Centerline is valid? [True, True] Translation: X:96.34, Y:-10.81, Z:-11.92 [[ 9.62145410e-01 2.52872546e-01 1.01644902e-01 9.63443407e+01] [-2.51486376e-01 9.67499592e-01 -2.64412973e-02 -1.08131337e+01] [-1.05027679e-01 -1.21935257e-04 9.94469291e-01 -1.19160129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.038241008 meters 0.062170866983308946 Centerline is valid? [True, True] Translation: X:96.40, Y:-10.83, Z:-11.92 [[ 9.62360259e-01 2.51336515e-01 1.03405452e-01 9.64040151e+01] [-2.49889845e-01 9.67899763e-01 -2.69279551e-02 -1.08312788e+01] [-1.06854091e-01 7.44214646e-05 9.94274709e-01 -1.19217314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.098241008 meters 0.06213170645428019 Centerline is valid? [True, True] Translation: X:96.46, Y:-10.84, Z:-11.93 [[ 9.61857645e-01 2.52366361e-01 1.05551368e-01 9.64645037e+01] [-2.50864182e-01 9.67631758e-01 -2.74944240e-02 -1.08434406e+01] [-1.09073524e-01 -3.33357903e-05 9.94033684e-01 -1.19295408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.158241008 meters 0.06206241005014175 Centerline is valid? [True, True] Translation: X:96.52, Y:-10.86, Z:-11.94 [[ 9.61715472e-01 2.52354979e-01 1.06865875e-01 9.65249486e+01] [-2.50811794e-01 9.67634727e-01 -2.78653820e-02 -1.08585046e+01] [-1.10439100e-01 -4.65286612e-06 9.93882893e-01 -1.19358463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.218241008 meters 0.06206409114973091 Centerline is valid? [True, True] Translation: X:96.58, Y:-10.87, Z:-11.94 [[ 9.61632977e-01 2.52351119e-01 1.07614734e-01 9.65848127e+01] [-2.50785261e-01 9.67635734e-01 -2.80684916e-02 -1.08719069e+01] [-1.11214977e-01 3.39801810e-06 9.93796372e-01 -1.19427071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.278241008 meters 0.062163423736107636 Centerline is valid? [True, True] Translation: X:96.64, Y:-10.88, Z:-11.95 [[ 9.61224270e-01 2.54026305e-01 1.07324458e-01 9.66448266e+01] [-2.52476258e-01 9.67197296e-01 -2.80201624e-02 -1.08834958e+01] [-1.10921784e-01 -1.63217485e-04 9.93829126e-01 -1.19503844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.338241008 meters 0.06238675856186768 Centerline is valid? [True, True] Translation: X:96.70, Y:-10.90, Z:-11.96 [[ 9.60731521e-01 2.56238596e-01 1.06474066e-01 9.67047550e+01] [-2.54724643e-01 9.66613482e-01 -2.78160552e-02 -1.08953085e+01] [-1.10046815e-01 -3.97807515e-04 9.93926325e-01 -1.19587233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.398241008 meters 0.06254556001616345 Centerline is valid? [True, True] Translation: X:96.76, Y:-10.91, Z:-11.97 [[ 9.61261573e-01 2.54979056e-01 1.04698947e-01 9.67623861e+01] [-2.53505234e-01 9.66946550e-01 -2.73763832e-02 -1.09109397e+01] [-1.08218690e-01 -2.25865870e-04 9.94127086e-01 -1.19695476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.458241008 meters 0.062485084296258785 Centerline is valid? [True, True] Translation: X:96.82, Y:-10.93, Z:-11.98 [[ 9.62521934e-01 2.50999893e-01 1.02716017e-01 9.68208483e+01] [-2.49556908e-01 9.67987086e-01 -2.68765987e-02 -1.09299039e+01] [-1.06173802e-01 2.35824143e-04 9.94347559e-01 -1.19801866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.518241008 meters 0.06256192601376592 Centerline is valid? [True, True] Translation: X:96.88, Y:-10.95, Z:-11.99 [[ 9.63386941e-01 2.47843982e-01 1.02269064e-01 9.68798576e+01] [-2.46393210e-01 9.68799770e-01 -2.67841756e-02 -1.09495971e+01] [-1.05716542e-01 6.05122185e-04 9.94396122e-01 -1.19865207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.578241008 meters 0.0627695593127642 Centerline is valid? [True, True] Translation: X:96.94, Y:-10.97, Z:-11.99 [[ 9.64228135e-01 2.44294450e-01 1.02880150e-01 9.69391155e+01] [-2.42803409e-01 9.69700558e-01 -2.69691130e-02 -1.09664465e+01] [-1.06351344e-01 1.02472641e-03 9.94328086e-01 -1.19944810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.638241008 meters 0.06289122511336478 Centerline is valid? [True, True] Translation: X:97.00, Y:-10.98, Z:-12.00 [[ 9.64147412e-01 2.44663544e-01 1.02759518e-01 9.69984393e+01] [-2.43175506e-01 9.69607517e-01 -2.69617596e-02 -1.09797839e+01] [-1.06232960e-01 1.00651305e-03 9.94340759e-01 -1.20040229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.698241008 meters 0.0625998584737698 Centerline is valid? [True, True] Translation: X:97.06, Y:-10.99, Z:-12.01 [[ 9.63288302e-01 2.47766922e-01 1.03378909e-01 9.70600089e+01] [-2.46275793e-01 9.68819421e-01 -2.71507572e-02 -1.09898540e+01] [-1.06882554e-01 6.94284028e-04 9.94271410e-01 -1.20105871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.758241008 meters 0.06224285203371305 Centerline is valid? [True, True] Translation: X:97.12, Y:-11.00, Z:-12.02 [[ 9.61883007e-01 2.53539368e-01 1.02463996e-01 9.71209177e+01] [-2.52104409e-01 9.67325066e-01 -2.69366661e-02 -1.09989854e+01] [-1.05945497e-01 7.82962793e-05 9.94371935e-01 -1.20178209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.818241008 meters 0.062358911453736975 Centerline is valid? [True, True] Translation: X:97.18, Y:-11.01, Z:-12.03 [[ 9.61402886e-01 2.55379060e-01 1.02401303e-01 9.71804593e+01] [-2.53955607e-01 9.66841001e-01 -2.69263490e-02 -1.10119433e+01] [-1.05882204e-01 -1.18315471e-04 9.94378673e-01 -1.20260596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.878241008 meters 0.06258568886374379 Centerline is valid? [True, True] Translation: X:97.24, Y:-11.02, Z:-12.04 [[ 9.60739253e-01 2.57997345e-01 1.02065946e-01 9.72402124e+01] [-2.56595088e-01 9.66145551e-01 -2.68651221e-02 -1.10227208e+01] [-1.05541690e-01 -3.79243057e-04 9.94414807e-01 -1.20364925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.938241008 meters 0.06266371570124459 Centerline is valid? [True, True] Translation: X:97.30, Y:-11.04, Z:-12.04 [[ 9.60696867e-01 2.58280359e-01 1.01748642e-01 9.73000836e+01] [-2.56886257e-01 9.66069927e-01 -2.68019881e-02 -1.10386597e+01] [-1.05218731e-01 -3.89241861e-04 9.94449027e-01 -1.20443134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.998241008 meters 0.06292893299379534 Centerline is valid? [True, True] Translation: X:97.36, Y:-11.06, Z:-12.05 [[ 9.60797847e-01 2.58222651e-01 1.00938395e-01 9.73598346e+01] [-2.56847507e-01 9.66085368e-01 -2.66161669e-02 -1.10551136e+01] [-1.04388003e-01 -3.53019151e-04 9.94536586e-01 -1.20524787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.058241008 meters 0.06294222044644822 Centerline is valid? [True, True] Translation: X:97.42, Y:-11.07, Z:-12.06 [[ 9.60893060e-01 2.58515507e-01 9.92686220e-02 9.74194880e+01] [-2.57184732e-01 9.66007043e-01 -2.61993762e-02 -1.10723070e+01] [-1.02667133e-01 -3.55575190e-04 9.94715705e-01 -1.20587871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.118241008 meters 0.06301906755850496 Centerline is valid? [True, True] Translation: X:97.48, Y:-11.09, Z:-12.07 [[ 9.61000911e-01 2.57764861e-01 1.00172477e-01 9.74786032e+01] [-2.56402980e-01 9.66207644e-01 -2.64631728e-02 -1.10877747e+01] [-1.03608689e-01 -2.53388516e-04 9.94618105e-01 -1.20661410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.178241008 meters 0.0631263092294214 Centerline is valid? [True, True] Translation: X:97.54, Y:-11.10, Z:-12.08 [[ 9.61242412e-01 2.56709986e-01 1.00563453e-01 9.75373816e+01] [-2.55329035e-01 9.66488474e-01 -2.65916226e-02 -1.11032342e+01] [-1.04019753e-01 -1.15773916e-04 9.94575225e-01 -1.20758297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.238241008 meters 0.0628191153153245 Centerline is valid? [True, True] Translation: X:97.60, Y:-11.12, Z:-12.08 [[ 9.61202230e-01 2.56028227e-01 1.02663625e-01 9.75971637e+01] [-2.54582233e-01 9.66669306e-01 -2.71724101e-02 -1.11216519e+01] [-1.06198679e-01 -1.81536552e-05 9.94344930e-01 -1.20805882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.298241008 meters 0.06297629723605189 Centerline is valid? [True, True] Translation: X:97.66, Y:-11.14, Z:-12.09 [[ 9.61321510e-01 2.55489032e-01 1.02889793e-01 9.76569926e+01] [-2.54032929e-01 9.66811953e-01 -2.72381858e-02 -1.11378334e+01] [-1.06434140e-01 4.72582570e-05 9.94319753e-01 -1.20876140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35824100800001 meters 0.06300255349463323 Centerline is valid? [True, True] Translation: X:97.71, Y:-11.15, Z:-12.10 [[ 9.62058127e-01 2.53069799e-01 1.01979588e-01 9.77148822e+01] [-2.51622768e-01 9.67447963e-01 -2.70263133e-02 -1.11544972e+01] [-1.05499488e-01 3.40498179e-04 9.94419299e-01 -1.20970177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.418241008 meters 0.06299527595975905 Centerline is valid? [True, True] Translation: X:97.77, Y:-11.17, Z:-12.10 [[ 9.62632169e-01 2.51360815e-01 1.00782178e-01 9.77742928e+01] [-2.49936024e-01 9.67893303e-01 -2.67308390e-02 -1.11703143e+01] [-1.04265480e-01 5.42868754e-04 9.94549353e-01 -1.21037588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.478241008 meters 0.06331323279181557 Centerline is valid? [True, True] Translation: X:97.83, Y:-11.19, Z:-12.11 [[ 9.64018260e-01 2.46637317e-01 9.91908709e-02 9.78314088e+01] [-2.45229626e-01 9.69107272e-01 -2.63348806e-02 -1.11902269e+01] [-1.02621759e-01 1.06276553e-03 9.94719883e-01 -1.21122732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.538241008 meters 0.06368445364386163 Centerline is valid? [True, True] Translation: X:97.89, Y:-11.21, Z:-12.12 [[ 9.64938742e-01 2.42984854e-01 9.92551517e-02 9.78904550e+01] [-2.41555090e-01 9.70028982e-01 -2.63612107e-02 -1.12064229e+01] [-1.02685749e-01 1.46136644e-03 9.94712773e-01 -1.21204713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.598241008 meters 0.0643790010842478 Centerline is valid? [True, True] Translation: X:97.95, Y:-11.22, Z:-12.13 [[ 9.65746844e-01 2.40179796e-01 9.82176124e-02 9.79494448e+01] [-2.38762970e-01 9.70726817e-01 -2.61092084e-02 -1.12234184e+01] [-1.01613375e-01 1.76415669e-03 9.94822401e-01 -1.21290253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.658241008 meters 0.06415144897847398 Centerline is valid? [True, True] Translation: X:98.01, Y:-11.24, Z:-12.14 [[ 9.65345905e-01 2.42086251e-01 9.74757964e-02 9.80085087e+01] [-2.40698198e-01 9.70253457e-01 -2.59346586e-02 -1.12365264e+01] [-1.00854653e-01 1.57366792e-03 9.94899926e-01 -1.21356067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.718241008 meters 0.06327387243112913 Centerline is valid? [True, True] Translation: X:98.07, Y:-11.24, Z:-12.14 [[ 9.63793566e-01 2.47763017e-01 9.85669780e-02 9.80707250e+01] [-2.46371671e-01 9.68820146e-01 -2.62397352e-02 -1.12418542e+01] [-1.01994910e-01 1.00557694e-03 9.94784412e-01 -1.21400926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.778241008 meters 0.06304576656065844 Centerline is valid? [True, True] Translation: X:98.13, Y:-11.25, Z:-12.15 [[ 9.62403715e-01 2.52623163e-01 9.98029414e-02 9.81312451e+01] [-2.51222402e-01 9.67564617e-01 -2.65709709e-02 -1.12508304e+01] [-1.03278238e-01 4.99266503e-04 9.94652380e-01 -1.21485251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.838241008 meters 0.06298370426267219 Centerline is valid? [True, True] Translation: X:98.19, Y:-11.26, Z:-12.16 [[ 9.60641046e-01 2.59098755e-01 1.00182918e-01 9.81931731e+01] [-2.57720066e-01 9.65850819e-01 -2.66938787e-02 -1.12569278e+01] [-1.03678104e-01 -1.75912660e-04 9.94610889e-01 -1.21556532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.898241008 meters 0.06313690980459524 Centerline is valid? [True, True] Translation: X:98.25, Y:-11.27, Z:-12.16 [[ 9.59238619e-01 2.63769296e-01 1.01425003e-01 9.82549159e+01] [-2.62379576e-01 9.64585567e-01 -2.70488834e-02 -1.12680033e+01] [-1.04967759e-01 -6.65515753e-04 9.94475403e-01 -1.21622059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.958241008 meters 0.06334553166961387 Centerline is valid? [True, True] Translation: X:98.32, Y:-11.28, Z:-12.17 [[ 9.57833286e-01 2.68562170e-01 1.02126182e-01 9.83154375e+01] [-2.67177154e-01 9.63261642e-01 -2.72649506e-02 -1.12799131e+01] [-1.05696568e-01 -1.17050543e-03 9.94397740e-01 -1.21673722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.018241008 meters 0.06363745317860117 Centerline is valid? [True, True] Translation: X:98.38, Y:-11.29, Z:-12.18 [[ 9.57303191e-01 2.71166515e-01 1.00196419e-01 9.83761191e+01] [-2.69845200e-01 9.62531424e-01 -2.67736237e-02 -1.12905026e+01] [-1.03702312e-01 -1.40704732e-03 9.94607385e-01 -1.21770794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.078241008 meters 0.06420591262675722 Centerline is valid? [True, True] Translation: X:98.43, Y:-11.30, Z:-12.19 [[ 9.57176905e-01 2.72148642e-01 9.87293705e-02 9.84344509e+01] [-2.70868384e-01 9.62254107e-01 -2.64074118e-02 -1.13041512e+01] [-1.02189484e-01 -1.46610034e-03 9.94763871e-01 -1.21877746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.138241008 meters 0.06424788927590233 Centerline is valid? [True, True] Translation: X:98.49, Y:-11.33, Z:-12.20 [[ 9.57797554e-01 2.70808241e-01 9.63677480e-02 9.84920685e+01] [-2.69580913e-01 9.62632460e-01 -2.57852299e-02 -1.13254776e+01] [-9.97495751e-02 -1.28187531e-03 9.95011748e-01 -1.21976803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.198241008 meters 0.06406924960893655 Centerline is valid? [True, True] Translation: X:98.55, Y:-11.35, Z:-12.20 [[ 9.58200947e-01 2.69449400e-01 9.61663501e-02 9.85509499e+01] [-2.68218079e-01 9.63013902e-01 -2.57543386e-02 -1.13455526e+01] [-9.95490232e-02 -1.11572215e-03 9.95032033e-01 -1.22046371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.258241008 meters 0.0639643611962875 Centerline is valid? [True, True] Translation: X:98.61, Y:-11.37, Z:-12.21 [[ 9.58416077e-01 2.68515731e-01 9.66329397e-02 9.86075403e+01] [-2.67265228e-01 9.63274780e-01 -2.59035847e-02 -1.13685016e+01] [-1.00039594e-01 -1.00021265e-03 9.94982954e-01 -1.22122831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.318241008 meters 0.06380959629953367 Centerline is valid? [True, True] Translation: X:98.67, Y:-11.39, Z:-12.22 [[ 9.58230065e-01 2.68910270e-01 9.73776644e-02 9.86659142e+01] [-2.67640190e-01 9.63164684e-01 -2.61250758e-02 -1.13884182e+01] [-1.00816029e-01 -1.02834351e-03 9.94904554e-01 -1.22180111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.378241008 meters 0.06419645902651246 Centerline is valid? [True, True] Translation: X:98.73, Y:-11.40, Z:-12.23 [[ 9.57506423e-01 2.71190887e-01 9.81679865e-02 9.87266481e+01] [-2.69909598e-01 9.62524766e-01 -2.63606452e-02 -1.14034653e+01] [-1.01637885e-01 -1.25599470e-03 9.94820669e-01 -1.22266741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.438241008 meters 0.06427155351389967 Centerline is valid? [True, True] Translation: X:98.78, Y:-11.43, Z:-12.23 [[ 9.56981105e-01 2.73450655e-01 9.70149670e-02 9.87847357e+01] [-2.72208145e-01 9.61884937e-01 -2.60785980e-02 -1.14250988e+01] [-1.00448445e-01 -1.45153869e-03 9.94941206e-01 -1.22329740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.498241008 meters 0.06453449228015642 Centerline is valid? [True, True] Translation: X:98.84, Y:-11.44, Z:-12.24 [[ 9.57176784e-01 2.73668278e-01 9.44366306e-02 9.88431353e+01] [-2.72489834e-01 9.61823102e-01 -2.54088869e-02 -1.14426676e+01] [-9.77849393e-02 -1.41222510e-03 9.95206567e-01 -1.22437665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.558241008 meters 0.06451858275490686 Centerline is valid? [True, True] Translation: X:98.90, Y:-11.47, Z:-12.26 [[ 9.58367482e-01 2.69927041e-01 9.31190793e-02 9.89000623e+01] [-2.68761454e-01 9.62880266e-01 -2.50773772e-02 -1.14664277e+01] [-9.64315860e-02 -9.93476394e-04 9.95339119e-01 -1.22562141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.618241008 meters 0.06441609133076563 Centerline is valid? [True, True] Translation: X:98.96, Y:-11.49, Z:-12.27 [[ 9.59557913e-01 2.66388792e-01 9.10254006e-02 9.89555484e+01] [-2.65256878e-01 9.63865474e-01 -2.45384582e-02 -1.14914219e+01] [-9.42730111e-02 -5.99041867e-04 9.95546202e-01 -1.22652745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.678241008 meters 0.06414286586953769 Centerline is valid? [True, True] Translation: X:99.01, Y:-11.52, Z:-12.27 [[ 9.61198481e-01 2.60131494e-01 9.18100524e-02 9.90103295e+01] [-2.58950241e-01 9.65573200e-01 -2.47622169e-02 -1.15198526e+01] [-9.50907586e-02 2.71700450e-05 9.95468607e-01 -1.22737789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.738241008 meters 0.0641443355324089 Centerline is valid? [True, True] Translation: X:99.07, Y:-11.54, Z:-12.28 [[ 9.61435572e-01 2.59042674e-01 9.24041887e-02 9.90687576e+01] [-2.57840038e-01 9.65865866e-01 -2.49327702e-02 -1.15394970e+01] [-9.57087032e-02 1.45752700e-04 9.95409375e-01 -1.22810405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.798241008 meters 0.06447784950438439 Centerline is valid? [True, True] Translation: X:99.13, Y:-11.56, Z:-12.29 [[ 9.61822108e-01 2.57971829e-01 9.13715968e-02 9.91257466e+01] [-2.56789050e-01 9.66152401e-01 -2.46763390e-02 -1.15614942e+01] [-9.46446879e-02 2.71022810e-04 9.95511080e-01 -1.22907475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85824100800001 meters 0.06451292206405525 Centerline is valid? [True, True] Translation: X:99.18, Y:-11.58, Z:-12.30 [[ 9.61440947e-01 2.59353961e-01 9.14703700e-02 9.91846826e+01] [-2.58173041e-01 9.65782325e-01 -2.47220845e-02 -1.15828909e+01] [-9.47522372e-02 1.53640747e-04 9.95500874e-01 -1.22979040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.918241008 meters 0.0642233828248578 Centerline is valid? [True, True] Translation: X:99.24, Y:-11.61, Z:-12.30 [[ 9.61906518e-01 2.56718048e-01 9.39770917e-02 9.92424860e+01] [-2.55456174e-01 9.66486234e-01 -2.54264145e-02 -1.16057062e+01] [-9.73549849e-02 4.50805628e-04 9.95249619e-01 -1.23008835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.978241008 meters 0.06451576317293867 Centerline is valid? [True, True] Translation: X:99.30, Y:-11.63, Z:-12.31 [[ 9.62717595e-01 2.54332762e-01 9.21394474e-02 9.93001336e+01] [-2.53106869e-01 9.67116517e-01 -2.49510749e-02 -1.16281347e+01] [-9.54554572e-02 6.99711737e-04 9.95433456e-01 -1.23104614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.038241008 meters 0.06497117996484707 Centerline is valid? [True, True] Translation: X:99.36, Y:-11.65, Z:-12.32 [[ 9.63196264e-01 2.53205282e-01 9.02221770e-02 9.93586121e+01] [-2.52023078e-01 9.67412229e-01 -2.44529626e-02 -1.16455208e+01] [-9.34736567e-02 8.14931523e-04 9.95621420e-01 -1.23214444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.098241008 meters 0.06554524098294962 Centerline is valid? [True, True] Translation: X:99.42, Y:-11.66, Z:-12.33 [[ 9.64092311e-01 2.50499210e-01 8.81825467e-02 9.94168893e+01] [-2.49356756e-01 9.68116209e-01 -2.39209945e-02 -1.16645575e+01] [-9.13631431e-02 1.07313308e-03 9.95817064e-01 -1.23306402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.158241008 meters 0.06578904881332602 Centerline is valid? [True, True] Translation: X:99.48, Y:-11.68, Z:-12.34 [[ 9.64295076e-01 2.49835072e-01 8.78489811e-02 9.94763688e+01] [-2.48697073e-01 9.68287726e-01 -2.38462690e-02 -1.16806152e+01] [-9.10207245e-02 1.14705525e-03 9.95848338e-01 -1.23400674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.218241008 meters 0.06600526249286913 Centerline is valid? [True, True] Translation: X:99.54, Y:-11.70, Z:-12.35 [[ 9.64309454e-01 2.49699773e-01 8.80755414e-02 9.95356383e+01] [-2.48553415e-01 9.68322582e-01 -2.39285671e-02 -1.16980461e+01] [-9.12604934e-02 1.18306690e-03 9.95826352e-01 -1.23478485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.278241008 meters 0.06614501324781975 Centerline is valid? [True, True] Translation: X:99.59, Y:-11.71, Z:-12.36 [[ 9.63713824e-01 2.51662966e-01 8.90023387e-02 9.95942988e+01] [-2.50498434e-01 9.67814387e-01 -2.42042615e-02 -1.17132204e+01] [-9.22290602e-02 1.03103497e-03 9.95737283e-01 -1.23565325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.338241008 meters 0.06559438845197668 Centerline is valid? [True, True] Translation: X:99.66, Y:-11.72, Z:-12.36 [[ 9.63125495e-01 2.54039572e-01 8.86181478e-02 9.96554906e+01] [-2.52893398e-01 9.67193479e-01 -2.41185111e-02 -1.17248373e+01] [-9.18379509e-02 8.18208382e-04 9.95773630e-01 -1.23615868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.398241008 meters 0.06554038016292946 Centerline is valid? [True, True] Translation: X:99.72, Y:-11.74, Z:-12.37 [[ 9.62426759e-01 2.56899272e-01 8.79630463e-02 9.97154978e+01] [-2.55780128e-01 9.66438022e-01 -2.39598845e-02 -1.17351479e+01] [-9.11661093e-02 5.60434738e-04 9.95835542e-01 -1.23716518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.458241008 meters 0.06504020035043981 Centerline is valid? [True, True] Translation: X:99.78, Y:-11.75, Z:-12.38 [[ 9.61748854e-01 2.60138368e-01 8.58322305e-02 9.97761320e+01] [-2.59083938e-01 9.65571312e-01 -2.33998887e-02 -1.17479916e+01] [-8.89643482e-02 2.67063864e-04 9.96034775e-01 -1.23762423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.518241008 meters 0.06550787832290819 Centerline is valid? [True, True] Translation: X:99.83, Y:-11.76, Z:-12.39 [[ 9.61457553e-01 2.61019744e-01 8.64179804e-02 9.98345470e+01] [-2.59952448e-01 9.65333440e-01 -2.35812438e-02 -1.17633992e+01] [-8.95773365e-02 2.07799467e-04 9.95979848e-01 -1.23881747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.578241008 meters 0.06471188840040272 Centerline is valid? [True, True] Translation: X:99.90, Y:-11.78, Z:-12.39 [[ 9.60799110e-01 2.63174198e-01 8.72032766e-02 9.98956721e+01] [-2.62094478e-01 9.64748330e-01 -2.38147875e-02 -1.17773229e+01] [-9.03966531e-02 2.57294170e-05 9.95905841e-01 -1.23893719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.638241008 meters 0.06457377162997231 Centerline is valid? [True, True] Translation: X:99.96, Y:-11.79, Z:-12.39 [[ 9.60401306e-01 2.64181293e-01 8.85300793e-02 9.99553126e+01] [-2.63070687e-01 9.64473039e-01 -2.41985925e-02 -1.17931917e+01] [-9.17776900e-02 -4.93089182e-05 9.95779520e-01 -1.23947750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.698241008 meters 0.06450885918558756 Centerline is valid? [True, True] Translation: X:100.01, Y:-11.81, Z:-12.40 [[ 9.60195910e-01 2.64561168e-01 8.96169762e-02 1.00014617e+02] [-2.63422713e-01 9.64368904e-01 -2.45171431e-02 -1.18079713e+01] [-9.29101092e-02 -6.58864785e-05 9.95674499e-01 -1.24017362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.758241008 meters 0.06473301675293851 Centerline is valid? [True, True] Translation: X:100.07, Y:-11.82, Z:-12.41 [[ 9.60299916e-01 2.64636674e-01 8.82694859e-02 1.00074002e+02] [-2.63530744e-01 9.64348188e-01 -2.41685534e-02 -1.18239852e+01] [-9.15184044e-02 -5.26634997e-05 9.95803384e-01 -1.24111835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.818241008 meters 0.06509667497566406 Centerline is valid? [True, True] Translation: X:100.13, Y:-11.84, Z:-12.42 [[ 9.60535128e-01 2.64732627e-01 8.53750745e-02 1.00133110e+02] [-2.63696750e-01 9.64321852e-01 -2.33963600e-02 -1.18411335e+01] [-8.85228299e-02 -4.01039997e-05 9.96074147e-01 -1.24204811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.878241008 meters 0.06476301213754002 Centerline is valid? [True, True] Translation: X:100.19, Y:-11.86, Z:-12.43 [[ 9.61160640e-01 2.62268064e-01 8.59400201e-02 1.00190730e+02] [-2.61207323e-01 9.64995037e-01 -2.35650632e-02 -1.18624373e+01] [-8.91120564e-02 2.01648604e-04 9.96021586e-01 -1.24262196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.938241008 meters 0.0649514660548654 Centerline is valid? [True, True] Translation: X:100.25, Y:-11.88, Z:-12.43 [[ 9.61410434e-01 2.61534181e-01 8.53806176e-02 1.00249968e+02] [-2.60482810e-01 9.65194173e-01 -2.34289229e-02 -1.18801666e+01] [-8.85363387e-02 2.84627679e-04 9.96072907e-01 -1.24349837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.998241008 meters 0.06492850868523913 Centerline is valid? [True, True] Translation: X:100.31, Y:-11.90, Z:-12.44 [[ 9.62050315e-01 2.59350464e-01 8.48323496e-02 1.00308994e+02] [-2.58302488e-01 9.65783147e-01 -2.32967355e-02 -1.18975173e+01] [-8.79716727e-02 5.00224796e-04 9.96122851e-01 -1.24423434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.058241008 meters 0.06461838436581506 Centerline is valid? [True, True] Translation: X:100.37, Y:-11.92, Z:-12.45 [[ 9.62462455e-01 2.58063116e-01 8.40800274e-02 1.00367735e+02] [-2.57027143e-01 9.66127854e-01 -2.31088049e-02 -1.19161665e+01] [-8.71955867e-02 6.30507853e-04 9.96191012e-01 -1.24469322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.118241008 meters 0.06589039861863139 Centerline is valid? [True, True] Translation: X:100.42, Y:-11.94, Z:-12.46 [[ 9.62870257e-01 2.55974014e-01 8.57797925e-02 1.00423810e+02] [-2.54885471e-01 9.66683283e-01 -2.35971853e-02 -1.19401110e+01] [-8.89621577e-02 8.57005076e-04 9.96034638e-01 -1.24601236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.178241008 meters 0.06450532297886967 Centerline is valid? [True, True] Translation: X:100.48, Y:-11.96, Z:-12.46 [[ 9.63262753e-01 2.54015508e-01 8.71836621e-02 1.00484362e+02] [-2.52881022e-01 9.67199547e-01 -2.40046746e-02 -1.19582404e+01] [-9.04215582e-02 1.07571541e-03 9.95903000e-01 -1.24575275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.238241008 meters 0.06496037408169267 Centerline is valid? [True, True] Translation: X:100.54, Y:-11.98, Z:-12.46 [[ 9.64007046e-01 2.51230610e-01 8.70264039e-02 1.00542289e+02] [-2.50086996e-01 9.67926312e-01 -2.39822806e-02 -1.19784868e+01] [-9.02602291e-02 1.35491553e-03 9.95917293e-01 -1.24644544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.298241008 meters 0.06515703157890944 Centerline is valid? [True, True] Translation: X:100.60, Y:-11.99, Z:-12.47 [[ 9.64418817e-01 2.49955565e-01 8.61310732e-02 1.00601599e+02] [-2.48828770e-01 9.68256184e-01 -2.37530222e-02 -1.19941132e+01] [-8.93341443e-02 1.47597257e-03 9.96000619e-01 -1.24741839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.358241008 meters 0.06543172305090077 Centerline is valid? [True, True] Translation: X:100.66, Y:-12.01, Z:-12.48 [[ 9.64574998e-01 2.49931321e-01 8.44358259e-02 1.00660395e+02] [-2.48846747e-01 9.68262454e-01 -2.33048536e-02 -1.20115002e+01] [-8.75806528e-02 1.46769854e-03 9.96156351e-01 -1.24834835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.418241008 meters 0.06663637701703112 Centerline is valid? [True, True] Translation: X:100.72, Y:-12.03, Z:-12.49 [[ 9.65038824e-01 2.47565807e-01 8.60885539e-02 1.00717307e+02] [-2.46426982e-01 9.68869525e-01 -2.37820344e-02 -1.20308379e+01] [-8.92961948e-02 1.73604392e-03 9.96003602e-01 -1.24933114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.478241008 meters 0.06548835004094516 Centerline is valid? [True, True] Translation: X:100.78, Y:-12.05, Z:-12.49 [[ 9.65081005e-01 2.46163781e-01 8.95658737e-02 1.00777689e+02] [-2.44923009e-01 9.69226262e-01 -2.47623063e-02 -1.20480077e+01] [-9.29051799e-02 1.96088815e-03 9.95673030e-01 -1.24904949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.538241008 meters 0.0652346975479373 Centerline is valid? [True, True] Translation: X:100.84, Y:-12.06, Z:-12.50 [[ 9.64790360e-01 2.46900310e-01 9.06631040e-02 1.00838219e+02] [-2.45630078e-01 9.69038954e-01 -2.50872437e-02 -1.20608570e+01] [-9.40501277e-02 1.93434557e-03 9.95565584e-01 -1.24973238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.598241008 meters 0.06500760788596623 Centerline is valid? [True, True] Translation: X:100.90, Y:-12.07, Z:-12.50 [[ 9.64155569e-01 2.49066902e-01 9.14861526e-02 1.00897887e+02] [-2.47781028e-01 9.68484682e-01 -2.53373949e-02 -1.20734389e+01] [-9.49136438e-02 1.76065748e-03 9.95483953e-01 -1.25046066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.658241008 meters 0.06493299311719544 Centerline is valid? [True, True] Translation: X:100.96, Y:-12.09, Z:-12.51 [[ 9.63522470e-01 2.51250946e-01 9.21814062e-02 1.00958340e+02] [-2.49953488e-01 9.67920698e-01 -2.55494934e-02 -1.20856259e+01] [-9.56436254e-02 1.57644691e-03 9.95414392e-01 -1.25145085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.718241008 meters 0.06457578789796094 Centerline is valid? [True, True] Translation: X:101.02, Y:-12.09, Z:-12.52 [[ 9.62584995e-01 2.55223284e-01 9.10560370e-02 1.01019583e+02] [-2.53973195e-01 9.66881413e-01 -2.52576654e-02 -1.20933239e+01] [-9.44867340e-02 1.18685716e-03 9.95525413e-01 -1.25239611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.778241008 meters 0.06412928938554374 Centerline is valid? [True, True] Translation: X:101.08, Y:-12.11, Z:-12.53 [[ 9.61524726e-01 2.59183156e-01 9.10730085e-02 1.01080100e+02] [-2.57948315e-01 9.65827843e-01 -2.52832969e-02 -1.21053624e+01] [-9.45138520e-02 8.18386029e-04 9.95523210e-01 -1.25307617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.838241008 meters 0.06366178544084693 Centerline is valid? [True, True] Translation: X:101.14, Y:-12.11, Z:-12.54 [[ 9.59710323e-01 2.64885779e-01 9.37636431e-02 1.01141621e+02] [-2.63601566e-01 9.64279753e-01 -2.60532777e-02 -1.21124441e+01] [-9.73155254e-02 2.87356399e-04 9.95253539e-01 -1.25356342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.898241008 meters 0.06328254170737038 Centerline is valid? [True, True] Translation: X:101.20, Y:-12.12, Z:-12.54 [[ 9.58525867e-01 2.68286110e-01 9.61806911e-02 1.01202680e+02] [-2.66949887e-01 9.63339276e-01 -2.67431549e-02 -1.21239780e+01] [-9.98294544e-02 -4.14189253e-05 9.95004562e-01 -1.25398942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.958241008 meters 0.0632561189041221 Centerline is valid? [True, True] Translation: X:101.26, Y:-12.13, Z:-12.55 [[ 9.56905531e-01 2.73431922e-01 9.78099583e-02 1.01264934e+02] [-2.72074386e-01 9.61891191e-01 -2.72188285e-02 -1.21321844e+01] [-1.01525034e-01 -5.65736806e-04 9.94832824e-01 -1.25452387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.018241008 meters 0.06411502920294598 Centerline is valid? [True, True] Translation: X:101.32, Y:-12.14, Z:-12.56 [[ 9.55897676e-01 2.77193821e-01 9.70732649e-02 1.01324463e+02] [-2.75873643e-01 9.60813567e-01 -2.70374081e-02 -1.21432283e+01] [-1.00763912e-01 -9.34959672e-04 9.94909925e-01 -1.25556208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.078241008 meters 0.06447138156500502 Centerline is valid? [True, True] Translation: X:101.38, Y:-12.16, Z:-12.56 [[ 9.55283257e-01 2.79222691e-01 9.73066692e-02 1.01383332e+02] [-2.77904248e-01 9.60225710e-01 -2.71259081e-02 -1.21569197e+01] [-1.01010535e-01 -1.12901081e-03 9.94884716e-01 -1.25638651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.138241008 meters 0.06384699208928335 Centerline is valid? [True, True] Translation: X:101.44, Y:-12.18, Z:-12.57 [[ 9.55537718e-01 2.77946484e-01 9.84551740e-02 1.01441379e+02] [-2.76588878e-01 9.60596044e-01 -2.74560240e-02 -1.21779593e+01] [-1.02206956e-01 -9.96339534e-04 9.94762658e-01 -1.25680675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.198241008 meters 0.06339323916273391 Centerline is valid? [True, True] Translation: X:101.50, Y:-12.20, Z:-12.57 [[ 9.56134696e-01 2.75563049e-01 9.93551634e-02 1.01499217e+02] [-2.74165188e-01 9.61282726e-01 -2.77303190e-02 -1.21998421e+01] [-1.03149854e-01 -7.25806886e-04 9.94665562e-01 -1.25748292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.258241008 meters 0.06307468588898592 Centerline is valid? [True, True] Translation: X:101.56, Y:-12.23, Z:-12.58 [[ 9.57350384e-01 2.71740864e-01 9.81689673e-02 1.01555258e+02] [-2.70353782e-01 9.62370418e-01 -2.74228337e-02 -1.22251557e+01] [-1.01926815e-01 -2.87091288e-04 9.94791859e-01 -1.25840342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.318241008 meters 0.06305431649693284 Centerline is valid? [True, True] Translation: X:101.61, Y:-12.25, Z:-12.59 [[ 9.58503914e-01 2.67828290e-01 9.76639889e-02 1.01612937e+02] [-2.66433773e-01 9.63466651e-01 -2.72957390e-02 -1.22484415e+01] [-1.01406567e-01 1.42087608e-04 9.94845057e-01 -1.25934397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.378241008 meters 0.06357423491688845 Centerline is valid? [True, True] Translation: X:101.67, Y:-12.28, Z:-12.60 [[ 9.60617936e-01 2.60222847e-01 9.74538451e-02 1.01666710e+02] [-2.58792583e-01 9.65548099e-01 -2.72629385e-02 -1.22815223e+01] [-1.01190814e-01 9.68935413e-04 9.94866564e-01 -1.25996321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.438241008 meters 0.06530481872872379 Centerline is valid? [True, True] Translation: X:101.72, Y:-12.31, Z:-12.61 [[ 9.62921697e-01 2.51098026e-01 9.86488059e-02 1.01721832e+02] [-2.49582115e-01 9.67959648e-01 -2.76204383e-02 -1.23127115e+01] [-1.02423501e-01 1.97534166e-03 9.94738923e-01 -1.26072548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.498241008 meters 0.06712709125380079 Centerline is valid? [True, True] Translation: X:101.78, Y:-12.34, Z:-12.61 [[ 9.64290419e-01 2.45403706e-01 9.96042592e-02 1.01777609e+02] [-2.43827300e-01 9.69417455e-01 -2.78934573e-02 -1.23386059e+01] [-1.03403265e-01 2.61115609e-03 9.94636088e-01 -1.26147147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.558241008 meters 0.06606108974671349 Centerline is valid? [True, True] Translation: X:101.84, Y:-12.36, Z:-12.61 [[ 9.65843034e-01 2.38680357e-01 1.00890637e-01 1.01837615e+02] [-2.37025478e-01 9.71092298e-01 -2.82607903e-02 -1.23554526e+01] [-1.04719416e-01 3.38183599e-03 9.94496057e-01 -1.26138276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.618241008 meters 0.06636781907242356 Centerline is valid? [True, True] Translation: X:101.90, Y:-12.37, Z:-12.62 [[ 9.65940297e-01 2.38484196e-01 1.00422266e-01 1.01897033e+02] [-2.36841332e-01 9.71140396e-01 -2.81516211e-02 -1.23714783e+01] [-1.04237836e-01 3.40864202e-03 9.94546557e-01 -1.26215860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.678241008 meters 0.06533718945878643 Centerline is valid? [True, True] Translation: X:101.96, Y:-12.38, Z:-12.63 [[ 9.65427878e-01 2.41163403e-01 9.89405108e-02 1.01958470e+02] [-2.39580521e-01 9.70479591e-01 -2.77585662e-02 -1.23793531e+01] [-1.02714097e-01 3.09467455e-03 9.94706106e-01 -1.26311461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.738241008 meters 0.0657063485656986 Centerline is valid? [True, True] Translation: X:102.02, Y:-12.39, Z:-12.64 [[ 9.64647692e-01 2.44573876e-01 9.81756083e-02 1.02016774e+02] [-2.43030571e-01 9.69626807e-01 -2.75680255e-02 -1.23916218e+01] [-1.01936120e-01 2.73375802e-03 9.94787190e-01 -1.26435610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.798241008 meters 0.06445855903996964 Centerline is valid? [True, True] Translation: X:102.08, Y:-12.40, Z:-12.65 [[ 9.63462962e-01 2.50095748e-01 9.58709426e-02 1.02078153e+02] [-2.48649709e-01 9.68218797e-01 -2.69384988e-02 -1.23972502e+01] [-9.95612527e-02 2.11596395e-03 9.95029185e-01 -1.26524667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.858241008 meters 0.06433284842575197 Centerline is valid? [True, True] Translation: X:102.14, Y:-12.41, Z:-12.66 [[ 9.62567491e-01 2.54217682e-01 9.40063551e-02 1.02137796e+02] [-2.52844955e-01 9.67145571e-01 -2.64361972e-02 -1.24078224e+01] [-9.76383788e-02 1.67759139e-03 9.95220545e-01 -1.26628472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.918241008 meters 0.06381581753878503 Centerline is valid? [True, True] Translation: X:102.20, Y:-12.41, Z:-12.67 [[ 9.60307649e-01 2.62376949e-01 9.46971834e-02 1.02199574e+02] [-2.61021949e-01 9.64965067e-01 -2.66450957e-02 -1.24129817e+01] [-9.83705329e-02 8.69445783e-04 9.95149477e-01 -1.26730834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.978241008 meters 0.06363234858851421 Centerline is valid? [True, True] Translation: X:102.26, Y:-12.42, Z:-12.68 [[ 9.58254293e-01 2.69495104e-01 9.55044431e-02 1.02260551e+02] [-2.68151949e-01 9.63001749e-01 -2.68731013e-02 -1.24225471e+01] [-9.92131150e-02 1.41562161e-04 9.95066198e-01 -1.26803198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.038241008 meters 0.06433104241953325 Centerline is valid? [True, True] Translation: X:102.32, Y:-12.43, Z:-12.69 [[ 9.55406557e-01 2.79330208e-01 9.57754985e-02 1.02323078e+02] [-2.78026343e-01 9.60194718e-01 -2.69713959e-02 -1.24272161e+01] [-9.94970534e-02 -8.59463172e-04 9.95037486e-01 -1.26852448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.098241008 meters 0.06511435439734348 Centerline is valid? [True, True] Translation: X:102.38, Y:-12.44, Z:-12.69 [[ 9.54232122e-01 2.83418811e-01 9.54716446e-02 1.02382739e+02] [-2.82141468e-01 9.58995406e-01 -2.69073102e-02 -1.24410464e+01] [-9.91829065e-02 -1.26069028e-03 9.95068421e-01 -1.26943500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.158241008 meters 0.06511645167301625 Centerline is valid? [True, True] Translation: X:102.44, Y:-12.46, Z:-12.70 [[ 9.54366479e-01 2.82923262e-01 9.55983819e-02 1.02440358e+02] [-2.81637653e-01 9.59141813e-01 -2.69669321e-02 -1.24626746e+01] [-9.93219778e-02 -1.18776789e-03 9.95054639e-01 -1.27031596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.218241008 meters 0.06487503014216014 Centerline is valid? [True, True] Translation: X:102.50, Y:-12.49, Z:-12.71 [[ 9.54963163e-01 2.80777608e-01 9.59650536e-02 1.02497813e+02] [-2.79468887e-01 9.59772390e-01 -2.70942781e-02 -1.24860713e+01] [-9.97120754e-02 -9.45209241e-04 9.95015884e-01 -1.27106323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.278241008 meters 0.06488219925555913 Centerline is valid? [True, True] Translation: X:102.55, Y:-12.51, Z:-12.72 [[ 9.56545052e-01 2.76147963e-01 9.36155208e-02 1.02552485e+02] [-2.74878256e-01 9.61115039e-01 -2.64542150e-02 -1.25149695e+01] [-9.72805626e-02 -4.28222664e-04 9.95256906e-01 -1.27208354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.338241008 meters 0.06501542326623168 Centerline is valid? [True, True] Translation: X:102.61, Y:-12.54, Z:-12.73 [[ 9.57434663e-01 2.73603812e-01 9.19772781e-02 1.02609018e+02] [-2.72364611e-01 9.61842468e-01 -2.60112748e-02 -1.25393214e+01] [-9.55844360e-02 -1.47259426e-04 9.95421315e-01 -1.27304330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.398241008 meters 0.0651540952224383 Centerline is valid? [True, True] Translation: X:102.67, Y:-12.56, Z:-12.74 [[ 9.58449464e-01 2.70180433e-01 9.15268194e-02 1.02666006e+02] [-2.68935623e-01 9.62809684e-01 -2.59064428e-02 -1.25643609e+01] [-9.51223220e-02 2.15194117e-04 9.95465568e-01 -1.27378882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.458241008 meters 0.06536567693050627 Centerline is valid? [True, True] Translation: X:102.72, Y:-12.59, Z:-12.74 [[ 9.59570744e-01 2.66163303e-01 9.15482518e-02 1.02722051e+02] [-2.64897381e-01 9.63927741e-01 -2.59362138e-02 -1.25877711e+01] [-9.51491679e-02 6.36739893e-04 9.95462822e-01 -1.27447377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.518241008 meters 0.06552238917897198 Centerline is valid? [True, True] Translation: X:102.78, Y:-12.61, Z:-12.75 [[ 9.59941819e-01 2.64614785e-01 9.21451050e-02 1.02780024e+02] [-2.63323165e-01 9.64353852e-01 -2.61258482e-02 -1.26076564e+01] [-9.57737726e-02 8.15353567e-04 9.95402793e-01 -1.27517812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.578241008 meters 0.06566357077468842 Centerline is valid? [True, True] Translation: X:102.84, Y:-12.62, Z:-12.76 [[ 9.59972527e-01 2.64410866e-01 9.24101777e-02 1.02840487e+02] [-2.63108544e-01 9.64409743e-01 -2.62248365e-02 -1.26236882e+01] [-9.60554075e-02 8.61215244e-04 9.95375616e-01 -1.27605817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.638241008 meters 0.06622746581590652 Centerline is valid? [True, True] Translation: X:102.90, Y:-12.64, Z:-12.77 [[ 9.60805205e-01 2.62473947e-01 8.92232297e-02 1.02899081e+02] [-2.61249489e-01 9.64938517e-01 -2.53448798e-02 -1.26389538e+01] [-9.27473016e-02 1.04196930e-03 9.95689134e-01 -1.27712078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.698241008 meters 0.06717078770055318 Centerline is valid? [True, True] Translation: X:102.96, Y:-12.66, Z:-12.78 [[ 9.61250088e-01 2.61329754e-01 8.77782912e-02 1.02955786e+02] [-2.60137889e-01 9.65248893e-01 -2.49570424e-02 -1.26575441e+01] [-9.12499161e-02 1.15549981e-03 9.95827353e-01 -1.27834955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.758241008 meters 0.06683966451843194 Centerline is valid? [True, True] Translation: X:103.02, Y:-12.68, Z:-12.79 [[ 9.62109594e-01 2.58908975e-01 8.55059732e-02 1.03015308e+02] [-2.57767867e-01 9.65900772e-01 -2.43192495e-02 -1.26763061e+01] [-8.88867575e-02 1.35709096e-03 9.96040814e-01 -1.27870587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.818241008 meters 0.06725424260086797 Centerline is valid? [True, True] Translation: X:103.07, Y:-12.69, Z:-12.80 [[ 9.62671436e-01 2.57041536e-01 8.48136545e-02 1.03074315e+02] [-2.55910530e-01 9.66399147e-01 -2.41348285e-02 -1.26940501e+01] [-8.81674967e-02 1.52920274e-03 9.96104490e-01 -1.27964110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.878241008 meters 0.06691095280810774 Centerline is valid? [True, True] Translation: X:103.13, Y:-12.71, Z:-12.80 [[ 9.62485048e-01 2.57249064e-01 8.62870319e-02 1.03134691e+02] [-2.56077211e-01 9.66343879e-01 -2.45757839e-02 -1.27087564e+01] [-8.97050425e-02 1.55768206e-03 9.95967158e-01 -1.28025938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.938241008 meters 0.06639028644587446 Centerline is valid? [True, True] Translation: X:103.19, Y:-12.72, Z:-12.81 [[ 9.61191283e-01 2.61337472e-01 8.83970770e-02 1.03193196e+02] [-2.60122531e-01 9.65246713e-01 -2.52002347e-02 -1.27234187e+01] [-9.19107537e-02 1.22817455e-03 9.95766491e-01 -1.28081069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.998241008 meters 0.06552938768029323 Centerline is valid? [True, True] Translation: X:103.26, Y:-12.73, Z:-12.82 [[ 9.58265445e-01 2.71260748e-01 9.02493419e-02 1.03256306e+02] [-2.70035817e-01 9.62505851e-01 -2.57516074e-02 -1.27263966e+01] [-9.38509199e-02 3.06320822e-04 9.95586215e-01 -1.28156193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.058241008 meters 0.06592226672402274 Centerline is valid? [True, True] Translation: X:103.32, Y:-12.74, Z:-12.82 [[ 9.56184379e-01 2.78654033e-01 8.97962286e-02 1.03317475e+02] [-2.77473905e-01 9.60391460e-01 -2.56217840e-02 -1.27356813e+01] [-9.33791445e-02 -4.16960617e-04 9.95630535e-01 -1.28235013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.118241008 meters 0.06634794386087009 Centerline is valid? [True, True] Translation: X:103.38, Y:-12.75, Z:-12.83 [[ 9.55022366e-01 2.82759823e-01 8.93261626e-02 1.03377319e+02] [-2.81607964e-01 9.59190415e-01 -2.55088516e-02 -1.27483375e+01] [-9.28936773e-02 -7.93434999e-04 9.95675718e-01 -1.28324046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.178241008 meters 0.06564416171322361 Centerline is valid? [True, True] Translation: X:103.43, Y:-12.77, Z:-12.84 [[ 9.55248624e-01 2.80710625e-01 9.32824302e-02 1.03434648e+02] [-2.79442144e-01 9.59792263e-01 -2.66627179e-02 -1.27703480e+01] [-9.70162629e-02 -5.97517709e-04 9.95282617e-01 -1.28361794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.238241008 meters 0.06462379501015415 Centerline is valid? [True, True] Translation: X:103.49, Y:-12.79, Z:-12.83 [[ 9.55856640e-01 2.77796943e-01 9.57441541e-02 1.03493872e+02] [-2.76443464e-01 9.60639775e-01 -2.73904115e-02 -1.27926565e+01] [-9.95846152e-02 -2.86538971e-04 9.95029056e-01 -1.28348122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.298241008 meters 0.06529547522011118 Centerline is valid? [True, True] Translation: X:103.55, Y:-12.80, Z:-12.85 [[ 9.55779324e-01 2.78702422e-01 9.38660954e-02 1.03554080e+02] [-2.77405561e-01 9.60377438e-01 -2.68576001e-02 -1.28025789e+01] [-9.76321585e-02 -3.69038008e-04 9.95222500e-01 -1.28499566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.358241008 meters 0.06585842330106996 Centerline is valid? [True, True] Translation: X:103.61, Y:-12.82, Z:-12.86 [[ 9.55878862e-01 2.78831364e-01 9.24590276e-02 1.03613670e+02] [-2.77571600e-01 9.60340015e-01 -2.64775788e-02 -1.28170387e+01] [-9.61748834e-02 -3.54642338e-04 9.95364389e-01 -1.28626128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.418241008 meters 0.06544648834450216 Centerline is valid? [True, True] Translation: X:103.67, Y:-12.84, Z:-12.87 [[ 9.55783511e-01 2.78440583e-01 9.45976847e-02 1.03671414e+02] [-2.77117441e-01 9.60453410e-01 -2.71140531e-02 -1.28400226e+01] [-9.84063215e-02 -2.99503451e-04 9.95146274e-01 -1.28663222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.478241008 meters 0.06535605904297899 Centerline is valid? [True, True] Translation: X:103.73, Y:-12.86, Z:-12.87 [[ 9.55736026e-01 2.78773293e-01 9.40962258e-02 1.03730427e+02] [-2.77463509e-01 9.60356890e-01 -2.69934376e-02 -1.28587069e+01] [-9.78910082e-02 -3.09668197e-04 9.95197093e-01 -1.28730235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.538241008 meters 0.06610665181174899 Centerline is valid? [True, True] Translation: X:103.79, Y:-12.87, Z:-12.89 [[ 9.55666231e-01 2.80110238e-01 9.07761532e-02 1.03789010e+02] [-2.78895396e-01 9.59967753e-01 -2.60628420e-02 -1.28720659e+01] [-9.44426487e-02 -4.09673184e-04 9.95530220e-01 -1.28876311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.598241008 meters 0.06677122902688118 Centerline is valid? [True, True] Translation: X:103.85, Y:-12.89, Z:-12.90 [[ 9.55519143e-01 2.81376384e-01 8.83770245e-02 1.03848439e+02] [-2.80228641e-01 9.59597352e-01 -2.53935077e-02 -1.28865967e+01] [-9.19514921e-02 -5.01790791e-04 9.95763361e-01 -1.29007585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.658241008 meters 0.06645285386516919 Centerline is valid? [True, True] Translation: X:103.91, Y:-12.91, Z:-12.90 [[ 9.55391219e-01 2.82091809e-01 8.74747418e-02 1.03906954e+02] [-2.80968523e-01 9.59387260e-01 -2.51550100e-02 -1.29068016e+01] [-9.10181751e-02 -5.44773380e-04 9.95849082e-01 -1.29029425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.718241008 meters 0.06605950611060733 Centerline is valid? [True, True] Translation: X:103.97, Y:-12.92, Z:-12.91 [[ 9.54840145e-01 2.83124028e-01 9.01170509e-02 1.03966137e+02] [-2.81935381e-01 9.59083082e-01 -2.59245684e-02 -1.29246171e+01] [-9.37696072e-02 -6.53366489e-04 9.95593709e-01 -1.29067945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.778241008 meters 0.0661688314277041 Centerline is valid? [True, True] Translation: X:104.03, Y:-12.94, Z:-12.92 [[ 9.53921417e-01 2.85153230e-01 9.33893266e-02 1.04025057e+02] [-2.83883723e-01 9.58481558e-01 -2.68911780e-02 -1.29388954e+01] [-9.71800535e-02 -8.59639056e-04 9.95266446e-01 -1.29155833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.838241008 meters 0.06622370493110079 Centerline is valid? [True, True] Translation: X:104.08, Y:-12.96, Z:-12.92 [[ 9.53528956e-01 2.86483590e-01 9.33256784e-02 1.04084880e+02] [-2.85220094e-01 9.58084654e-01 -2.68941247e-02 -1.29558369e+01] [-9.71186256e-02 -9.74032146e-04 9.95272337e-01 -1.29214605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.898241008 meters 0.06583033173865292 Centerline is valid? [True, True] Translation: X:104.14, Y:-12.98, Z:-12.93 [[ 9.54291326e-01 2.83760287e-01 9.38518205e-02 1.04142592e+02] [-2.82467025e-01 9.58895010e-01 -2.70691740e-02 -1.29792791e+01] [-9.76751990e-02 -6.78166580e-04 9.95218115e-01 -1.29273879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.958241008 meters 0.06548924348205767 Centerline is valid? [True, True] Translation: X:104.20, Y:-13.00, Z:-12.93 [[ 9.55500934e-01 2.79185054e-01 9.52558125e-02 1.04200294e+02] [-2.77827257e-01 9.60237299e-01 -2.75017246e-02 -1.30040872e+01] [-9.91462546e-02 -1.86737476e-04 9.95072854e-01 -1.29327160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.018241008 meters 0.06536245485038271 Centerline is valid? [True, True] Translation: X:104.26, Y:-13.02, Z:-12.94 [[ 9.56101244e-01 2.76930615e-01 9.58115148e-02 1.04257558e+02] [-2.75545015e-01 9.60889916e-01 -2.76679124e-02 -1.30245951e+01] [-9.97264105e-02 5.29402285e-05 9.95014894e-01 -1.29412079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.078241008 meters 0.06541172119095505 Centerline is valid? [True, True] Translation: X:104.32, Y:-13.04, Z:-12.95 [[ 9.56387604e-01 2.75906216e-01 9.59088738e-02 1.04316717e+02] [-2.74510526e-01 9.61184544e-01 -2.77172047e-02 -1.30423218e+01] [-9.98334762e-02 1.80395591e-04 9.95004143e-01 -1.29515343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.138241008 meters 0.06544434458833487 Centerline is valid? [True, True] Translation: X:104.38, Y:-13.06, Z:-12.96 [[ 9.56399799e-01 2.76038367e-01 9.54056804e-02 1.04375280e+02] [-2.74655279e-01 9.61146598e-01 -2.75988179e-02 -1.30625945e+01] [-9.93171778e-02 1.91830124e-04 9.95055808e-01 -1.29592344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.198241008 meters 0.06548424095597412 Centerline is valid? [True, True] Translation: X:104.43, Y:-13.08, Z:-12.96 [[ 9.55968691e-01 2.77787421e-01 9.46467693e-02 1.04434472e+02] [-2.76432576e-01 9.60642570e-01 -2.74022453e-02 -1.30791103e+01] [-9.85337148e-02 3.22383056e-05 9.95133713e-01 -1.29649409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.258241008 meters 0.06600689888198379 Centerline is valid? [True, True] Translation: X:104.49, Y:-13.09, Z:-12.98 [[ 9.54921819e-01 2.82127281e-01 9.23499715e-02 1.04492571e+02] [-2.80855454e-01 9.59376908e-01 -2.67612164e-02 -1.30921329e+01] [-9.61484993e-02 -3.82123686e-04 9.95366927e-01 -1.29769254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.318241008 meters 0.06625352299004313 Centerline is valid? [True, True] Translation: X:104.55, Y:-13.11, Z:-12.99 [[ 9.54658756e-01 2.83230963e-01 9.16890485e-02 1.04552033e+02] [-2.81980804e-01 9.59051613e-01 -2.65862612e-02 -1.31086081e+01] [-9.54645823e-02 -4.73744556e-04 9.95432715e-01 -1.29861227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.378241008 meters 0.06602543100977419 Centerline is valid? [True, True] Translation: X:104.61, Y:-13.13, Z:-12.99 [[ 9.54629982e-01 2.83062765e-01 9.25044291e-02 1.04611085e+02] [-2.81786932e-01 9.59101288e-01 -2.68485373e-02 -1.31288915e+01] [-9.63209383e-02 -4.36120570e-04 9.95350233e-01 -1.29919910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.438241008 meters 0.06590422264733722 Centerline is valid? [True, True] Translation: X:104.67, Y:-13.15, Z:-13.00 [[ 9.55853051e-01 2.78556109e-01 9.35491264e-02 1.04668894e+02] [-2.77228680e-01 9.60419957e-01 -2.71618429e-02 -1.31499696e+01] [-9.74125452e-02 2.82295544e-05 9.95244088e-01 -1.29999687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.498241008 meters 0.06584807693487521 Centerline is valid? [True, True] Translation: X:104.73, Y:-13.17, Z:-13.01 [[ 9.55951589e-01 2.78396954e-01 9.30144937e-02 1.04727183e+02] [-2.77081716e-01 9.60466101e-01 -2.70294493e-02 -1.31689179e+01] [-9.68621845e-02 6.62294637e-05 9.95297801e-01 -1.30072427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.558241008 meters 0.06560474058721665 Centerline is valid? [True, True] Translation: X:104.79, Y:-13.19, Z:-13.01 [[ 9.56337363e-01 2.76820969e-01 9.37496651e-02 1.04786468e+02] [-2.75475010e-01 9.60921479e-01 -2.72659197e-02 -1.31879990e+01] [-9.76338451e-02 2.49727857e-04 9.95222372e-01 -1.30123516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.618241008 meters 0.06579557025848848 Centerline is valid? [True, True] Translation: X:104.84, Y:-13.21, Z:-13.02 [[ 9.56633110e-01 2.75142222e-01 9.56548548e-02 1.04844046e+02] [-2.73729948e-01 9.61403428e-01 -2.78453632e-02 -1.32063375e+01] [-9.96243404e-02 4.54197954e-04 9.95025017e-01 -1.30215876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.678241008 meters 0.06591731661914463 Centerline is valid? [True, True] Translation: X:104.90, Y:-13.22, Z:-13.03 [[ 9.56664241e-01 2.75373918e-01 9.46717219e-02 1.04903520e+02] [-2.73989615e-01 9.61337093e-01 -2.75805152e-02 -1.32227863e+01] [-9.86063925e-02 4.46224073e-04 9.95126414e-01 -1.30296954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.738241008 meters 0.06594834808948626 Centerline is valid? [True, True] Translation: X:104.96, Y:-13.24, Z:-13.04 [[ 9.55981749e-01 2.78232033e-01 9.31978125e-02 1.04962470e+02] [-2.76901883e-01 9.60513876e-01 -2.71742688e-02 -1.32361131e+01] [-9.70785442e-02 1.71455286e-04 9.95276709e-01 -1.30402426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.798241008 meters 0.06585168308243868 Centerline is valid? [True, True] Translation: X:105.02, Y:-13.25, Z:-13.05 [[ 9.55548519e-01 2.79990325e-01 9.23712369e-02 1.05022299e+02] [-2.78689962e-01 9.60002822e-01 -2.69534277e-02 -1.32505727e+01] [-9.62233471e-02 1.23714541e-05 9.95359768e-01 -1.30461599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.858241008 meters 0.06599687672933903 Centerline is valid? [True, True] Translation: X:105.08, Y:-13.27, Z:-13.05 [[ 9.55445847e-01 2.80341829e-01 9.23671592e-02 1.05080720e+02] [-2.79040978e-01 9.59900234e-01 -2.69754257e-02 -1.32684165e+01] [-9.62255979e-02 -6.64011040e-07 9.95359550e-01 -1.30537550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.918241008 meters 0.06591366466390416 Centerline is valid? [True, True] Translation: X:105.14, Y:-13.29, Z:-13.06 [[ 9.55457349e-01 2.80361252e-01 9.21890563e-02 1.05140104e+02] [-2.79063151e-01 9.59894561e-01 -2.69479126e-02 -1.32861101e+01] [-9.60469242e-02 2.10126301e-05 9.95376807e-01 -1.30617828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.978241008 meters 0.06629290482131467 Centerline is valid? [True, True] Translation: X:105.20, Y:-13.31, Z:-13.07 [[ 9.55813623e-01 2.79094786e-01 9.23386142e-02 1.05197624e+02] [-2.77783932e-01 9.60263542e-01 -2.70188291e-02 -1.33058878e+01] [-9.62102191e-02 1.74781601e-04 9.95361022e-01 -1.30709683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.038241008 meters 0.06586962570103051 Centerline is valid? [True, True] Translation: X:105.26, Y:-13.33, Z:-13.07 [[ 9.55756662e-01 2.78763024e-01 9.39168740e-02 1.05256307e+02] [-2.77402718e-01 9.60359891e-01 -2.75065811e-02 -1.33250508e+01] [-9.78618166e-02 2.36802096e-04 9.95199984e-01 -1.30745620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.098241008 meters 0.06524594771811766 Centerline is valid? [True, True] Translation: X:105.31, Y:-13.35, Z:-13.08 [[ 9.55761438e-01 2.77740942e-01 9.68506156e-02 1.05314416e+02] [-2.76286342e-01 9.60655936e-01 -2.83906625e-02 -1.33467556e+01] [-1.00925368e-01 3.76198077e-04 9.94893928e-01 -1.30764368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.158241008 meters 0.06510847280669634 Centerline is valid? [True, True] Translation: X:105.37, Y:-13.36, Z:-13.08 [[ 9.55525596e-01 2.78514565e-01 9.69560389e-02 1.05373551e+02] [-2.77058329e-01 9.60431953e-01 -2.84454945e-02 -1.33621044e+01] [-1.01042162e-01 3.17919998e-04 9.94882094e-01 -1.30841375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.218241008 meters 0.06490765847720918 Centerline is valid? [True, True] Translation: X:105.44, Y:-13.37, Z:-13.09 [[ 9.54237590e-01 2.82698813e-01 9.75295012e-02 1.05435032e+02] [-2.81244346e-01 9.59208721e-01 -2.86399462e-02 -1.33724010e+01] [-1.01647627e-01 -1.00307576e-04 9.94820461e-01 -1.30907268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.278241008 meters 0.06536246615452074 Centerline is valid? [True, True] Translation: X:105.50, Y:-13.38, Z:-13.10 [[ 9.52471424e-01 2.88537627e-01 9.76945462e-02 1.05495629e+02] [-2.87105998e-01 9.57468303e-01 -2.87157563e-02 -1.33792792e+01] [-1.01825008e-01 -6.97752911e-04 9.94802081e-01 -1.30985238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.338241008 meters 0.06538983300365946 Centerline is valid? [True, True] Translation: X:105.55, Y:-13.40, Z:-13.10 [[ 9.52362978e-01 2.89069775e-01 9.71772798e-02 1.05554971e+02] [-2.87655069e-01 9.57307744e-01 -2.85735091e-02 -1.33969856e+01] [-1.01288300e-01 -7.41184893e-04 9.94856839e-01 -1.31045065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.398241008 meters 0.06546875570351973 Centerline is valid? [True, True] Translation: X:105.61, Y:-13.41, Z:-13.11 [[ 9.52800608e-01 2.88087271e-01 9.57952258e-02 1.05612995e+02] [-2.86705070e-01 9.57603969e-01 -2.81929376e-02 -1.34133124e+01] [-9.98559148e-02 -6.02728804e-04 9.95001725e-01 -1.31133357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.458241008 meters 0.06521094480906954 Centerline is valid? [True, True] Translation: X:105.67, Y:-13.43, Z:-13.12 [[ 9.54118442e-01 2.84382752e-01 9.37253850e-02 1.05670414e+02] [-2.83041002e-01 9.58710806e-01 -2.75931394e-02 -1.34345394e+01] [-9.77025523e-02 -2.01003778e-04 9.95215640e-01 -1.31216278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.518241008 meters 0.06490651922297042 Centerline is valid? [True, True] Translation: X:105.73, Y:-13.46, Z:-13.13 [[ 9.54794987e-01 2.81650007e-01 9.50778971e-02 1.05728959e+02] [-2.80253205e-01 9.59517203e-01 -2.80156774e-02 -1.34555388e+01] [-9.91194936e-02 1.03342995e-04 9.95075532e-01 -1.31272746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.578241008 meters 0.06473319975764362 Centerline is valid? [True, True] Translation: X:105.79, Y:-13.47, Z:-13.13 [[ 9.55177786e-01 2.80417508e-01 9.48757999e-02 1.05788609e+02] [-2.79018336e-01 9.59878095e-01 -2.79787604e-02 -1.34747818e+01] [-9.89149363e-02 2.52602651e-04 9.95095860e-01 -1.31322134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.638241008 meters 0.06488788426505548 Centerline is valid? [True, True] Translation: X:105.85, Y:-13.50, Z:-13.14 [[ 9.55591657e-01 2.79197157e-01 9.43055234e-02 1.05845213e+02] [-2.77805696e-01 9.60233712e-01 -2.78426601e-02 -1.34959191e+01] [-9.83289343e-02 4.07602132e-04 9.95153885e-01 -1.31406603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.698241008 meters 0.06501807958213447 Centerline is valid? [True, True] Translation: X:105.90, Y:-13.51, Z:-13.15 [[ 9.55577704e-01 2.79236097e-01 9.43316166e-02 1.05904539e+02] [-2.77843046e-01 9.60222386e-01 -2.78605574e-02 -1.35143405e+01] [-9.83590033e-02 4.13543735e-04 9.95150911e-01 -1.31500556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.758241008 meters 0.06500126035398326 Centerline is valid? [True, True] Translation: X:105.96, Y:-13.53, Z:-13.16 [[ 9.55320766e-01 2.80017107e-01 9.46184634e-02 1.05962377e+02] [-2.78616508e-01 9.59994942e-01 -2.79741453e-02 -1.35326395e+01] [-9.86664856e-02 3.62016071e-04 9.95120492e-01 -1.31590500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.818241008 meters 0.06499292658352118 Centerline is valid? [True, True] Translation: X:106.02, Y:-13.55, Z:-13.17 [[ 9.54816044e-01 2.81597399e-01 9.50222402e-02 1.06020590e+02] [-2.80190171e-01 9.59532623e-01 -2.81178429e-02 -1.35490908e+01] [-9.90948508e-02 2.23069842e-04 9.95077967e-01 -1.31668469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.878241008 meters 0.0648675433734689 Centerline is valid? [True, True] Translation: X:106.08, Y:-13.57, Z:-13.17 [[ 9.53822473e-01 2.84725268e-01 9.56776412e-02 1.06080203e+02] [-2.83313091e-01 9.58609156e-01 -2.83227659e-02 -1.35655986e+01] [-9.97816700e-02 -9.18375963e-05 9.95009352e-01 -1.31712653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.938241008 meters 0.06474712896978903 Centerline is valid? [True, True] Translation: X:106.14, Y:-13.58, Z:-13.18 [[ 9.53662080e-01 2.84703630e-01 9.73266680e-02 1.06138266e+02] [-2.83239502e-01 9.58615584e-01 -2.88365366e-02 -1.35840240e+01] [-1.01508727e-01 -6.64455409e-05 9.94834646e-01 -1.31769001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.998241008 meters 0.06482294542533357 Centerline is valid? [True, True] Translation: X:106.20, Y:-13.60, Z:-13.19 [[ 9.54016578e-01 2.83318332e-01 9.78932633e-02 1.06196897e+02] [-2.81827464e-01 9.59025918e-01 -2.90270333e-02 -1.36017508e+01] [-1.02106067e-01 1.03260915e-04 9.94773512e-01 -1.31859152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.058241008 meters 0.06498211015101149 Centerline is valid? [True, True] Translation: X:106.25, Y:-13.62, Z:-13.20 [[ 9.54325967e-01 2.82757325e-01 9.64896063e-02 1.06254879e+02] [-2.81303677e-01 9.59191462e-01 -2.86352940e-02 -1.36200915e+01] [-1.00648846e-01 1.84523534e-04 9.94921995e-01 -1.31960987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.118241008 meters 0.06554238117070972 Centerline is valid? [True, True] Translation: X:106.31, Y:-13.64, Z:-13.21 [[ 9.54778638e-01 2.82981048e-01 9.12111771e-02 1.06312395e+02] [-2.81681363e-01 9.59125485e-01 -2.70908287e-02 -1.36390440e+01] [-9.51491556e-02 1.73255829e-04 9.95463012e-01 -1.32077737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.178241008 meters 0.06581320459996984 Centerline is valid? [True, True] Translation: X:106.37, Y:-13.66, Z:-13.22 [[ 9.54526176e-01 2.84250344e-01 8.98972842e-02 1.06371092e+02] [-2.82991572e-01 9.58750091e-01 -2.67213810e-02 -1.36553571e+01] [-9.37845912e-02 6.60838225e-05 9.95592510e-01 -1.32166936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.238241008 meters 0.06502035890545962 Centerline is valid? [True, True] Translation: X:106.43, Y:-13.68, Z:-13.22 [[ 9.55619131e-01 2.79446655e-01 9.32826048e-02 1.06429586e+02] [-2.78065692e-01 9.60161042e-01 -2.77532585e-02 -1.36806089e+01] [-9.73218783e-02 5.82852680e-04 9.95252788e-01 -1.32151507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.298241008 meters 0.06538127593143235 Centerline is valid? [True, True] Translation: X:106.49, Y:-13.70, Z:-13.23 [[ 9.55730189e-01 2.79360499e-01 9.23986842e-02 1.06487123e+02] [-2.78004675e-01 9.60186108e-01 -2.74961611e-02 -1.36956370e+01] [-9.64012742e-02 5.91645099e-04 9.95342375e-01 -1.32281316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.358241008 meters 0.06520728292383121 Centerline is valid? [True, True] Translation: X:106.55, Y:-13.71, Z:-13.24 [[ 9.55150843e-01 2.80956726e-01 9.35424301e-02 1.06547559e+02] [-2.79572892e-01 9.59720330e-01 -2.78547211e-02 -1.37093912e+01] [-9.76005432e-02 4.53532675e-04 9.95225567e-01 -1.32355066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.418241008 meters 0.06518051195561278 Centerline is valid? [True, True] Translation: X:106.61, Y:-13.72, Z:-13.24 [[ 9.53938913e-01 2.84831622e-01 9.41886250e-02 1.06608069e+02] [-2.83445056e-01 9.58577561e-01 -2.80706148e-02 -1.37225542e+01] [-9.82825012e-02 8.03516611e-05 9.95158552e-01 -1.32432052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.478241008 meters 0.06503784112513294 Centerline is valid? [True, True] Translation: X:106.67, Y:-13.74, Z:-13.25 [[ 9.52616797e-01 2.89310992e-01 9.39169231e-02 1.06668955e+02] [-2.87951942e-01 9.57235092e-01 -2.80117596e-02 -1.37360038e+01] [-9.80046845e-02 -3.59087657e-04 9.95185889e-01 -1.32493609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.538241008 meters 0.06524579448608053 Centerline is valid? [True, True] Translation: X:106.73, Y:-13.75, Z:-13.26 [[ 9.52475661e-01 2.89492341e-01 9.47855441e-02 1.06727541e+02] [-2.88105724e-01 9.57180266e-01 -2.83024858e-02 -1.37504993e+01] [-9.89202052e-02 -3.50828925e-04 9.95095307e-01 -1.32584160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.598241008 meters 0.0653951728851698 Centerline is valid? [True, True] Translation: X:106.79, Y:-13.77, Z:-13.27 [[ 9.52724218e-01 2.88895449e-01 9.41062337e-02 1.06786861e+02] [-2.87524640e-01 9.57360613e-01 -2.81111666e-02 -1.37675718e+01] [-9.82147897e-02 -2.75671698e-04 9.95165202e-01 -1.32673763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.658241008 meters 0.0654997163655754 Centerline is valid? [True, True] Translation: X:106.85, Y:-13.79, Z:-13.28 [[ 9.52816334e-01 2.89180284e-01 9.22810784e-02 1.06845438e+02] [-2.87861405e-01 9.57274614e-01 -2.75884951e-02 -1.37862773e+01] [-9.63163826e-02 -2.77392169e-04 9.95350731e-01 -1.32760151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.718241008 meters 0.0658758036211463 Centerline is valid? [True, True] Translation: X:106.90, Y:-13.81, Z:-13.29 [[ 9.53637632e-01 2.87591857e-01 8.86915447e-02 1.06901842e+02] [-2.86364637e-01 9.57753056e-01 -2.65401358e-02 -1.38059853e+01] [-9.25773249e-02 -8.84496791e-05 9.95705494e-01 -1.32877639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.778241008 meters 0.06578895598096783 Centerline is valid? [True, True] Translation: X:106.96, Y:-13.83, Z:-13.29 [[ 9.54935810e-01 2.83810940e-01 8.68846915e-02 1.06959631e+02] [-2.82617058e-01 9.58880218e-01 -2.60062697e-02 -1.38284790e+01] [-9.06928758e-02 2.79222283e-04 9.95878870e-01 -1.32942076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.838241008 meters 0.06596316796421808 Centerline is valid? [True, True] Translation: X:107.02, Y:-13.85, Z:-13.30 [[ 9.56256827e-01 2.79676422e-01 8.57553445e-02 1.07016362e+02] [-2.78494888e-01 9.60094075e-01 -2.56897927e-02 -1.38528825e+01] [-8.95180274e-02 6.83614556e-04 9.95984967e-01 -1.33011114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.898241008 meters 0.06612310497879306 Centerline is valid? [True, True] Translation: X:107.08, Y:-13.87, Z:-13.31 [[ 9.56779469e-01 2.77699218e-01 8.63492477e-02 1.07075077e+02] [-2.76491313e-01 9.60667655e-01 -2.58884121e-02 -1.38739618e+01] [-9.01421211e-02 8.94684260e-04 9.95928510e-01 -1.33084890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.958241008 meters 0.06580467640042269 Centerline is valid? [True, True] Translation: X:107.13, Y:-13.89, Z:-13.31 [[ 9.56616851e-01 2.77637461e-01 8.83268978e-02 1.07133215e+02] [-2.76370711e-01 9.60685455e-01 -2.65082443e-02 -1.38935525e+01] [-9.22140476e-02 9.47265606e-04 9.95738757e-01 -1.33145456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.018241008 meters 0.06515194769652607 Centerline is valid? [True, True] Translation: X:107.19, Y:-13.91, Z:-13.32 [[ 9.55605355e-01 2.80809931e-01 8.92423026e-02 1.07194396e+02] [-2.79528050e-01 9.59763163e-01 -2.68093311e-02 -1.39068069e+01] [-9.31798011e-02 6.73413498e-04 9.95649070e-01 -1.33190685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.078241008 meters 0.06493854083181863 Centerline is valid? [True, True] Translation: X:107.25, Y:-13.92, Z:-13.33 [[ 9.54672954e-01 2.83506293e-01 9.06847946e-02 1.07253489e+02] [-2.82194259e-01 9.58970283e-01 -2.72469403e-02 -1.39229450e+01] [-9.46887022e-02 4.21188560e-04 9.95506842e-01 -1.33255766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.138241008 meters 0.06460387552948861 Centerline is valid? [True, True] Translation: X:107.31, Y:-13.94, Z:-13.33 [[ 9.53512890e-01 2.87213678e-01 9.12220992e-02 1.07313355e+02] [-2.85900741e-01 9.57866534e-01 -2.74311680e-02 -1.39377069e+01] [-9.52572027e-02 7.55065035e-05 9.95452691e-01 -1.33312803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.198241008 meters 0.06479716363549543 Centerline is valid? [True, True] Translation: X:107.37, Y:-13.95, Z:-13.34 [[ 9.53333966e-01 2.88212003e-01 8.99343728e-02 1.07372807e+02] [-2.86938270e-01 9.57566625e-01 -2.70663644e-02 -1.39531208e+01] [-9.39190050e-02 -2.32880645e-06 9.95579841e-01 -1.33409356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.258241008 meters 0.06475155849890753 Centerline is valid? [True, True] Translation: X:107.43, Y:-13.97, Z:-13.35 [[ 9.53700593e-01 2.87783898e-01 8.73819561e-02 1.07430841e+02] [-2.86577842e-01 9.57695372e-01 -2.63194921e-02 -1.39743834e+01] [-9.12596209e-02 5.91827573e-05 9.95827133e-01 -1.33485318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.318241008 meters 0.06474572900785179 Centerline is valid? [True, True] Translation: X:107.49, Y:-14.00, Z:-13.36 [[ 9.54714025e-01 2.84155636e-01 8.81856279e-02 1.07487414e+02] [-2.82909597e-01 9.58778070e-01 -2.65851956e-02 -1.39972325e+01] [-9.21047792e-02 4.32698639e-04 9.95749227e-01 -1.33558975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.378241008 meters 0.06460459970098863 Centerline is valid? [True, True] Translation: X:107.55, Y:-14.02, Z:-13.36 [[ 9.54922136e-01 2.82992440e-01 8.96604322e-02 1.07545805e+02] [-2.81697160e-01 9.59121968e-01 -2.70510819e-02 -1.40164206e+01] [-9.36505418e-02 5.74587738e-04 9.95604965e-01 -1.33642558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.438241008 meters 0.06437938802948562 Centerline is valid? [True, True] Translation: X:107.61, Y:-14.03, Z:-13.37 [[ 9.54421403e-01 2.84357971e-01 9.06660398e-02 1.07605046e+02] [-2.83037369e-01 9.58718064e-01 -2.73774019e-02 -1.40333722e+01] [-9.47081526e-02 4.67701017e-04 9.95504971e-01 -1.33700572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.498241008 meters 0.06392781774902774 Centerline is valid? [True, True] Translation: X:107.67, Y:-14.05, Z:-13.37 [[ 9.53713116e-01 2.85925518e-01 9.31551960e-02 1.07665286e+02] [-2.84536363e-01 9.58251783e-01 -2.81527664e-02 -1.40492357e+01] [-9.73157270e-02 3.43621881e-04 9.95253501e-01 -1.33743757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.558241008 meters 0.06396130567412761 Centerline is valid? [True, True] Translation: X:107.73, Y:-14.06, Z:-13.38 [[ 9.52412032e-01 2.90292266e-01 9.29608651e-02 1.07726663e+02] [-2.88927435e-01 9.56938030e-01 -2.81166048e-02 -1.40607770e+01] [-9.71198200e-02 -8.03515439e-05 9.95272693e-01 -1.33819366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.618241008 meters 0.06433645704612449 Centerline is valid? [True, True] Translation: X:107.79, Y:-14.07, Z:-13.39 [[ 9.50067798e-01 2.98129452e-01 9.21412401e-02 1.07788901e+02] [-2.96822676e-01 9.54525072e-01 -2.78959783e-02 -1.40662863e+01] [-9.62677366e-02 -8.46538775e-04 9.95355116e-01 -1.33906580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.678241008 meters 0.06493049170498914 Centerline is valid? [True, True] Translation: X:107.85, Y:-14.08, Z:-13.40 [[ 9.49782265e-01 2.99862493e-01 8.94211041e-02 1.07847422e+02] [-2.98637416e-01 9.53981941e-01 -2.70951926e-02 -1.40780676e+01] [-9.34309505e-02 -9.69954063e-04 9.95625289e-01 -1.34033774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.738241008 meters 0.06431698809365279 Centerline is valid? [True, True] Translation: X:107.91, Y:-14.10, Z:-13.41 [[ 9.50584865e-01 2.97214020e-01 8.97342777e-02 1.07905195e+02] [-2.95966823e-01 9.54810633e-01 -2.72083707e-02 -1.41007836e+01] [-9.37659517e-02 -6.94503713e-04 9.95594026e-01 -1.34095101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.798241008 meters 0.0634122012996721 Centerline is valid? [True, True] Translation: X:107.96, Y:-14.13, Z:-13.41 [[ 9.52783709e-01 2.89394436e-01 9.19459870e-02 1.07960896e+02] [-2.88046130e-01 9.57209930e-01 -2.79029918e-02 -1.41291835e+01] [-9.60865823e-02 1.00830322e-04 9.95372975e-01 -1.34146259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.858241008 meters 0.06350334078818722 Centerline is valid? [True, True] Translation: X:108.02, Y:-14.15, Z:-13.42 [[ 9.54411233e-01 2.83910753e-01 9.21622653e-02 1.08016402e+02] [-2.82528332e-01 9.58850471e-01 -2.79913390e-02 -1.41541781e+01] [-9.63168736e-02 6.76797213e-04 9.95350492e-01 -1.34226877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.918241008 meters 0.06415555701766629 Centerline is valid? [True, True] Translation: X:108.07, Y:-14.18, Z:-13.43 [[ 9.56320081e-01 2.76921656e-01 9.36285116e-02 1.08072159e+02] [-2.75459198e-01 9.60891444e-01 -2.84580762e-02 -1.41821431e+01] [-9.78474934e-02 1.42419503e-03 9.95200402e-01 -1.34298248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.978241008 meters 0.0647445912539336 Centerline is valid? [True, True] Translation: X:108.13, Y:-14.21, Z:-13.44 [[ 9.57096118e-01 2.73938996e-01 9.44692973e-02 1.08128421e+02] [-2.72433251e-01 9.61745446e-01 -2.87371116e-02 -1.42058695e+01] [-9.87276319e-02 1.76760013e-03 9.95112923e-01 -1.34356063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.038241008 meters 0.0636703300969425 Centerline is valid? [True, True] Translation: X:108.19, Y:-14.22, Z:-13.44 [[ 9.56740306e-01 2.74379160e-01 9.67680902e-02 1.08188766e+02] [-2.72799116e-01 9.61619930e-01 -2.94576400e-02 -1.42218603e+01] [-1.01136687e-01 1.78506206e-03 9.94870938e-01 -1.34368061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.098241008 meters 0.0635869013957431 Centerline is valid? [True, True] Translation: X:108.25, Y:-14.23, Z:-13.45 [[ 9.54912951e-01 2.81395041e-01 9.46471762e-02 1.08248837e+02] [-2.79915655e-01 9.59591447e-01 -2.88354137e-02 -1.42321554e+01] [-9.89367632e-02 1.04208371e-03 9.95093177e-01 -1.34497778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.158241008 meters 0.0631548310449497 Centerline is valid? [True, True] Translation: X:108.31, Y:-14.24, Z:-13.46 [[ 9.53584792e-01 2.85900459e-01 9.45355561e-02 1.08309650e+02] [-2.84444268e-01 9.58259136e-01 -2.88251206e-02 -1.42444833e+01] [-9.88306755e-02 5.97099633e-04 9.95104086e-01 -1.34574876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.218241008 meters 0.06321640830849562 Centerline is valid? [True, True] Translation: X:108.37, Y:-14.26, Z:-13.47 [[ 9.52085164e-01 2.90487592e-01 9.56598072e-02 1.08370673e+02] [-2.89017118e-01 9.56878748e-01 -2.91919161e-02 -1.42562406e+01] [-1.00014726e-01 1.45868445e-04 9.94985946e-01 -1.34663033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.278241008 meters 0.06314849553879422 Centerline is valid? [True, True] Translation: X:108.43, Y:-14.27, Z:-13.48 [[ 9.51550707e-01 2.92226706e-01 9.56807396e-02 1.08429339e+02] [-2.90761986e-01 9.56349074e-01 -2.92218351e-02 -1.42724545e+01] [-1.00043587e-01 -1.42640164e-05 9.94983055e-01 -1.34753388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.338241008 meters 0.06324758427003906 Centerline is valid? [True, True] Translation: X:108.49, Y:-14.29, Z:-13.48 [[ 9.51015543e-01 2.93411697e-01 9.73602190e-02 1.08488633e+02] [-2.91898421e-01 9.55986173e-01 -2.97615379e-02 -1.42903682e+01] [-1.01807407e-01 -1.15609074e-04 9.94804121e-01 -1.34796971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.398241008 meters 0.06294001018332215 Centerline is valid? [True, True] Translation: X:108.55, Y:-14.31, Z:-13.48 [[ 9.51135439e-01 2.91786363e-01 1.01005421e-01 1.08546509e+02] [-2.90145434e-01 9.56483513e-01 -3.09017148e-02 -1.43130264e+01] [-1.05626719e-01 8.54544036e-05 9.94405847e-01 -1.34815704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.458241008 meters 0.06278049487640568 Centerline is valid? [True, True] Translation: X:108.61, Y:-14.33, Z:-13.49 [[ 9.51324254e-01 2.90784628e-01 1.02110059e-01 1.08605767e+02] [-2.89099026e-01 9.56788509e-01 -3.12650458e-02 -1.43304372e+01] [-1.06789126e-01 2.23277767e-04 9.94281667e-01 -1.34897936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.518241008 meters 0.06320100248307915 Centerline is valid? [True, True] Translation: X:108.66, Y:-14.35, Z:-13.50 [[ 9.51432496e-01 2.90916522e-01 1.00716346e-01 1.08663907e+02] [-2.89274938e-01 9.56748413e-01 -3.08623619e-02 -1.43473320e+01] [-1.05338575e-01 2.28739345e-04 9.94436389e-01 -1.35024389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.578241008 meters 0.06331770313060024 Centerline is valid? [True, True] Translation: X:108.72, Y:-14.37, Z:-13.51 [[ 9.51649079e-01 2.90803904e-01 9.89804044e-02 1.08722225e+02] [-2.89215578e-01 9.56782641e-01 -3.03533661e-02 -1.43685177e+01] [-1.03529610e-01 2.59078010e-04 9.94626338e-01 -1.35089517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.638241008 meters 0.06338268809078682 Centerline is valid? [True, True] Translation: X:108.78, Y:-14.39, Z:-13.52 [[ 9.52098085e-01 2.89234856e-01 9.92594315e-02 1.08779887e+02] [-2.87626387e-01 9.57258059e-01 -3.04642558e-02 -1.43903073e+01] [-1.03828215e-01 4.55327920e-04 9.94595141e-01 -1.35183213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.698241008 meters 0.06348881352975695 Centerline is valid? [True, True] Translation: X:108.84, Y:-14.41, Z:-13.53 [[ 9.52542600e-01 2.87409040e-01 1.00292764e-01 1.08838355e+02] [-2.85753786e-01 9.57807690e-01 -3.08091431e-02 -1.44110773e+01] [-1.04916007e-01 6.87984146e-04 9.94480849e-01 -1.35267109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.758241008 meters 0.06387344456005431 Centerline is valid? [True, True] Translation: X:108.89, Y:-14.43, Z:-13.53 [[ 9.53209083e-01 2.85190712e-01 1.00293080e-01 1.08894850e+02] [-2.83520192e-01 9.58470311e-01 -3.08376962e-02 -1.44329622e+01] [-1.04922564e-01 9.59658700e-04 9.94479932e-01 -1.35339324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.818241008 meters 0.06396379415178811 Centerline is valid? [True, True] Translation: X:108.95, Y:-14.45, Z:-13.54 [[ 9.53401870e-01 2.85040790e-01 9.88768001e-02 1.08953851e+02] [-2.83414295e-01 9.58514884e-01 -3.04229266e-02 -1.44500396e+01] [-1.03446660e-01 9.82176614e-04 9.94634518e-01 -1.35412843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.878241008 meters 0.06400560853422851 Centerline is valid? [True, True] Translation: X:109.01, Y:-14.47, Z:-13.55 [[ 9.53192407e-01 2.86185074e-01 9.75824678e-02 1.09012797e+02] [-2.84604520e-01 9.58173965e-01 -3.00486346e-02 -1.44660775e+01] [-1.02100451e-01 8.69718977e-04 9.94773714e-01 -1.35510148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.938241008 meters 0.06417662220177488 Centerline is valid? [True, True] Translation: X:109.07, Y:-14.48, Z:-13.56 [[ 9.53034641e-01 2.86953427e-01 9.68643568e-02 1.09072688e+02] [-2.85397757e-01 9.57944197e-01 -2.98502066e-02 -1.44830965e+01] [-1.01356268e-01 8.03410707e-04 9.94849869e-01 -1.35575359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.998241008 meters 0.06438827228259242 Centerline is valid? [True, True] Translation: X:109.13, Y:-14.50, Z:-13.57 [[ 9.52820626e-01 2.87688154e-01 9.67903983e-02 1.09130489e+02] [-2.86135682e-01 9.57723843e-01 -2.98565279e-02 -1.45007430e+01] [-1.01287842e-01 7.52728979e-04 9.94856877e-01 -1.35689136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.058241008 meters 0.06421319156789156 Centerline is valid? [True, True] Translation: X:109.19, Y:-14.52, Z:-13.57 [[ 9.52191270e-01 2.89659718e-01 9.71032102e-02 1.09190516e+02] [-2.88104630e-01 9.57129522e-01 -2.99799947e-02 -1.45162573e+01] [-1.01624346e-01 5.70804754e-04 9.94822681e-01 -1.35742585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.118241008 meters 0.06393428873194315 Centerline is valid? [True, True] Translation: X:109.25, Y:-14.53, Z:-13.58 [[ 9.51865596e-01 2.90343962e-01 9.82459733e-02 1.09248089e+02] [-2.88752945e-01 9.56922204e-01 -3.03583890e-02 -1.45349024e+01] [-1.02828128e-01 5.28291896e-04 9.94698998e-01 -1.35797585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.178241008 meters 0.06410969586683075 Centerline is valid? [True, True] Translation: X:109.31, Y:-14.55, Z:-13.59 [[ 9.51560160e-01 2.90957171e-01 9.93840390e-02 1.09306168e+02] [-2.89329858e-01 9.56735953e-01 -3.07335163e-02 -1.45507999e+01] [-1.04026420e-01 4.90019826e-04 9.94574413e-01 -1.35879900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.238241008 meters 0.06442187358221091 Centerline is valid? [True, True] Translation: X:109.37, Y:-14.57, Z:-13.60 [[ 9.51495874e-01 2.91345340e-01 9.88609879e-02 1.09365842e+02] [-2.89735004e-01 9.56617832e-01 -3.05933290e-02 -1.45690971e+01] [-1.03485408e-01 4.65937615e-04 9.94630863e-01 -1.35964758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.298241008 meters 0.06441416665308375 Centerline is valid? [True, True] Translation: X:109.42, Y:-14.59, Z:-13.60 [[ 9.51754759e-01 2.90581451e-01 9.86169282e-02 1.09424379e+02] [-2.88972120e-01 9.56850088e-01 -3.05454277e-02 -1.45909922e+01] [-1.03237551e-01 5.74213415e-04 9.94656563e-01 -1.36024286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.358241008 meters 0.0644779777687616 Centerline is valid? [True, True] Translation: X:109.48, Y:-14.61, Z:-13.61 [[ 9.51967554e-01 2.90219224e-01 9.76246839e-02 1.09482877e+02] [-2.88637444e-01 9.56959978e-01 -3.02659188e-02 -1.46097341e+01] [-1.02206667e-01 6.34033438e-04 9.94762984e-01 -1.36120947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.418241008 meters 0.06503149787690643 Centerline is valid? [True, True] Translation: X:109.54, Y:-14.63, Z:-13.62 [[ 9.52850530e-01 2.87989627e-01 9.55920613e-02 1.09539455e+02] [-2.86459656e-01 9.57633126e-01 -2.96590735e-02 -1.46292442e+01] [-1.00083630e-01 8.77394880e-04 9.94978642e-01 -1.36236152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.478241008 meters 0.0656909208371683 Centerline is valid? [True, True] Translation: X:109.60, Y:-14.65, Z:-13.63 [[ 9.54406215e-01 2.83278302e-01 9.41391565e-02 1.09596769e+02] [-2.81769689e-01 9.59036770e-01 -2.92287008e-02 -1.46517422e+01] [-9.85627693e-02 1.37049281e-03 9.95129892e-01 -1.36337629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.538241008 meters 0.06700511364741249 Centerline is valid? [True, True] Translation: X:109.65, Y:-14.68, Z:-13.64 [[ 9.55789466e-01 2.78655897e-01 9.39009451e-02 1.09651407e+02] [-2.77130263e-01 9.60389197e-01 -2.91789028e-02 -1.46799640e+01] [-9.83123265e-02 1.86609430e-03 9.95153860e-01 -1.36388098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.598241008 meters 0.06854296561453826 Centerline is valid? [True, True] Translation: X:109.71, Y:-14.70, Z:-13.65 [[ 9.57082617e-01 2.73760294e-01 9.51218470e-02 1.09706904e+02] [-2.72168462e-01 9.61794909e-01 -2.95784111e-02 -1.47038963e+01] [-9.95851026e-02 2.41981636e-03 9.95026106e-01 -1.36460569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.658241008 meters 0.06750008092623148 Centerline is valid? [True, True] Translation: X:109.77, Y:-14.72, Z:-13.65 [[ 9.58165468e-01 2.69429820e-01 9.65738470e-02 1.09767386e+02] [-2.67764817e-01 9.63015556e-01 -3.00506484e-02 -1.47173992e+01] [-1.01098658e-01 2.93441510e-03 9.94872078e-01 -1.36479450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.718241008 meters 0.06755418238020998 Centerline is valid? [True, True] Translation: X:109.83, Y:-14.73, Z:-13.66 [[ 9.57913357e-01 2.70305182e-01 9.66287206e-02 1.09826690e+02] [-2.68640403e-01 9.62770428e-01 -3.00904940e-02 -1.47326302e+01] [-1.01164891e-01 2.86570763e-03 9.94865545e-01 -1.36559510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.778241008 meters 0.06784179610830654 Centerline is valid? [True, True] Translation: X:109.88, Y:-14.75, Z:-13.67 [[ 9.56504137e-01 2.75703791e-01 9.53270960e-02 1.09884587e+02] [-2.74107918e-01 9.61239922e-01 -2.97096343e-02 -1.47463220e+01] [-9.98232691e-02 2.28747630e-03 9.95002554e-01 -1.36685160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.838241008 meters 0.06614348963161376 Centerline is valid? [True, True] Translation: X:109.95, Y:-14.76, Z:-13.67 [[ 9.55570504e-01 2.79569435e-01 9.34127526e-02 1.09946279e+02] [-2.78053909e-01 9.60123671e-01 -2.91300436e-02 -1.47566832e+01] [-9.78316648e-02 1.86202944e-03 9.95201235e-01 -1.36720448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.898241008 meters 0.0657837751039781 Centerline is valid? [True, True] Translation: X:110.01, Y:-14.77, Z:-13.68 [[ 9.54035042e-01 2.84957441e-01 9.28245372e-02 1.10005562e+02] [-2.83484030e-01 9.58539254e-01 -2.89707244e-02 -1.47681334e+01] [-9.72313862e-02 1.32481239e-03 9.95260922e-01 -1.36822486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.958241008 meters 0.0657401103552413 Centerline is valid? [True, True] Translation: X:110.07, Y:-14.78, Z:-13.70 [[ 9.52667325e-01 2.90011269e-01 9.12054425e-02 1.10065059e+02] [-2.88609984e-01 9.57022883e-01 -2.84864474e-02 -1.47784529e+01] [-9.55470863e-02 8.15306272e-04 9.95424578e-01 -1.36958750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.018241008 meters 0.06553503836332995 Centerline is valid? [True, True] Translation: X:110.12, Y:-14.80, Z:-13.70 [[ 9.51837763e-01 2.92517667e-01 9.18601562e-02 1.10124558e+02] [-2.91105803e-01 9.56259938e-01 -2.87113534e-02 -1.47954123e+01] [-9.62407655e-02 5.87525844e-04 9.95357910e-01 -1.37018230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.078241008 meters 0.06537504297624182 Centerline is valid? [True, True] Translation: X:110.18, Y:-14.81, Z:-13.71 [[ 9.51078016e-01 2.94672306e-01 9.28377057e-02 1.10182511e+02] [-2.93237853e-01 9.55598280e-01 -2.90428664e-02 -1.48135455e+01] [-9.72736803e-02 3.98502237e-04 9.95257591e-01 -1.37084222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.138241008 meters 0.06525516120223537 Centerline is valid? [True, True] Translation: X:110.24, Y:-14.83, Z:-13.71 [[ 9.50810339e-01 2.94536044e-01 9.59594649e-02 1.10239393e+02] [-2.93001283e-01 9.55640271e-01 -3.00320064e-02 -1.48345985e+01] [-1.00548237e-01 4.38495865e-04 9.94932088e-01 -1.37130506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.198241008 meters 0.06498889645809022 Centerline is valid? [True, True] Translation: X:110.30, Y:-14.85, Z:-13.72 [[ 9.50757903e-01 2.94417698e-01 9.68381619e-02 1.10298322e+02] [-2.92851578e-01 9.55676719e-01 -3.03308857e-02 -1.48544197e+01] [-1.01475926e-01 4.78120743e-04 9.94837880e-01 -1.37202819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.258241008 meters 0.06520653254081493 Centerline is valid? [True, True] Translation: X:110.36, Y:-14.87, Z:-13.73 [[ 9.50553473e-01 2.95203636e-01 9.64515870e-02 1.10357895e+02] [-2.93653083e-01 9.55434274e-01 -3.02194494e-02 -1.48730037e+01] [-1.01074043e-01 4.01896736e-04 9.94878825e-01 -1.37306453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.318241008 meters 0.06547147565392245 Centerline is valid? [True, True] Translation: X:110.42, Y:-14.89, Z:-13.74 [[ 9.50313660e-01 2.96822119e-01 9.38113897e-02 1.10415358e+02] [-2.95360865e-01 9.54932756e-01 -2.94175341e-02 -1.48932106e+01] [-9.83153437e-02 2.47671268e-04 9.95155280e-01 -1.37412125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.378241008 meters 0.06579555902436583 Centerline is valid? [True, True] Translation: X:110.47, Y:-14.92, Z:-13.75 [[ 9.51022394e-01 2.94851194e-01 9.28395352e-02 1.10472007e+02] [-2.93408612e-01 9.55543068e-01 -2.91347189e-02 -1.49172961e+01] [-9.73025810e-02 4.67850940e-04 9.95254736e-01 -1.37507464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.438241008 meters 0.0665722869352295 Centerline is valid? [True, True] Translation: X:110.53, Y:-14.94, Z:-13.76 [[ 9.52477090e-01 2.90491009e-01 9.16644266e-02 1.10526650e+02] [-2.89062285e-01 9.56877274e-01 -2.87902320e-02 -1.49438911e+01] [-9.60749102e-02 9.25307756e-04 9.95373676e-01 -1.37599176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.498241008 meters 0.06649041668773462 Centerline is valid? [True, True] Translation: X:110.58, Y:-14.96, Z:-13.77 [[ 9.52985006e-01 2.88331625e-01 9.31904129e-02 1.10584649e+02] [-2.86843678e-01 9.57529897e-01 -2.92779832e-02 -1.49643308e+01] [-9.76743750e-02 1.17039822e-03 9.95217738e-01 -1.37653819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.558241008 meters 0.06634779209412278 Centerline is valid? [True, True] Translation: X:110.64, Y:-14.98, Z:-13.77 [[ 9.52919814e-01 2.87825614e-01 9.53952027e-02 1.10644230e+02] [-2.86261343e-01 9.57681989e-01 -2.99941862e-02 -1.49823553e+01] [-9.99913626e-02 1.27409546e-03 9.94987489e-01 -1.37702372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.618241008 meters 0.06557943874283466 Centerline is valid? [True, True] Translation: X:110.70, Y:-15.00, Z:-13.77 [[ 9.52236532e-01 2.89799857e-01 9.62373662e-02 1.10704384e+02] [-2.88215481e-01 9.57086640e-01 -3.02820166e-02 -1.49974921e+01] [-1.00883222e-01 1.09854370e-03 9.94897668e-01 -1.37737203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.678241008 meters 0.06586744841107452 Centerline is valid? [True, True] Translation: X:110.76, Y:-15.01, Z:-13.79 [[ 9.51309031e-01 2.93501440e-01 9.41702295e-02 1.10764442e+02] [-2.92000321e-01 9.55958365e-01 -2.96549549e-02 -1.50098316e+01] [-9.87265906e-02 7.13289193e-04 9.95114341e-01 -1.37852089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.738241008 meters 0.06623224736982503 Centerline is valid? [True, True] Translation: X:110.82, Y:-15.03, Z:-13.80 [[ 9.51032985e-01 2.95059856e-01 9.20648895e-02 1.10821870e+02] [-2.93630288e-01 9.55478606e-01 -2.90153005e-02 -1.50263418e+01] [-9.65272827e-02 5.61467798e-04 9.95330181e-01 -1.37963719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.798241008 meters 0.06661292045945742 Centerline is valid? [True, True] Translation: X:110.88, Y:-15.04, Z:-13.81 [[ 9.50910163e-01 2.96578948e-01 8.83786689e-02 1.10881231e+02] [-2.95266572e-01 9.55008251e-01 -2.78727679e-02 -1.50407571e+01] [-9.26688342e-02 4.09231667e-04 9.95696902e-01 -1.38070158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.858241008 meters 0.06672632181124212 Centerline is valid? [True, True] Translation: X:110.94, Y:-15.06, Z:-13.82 [[ 9.50745963e-01 2.97011271e-01 8.86928343e-02 1.10938362e+02] [-2.95689231e-01 9.54873893e-01 -2.79951216e-02 -1.50604885e+01] [-9.30053386e-02 3.90732886e-04 9.95665533e-01 -1.38165826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.918241008 meters 0.06623718633799225 Centerline is valid? [True, True] Translation: X:111.00, Y:-15.08, Z:-13.82 [[ 9.50693017e-01 2.96458039e-01 9.10791862e-02 1.10997597e+02] [-2.95059138e-01 9.55045760e-01 -2.87698076e-02 -1.50798348e+01] [-9.55138313e-02 4.77509026e-04 9.95427988e-01 -1.38199986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.978241008 meters 0.06636429602746878 Centerline is valid? [True, True] Translation: X:111.06, Y:-15.10, Z:-13.83 [[ 9.50974532e-01 2.95080028e-01 9.26024598e-02 1.11055087e+02] [-2.93624951e-01 9.55472320e-01 -2.92751270e-02 -1.51001077e+01] [-9.71175924e-02 6.49507489e-04 9.95272702e-01 -1.38274549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.038241008 meters 0.06614070670718625 Centerline is valid? [True, True] Translation: X:111.11, Y:-15.12, Z:-13.83 [[ 9.51050907e-01 2.94068404e-01 9.50049849e-02 1.11113303e+02] [-2.92529400e-01 9.55784047e-01 -3.00567162e-02 -1.51206516e+01] [-9.96429795e-02 7.93715976e-04 9.95022938e-01 -1.38326048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.098241008 meters 0.06600685015553671 Centerline is valid? [True, True] Translation: X:111.17, Y:-15.14, Z:-13.84 [[ 9.51295434e-01 2.93166910e-01 9.53423265e-02 1.11172714e+02] [-2.91610218e-01 9.56060840e-01 -3.01852635e-02 -1.51394046e+01] [-1.00002385e-01 9.12306732e-04 9.94986779e-01 -1.38368047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.158241008 meters 0.06655032628966907 Centerline is valid? [True, True] Translation: X:111.23, Y:-15.16, Z:-13.85 [[ 9.51405916e-01 2.93209152e-01 9.41019498e-02 1.11229204e+02] [-2.91690103e-01 9.56047875e-01 -2.98218846e-02 -1.51585761e+01] [-9.87100186e-02 9.24110028e-04 9.95115811e-01 -1.38477716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.218241008 meters 0.06693214878110802 Centerline is valid? [True, True] Translation: X:111.29, Y:-15.18, Z:-13.86 [[ 9.51457306e-01 2.93972034e-01 9.11561243e-02 1.11287419e+02] [-2.92548754e-01 9.55813657e-01 -2.89046508e-02 -1.51773020e+01] [-9.56254276e-02 8.33930574e-04 9.95417039e-01 -1.38573697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.278241008 meters 0.06747331640461761 Centerline is valid? [True, True] Translation: X:111.35, Y:-15.20, Z:-13.87 [[ 9.51788548e-01 2.93593370e-01 8.88903428e-02 1.11345267e+02] [-2.92236468e-01 9.55930005e-01 -2.82076544e-02 -1.51962130e+01] [-9.32545262e-02 8.70722661e-04 9.95641921e-01 -1.38692540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.338241008 meters 0.06768676348524513 Centerline is valid? [True, True] Translation: X:111.40, Y:-15.21, Z:-13.88 [[ 9.51873574e-01 2.93377958e-01 8.86908793e-02 1.11402992e+02] [-2.92023903e-01 9.55996098e-01 -2.81691489e-02 -1.52140392e+01] [-9.30523420e-02 9.13611741e-04 9.95660799e-01 -1.38783693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.398241008 meters 0.06787061872152923 Centerline is valid? [True, True] Translation: X:111.46, Y:-15.24, Z:-13.88 [[ 9.52337270e-01 2.91651007e-01 8.94058979e-02 1.11461144e+02] [-2.90266547e-01 9.56524166e-01 -2.84051197e-02 -1.52359195e+01] [-9.38032837e-02 1.09971294e-03 9.95590144e-01 -1.38845575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.458241008 meters 0.06732399095647527 Centerline is valid? [True, True] Translation: X:111.52, Y:-15.26, Z:-13.88 [[ 9.52527370e-01 2.89493731e-01 9.42602172e-02 1.11519275e+02] [-2.87941281e-01 9.57178872e-01 -2.99737408e-02 -1.52573881e+01] [-9.89010985e-02 1.40940081e-03 9.95096270e-01 -1.38843445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.518241008 meters 0.06669861609029289 Centerline is valid? [True, True] Translation: X:111.58, Y:-15.27, Z:-13.89 [[ 9.52625711e-01 2.88300913e-01 9.68856945e-02 1.11579589e+02] [-2.86652144e-01 9.57538528e-01 -3.08304394e-02 -1.52736881e+01] [-1.01660229e-01 1.59737722e-03 9.94817896e-01 -1.38872673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.578241008 meters 0.06799940610654095 Centerline is valid? [True, True] Translation: X:111.64, Y:-15.29, Z:-13.90 [[ 9.53429546e-01 2.85792973e-01 9.64078722e-02 1.11635328e+02] [-2.84145141e-01 9.58289541e-01 -3.07033377e-02 -1.52945904e+01] [-1.01161454e-01 1.87964086e-03 9.94868246e-01 -1.39003247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.638241008 meters 0.06869723110519878 Centerline is valid? [True, True] Translation: X:111.69, Y:-15.32, Z:-13.91 [[ 9.54861453e-01 2.81641564e-01 9.44332259e-02 1.11692599e+02] [-2.80038752e-01 9.59516958e-01 -3.00916077e-02 -1.53162996e+01] [-9.90853292e-02 2.28835357e-03 9.95076309e-01 -1.39060164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.698241008 meters 0.0692010105820475 Centerline is valid? [True, True] Translation: X:111.75, Y:-15.33, Z:-13.91 [[ 9.55390062e-01 2.80125912e-01 9.35911474e-02 1.11751232e+02] [-2.78542354e-01 9.59960157e-01 -2.98438279e-02 -1.53349069e+01] [-9.82038021e-02 2.44339809e-03 9.95163325e-01 -1.39137389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.758241008 meters 0.06973066022593537 Centerline is valid? [True, True] Translation: X:111.81, Y:-15.35, Z:-13.92 [[ 9.55257719e-01 2.81227997e-01 9.16160723e-02 1.11809330e+02] [-2.79713703e-01 9.59638222e-01 -2.92357093e-02 -1.53506163e+01] [-9.61401847e-02 2.30136615e-03 9.95365143e-01 -1.39248120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.818241008 meters 0.06917035560068062 Centerline is valid? [True, True] Translation: X:111.87, Y:-15.37, Z:-13.93 [[ 9.54370395e-01 2.84309210e-01 9.13532829e-02 1.11869299e+02] [-2.82815811e-01 9.58730545e-01 -2.91712180e-02 -1.53660560e+01] [-9.58768286e-02 2.00399405e-03 9.95391188e-01 -1.39321991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.878241008 meters 0.06744420427555929 Centerline is valid? [True, True] Translation: X:111.93, Y:-15.37, Z:-13.94 [[ 9.51652111e-01 2.93288666e-01 9.13237028e-02 1.11931207e+02] [-2.91835251e-01 9.56023274e-01 -2.91836504e-02 -1.53713783e+01] [-9.58668192e-02 1.12120683e-03 9.95393538e-01 -1.39417118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.938241008 meters 0.06633921558527946 Centerline is valid? [True, True] Translation: X:111.99, Y:-15.38, Z:-13.94 [[ 9.49360746e-01 3.00181414e-01 9.27647175e-02 1.11993581e+02] [-2.98712671e-01 9.53882024e-01 -2.96618165e-02 -1.53789604e+01] [-9.73905226e-02 4.49767680e-04 9.95246142e-01 -1.39446340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.998241008 meters 0.06629463777058184 Centerline is valid? [True, True] Translation: X:112.06, Y:-15.39, Z:-13.95 [[ 9.46572327e-01 3.08679324e-01 9.33697225e-02 1.12055153e+02] [-3.07230340e-01 9.51166079e-01 -2.98765432e-02 -1.53870914e+01] [-9.80323841e-02 -4.05702611e-04 9.95183142e-01 -1.39524508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.058241008 meters 0.06631155090067968 Centerline is valid? [True, True] Translation: X:112.11, Y:-15.40, Z:-13.96 [[ 9.45952252e-01 3.10430622e-01 9.38465021e-02 1.12114930e+02] [-3.08973204e-01 9.50595868e-01 -3.00508699e-02 -1.54039289e+01] [-9.85388073e-02 -5.69366342e-04 9.95133046e-01 -1.39597015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.118241008 meters 0.06630434722099539 Centerline is valid? [True, True] Translation: X:112.17, Y:-15.42, Z:-13.97 [[ 9.45793324e-01 3.10977804e-01 9.36365016e-02 1.12174131e+02] [-3.09527074e-01 9.50416985e-01 -3.00090917e-02 -1.54239752e+01] [-9.83258829e-02 -6.00633824e-04 9.95154089e-01 -1.39669023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.178241008 meters 0.06581482442795059 Centerline is valid? [True, True] Translation: X:112.23, Y:-15.45, Z:-13.97 [[ 9.47444885e-01 3.05461986e-01 9.50850366e-02 1.12228892e+02] [-3.03935090e-01 9.52204272e-01 -3.05038652e-02 -1.54511979e+01] [-9.98581493e-02 1.05185667e-06 9.95001683e-01 -1.39729169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.238241008 meters 0.06612030303194372 Centerline is valid? [True, True] Translation: X:112.29, Y:-15.47, Z:-13.99 [[ 9.49581265e-01 3.00328919e-01 8.99886725e-02 1.12285400e+02] [-2.98937743e-01 9.53835556e-01 -2.88783217e-02 -1.54738096e+01] [-9.45073906e-02 5.21302646e-04 9.95524023e-01 -1.39851691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.298241008 meters 0.0672687110101003 Centerline is valid? [True, True] Translation: X:112.34, Y:-15.49, Z:-14.00 [[ 9.50120020e-01 2.99966592e-01 8.53931556e-02 1.12341889e+02] [-2.98711007e-01 9.53949550e-01 -2.74224285e-02 -1.54901586e+01] [-8.96865748e-02 5.46722849e-04 9.95969889e-01 -1.40038879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.358241008 meters 0.06739029890788217 Centerline is valid? [True, True] Translation: X:112.40, Y:-15.51, Z:-14.01 [[ 9.50354108e-01 2.99614784e-01 8.40122103e-02 1.12399991e+02] [-2.98396769e-01 9.54060081e-01 -2.69950002e-02 -1.55111849e+01] [-8.82407973e-02 5.85837166e-04 9.96099000e-01 -1.40109231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.418241008 meters 0.06675830188671335 Centerline is valid? [True, True] Translation: X:112.46, Y:-15.53, Z:-14.01 [[ 9.50324823e-01 2.99260649e-01 8.55908586e-02 1.12458716e+02] [-2.97993030e-01 9.54171180e-01 -2.75229563e-02 -1.55328098e+01] [-8.99048683e-02 6.50269240e-04 9.95950145e-01 -1.40120558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.478241008 meters 0.06647853923394301 Centerline is valid? [True, True] Translation: X:112.52, Y:-15.55, Z:-14.02 [[ 9.49869036e-01 3.00406483e-01 8.66300115e-02 1.12517687e+02] [-2.99110147e-01 9.53811100e-01 -2.78837699e-02 -1.55526246e+01] [-9.10051319e-02 5.74014187e-04 9.95850258e-01 -1.40191098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.538241008 meters 0.06711103854798699 Centerline is valid? [True, True] Translation: X:112.57, Y:-15.57, Z:-14.03 [[ 9.49669542e-01 3.00099925e-01 8.98209053e-02 1.12573934e+02] [-2.98704298e-01 9.53907562e-01 -2.89154714e-02 -1.55738324e+01] [-9.43583716e-02 6.30252010e-04 9.95538096e-01 -1.40317269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.598241008 meters 0.06662175952243371 Centerline is valid? [True, True] Translation: X:112.63, Y:-15.59, Z:-14.03 [[ 9.49495383e-01 3.01187328e-01 8.80040421e-02 1.12633621e+02] [-2.99850542e-01 9.53564844e-01 -2.83503109e-02 -1.55917097e+01] [-9.24563151e-02 5.30429555e-04 9.95716600e-01 -1.40339750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.658241008 meters 0.06684534843904712 Centerline is valid? [True, True] Translation: X:112.69, Y:-15.61, Z:-14.04 [[ 9.48888070e-01 3.03618195e-01 8.61824964e-02 1.12692276e+02] [-3.02344392e-01 9.52793733e-01 -2.77843736e-02 -1.56059938e+01] [-9.05499838e-02 3.07466219e-04 9.95891865e-01 -1.40440900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.718241008 meters 0.06692300114453477 Centerline is valid? [True, True] Translation: X:112.75, Y:-15.62, Z:-14.05 [[ 9.47648709e-01 3.07353742e-01 8.65771439e-02 1.12752765e+02] [-3.06082038e-01 9.51595332e-01 -2.79304430e-02 -1.56196000e+01] [-9.09709322e-02 -3.14604150e-05 9.95853548e-01 -1.40513080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.778241008 meters 0.06665929300668458 Centerline is valid? [True, True] Translation: X:112.81, Y:-15.63, Z:-14.06 [[ 9.46962490e-01 3.09301818e-01 8.71460166e-02 1.12812970e+02] [-3.08019649e-01 9.50963903e-01 -2.81345147e-02 -1.56337031e+01] [-9.15747726e-02 -2.00355366e-04 9.95798183e-01 -1.40560391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.838241008 meters 0.06650617787421215 Centerline is valid? [True, True] Translation: X:112.87, Y:-15.65, Z:-14.06 [[ 9.47046856e-01 3.08378225e-01 8.94713489e-02 1.12871620e+02] [-3.07020243e-01 9.51263823e-01 -2.89086259e-02 -1.56515674e+01] [-9.40256482e-02 -9.16919713e-05 9.95569771e-01 -1.40628125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.898241008 meters 0.06613261797270255 Centerline is valid? [True, True] Translation: X:112.93, Y:-15.67, Z:-14.07 [[ 9.47701011e-01 3.05579925e-01 9.21070202e-02 1.12928290e+02] [-3.04124822e-01 9.52166405e-01 -2.97864110e-02 -1.56748873e+01] [-9.68033395e-02 2.16580701e-04 9.95303505e-01 -1.40680607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.958241008 meters 0.06645794826324532 Centerline is valid? [True, True] Translation: X:112.99, Y:-15.70, Z:-14.07 [[ 9.49194379e-01 3.00920642e-01 9.20695245e-02 1.12985336e+02] [-2.99443806e-01 9.53648926e-01 -2.97847686e-02 -1.57005353e+01] [-9.67648549e-02 7.01886066e-04 9.95307023e-01 -1.40734130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.018241008 meters 0.06679921308504239 Centerline is valid? [True, True] Translation: X:113.04, Y:-15.72, Z:-14.08 [[ 9.50221800e-01 2.97667437e-01 9.20468749e-02 1.13042727e+02] [-2.96173929e-01 9.54669045e-01 -2.97996416e-02 -1.57231947e+01] [-9.67446851e-02 1.05438451e-03 9.95308673e-01 -1.40814626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.078241008 meters 0.06746484307531146 Centerline is valid? [True, True] Translation: X:113.10, Y:-15.74, Z:-14.09 [[ 9.52225584e-01 2.92047196e-01 8.93021401e-02 1.13100304e+02] [-2.90615017e-01 9.56402575e-01 -2.89314058e-02 -1.57446936e+01] [-9.38581327e-02 1.59668183e-03 9.95584302e-01 -1.40901746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.138241008 meters 0.06962454766172635 Centerline is valid? [True, True] Translation: X:113.16, Y:-15.77, Z:-14.10 [[ 9.53567551e-01 2.87713654e-01 8.90493119e-02 1.13155106e+02] [-2.86268751e-01 9.57714311e-01 -2.88704228e-02 -1.57700281e+01] [-9.35902152e-02 2.03786305e-03 9.95608718e-01 -1.41038051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.198241008 meters 0.06953367661977529 Centerline is valid? [True, True] Translation: X:113.21, Y:-15.79, Z:-14.10 [[ 9.54590980e-01 2.84328654e-01 8.89566004e-02 1.13212984e+02] [-2.82870197e-01 9.58723902e-01 -2.88605682e-02 -1.57918827e+01] [-9.34907055e-02 2.38686697e-03 9.95617291e-01 -1.41048238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.258241008 meters 0.07042564242365326 Centerline is valid? [True, True] Translation: X:113.27, Y:-15.81, Z:-14.11 [[ 9.54074000e-01 2.85041042e-01 9.21651024e-02 1.13269886e+02] [-2.83476381e-01 9.58512251e-01 -2.99233294e-02 -1.58103497e+01] [-9.68707568e-02 2.42244097e-03 9.95294021e-01 -1.41129428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.318241008 meters 0.06758112237217959 Centerline is valid? [True, True] Translation: X:113.33, Y:-15.82, Z:-14.11 [[ 9.52792615e-01 2.89029608e-01 9.29952558e-02 1.13332666e+02] [-2.87453837e-01 9.57317960e-01 -3.02095197e-02 -1.58174086e+01] [-9.77574742e-02 2.05156420e-03 9.95208153e-01 -1.41118316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.378241008 meters 0.06730094167714168 Centerline is valid? [True, True] Translation: X:113.39, Y:-15.83, Z:-14.13 [[ 9.49777377e-01 2.98554608e-01 9.37447657e-02 1.13392157e+02] [-2.96997199e-01 9.54391917e-01 -3.04751274e-02 -1.58254579e+01] [-9.85677363e-02 1.10265373e-03 9.95129733e-01 -1.41279132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.438241008 meters 0.06597729744474609 Centerline is valid? [True, True] Translation: X:113.46, Y:-15.83, Z:-14.13 [[ 9.47779009e-01 3.04843601e-01 9.37300834e-02 1.13455420e+02] [-3.03315598e-01 9.52402311e-01 -3.04874691e-02 -1.58332371e+01] [-9.85626580e-02 4.65586966e-04 9.95130738e-01 -1.41286348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.498241008 meters 0.06630882939641639 Centerline is valid? [True, True] Translation: X:113.52, Y:-15.84, Z:-14.14 [[ 9.46108214e-01 3.10491992e-01 9.20541710e-02 1.13515187e+02] [-3.09042478e-01 9.50575990e-01 -2.99672083e-02 -1.58430390e+01] [-9.68090630e-02 -9.64271120e-05 9.95302967e-01 -1.41396285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.558241008 meters 0.06676487782271996 Centerline is valid? [True, True] Translation: X:113.57, Y:-15.86, Z:-14.15 [[ 9.46256831e-01 3.10393161e-01 9.08520553e-02 1.13572550e+02] [-3.08979973e-01 9.50608268e-01 -2.95854085e-02 -1.58608024e+01] [-9.55478234e-02 -7.60706502e-05 9.95424838e-01 -1.41512392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.618241008 meters 0.06660677667376169 Centerline is valid? [True, True] Translation: X:113.63, Y:-15.88, Z:-14.16 [[ 9.46260794e-01 3.09970324e-01 9.22437388e-02 1.13630102e+02] [-3.08509384e-01 9.50746232e-01 -3.00593026e-02 -1.58829982e+01] [-9.70178789e-02 -1.41195314e-05 9.95282639e-01 -1.41563478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.678241008 meters 0.0666537908557783 Centerline is valid? [True, True] Translation: X:113.69, Y:-15.90, Z:-14.16 [[ 9.45733530e-01 3.11249911e-01 9.33358648e-02 1.13687945e+02] [-3.09757767e-01 9.50328090e-01 -3.04408973e-02 -1.59025889e+01] [-9.81744206e-02 -1.22531817e-04 9.95169216e-01 -1.41642429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.738241008 meters 0.066595396313957 Centerline is valid? [True, True] Translation: X:113.75, Y:-15.92, Z:-14.17 [[ 9.44962194e-01 3.13286182e-01 9.43303778e-02 1.13747695e+02] [-3.11771316e-01 9.49658707e-01 -3.07731565e-02 -1.59210922e+01] [-9.92224693e-02 -3.30036539e-04 9.95065220e-01 -1.41687921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.798241008 meters 0.06708338742057282 Centerline is valid? [True, True] Translation: X:113.81, Y:-15.93, Z:-14.18 [[ 9.43130884e-01 3.18587683e-01 9.49000699e-02 1.13806549e+02] [-3.17080613e-01 9.47892979e-01 -3.09642450e-02 -1.59338734e+01] [-9.98199371e-02 -8.87636556e-04 9.95005122e-01 -1.41787612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.858241008 meters 0.06786783279450329 Centerline is valid? [True, True] Translation: X:113.86, Y:-15.95, Z:-14.19 [[ 9.41665133e-01 3.23156564e-01 9.40032553e-02 1.13864935e+02] [-3.21698320e-01 9.46344571e-01 -3.06943491e-02 -1.59506791e+01] [-9.88785507e-02 -1.33689099e-03 9.95098611e-01 -1.41870358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.918241008 meters 0.0681932990614177 Centerline is valid? [True, True] Translation: X:113.92, Y:-15.97, Z:-14.20 [[ 9.41017801e-01 3.24985440e-01 9.41804783e-02 1.13924051e+02] [-3.23528753e-01 9.45717810e-01 -3.07728642e-02 -1.59687708e+01] [-9.90688885e-02 -1.51227968e-03 9.95079428e-01 -1.41954254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.978241008 meters 0.06778651552822738 Centerline is valid? [True, True] Translation: X:113.98, Y:-15.99, Z:-14.20 [[ 9.41027029e-01 3.24839156e-01 9.45920424e-02 1.13981884e+02] [-3.23366696e-01 9.45768114e-01 -3.09298215e-02 -1.59912403e+01] [-9.95093547e-02 -1.48211813e-03 9.95035523e-01 -1.42005532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.038241008 meters 0.06710827045592113 Centerline is valid? [True, True] Translation: X:114.04, Y:-16.02, Z:-14.21 [[ 9.42569712e-01 3.20580283e-01 9.37583056e-02 1.14037732e+02] [-3.19110403e-01 9.47220819e-01 -3.06801296e-02 -1.60183130e+01] [-9.86452636e-02 -1.00108972e-03 9.95122158e-01 -1.42116292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.098241008 meters 0.06693829143073009 Centerline is valid? [True, True] Translation: X:114.09, Y:-16.04, Z:-14.22 [[ 9.44649000e-01 3.14744713e-01 9.25960704e-02 1.14092835e+02] [-3.13280633e-01 9.49176293e-01 -3.03250794e-02 -1.60440520e+01] [-9.74346532e-02 -3.61999528e-04 9.95241859e-01 -1.42245652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.158241008 meters 0.06699864944385597 Centerline is valid? [True, True] Translation: X:114.15, Y:-16.08, Z:-14.23 [[ 9.47804785e-01 3.05834063e-01 9.01754697e-02 1.14146336e+02] [-3.04404432e-01 9.52084672e-01 -2.95418086e-02 -1.60793964e+01] [-9.48895739e-02 5.50054866e-04 9.95487652e-01 -1.42321833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21824100799999 meters 0.06728057252647951 Centerline is valid? [True, True] Translation: X:114.20, Y:-16.11, Z:-14.24 [[ 9.49969355e-01 2.98779084e-01 9.10454996e-02 1.14200538e+02] [-2.97287028e-01 9.54321432e-01 -2.98500880e-02 -1.61098174e+01] [-9.58052535e-02 1.29002286e-03 9.95399261e-01 -1.42385988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.278241008 meters 0.06769673927288547 Centerline is valid? [True, True] Translation: X:114.26, Y:-16.13, Z:-14.25 [[ 9.50773540e-01 2.95989421e-01 9.17602227e-02 1.14257845e+02] [-2.94458783e-01 9.55189872e-01 -3.01053867e-02 -1.61333395e+01] [-9.65593113e-02 1.60380159e-03 9.95325940e-01 -1.42451538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.338241008 meters 0.06742030334387274 Centerline is valid? [True, True] Translation: X:114.32, Y:-16.15, Z:-14.25 [[ 9.50579123e-01 2.96628757e-01 9.17099252e-02 1.14318119e+02] [-2.95100729e-01 9.54991598e-01 -3.01099172e-02 -1.61504767e+01] [-9.65136753e-02 1.55819291e-03 9.95330439e-01 -1.42532216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.398241008 meters 0.06781067756862746 Centerline is valid? [True, True] Translation: X:114.38, Y:-16.17, Z:-14.26 [[ 9.49984186e-01 2.98926319e-01 9.04052113e-02 1.14375652e+02] [-2.97449537e-01 9.54275268e-01 -2.97066577e-02 -1.61688192e+01] [-9.51515591e-02 1.32986677e-03 9.95461909e-01 -1.42649901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.458241008 meters 0.06677726648308982 Centerline is valid? [True, True] Translation: X:114.44, Y:-16.19, Z:-14.27 [[ 9.49045729e-01 3.01705199e-01 9.10284391e-02 1.14436085e+02] [-3.00218126e-01 9.53400649e-01 -2.99379147e-02 -1.61860559e+01] [-9.58189974e-02 1.08406270e-03 9.95398184e-01 -1.42662259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.518241008 meters 0.06743935073311645 Centerline is valid? [True, True] Translation: X:114.49, Y:-16.20, Z:-14.28 [[ 9.48684593e-01 3.02820060e-01 9.10909179e-02 1.14493821e+02] [-3.01335139e-01 9.53047244e-01 -2.99680739e-02 -1.62040014e+01] [-9.58888821e-02 9.81355607e-04 9.95391561e-01 -1.42788254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.578241008 meters 0.06686356710336067 Centerline is valid? [True, True] Translation: X:114.55, Y:-16.22, Z:-14.28 [[ 9.48593742e-01 3.03102464e-01 9.10977994e-02 1.14554799e+02] [-3.01616564e-01 9.52957475e-01 -2.99916527e-02 -1.62208356e+01] [-9.59028727e-02 9.73288844e-04 9.95390221e-01 -1.42810159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.638241008 meters 0.06682557908026117 Centerline is valid? [True, True] Translation: X:114.61, Y:-16.24, Z:-14.29 [[ 9.48183091e-01 3.04561984e-01 9.05031759e-02 1.14613536e+02] [-3.03099576e-01 9.52492143e-01 -2.98222038e-02 -1.62416247e+01] [-9.52862736e-02 8.45435169e-04 9.95449552e-01 -1.42865990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.698241008 meters 0.06740427801745119 Centerline is valid? [True, True] Translation: X:114.67, Y:-16.26, Z:-14.30 [[ 9.47728041e-01 3.05630508e-01 9.16599804e-02 1.14670302e+02] [-3.04132392e-01 9.52149877e-01 -3.02340806e-02 -1.62609938e+01] [-9.65144965e-02 7.76916906e-04 9.95331276e-01 -1.42994772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.758241008 meters 0.06634947193258159 Centerline is valid? [True, True] Translation: X:114.73, Y:-16.27, Z:-14.30 [[ 9.46428053e-01 3.09116405e-01 9.33862328e-02 1.14731452e+02] [-3.07576953e-01 9.51024108e-01 -3.08150057e-02 -1.62746483e+01] [-9.83379826e-02 4.40732944e-04 9.95152977e-01 -1.43010885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.818241008 meters 0.06639297175532831 Centerline is valid? [True, True] Translation: X:114.79, Y:-16.29, Z:-14.31 [[ 9.45232171e-01 3.12730715e-01 9.34646611e-02 1.14792110e+02] [-3.11203977e-01 9.49841825e-01 -3.08640971e-02 -1.62868014e+01] [-9.84287954e-02 8.71633017e-05 9.95144092e-01 -1.43098634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.878241008 meters 0.06629827347286152 Centerline is valid? [True, True] Translation: X:114.85, Y:-16.30, Z:-14.31 [[ 9.43601002e-01 3.17465914e-01 9.39816084e-02 1.14852239e+02] [-3.15943305e-01 9.48269605e-01 -3.10577523e-02 -1.63022022e+01] [-9.89796804e-02 -3.86733745e-04 9.95089380e-01 -1.43146884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.938241008 meters 0.06607812012249328 Centerline is valid? [True, True] Translation: X:114.91, Y:-16.32, Z:-14.32 [[ 9.42734595e-01 3.19989242e-01 9.41189065e-02 1.14913417e+02] [-3.18472346e-01 9.47420967e-01 -3.11267827e-02 -1.63185298e+01] [-9.91304609e-02 -6.29974060e-04 9.95074246e-01 -1.43189525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.998241008 meters 0.06665860210460574 Centerline is valid? [True, True] Translation: X:114.97, Y:-16.34, Z:-14.33 [[ 9.43629971e-01 3.18642154e-01 8.96083478e-02 1.14971623e+02] [-3.17258662e-01 9.47874985e-01 -2.96640316e-02 -1.63357082e+01] [-9.43897222e-02 -4.37155286e-04 9.95535228e-01 -1.43321148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.058241008 meters 0.06661823221783894 Centerline is valid? [True, True] Translation: X:115.03, Y:-16.36, Z:-14.34 [[ 9.44669796e-01 3.16026047e-01 8.79005929e-02 1.15028231e+02] [-3.14682820e-01 9.48750500e-01 -2.91069061e-02 -1.63587554e+01] [-9.25942719e-02 -1.64391454e-04 9.95703909e-01 -1.43400038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.118241008 meters 0.06636460515657576 Centerline is valid? [True, True] Translation: X:115.09, Y:-16.38, Z:-14.34 [[ 9.45142450e-01 3.14313180e-01 8.89549001e-02 1.15086249e+02] [-3.12927880e-01 9.49319348e-01 -2.94774101e-02 -1.63816443e+01] [-9.37117463e-02 2.38833692e-05 9.95599371e-01 -1.43448699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.178241008 meters 0.06627706678156005 Centerline is valid? [True, True] Translation: X:115.14, Y:-16.40, Z:-14.35 [[ 9.45602383e-01 3.12217670e-01 9.14125798e-02 1.15144712e+02] [-3.10742457e-01 9.50010557e-01 -3.03161174e-02 -1.64020324e+01] [-9.63081434e-02 2.61223207e-04 9.95351533e-01 -1.43513233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.238241008 meters 0.06638249109154608 Centerline is valid? [True, True] Translation: X:115.20, Y:-16.42, Z:-14.36 [[ 9.45262062e-01 3.13165902e-01 9.16883360e-02 1.15204156e+02] [-3.11683922e-01 9.49698417e-01 -3.04310769e-02 -1.64192543e+01] [-9.66062432e-02 1.87562354e-04 9.95322661e-01 -1.43597346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.298241008 meters 0.06641393274338604 Centerline is valid? [True, True] Translation: X:115.27, Y:-16.43, Z:-14.37 [[ 9.43215537e-01 3.19313520e-01 9.15605130e-02 1.15265522e+02] [-3.17862323e-01 9.47649038e-01 -3.04112390e-02 -1.64330203e+01] [-9.64779519e-02 -4.19284249e-04 9.95335034e-01 -1.43669862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.358241008 meters 0.0672305661620463 Centerline is valid? [True, True] Translation: X:115.33, Y:-16.44, Z:-14.37 [[ 9.40320290e-01 3.28242358e-01 8.97480227e-02 1.15327262e+02] [-3.26886080e-01 9.44592669e-01 -2.98358776e-02 -1.64415199e+01] [-9.45687232e-02 -1.28209830e-03 9.95517510e-01 -1.43744461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.418241008 meters 0.06815930462454348 Centerline is valid? [True, True] Translation: X:115.39, Y:-16.46, Z:-14.39 [[ 9.39106980e-01 3.32092875e-01 8.82745862e-02 1.15386087e+02] [-3.30795581e-01 9.43245302e-01 -2.93697831e-02 -1.64552991e+01] [-9.30180844e-02 -1.61947466e-03 9.95663102e-01 -1.43850111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.478241008 meters 0.06852761706784073 Centerline is valid? [True, True] Translation: X:115.45, Y:-16.47, Z:-14.39 [[ 9.38611354e-01 3.33444614e-01 8.84500789e-02 1.15445271e+02] [-3.32147358e-01 9.42768068e-01 -2.94364125e-02 -1.64711439e+01] [-9.32033232e-02 -1.74910909e-03 9.95645560e-01 -1.43935890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.538241008 meters 0.06728782717393644 Centerline is valid? [True, True] Translation: X:115.50, Y:-16.50, Z:-14.40 [[ 9.40075370e-01 3.29208913e-01 8.87681886e-02 1.15501828e+02] [-3.27880891e-01 9.44256205e-01 -2.95692452e-02 -1.64985728e+01] [-9.35543720e-02 -1.30807367e-03 9.95613313e-01 -1.43974212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.598241008 meters 0.06617894993045939 Centerline is valid? [True, True] Translation: X:115.56, Y:-16.52, Z:-14.40 [[ 9.41633599e-01 3.24031875e-01 9.12661423e-02 1.15557184e+02] [-3.22603133e-01 9.46045816e-01 -3.04061348e-02 -1.65238963e+01] [-9.61945090e-02 -8.11305270e-04 9.95362225e-01 -1.44034159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.658241008 meters 0.06570582874442316 Centerline is valid? [True, True] Translation: X:115.61, Y:-16.55, Z:-14.41 [[ 9.44188219e-01 3.16634735e-01 9.08352998e-02 1.15612771e+02] [-3.15183272e-01 9.48547544e-01 -3.02830200e-02 -1.65511954e+01] [-9.57502565e-02 -3.68963262e-05 9.95405388e-01 -1.44109596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71824100799999 meters 0.0660582280216656 Centerline is valid? [True, True] Translation: X:115.67, Y:-16.57, Z:-14.42 [[ 9.45642505e-01 3.12734422e-01 8.92044531e-02 1.15669193e+02] [-3.11315251e-01 9.49840535e-01 -2.97619264e-02 -1.65746625e+01] [-9.40375843e-02 3.73435915e-04 9.95568578e-01 -1.44193977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.778241008 meters 0.06659403313448688 Centerline is valid? [True, True] Translation: X:115.72, Y:-16.60, Z:-14.43 [[ 9.48174599e-01 3.05422052e-01 8.76487347e-02 1.15724347e+02] [-3.04018963e-01 9.52216447e-01 -2.92627528e-02 -1.66009490e+01] [-9.23980567e-02 1.09932144e-03 9.95721543e-01 -1.44274368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.838241008 meters 0.06674235911289156 Centerline is valid? [True, True] Translation: X:115.78, Y:-16.62, Z:-14.43 [[ 9.49680484e-01 3.00457777e-01 8.84991695e-02 1.15783108e+02] [-2.99003882e-01 9.53793746e-01 -2.95663419e-02 -1.66208819e+01] [-9.32933917e-02 1.61698261e-03 9.95637348e-01 -1.44326806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.898241008 meters 0.0667603666752642 Centerline is valid? [True, True] Translation: X:115.84, Y:-16.64, Z:-14.44 [[ 9.50565408e-01 2.97760476e-01 8.81141523e-02 1.15840651e+02] [-2.96305589e-01 9.54638732e-01 -2.94599755e-02 -1.66428101e+01] [-9.28891990e-02 1.89491790e-03 9.95674649e-01 -1.44368505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.958241008 meters 0.06677700376638343 Centerline is valid? [True, True] Translation: X:115.90, Y:-16.66, Z:-14.44 [[ 9.50730556e-01 2.97614532e-01 8.68158971e-02 1.15899460e+02] [-2.96199916e-01 9.54684232e-01 -2.90452626e-02 -1.66622227e+01] [-9.15260603e-02 1.89935728e-03 9.95800870e-01 -1.44433344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.018241008 meters 0.0667105995332416 Centerline is valid? [True, True] Translation: X:115.96, Y:-16.67, Z:-14.45 [[ 9.49591839e-01 3.01395613e-01 8.62323836e-02 1.15958923e+02] [-3.00013492e-01 9.53497926e-01 -2.88723149e-02 -1.66743094e+01] [-9.09243879e-02 1.54603608e-03 9.95856599e-01 -1.44545762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.078241008 meters 0.06580698236580353 Centerline is valid? [True, True] Translation: X:116.02, Y:-16.69, Z:-14.46 [[ 9.47708545e-01 3.07072616e-01 8.69190554e-02 1.16019947e+02] [-3.05689829e-01 9.51685526e-01 -2.91271069e-02 -1.66875979e+01] [-9.16637439e-02 1.03373686e-03 9.95789480e-01 -1.44605167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.138241008 meters 0.0654891999558029 Centerline is valid? [True, True] Translation: X:116.08, Y:-16.69, Z:-14.47 [[ 9.43938690e-01 3.18039090e-01 8.84922934e-02 1.16080987e+02] [-3.16653348e-01 9.48077601e-01 -2.96567081e-02 -1.66947798e+01] [-9.33295536e-02 -2.72668166e-05 9.95635271e-01 -1.44712433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.198241008 meters 0.0658574417206903 Centerline is valid? [True, True] Translation: X:116.14, Y:-16.70, Z:-14.48 [[ 9.39527849e-01 3.30552962e-01 8.95665133e-02 1.16142972e+02] [-3.29187811e-01 9.43786598e-01 -3.00373425e-02 -1.67035057e+01] [-9.44606074e-02 -1.26328463e-03 9.95527799e-01 -1.44750407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.258241008 meters 0.06688041049244953 Centerline is valid? [True, True] Translation: X:116.20, Y:-16.72, Z:-14.48 [[ 9.37537633e-01 3.36457906e-01 8.84266074e-02 1.16202921e+02] [-3.35151225e-01 9.41696765e-01 -2.96792606e-02 -1.67181304e+01] [-9.32568720e-02 -1.81086209e-03 9.95640435e-01 -1.44836157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.318241008 meters 0.06858760527683626 Centerline is valid? [True, True] Translation: X:116.26, Y:-16.73, Z:-14.49 [[ 9.34634838e-01 3.44034084e-01 8.99903801e-02 1.16264704e+02] [-3.42715138e-01 9.38953542e-01 -3.02089369e-02 -1.67277327e+01] [-9.48896901e-02 -2.60674066e-03 9.95484380e-01 -1.44929919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.378241008 meters 0.06846842831820893 Centerline is valid? [True, True] Translation: X:116.32, Y:-16.75, Z:-14.50 [[ 9.33248371e-01 3.47439642e-01 9.12862143e-02 1.16323090e+02] [-3.46096611e-01 9.37697625e-01 -3.06643140e-02 -1.67499517e+01] [-9.62528646e-02 -2.97642827e-03 9.95352464e-01 -1.44960763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.438241008 meters 0.06915448903328222 Centerline is valid? [True, True] Translation: X:116.38, Y:-16.77, Z:-14.50 [[ 9.32975699e-01 3.47590227e-01 9.34739509e-02 1.16380888e+02] [-3.46179828e-01 9.37641621e-01 -3.14279656e-02 -1.67681856e+01] [-9.85691205e-02 -3.03726810e-03 9.95125572e-01 -1.45033687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.498241008 meters 0.06927541559436823 Centerline is valid? [True, True] Translation: X:116.44, Y:-16.79, Z:-14.51 [[ 9.33009089e-01 3.46714648e-01 9.63482867e-02 1.16436858e+02] [-3.45209900e-01 9.37965785e-01 -3.24084860e-02 -1.67909835e+01] [-1.01607893e-01 -3.02297041e-03 9.94819932e-01 -1.45083908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.558241008 meters 0.06804681530857641 Centerline is valid? [True, True] Translation: X:116.49, Y:-16.82, Z:-14.51 [[ 9.32958608e-01 3.46705645e-01 9.68681156e-02 1.16493619e+02] [-3.45182434e-01 9.37969125e-01 -3.26037910e-02 -1.68152557e+01] [-1.02163220e-01 -3.01918447e-03 9.94763068e-01 -1.45137090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.618241008 meters 0.06838517668494642 Centerline is valid? [True, True] Translation: X:116.55, Y:-16.83, Z:-14.53 [[ 9.33499759e-01 3.45765812e-01 9.49958047e-02 1.16550666e+02] [-3.44293672e-01 9.38316557e-01 -3.19985377e-02 -1.68347186e+01] [-1.00200137e-01 -2.83582716e-03 9.94963261e-01 -1.45271998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.678241008 meters 0.06756863978822748 Centerline is valid? [True, True] Translation: X:116.61, Y:-16.86, Z:-14.54 [[ 9.35140829e-01 3.41885025e-01 9.28776651e-02 1.16606712e+02] [-3.40456218e-01 9.39738875e-01 -3.13115002e-02 -1.68606662e+01] [-9.79856855e-02 -2.34011636e-03 9.95185073e-01 -1.45362141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.738241008 meters 0.06599467023699217 Centerline is valid? [True, True] Translation: X:116.66, Y:-16.89, Z:-14.54 [[ 9.38481320e-01 3.32998238e-01 9.14602989e-02 1.16660699e+02] [-3.31568253e-01 9.42926459e-01 -3.08575084e-02 -1.68937078e+01] [-9.65158317e-02 -1.36613635e-03 9.95330512e-01 -1.45446639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.798241008 meters 0.06529963137813484 Centerline is valid? [True, True] Translation: X:116.72, Y:-16.92, Z:-14.55 [[ 9.40824747e-01 3.26292238e-01 9.15542018e-02 1.16715699e+02] [-3.24825152e-01 9.45268717e-01 -3.09139695e-02 -1.69214717e+01] [-9.66303112e-02 -6.54480013e-04 9.95320127e-01 -1.45521594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.858241008 meters 0.06501680197592757 Centerline is valid? [True, True] Translation: X:116.77, Y:-16.95, Z:-14.56 [[ 9.43056607e-01 3.19540717e-01 9.24011165e-02 1.16771324e+02] [-3.18011525e-01 9.47572544e-01 -3.12240875e-02 -1.69478128e+01] [-9.75341283e-02 6.14621394e-05 9.95232179e-01 -1.45599829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.918241008 meters 0.06489109360749322 Centerline is valid? [True, True] Translation: X:116.83, Y:-16.97, Z:-14.56 [[ 9.44370209e-01 3.15091294e-01 9.42464070e-02 1.16828226e+02] [-3.13475647e-01 9.49061204e-01 -3.18724122e-02 -1.69738141e+01] [-9.94883281e-02 5.55403199e-04 9.95038574e-01 -1.45649823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.978241008 meters 0.06530206829992202 Centerline is valid? [True, True] Translation: X:116.88, Y:-17.00, Z:-14.57 [[ 9.46133865e-01 3.09379320e-01 9.54732685e-02 1.16884023e+02] [-3.07689433e-01 9.50937959e-01 -3.23142447e-02 -1.69969531e+01] [-1.00786514e-01 1.19748536e-03 9.94907355e-01 -1.45716327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.038241008 meters 0.06534929988543386 Centerline is valid? [True, True] Translation: X:116.94, Y:-17.02, Z:-14.58 [[ 9.46784107e-01 3.07461308e-01 9.52228918e-02 1.16943047e+02] [-3.05769689e-01 9.51559544e-01 -3.22386773e-02 -1.70168188e+01] [-1.00522397e-01 1.40679325e-03 9.94933801e-01 -1.45766769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.098241008 meters 0.0650411411740065 Centerline is valid? [True, True] Translation: X:117.00, Y:-17.03, Z:-14.58 [[ 9.46862452e-01 3.07497700e-01 9.43221147e-02 1.17002356e+02] [-3.05835859e-01 9.51547776e-01 -3.19571054e-02 -1.70337092e+01] [-9.95787350e-02 1.41189823e-03 9.95028684e-01 -1.45826020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.158241008 meters 0.06517393232451024 Centerline is valid? [True, True] Translation: X:117.06, Y:-17.04, Z:-14.59 [[ 9.46186192e-01 3.09705130e-01 9.38851502e-02 1.17062514e+02] [-3.08067102e-01 9.50831898e-01 -3.18333439e-02 -1.70443104e+01] [-9.91279455e-02 1.19734423e-03 9.95073976e-01 -1.45927345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21824100799999 meters 0.06487164625015777 Centerline is valid? [True, True] Translation: X:117.12, Y:-17.05, Z:-14.60 [[ 9.44611520e-01 3.14841926e-01 9.26479281e-02 1.17124436e+02] [-3.13269438e-01 9.49143884e-01 -3.14347991e-02 -1.70542404e+01] [-9.78332070e-02 6.69908975e-04 9.95202600e-01 -1.46007397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.278241008 meters 0.06453366711095143 Centerline is valid? [True, True] Translation: X:117.18, Y:-17.07, Z:-14.61 [[ 9.43593458e-01 3.17793113e-01 9.29458051e-02 1.17184471e+02] [-3.16222450e-01 9.48160001e-01 -3.15590716e-02 -1.70655155e+01] [-9.81567502e-02 3.87383326e-04 9.95170891e-01 -1.46076450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.338241008 meters 0.06397117920975286 Centerline is valid? [True, True] Translation: X:117.25, Y:-17.07, Z:-14.61 [[ 9.41907902e-01 3.21553812e-01 9.70188189e-02 1.17247424e+02] [-3.19859315e-01 9.46891306e-01 -3.29677493e-02 -1.70735086e+01] [-1.02467182e-01 2.02106068e-05 9.94736385e-01 -1.46102507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.398241008 meters 0.06377936500818648 Centerline is valid? [True, True] Translation: X:117.31, Y:-17.09, Z:-14.62 [[ 9.41817123e-01 3.21623876e-01 9.76657020e-02 1.17307090e+02] [-3.19906616e-01 9.46867510e-01 -3.31914882e-02 -1.70897849e+01] [-1.03151655e-01 1.64077214e-05 9.94665640e-01 -1.46155232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.458241008 meters 0.06368042241587173 Centerline is valid? [True, True] Translation: X:117.37, Y:-17.10, Z:-14.62 [[ 9.42459417e-01 3.19675698e-01 9.78657045e-02 1.17367581e+02] [-3.17938411e-01 9.47526983e-01 -3.32833666e-02 -1.71036390e+01] [-1.03370279e-01 2.52955671e-04 9.94642911e-01 -1.46243091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.518241008 meters 0.06349572361961496 Centerline is valid? [True, True] Translation: X:117.43, Y:-17.12, Z:-14.63 [[ 9.42648797e-01 3.18818228e-01 9.88341190e-02 1.17427141e+02] [-3.17038861e-01 9.47815803e-01 -3.36387320e-02 -1.71215572e+01] [-1.04401181e-01 3.75253779e-04 9.94535194e-01 -1.46290360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.578241008 meters 0.06380040416501337 Centerline is valid? [True, True] Translation: X:117.48, Y:-17.14, Z:-14.64 [[ 9.42982818e-01 3.18476648e-01 9.67265750e-02 1.17484597e+02] [-3.16768267e-01 9.47930610e-01 -3.29457654e-02 -1.71368930e+01] [-1.02182538e-01 4.27381234e-04 9.94765574e-01 -1.46424206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.638241008 meters 0.06384674179032705 Centerline is valid? [True, True] Translation: X:117.54, Y:-17.15, Z:-14.65 [[ 9.43123905e-01 3.18275216e-01 9.60113851e-02 1.17544936e+02] [-3.16589261e-01 9.47998245e-01 -3.27195158e-02 -1.71499261e+01] [-1.01432436e-01 4.62384072e-04 9.94842323e-01 -1.46493129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.698241008 meters 0.06394523430781704 Centerline is valid? [True, True] Translation: X:117.60, Y:-17.17, Z:-14.66 [[ 9.43103761e-01 3.18820127e-01 9.43876199e-02 1.17603794e+02] [-3.17191366e-01 9.47815147e-01 -3.21882805e-02 -1.71692468e+01] [-9.97242874e-02 4.17950320e-04 9.95015021e-01 -1.46563063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.758241008 meters 0.06391753176652064 Centerline is valid? [True, True] Translation: X:117.67, Y:-17.18, Z:-14.66 [[ 9.42145216e-01 3.22077236e-01 9.28905086e-02 1.17665406e+02] [-3.20513561e-01 9.46713392e-01 -3.16987655e-02 -1.71797604e+01] [-9.81501392e-02 9.21725851e-05 9.95171614e-01 -1.46625778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.818241008 meters 0.06404122155385988 Centerline is valid? [True, True] Translation: X:117.72, Y:-17.20, Z:-14.67 [[ 9.41630347e-01 3.23468959e-01 9.32744481e-02 1.17723796e+02] [-3.21896757e-01 9.46238781e-01 -3.18535177e-02 -1.71954190e+01] [-9.85635243e-02 -3.05034058e-05 9.95130761e-01 -1.46732010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.878241008 meters 0.06415959663779655 Centerline is valid? [True, True] Translation: X:117.79, Y:-17.21, Z:-14.68 [[ 9.40366993e-01 3.27160020e-01 9.31463370e-02 1.17786410e+02] [-3.25608192e-01 9.44968869e-01 -3.18298905e-02 -1.72067743e+01] [-9.84338564e-02 -3.97431959e-04 9.95143516e-01 -1.46791086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.938241008 meters 0.06399904462752946 Centerline is valid? [True, True] Translation: X:117.84, Y:-17.23, Z:-14.69 [[ 9.40555766e-01 3.26901371e-01 9.21430647e-02 1.17844953e+02] [-3.25379081e-01 9.45058399e-01 -3.15131215e-02 -1.72258570e+01] [-9.73822598e-02 -3.41577585e-04 9.95246994e-01 -1.46856940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.998241008 meters 0.06396082980774712 Centerline is valid? [True, True] Translation: X:117.90, Y:-17.24, Z:-14.70 [[ 9.42293789e-01 3.22711375e-01 8.91054677e-02 1.17902281e+02] [-3.21267317e-01 9.46497415e-01 -3.04951586e-02 -1.72443468e+01] [-9.41792294e-02 1.08723977e-04 9.95555253e-01 -1.46981552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.058241008 meters 0.06392965759902808 Centerline is valid? [True, True] Translation: X:117.96, Y:-17.26, Z:-14.71 [[ 9.42794179e-01 3.21263439e-01 8.90445912e-02 1.17961955e+02] [-3.19813186e-01 9.46989825e-01 -3.04925629e-02 -1.72636365e+01] [-9.41204675e-02 2.70576398e-04 9.95560779e-01 -1.47069833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.118241008 meters 0.06360399437363325 Centerline is valid? [True, True] Translation: X:118.02, Y:-17.29, Z:-14.71 [[ 9.43404792e-01 3.19438736e-01 8.91419823e-02 1.18020525e+02] [-3.17974929e-01 9.47606811e-01 -3.05495789e-02 -1.72858770e+01] [-9.42302685e-02 4.75703638e-04 9.95550315e-01 -1.47101910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.178241008 meters 0.06356560646882713 Centerline is valid? [True, True] Translation: X:118.08, Y:-17.30, Z:-14.72 [[ 9.42603907e-01 3.21919668e-01 8.86882237e-02 1.18080073e+02] [-3.20479142e-01 9.46766953e-01 -3.04213075e-02 -1.73006991e+01] [-9.37602966e-02 2.52517421e-04 9.95594768e-01 -1.47192807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.238241008 meters 0.06338667884440247 Centerline is valid? [True, True] Translation: X:118.14, Y:-17.32, Z:-14.73 [[ 9.41958398e-01 3.23360301e-01 9.02911505e-02 1.18140028e+02] [-3.21871988e-01 9.46275911e-01 -3.09891047e-02 -1.73174662e+01] [-9.54609869e-02 1.28255323e-04 9.95433164e-01 -1.47270300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.298241008 meters 0.06329102537181312 Centerline is valid? [True, True] Translation: X:118.20, Y:-17.34, Z:-14.73 [[ 9.41060297e-01 3.26196555e-01 8.94501304e-02 1.18198618e+02] [-3.24748284e-01 9.45301954e-01 -3.07045322e-02 -1.73357057e+01] [-9.45730956e-02 -1.53960148e-04 9.95517908e-01 -1.47330955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.358241008 meters 0.0633925751663629 Centerline is valid? [True, True] Translation: X:118.26, Y:-17.35, Z:-14.74 [[ 9.40226528e-01 3.28655134e-01 8.92181591e-02 1.18258090e+02] [-3.27223627e-01 9.44449923e-01 -3.06437729e-02 -1.73508068e+01] [-9.43333168e-02 -3.82201484e-04 9.95540596e-01 -1.47415590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.418241008 meters 0.06395466412637102 Centerline is valid? [True, True] Translation: X:118.32, Y:-17.37, Z:-14.75 [[ 9.38920694e-01 3.32583272e-01 8.84098283e-02 1.18316605e+02] [-3.31192811e-01 9.43073597e-01 -3.03893580e-02 -1.73656167e+01] [-9.34839668e-02 -7.47502478e-04 9.95620505e-01 -1.47516337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.478241008 meters 0.06376966063451243 Centerline is valid? [True, True] Translation: X:118.37, Y:-17.39, Z:-14.75 [[ 9.38601337e-01 3.33755060e-01 8.73789993e-02 1.18374263e+02] [-3.32401340e-01 9.42659452e-01 -3.00417609e-02 -1.73888733e+01] [-9.23952293e-02 -8.47659481e-04 9.95722051e-01 -1.47544686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.538241008 meters 0.06409012261103199 Centerline is valid? [True, True] Translation: X:118.43, Y:-17.41, Z:-14.77 [[ 9.38663773e-01 3.33851777e-01 8.63325715e-02 1.18430373e+02] [-3.32528548e-01 9.42625224e-01 -2.97061051e-02 -1.74092538e+01] [-9.12966954e-02 -8.23999942e-04 9.95823395e-01 -1.47666616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.598241008 meters 0.06436015983684254 Centerline is valid? [True, True] Translation: X:118.49, Y:-17.43, Z:-14.78 [[ 9.38525716e-01 3.34332986e-01 8.59705444e-02 1.18487620e+02] [-3.33022147e-01 9.42454622e-01 -2.95894361e-02 -1.74302432e+01] [-9.09160615e-02 -8.59648541e-04 9.95858188e-01 -1.47763284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.658241008 meters 0.06429755598104689 Centerline is valid? [True, True] Translation: X:118.54, Y:-17.46, Z:-14.78 [[ 9.38167256e-01 3.35219260e-01 8.64305898e-02 1.18542875e+02] [-3.33896173e-01 9.42139682e-01 -2.97685252e-02 -1.74585029e+01] [-9.14086714e-02 -9.30987513e-04 9.95813029e-01 -1.47819457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71824100799999 meters 0.0644737286698311 Centerline is valid? [True, True] Translation: X:118.60, Y:-17.48, Z:-14.79 [[ 9.37231557e-01 3.37785655e-01 8.65901832e-02 1.18601865e+02] [-3.36466744e-01 9.41222341e-01 -2.98435068e-02 -1.74768983e+01] [-9.15813234e-02 -1.16444070e-03 9.95796920e-01 -1.47891401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.778241008 meters 0.0652177589247209 Centerline is valid? [True, True] Translation: X:118.66, Y:-17.50, Z:-14.80 [[ 9.36047193e-01 3.41120164e-01 8.63289417e-02 1.18659484e+02] [-3.39821404e-01 9.40018555e-01 -2.97746304e-02 -1.74969888e+01] [-9.13075339e-02 -1.46596298e-03 9.95821663e-01 -1.47985410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.838241008 meters 0.06577053706313692 Centerline is valid? [True, True] Translation: X:118.72, Y:-17.52, Z:-14.81 [[ 9.34989980e-01 3.43761993e-01 8.73007959e-02 1.18715918e+02] [-3.42443192e-01 9.39055230e-01 -3.01319612e-02 -1.75197979e+01] [-9.23384921e-02 -1.72248145e-03 9.95726185e-01 -1.48055093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.898241008 meters 0.06609362755835191 Centerline is valid? [True, True] Translation: X:118.77, Y:-17.54, Z:-14.82 [[ 9.35155430e-01 3.43542981e-01 8.63860034e-02 1.18773030e+02] [-3.42249084e-01 9.39135479e-01 -2.98348344e-02 -1.75409791e+01] [-9.13777085e-02 -1.66532312e-03 9.95814913e-01 -1.48166225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.958241008 meters 0.06562579971188645 Centerline is valid? [True, True] Translation: X:118.83, Y:-17.57, Z:-14.82 [[ 9.36682967e-01 3.39309568e-01 8.65681040e-02 1.18828139e+02] [-3.37989791e-01 9.40673962e-01 -2.99232120e-02 -1.75720875e+01] [-9.15855935e-02 -1.23057236e-03 9.95796447e-01 -1.48225622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.018241008 meters 0.06482833800772043 Centerline is valid? [True, True] Translation: X:118.88, Y:-17.60, Z:-14.83 [[ 9.38772123e-01 3.33236269e-01 8.75242282e-02 1.18882137e+02] [-3.31860423e-01 9.42843135e-01 -3.02569302e-02 -1.76033535e+01] [-9.26043243e-02 -6.41464812e-04 9.95702781e-01 -1.48289888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.078241008 meters 0.06469938830299261 Centerline is valid? [True, True] Translation: X:118.94, Y:-17.63, Z:-14.84 [[ 9.41177716e-01 3.26678592e-01 8.64037259e-02 1.18936639e+02] [-3.25308506e-01 9.45135491e-01 -2.98877655e-02 -1.76323150e+01] [-9.14269211e-02 2.18318718e-05 9.95811788e-01 -1.48389030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.138241008 meters 0.06478287796401003 Centerline is valid? [True, True] Translation: X:118.99, Y:-17.66, Z:-14.85 [[ 9.43718548e-01 3.18679083e-01 8.85378114e-02 1.18990434e+02] [-3.17203109e-01 9.47862300e-01 -3.06471409e-02 -1.76638893e+01] [-9.36882563e-02 8.37806239e-04 9.95601230e-01 -1.48461458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.198241008 meters 0.06434928225705894 Centerline is valid? [True, True] Translation: X:119.05, Y:-17.69, Z:-14.85 [[ 9.45221300e-01 3.14093006e-01 8.88947574e-02 1.19046534e+02] [-3.12582910e-01 9.49391304e-01 -3.07908385e-02 -1.76918975e+01] [-9.40670967e-02 1.31717450e-03 9.95564989e-01 -1.48483788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.258241008 meters 0.06440095171116664 Centerline is valid? [True, True] Translation: X:119.11, Y:-17.71, Z:-14.86 [[ 9.44859355e-01 3.15271807e-01 8.85691049e-02 1.19105284e+02] [-3.13776021e-01 9.49000638e-01 -3.06984896e-02 -1.77095107e+01] [-9.37305054e-02 1.21489377e-03 9.95596864e-01 -1.48588695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.318241008 meters 0.06381221474422286 Centerline is valid? [True, True] Translation: X:119.17, Y:-17.72, Z:-14.86 [[ 9.43361181e-01 3.19309644e-01 9.00612700e-02 1.19165299e+02] [-3.17778991e-01 9.47650056e-01 -3.12391593e-02 -1.77238417e+01] [-9.53215323e-02 8.50230748e-04 9.95446173e-01 -1.48636053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.378241008 meters 0.06357073049322208 Centerline is valid? [True, True] Translation: X:119.22, Y:-17.74, Z:-14.87 [[ 9.41639746e-01 3.24296870e-01 9.02559063e-02 1.19224387e+02] [-3.22780405e-01 9.45955287e-01 -3.13273740e-02 -1.77396744e+01] [-9.55374212e-02 3.66262474e-04 9.95425772e-01 -1.48712065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.438241008 meters 0.06357407746932535 Centerline is valid? [True, True] Translation: X:119.28, Y:-17.76, Z:-14.88 [[ 9.41023573e-01 3.25950092e-01 9.07258109e-02 1.19283416e+02] [-3.24423301e-01 9.45386952e-01 -3.15124168e-02 -1.77574024e+01] [-9.60424730e-02 2.20360005e-04 9.95377212e-01 -1.48795455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.498241008 meters 0.06343154771189244 Centerline is valid? [True, True] Translation: X:119.34, Y:-17.78, Z:-14.89 [[ 9.40271109e-01 3.27809199e-01 9.18224912e-02 1.19342900e+02] [-3.26251848e-01 9.44743947e-01 -3.19155984e-02 -1.77754421e+01] [-9.72109696e-02 5.20576264e-05 9.95263797e-01 -1.48860864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.558241008 meters 0.06345285238553436 Centerline is valid? [True, True] Translation: X:119.40, Y:-17.79, Z:-14.89 [[ 9.38542022e-01 3.32532686e-01 9.25250545e-02 1.19400466e+02] [-3.30971985e-01 9.43091638e-01 -3.21824032e-02 -1.77933227e+01] [-9.79613062e-02 -4.18663168e-04 9.95190136e-01 -1.48926013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.618241008 meters 0.06356501041884309 Centerline is valid? [True, True] Translation: X:119.46, Y:-17.81, Z:-14.90 [[ 9.37556792e-01 3.34822623e-01 9.42394475e-02 1.19458351e+02] [-3.33212829e-01 9.42280950e-01 -3.27997223e-02 -1.78111576e+01] [-9.97821252e-02 -6.50190544e-04 9.95009098e-01 -1.49003560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.678241008 meters 0.0636008842631159 Centerline is valid? [True, True] Translation: X:119.52, Y:-17.83, Z:-14.91 [[ 9.37379615e-01 3.35075498e-01 9.50992517e-02 1.19516859e+02] [-3.33435356e-01 9.42191047e-01 -3.31193827e-02 -1.78311528e+01] [-1.00699157e-01 -6.64018619e-04 9.94916699e-01 -1.49087242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.738241008 meters 0.06373682674253127 Centerline is valid? [True, True] Translation: X:119.57, Y:-17.86, Z:-14.92 [[ 9.37450839e-01 3.34944209e-01 9.48593711e-02 1.19572811e+02] [-3.33309524e-01 9.42237753e-01 -3.30572038e-02 -1.78576506e+01] [-1.00452400e-01 -6.28028394e-04 9.94941667e-01 -1.49155040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.798241008 meters 0.06375789351406715 Centerline is valid? [True, True] Translation: X:119.63, Y:-17.88, Z:-14.92 [[ 9.37744811e-01 3.34092259e-01 9.49580530e-02 1.19630007e+02] [-3.32447422e-01 9.42540236e-01 -3.31151673e-02 -1.78803807e+01] [-1.00565307e-01 -5.14983592e-04 9.94930326e-01 -1.49238199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.858241008 meters 0.06327421864108841 Centerline is valid? [True, True] Translation: X:119.69, Y:-17.91, Z:-14.93 [[ 9.39222814e-01 3.30168682e-01 9.40699066e-02 1.19685976e+02] [-3.28532921e-01 9.43921944e-01 -3.28250520e-02 -1.79099198e+01] [-9.96324532e-02 -7.50235524e-05 9.95024306e-01 -1.49277219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.918241008 meters 0.06342724682322626 Centerline is valid? [True, True] Translation: X:119.74, Y:-17.94, Z:-14.94 [[ 9.40759478e-01 3.26007210e-01 9.32250138e-02 1.19738791e+02] [-3.24377592e-01 9.45367202e-01 -3.25581124e-02 -1.79405903e+01] [-9.87460499e-02 3.89247335e-04 9.95112590e-01 -1.49366878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.978241008 meters 0.06352804767179357 Centerline is valid? [True, True] Translation: X:119.80, Y:-17.97, Z:-14.94 [[ 9.41961897e-01 3.23093283e-01 9.12058917e-02 1.19795315e+02] [-3.21518094e-01 9.46366865e-01 -3.18727524e-02 -1.79659042e+01] [-9.66121060e-02 6.98573809e-04 9.95321864e-01 -1.49432724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.038241008 meters 0.06434509570145291 Centerline is valid? [True, True] Translation: X:119.85, Y:-18.00, Z:-14.96 [[ 9.43939492e-01 3.17339903e-01 9.09594463e-02 1.19847985e+02] [-3.15743944e-01 9.48310956e-01 -3.18133908e-02 -1.79959439e+01] [-9.63534978e-02 1.31002159e-03 9.95346315e-01 -1.49553829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.098241008 meters 0.06465806759340478 Centerline is valid? [True, True] Translation: X:119.90, Y:-18.02, Z:-14.96 [[ 9.45215870e-01 3.13634468e-01 9.05559476e-02 1.19903653e+02] [-3.12034859e-01 9.49542294e-01 -3.16808774e-02 -1.80242356e+01] [-9.59229174e-02 1.68865575e-03 9.95387333e-01 -1.49606711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.158241008 meters 0.06496394745987237 Centerline is valid? [True, True] Translation: X:119.96, Y:-18.05, Z:-14.96 [[ 9.47090429e-01 3.07261087e-01 9.27919407e-02 1.19959750e+02] [-3.05548376e-01 9.51622188e-01 -3.24869410e-02 -1.80521830e+01] [-9.82848425e-02 2.41564411e-03 9.95155392e-01 -1.49639462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21824100799999 meters 0.06514815857584774 Centerline is valid? [True, True] Translation: X:120.02, Y:-18.08, Z:-14.97 [[ 9.48649100e-01 3.02262887e-01 9.32846826e-02 1.20016697e+02] [-3.00505326e-01 9.53219969e-01 -3.26839496e-02 -1.80774286e+01] [-9.87999672e-02 2.97305537e-03 9.95102873e-01 -1.49688929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.278241008 meters 0.06650091684670185 Centerline is valid? [True, True] Translation: X:120.07, Y:-18.10, Z:-14.98 [[ 9.49298086e-01 3.00632414e-01 9.19418077e-02 1.20071116e+02] [-2.98915377e-01 9.53734986e-01 -3.22362156e-02 -1.81045787e+01] [-9.73793700e-02 3.11895766e-03 9.95242448e-01 -1.49789611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.338241008 meters 0.06521077916827359 Centerline is valid? [True, True] Translation: X:120.13, Y:-18.12, Z:-14.99 [[ 9.48139914e-01 3.04491353e-01 9.11905655e-02 1.20131072e+02] [-3.02818824e-01 9.52511236e-01 -3.19860042e-02 -1.81203323e+01] [-9.65995000e-02 2.71298754e-03 9.95319635e-01 -1.49859498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.398241008 meters 0.06459045432240015 Centerline is valid? [True, True] Translation: X:120.19, Y:-18.14, Z:-14.99 [[ 9.46220404e-01 3.10615648e-01 9.04702466e-02 1.20189374e+02] [-3.08997059e-01 9.50533332e-01 -3.17364556e-02 -1.81384907e+01] [-9.58528247e-02 2.07464179e-03 9.95393355e-01 -1.49936373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.458241008 meters 0.06391023315231256 Centerline is valid? [True, True] Translation: X:120.25, Y:-18.15, Z:-15.00 [[ 9.42893283e-01 3.20605453e-01 9.03570688e-02 1.20248918e+02] [-3.19034504e-01 9.47212214e-01 -3.17176081e-02 -1.81506885e+01] [-9.57561574e-02 1.07929697e-03 9.95404236e-01 -1.50043658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.518241008 meters 0.06358007857684764 Centerline is valid? [True, True] Translation: X:120.31, Y:-18.16, Z:-15.01 [[ 9.40486918e-01 3.27637972e-01 9.02092953e-02 1.20308742e+02] [-3.26102388e-01 9.44803266e-01 -3.16862790e-02 -1.81647766e+01] [-9.56116651e-02 3.83064250e-04 9.95418637e-01 -1.50141058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.578241008 meters 0.06344335187078394 Centerline is valid? [True, True] Translation: X:120.37, Y:-18.18, Z:-15.02 [[ 9.37589726e-01 3.35581011e-01 9.11640907e-02 1.20368188e+02] [-3.34047455e-01 9.42011264e-01 -3.20480408e-02 -1.81813984e+01] [-9.66323142e-02 -4.05218657e-04 9.95320065e-01 -1.50189480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.638241008 meters 0.06359618031290087 Centerline is valid? [True, True] Translation: X:120.43, Y:-18.20, Z:-15.03 [[ 9.36621102e-01 3.38259565e-01 9.12215930e-02 1.20426171e+02] [-3.36736305e-01 9.41052606e-01 -3.20726293e-02 -1.82017400e+01] [-9.66931914e-02 -6.77720716e-04 9.95314004e-01 -1.50268912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.698241008 meters 0.06360013524769337 Centerline is valid? [True, True] Translation: X:120.48, Y:-18.22, Z:-15.04 [[ 9.35667023e-01 3.40730061e-01 9.18163817e-02 1.20484459e+02] [-3.39196421e-01 9.40160722e-01 -3.23048601e-02 -1.82234703e+01] [-9.73293927e-02 -9.17195812e-04 9.95251801e-01 -1.50350999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.758241008 meters 0.06349110689837553 Centerline is valid? [True, True] Translation: X:120.54, Y:-18.25, Z:-15.04 [[ 9.35567809e-01 3.40410744e-01 9.39861701e-02 1.20540367e+02] [-3.38799000e-01 9.40276426e-01 -3.30980526e-02 -1.82485311e+01] [-9.96399128e-02 -8.76947923e-04 9.95023175e-01 -1.50421799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.818241008 meters 0.06300777551681118 Centerline is valid? [True, True] Translation: X:120.59, Y:-18.28, Z:-15.05 [[ 9.36754153e-01 3.37073980e-01 9.41954782e-02 1.20593896e+02] [-3.35435737e-01 9.41478031e-01 -3.31961479e-02 -1.82815899e+01] [-9.98725310e-02 -4.99900197e-04 9.95000114e-01 -1.50473694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.878241008 meters 0.06294316975326616 Centerline is valid? [True, True] Translation: X:120.65, Y:-18.31, Z:-15.06 [[ 9.38348741e-01 3.32555063e-01 9.43862792e-02 1.20646883e+02] [-3.30884800e-01 9.43083840e-01 -3.32884266e-02 -1.83127396e+01] [-1.00084409e-01 5.16808498e-06 9.94978950e-01 -1.50586136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.938241008 meters 0.06307072994384334 Centerline is valid? [True, True] Translation: X:120.70, Y:-18.34, Z:-15.07 [[ 9.39404111e-01 3.30022465e-01 9.27636157e-02 1.20700411e+02] [-3.28394843e-01 9.43973034e-01 -3.27374254e-02 -1.83442735e+01] [-9.83704376e-02 2.90578945e-04 9.95149824e-01 -1.50683074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.998241008 meters 0.06335501663688253 Centerline is valid? [True, True] Translation: X:120.76, Y:-18.37, Z:-15.08 [[ 9.39445988e-01 3.30341094e-01 9.11920915e-02 1.20757004e+02] [-3.28767595e-01 9.43861582e-01 -3.22053183e-02 -1.83676537e+01] [-9.67114519e-02 2.74152464e-04 9.95312423e-01 -1.50777977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.058241008 meters 0.06364843835455426 Centerline is valid? [True, True] Translation: X:120.81, Y:-18.39, Z:-15.09 [[ 9.39487808e-01 3.30542224e-01 9.00249828e-02 1.20812192e+02] [-3.29007485e-01 9.43791165e-01 -3.18168281e-02 -1.83923025e+01] [-9.54815885e-02 2.72628836e-04 9.95431159e-01 -1.50896158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.118241008 meters 0.06376577607932525 Centerline is valid? [True, True] Translation: X:120.87, Y:-18.42, Z:-15.10 [[ 9.40389808e-01 3.28397757e-01 8.84416318e-02 1.20867262e+02] [-3.26904999e-01 9.44539390e-01 -3.12803733e-02 -1.84204627e+01] [-9.38090093e-02 5.03732660e-04 9.95590084e-01 -1.50957691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.178241008 meters 0.06359618563413773 Centerline is valid? [True, True] Translation: X:120.93, Y:-18.44, Z:-15.10 [[ 9.40649116e-01 3.27650134e-01 8.84569390e-02 1.20925832e+02] [-3.26152746e-01 9.44798944e-01 -3.12944182e-02 -1.84425801e+01] [-9.38276429e-02 5.86593240e-04 9.95588283e-01 -1.51021738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.238241008 meters 0.06401774685699232 Centerline is valid? [True, True] Translation: X:120.98, Y:-18.47, Z:-15.11 [[ 9.42526110e-01 3.22323368e-01 8.80464573e-02 1.20982191e+02] [-3.20814044e-01 9.46628940e-01 -3.11768954e-02 -1.84688870e+01] [-9.33963665e-02 1.13849797e-03 9.95628356e-01 -1.51095102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.298241008 meters 0.06452380127779435 Centerline is valid? [True, True] Translation: X:121.04, Y:-18.49, Z:-15.12 [[ 9.43737170e-01 3.18522919e-01 8.89005246e-02 1.21039626e+02] [-3.16964978e-01 9.47913888e-01 -3.15033829e-02 -1.84915914e+01] [-9.43045914e-02 1.55256060e-03 9.95542181e-01 -1.51160712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.358241008 meters 0.06498593700831551 Centerline is valid? [True, True] Translation: X:121.10, Y:-18.51, Z:-15.12 [[ 9.44899860e-01 3.14969278e-01 8.92110380e-02 1.21096988e+02] [-3.13382339e-01 9.49099891e-01 -3.16371052e-02 -1.85138443e+01] [-9.46349026e-02 1.93673242e-03 9.95510163e-01 -1.51230484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.418241008 meters 0.06584802722960753 Centerline is valid? [True, True] Translation: X:121.15, Y:-18.54, Z:-15.13 [[ 9.45650005e-01 3.12153606e-01 9.11383225e-02 1.21153396e+02] [-3.10481704e-01 9.50028883e-01 -3.23455146e-02 -1.85352756e+01] [-9.66808078e-02 2.29075437e-03 9.95312802e-01 -1.51305695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.478241008 meters 0.0652417382294168 Centerline is valid? [True, True] Translation: X:121.21, Y:-18.55, Z:-15.14 [[ 9.45272972e-01 3.13167712e-01 9.15696044e-02 1.21212496e+02] [-3.11482548e-01 9.49695248e-01 -3.25201114e-02 -1.85543867e+01] [-9.71474670e-02 2.21804864e-03 9.95267527e-01 -1.51359798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.538241008 meters 0.06398265405169788 Centerline is valid? [True, True] Translation: X:121.27, Y:-18.56, Z:-15.14 [[ 9.42617696e-01 3.21159333e-01 9.12609580e-02 1.21274446e+02] [-3.19520533e-01 9.47024122e-01 -3.24336559e-02 -1.85626532e+01] [-9.68426998e-02 1.41278806e-03 9.95298697e-01 -1.51433699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.598241008 meters 0.06376624372938654 Centerline is valid? [True, True] Translation: X:121.33, Y:-18.58, Z:-15.15 [[ 9.40959216e-01 3.26402099e-01 8.97631549e-02 1.21333664e+02] [-3.24838379e-01 9.45230604e-01 -3.19238649e-02 -1.85768888e+01] [-9.52668976e-02 8.80537100e-04 9.95451376e-01 -1.51539530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.658241008 meters 0.06390576961837541 Centerline is valid? [True, True] Translation: X:121.40, Y:-18.58, Z:-15.16 [[ 9.35782259e-01 3.40894776e-01 9.00128671e-02 1.21399030e+02] [-3.39386805e-01 9.40101284e-01 -3.20339269e-02 -1.85754273e+01] [-9.55414103e-02 -5.72398863e-04 9.95425292e-01 -1.51640335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71824100799999 meters 0.06448220365883903 Centerline is valid? [True, True] Translation: X:121.46, Y:-18.59, Z:-15.17 [[ 9.33500740e-01 3.46907190e-01 9.07291025e-02 1.21459052e+02] [-3.45401046e-01 9.37898727e-01 -3.23124527e-02 -1.85899906e+01] [-9.63041319e-02 -1.17422840e-03 9.95351262e-01 -1.51692923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.778241008 meters 0.06474129635172447 Centerline is valid? [True, True] Translation: X:121.52, Y:-18.61, Z:-15.18 [[ 9.32589169e-01 3.49295063e-01 9.09417482e-02 1.21517230e+02] [-3.47790806e-01 9.37011737e-01 -3.24123391e-02 -1.86069714e+01] [-9.65349555e-02 -1.40130754e-03 9.95328608e-01 -1.51775937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.838241008 meters 0.06290830182158716 Centerline is valid? [True, True] Translation: X:121.57, Y:-18.64, Z:-15.18 [[ 9.35864059e-01 3.39968581e-01 9.26273582e-02 1.21571364e+02] [-3.38360003e-01 9.40436698e-01 -3.30352109e-02 -1.86410699e+01] [-9.83411007e-02 -4.24926687e-04 9.95152675e-01 -1.51802011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.898241008 meters 0.06321242958658888 Centerline is valid? [True, True] Translation: X:121.63, Y:-18.66, Z:-15.19 [[ 9.36932353e-01 3.37776908e-01 8.98027072e-02 1.21628362e+02] [-3.36252970e-01 9.41226186e-01 -3.20500788e-02 -1.86636105e+01] [-9.53504361e-02 -1.67671299e-04 9.95443753e-01 -1.51924937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.958241008 meters 0.06401606189670438 Centerline is valid? [True, True] Translation: X:121.69, Y:-18.68, Z:-15.21 [[ 9.37215478e-01 3.37696640e-01 8.71098599e-02 1.21685410e+02] [-3.36260639e-01 9.41254993e-01 -3.11098294e-02 -1.86838330e+01] [-9.24982754e-02 -1.35003542e-04 9.95712836e-01 -1.52068889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.018241008 meters 0.06428623073975658 Centerline is valid? [True, True] Translation: X:121.74, Y:-18.71, Z:-15.21 [[ 9.36180454e-01 3.40296109e-01 8.81176190e-02 1.21743031e+02] [-3.38836036e-01 9.40318253e-01 -3.14916424e-02 -1.87053182e+01] [-9.35750889e-02 -3.75564642e-04 9.95612154e-01 -1.52125430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.078241008 meters 0.06434729816421378 Centerline is valid? [True, True] Translation: X:121.80, Y:-18.72, Z:-15.22 [[ 9.34761977e-01 3.44107915e-01 8.83730123e-02 1.21802134e+02] [-3.42654322e-01 9.38929815e-01 -3.16040940e-02 -1.87245929e+01] [-9.38512750e-02 -7.39089308e-04 9.95585954e-01 -1.52158410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.138241008 meters 0.06436709054115458 Centerline is valid? [True, True] Translation: X:121.86, Y:-18.75, Z:-15.22 [[ 9.33836186e-01 3.46510603e-01 8.87715002e-02 1.21860678e+02] [-3.45052643e-01 9.38045559e-01 -3.17679404e-02 -1.87479771e+01] [-9.42796397e-02 -9.64788519e-04 9.95545287e-01 -1.52202032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.198241008 meters 0.0644596107650958 Centerline is valid? [True, True] Translation: X:121.92, Y:-18.77, Z:-15.23 [[ 9.33726938e-01 3.46969073e-01 8.81275644e-02 1.21918177e+02] [-3.45531715e-01 9.37876061e-01 -3.15646646e-02 -1.87681834e+01] [-9.36046954e-02 -9.78090824e-04 9.95608962e-01 -1.52290691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.258241008 meters 0.06500364016612886 Centerline is valid? [True, True] Translation: X:121.97, Y:-18.79, Z:-15.24 [[ 9.34425909e-01 3.46022585e-01 8.43598854e-02 1.21974970e+02] [-3.44700035e-01 9.38225820e-01 -3.02356977e-02 -1.87904458e+01] [-8.96108569e-02 -8.25836163e-04 9.95976512e-01 -1.52424449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.318241008 meters 0.06527633901466101 Centerline is valid? [True, True] Translation: X:122.03, Y:-18.82, Z:-15.25 [[ 9.36163639e-01 3.42029768e-01 8.13220616e-02 1.22030973e+02] [-3.40784141e-01 9.39689029e-01 -2.91667376e-02 -1.88175144e+01] [-8.63933416e-02 -4.08429687e-04 9.96261022e-01 -1.52536457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.378241008 meters 0.06530332059007599 Centerline is valid? [True, True] Translation: X:122.08, Y:-18.85, Z:-15.26 [[ 9.37840370e-01 3.37298043e-01 8.17647259e-02 1.22084763e+02] [-3.36018668e-01 9.41397912e-01 -2.93500789e-02 -1.88466601e+01] [-8.68728663e-02 5.12145906e-05 9.96219405e-01 -1.52609842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.438241008 meters 0.06474303930458676 Centerline is valid? [True, True] Translation: X:122.14, Y:-18.88, Z:-15.26 [[ 9.40707001e-01 3.28352151e-01 8.51774784e-02 1.22138810e+02] [-3.26924875e-01 9.44554916e-01 -3.05963459e-02 -1.88807976e+01] [-9.05011819e-02 9.35560294e-04 9.95895909e-01 -1.52621116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.498241008 meters 0.06559606264461477 Centerline is valid? [True, True] Translation: X:122.19, Y:-18.91, Z:-15.27 [[ 9.42772580e-01 3.21770145e-01 8.74290328e-02 1.22192550e+02] [-3.20235712e-01 9.46816407e-01 -3.14289750e-02 -1.89098788e+01] [-9.28921485e-02 1.63247730e-03 9.95674838e-01 -1.52688973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.558241008 meters 0.06642654604116253 Centerline is valid? [True, True] Translation: X:122.25, Y:-18.94, Z:-15.27 [[ 9.44543148e-01 3.15734627e-01 9.02767258e-02 1.22247845e+02] [-3.14068679e-01 9.48844698e-01 -3.24746760e-02 -1.89387162e+01] [-9.59119723e-02 2.32064068e-03 9.95387115e-01 -1.52710956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.618241008 meters 0.06574191054645528 Centerline is valid? [True, True] Translation: X:122.31, Y:-18.96, Z:-15.27 [[ 9.44466442e-01 3.15708861e-01 9.11649908e-02 1.22307271e+02] [-3.14007733e-01 9.48853159e-01 -3.28150455e-02 -1.89558958e+01] [-9.68621901e-02 2.36619715e-03 9.95294990e-01 -1.52738017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.678241008 meters 0.06574547290335524 Centerline is valid? [True, True] Translation: X:122.37, Y:-18.97, Z:-15.28 [[ 9.44142439e-01 3.16718887e-01 9.10175848e-02 1.22365690e+02] [-3.15025638e-01 9.48516706e-01 -3.27857593e-02 -1.89740214e+01] [-9.67155689e-02 2.28155404e-03 9.95309446e-01 -1.52821021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.738241008 meters 0.06525013768074915 Centerline is valid? [True, True] Translation: X:122.43, Y:-18.98, Z:-15.29 [[ 9.42864337e-01 3.20925901e-01 8.95176356e-02 1.22427461e+02] [-3.19304463e-01 9.47102509e-01 -3.22722543e-02 -1.89848684e+01] [-9.51393795e-02 1.84497714e-03 9.95462252e-01 -1.52930544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.798241008 meters 0.06507985888623422 Centerline is valid? [True, True] Translation: X:122.49, Y:-19.00, Z:-15.30 [[ 9.41681713e-01 3.24637032e-01 8.85796154e-02 1.22485830e+02] [-3.23065414e-01 9.45837549e-01 -3.19385210e-02 -1.90014801e+01] [-9.41503530e-02 1.45891109e-03 9.95556921e-01 -1.53016204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.858241008 meters 0.06474926414618538 Centerline is valid? [True, True] Translation: X:122.55, Y:-19.01, Z:-15.31 [[ 9.39736001e-01 3.30333239e-01 8.81827660e-02 1.22546375e+02] [-3.28798728e-01 9.43863938e-01 -3.18160861e-02 -1.90137233e+01] [-9.37424435e-02 9.04340253e-04 9.95596071e-01 -1.53094197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.918241008 meters 0.06417017643262407 Centerline is valid? [True, True] Translation: X:122.61, Y:-19.03, Z:-15.31 [[ 9.38693247e-01 3.33201399e-01 8.84975422e-02 1.22606974e+02] [-3.31666486e-01 9.42855459e-01 -3.19519338e-02 -1.90282804e+01] [-9.40868198e-02 6.41395698e-04 9.95563789e-01 -1.53138988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.978241008 meters 0.063930857954444 Centerline is valid? [True, True] Translation: X:122.67, Y:-19.05, Z:-15.32 [[ 9.38526232e-01 3.33504101e-01 8.91264636e-02 1.22665455e+02] [-3.31946380e-01 9.42748433e-01 -3.22023723e-02 -1.90480017e+01] [-9.47634571e-02 6.37564201e-04 9.95499614e-01 -1.53192181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.038241008 meters 0.06379389155681439 Centerline is valid? [True, True] Translation: X:122.72, Y:-19.07, Z:-15.32 [[ 9.39214312e-01 3.30615484e-01 9.25736392e-02 1.22721941e+02] [-3.28917809e-01 9.43765022e-01 -3.34762206e-02 -1.90707465e+01] [-9.84355196e-02 9.92226902e-04 9.95142936e-01 -1.53242656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.098241008 meters 0.06390994359211895 Centerline is valid? [True, True] Translation: X:122.78, Y:-19.09, Z:-15.33 [[ 9.39433094e-01 3.29851763e-01 9.30767197e-02 1.22779258e+02] [-3.28130649e-01 9.44032112e-01 -3.36697104e-02 -1.90925192e+01] [-9.89734256e-02 1.08911580e-03 9.95089481e-01 -1.53327449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.158241008 meters 0.06380413205312846 Centerline is valid? [True, True] Translation: X:122.84, Y:-19.11, Z:-15.34 [[ 9.39321246e-01 3.30288415e-01 9.26561319e-02 1.22839143e+02] [-3.28582518e-01 9.43879460e-01 -3.35424203e-02 -1.91114239e+01] [-9.85348926e-02 1.06192297e-03 9.95133030e-01 -1.53408899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21824100799999 meters 0.0640671828883238 Centerline is valid? [True, True] Translation: X:122.90, Y:-19.13, Z:-15.35 [[ 9.38138112e-01 3.34087212e-01 9.10088862e-02 1.22897748e+02] [-3.32456530e-01 9.42541922e-01 -3.29754729e-02 -1.91273423e+01] [-9.67963743e-02 6.79049469e-04 9.95303974e-01 -1.53538776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.278241008 meters 0.06372906609450342 Centerline is valid? [True, True] Translation: X:122.96, Y:-19.14, Z:-15.36 [[ 9.36585138e-01 3.38231417e-01 9.16939916e-02 1.22956698e+02] [-3.36594054e-01 9.41062929e-01 -3.32416417e-02 -1.91435635e+01] [-9.75331839e-02 2.69975246e-04 9.95232237e-01 -1.53614490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.338241008 meters 0.06358787042340368 Centerline is valid? [True, True] Translation: X:123.02, Y:-19.16, Z:-15.37 [[ 9.34645427e-01 3.43423379e-01 9.21862742e-02 1.23017677e+02] [-3.41792465e-01 9.39180661e-01 -3.34304925e-02 -1.91576213e+01] [-9.80603786e-02 -2.62916891e-04 9.95180432e-01 -1.53670401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.398241008 meters 0.06417328902605067 Centerline is valid? [True, True] Translation: X:123.08, Y:-19.17, Z:-15.38 [[ 9.33449597e-01 3.47085786e-01 9.05721127e-02 1.23076169e+02] [-3.45526491e-01 9.37833184e-01 -3.28688879e-02 -1.91745223e+01] [-9.63498566e-02 -6.13614091e-04 9.95347341e-01 -1.53766159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.458241008 meters 0.06439920328894772 Centerline is valid? [True, True] Translation: X:123.14, Y:-19.19, Z:-15.38 [[ 9.31911950e-01 3.51046667e-01 9.11392047e-02 1.23135650e+02] [-3.49484484e-01 9.36357421e-01 -3.30964569e-02 -1.91927740e+01] [-9.69572715e-02 -1.00875420e-03 9.95288034e-01 -1.53821079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.518241008 meters 0.06481575595189337 Centerline is valid? [True, True] Translation: X:123.19, Y:-19.21, Z:-15.39 [[ 9.31310319e-01 3.52653481e-01 9.10857434e-02 1.23193800e+02] [-3.51098490e-01 9.35753276e-01 -3.31007170e-02 -1.92114498e+01] [-9.69068658e-02 -1.15302756e-03 9.95292786e-01 -1.53913431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.578241008 meters 0.0652120856591395 Centerline is valid? [True, True] Translation: X:123.25, Y:-19.23, Z:-15.40 [[ 9.30801926e-01 3.54039560e-01 9.09052537e-02 1.23252003e+02] [-3.52495056e-01 9.35229582e-01 -3.30585187e-02 -1.92300292e+01] [-9.67213058e-02 -1.27271960e-03 9.95310690e-01 -1.54015005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.638241008 meters 0.06484475728584908 Centerline is valid? [True, True] Translation: X:123.31, Y:-19.26, Z:-15.41 [[ 9.31248277e-01 3.52873742e-01 9.08667635e-02 1.23308103e+02] [-3.51322752e-01 9.35670266e-01 -3.30677646e-02 -1.92557096e+01] [-9.66900746e-02 -1.12926266e-03 9.95313897e-01 -1.54079892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.698241008 meters 0.06491393779073656 Centerline is valid? [True, True] Translation: X:123.36, Y:-19.28, Z:-15.42 [[ 9.31887154e-01 3.51278707e-01 9.04964194e-02 1.23363467e+02] [-3.49730434e-01 9.36270470e-01 -3.29580019e-02 -1.92809599e+01] [-9.63065694e-02 -9.36213476e-04 9.95351279e-01 -1.54154810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.758241008 meters 0.06437792206375041 Centerline is valid? [True, True] Translation: X:123.42, Y:-19.31, Z:-15.42 [[ 9.32812900e-01 3.48419158e-01 9.20009952e-02 1.23418921e+02] [-3.46802718e-01 9.37338622e-01 -3.35288237e-02 -1.93093657e+01] [-9.79181706e-02 -6.30075907e-04 9.95194270e-01 -1.54200700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.818241008 meters 0.06456573003590589 Centerline is valid? [True, True] Translation: X:123.47, Y:-19.33, Z:-15.43 [[ 9.34143252e-01 3.44890221e-01 9.17993459e-02 1.23473882e+02] [-3.43261383e-01 9.38642999e-01 -3.34804846e-02 -1.93335293e+01] [-9.77139051e-02 -2.35601689e-04 9.95214518e-01 -1.54304777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.878241008 meters 0.0645255405280284 Centerline is valid? [True, True] Translation: X:123.53, Y:-19.36, Z:-15.44 [[ 9.35471651e-01 3.41200057e-01 9.20614565e-02 1.23529461e+02] [-3.39541910e-01 9.39990687e-01 -3.35976135e-02 -1.93622631e+01] [-9.80004194e-02 1.70892183e-04 9.95186359e-01 -1.54377423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.938241008 meters 0.0646173740453398 Centerline is valid? [True, True] Translation: X:123.59, Y:-19.39, Z:-15.45 [[ 9.35899355e-01 3.40024384e-01 9.20641951e-02 1.23587516e+02] [-3.38357740e-01 9.40416565e-01 -3.36262439e-02 -1.93863245e+01] [-9.80124370e-02 3.20147070e-04 9.95185138e-01 -1.54450210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.998241008 meters 0.06464061191976639 Centerline is valid? [True, True] Translation: X:123.64, Y:-19.41, Z:-15.45 [[ 9.36102639e-01 3.39792217e-01 9.08465618e-02 1.23644376e+02] [-3.38165681e-01 9.40500460e-01 -3.32092879e-02 -1.94102816e+01] [-9.67254907e-02 3.66112578e-04 9.95311029e-01 -1.54525937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.058241008 meters 0.06503209920820717 Centerline is valid? [True, True] Translation: X:123.70, Y:-19.43, Z:-15.46 [[ 9.35873138e-01 3.40469636e-01 9.06746751e-02 1.23702301e+02] [-3.38850167e-01 9.40255458e-01 -3.31698394e-02 -1.94290489e+01] [-9.65506813e-02 3.17632904e-04 9.95328019e-01 -1.54643637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.118241008 meters 0.06512874817779633 Centerline is valid? [True, True] Translation: X:123.76, Y:-19.45, Z:-15.47 [[ 9.35600432e-01 3.41620400e-01 8.91478225e-02 1.23760361e+02] [-3.40057987e-01 9.39837994e-01 -3.26360382e-02 -1.94503818e+01] [-9.49336471e-02 2.18862348e-04 9.95483578e-01 -1.54698314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.178241008 meters 0.06531971285782141 Centerline is valid? [True, True] Translation: X:123.82, Y:-19.47, Z:-15.48 [[ 9.35054715e-01 3.42847020e-01 9.01587514e-02 1.23817696e+02] [-3.41252207e-01 9.39391243e-01 -3.30306590e-02 -1.94698196e+01] [-9.60188045e-02 1.18600489e-04 9.95379513e-01 -1.54791264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.238241008 meters 0.06481916760331663 Centerline is valid? [True, True] Translation: X:123.88, Y:-19.49, Z:-15.48 [[ 9.34618259e-01 3.43563999e-01 9.19374118e-02 1.23876714e+02] [-3.41906760e-01 9.39129264e-01 -3.37045010e-02 -1.94901353e+01] [-9.79207670e-02 6.68195178e-05 9.95194212e-01 -1.54807964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.298241008 meters 0.06442103699650016 Centerline is valid? [True, True] Translation: X:123.93, Y:-19.51, Z:-15.49 [[ 9.33678706e-01 3.45452011e-01 9.43768034e-02 1.23934567e+02] [-3.43712422e-01 9.38436410e-01 -3.46247806e-02 -1.95081588e+01] [-1.00527829e-01 -1.10059251e-04 9.94934241e-01 -1.54865605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.358241008 meters 0.06432739607612514 Centerline is valid? [True, True] Translation: X:123.99, Y:-19.53, Z:-15.49 [[ 9.32988692e-01 3.46957689e-01 9.56685068e-02 1.23993428e+02] [-3.45175558e-01 9.37880748e-01 -3.51217441e-02 -1.95269167e+01] [-1.01911410e-01 -2.54240129e-04 9.94793446e-01 -1.54927961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.418241008 meters 0.06446356072386071 Centerline is valid? [True, True] Translation: X:124.05, Y:-19.55, Z:-15.50 [[ 9.32327984e-01 3.48707476e-01 9.57477232e-02 1.24053075e+02] [-3.46929076e-01 9.37231518e-01 -3.51752586e-02 -1.95456375e+01] [-1.02003660e-01 -4.22791168e-04 9.94783934e-01 -1.55002668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.478241008 meters 0.06454910213632407 Centerline is valid? [True, True] Translation: X:124.11, Y:-19.56, Z:-15.51 [[ 9.31847853e-01 3.50415492e-01 9.41730422e-02 1.24110865e+02] [-3.48701024e-01 9.36594179e-01 -3.46257237e-02 -1.95646554e+01] [-1.00335313e-01 -5.72329956e-04 9.94953515e-01 -1.55094233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.538241008 meters 0.06479428686213053 Centerline is valid? [True, True] Translation: X:124.17, Y:-19.58, Z:-15.52 [[ 9.32358596e-01 3.49558666e-01 9.22831888e-02 1.24167598e+02] [-3.47906141e-01 9.36914370e-01 -3.39526235e-02 -1.95846315e+01] [-9.83298795e-02 -4.49867683e-04 9.95153773e-01 -1.55207757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.598241008 meters 0.06510151853834796 Centerline is valid? [True, True] Translation: X:124.22, Y:-19.61, Z:-15.53 [[ 9.33938120e-01 3.46171260e-01 8.90227282e-02 1.24223799e+02] [-3.44616497e-01 9.38171335e-01 -3.27721949e-02 -1.96100149e+01] [-9.48633638e-02 -7.14986729e-05 9.95490300e-01 -1.55330180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.658241008 meters 0.06502052838423494 Centerline is valid? [True, True] Translation: X:124.28, Y:-19.64, Z:-15.54 [[ 9.35208508e-01 3.42874150e-01 8.84441297e-02 1.24280190e+02] [-3.41322491e-01 9.39381305e-01 -3.25840571e-02 -1.96361916e+01] [-9.42549929e-02 2.84916696e-04 9.95548048e-01 -1.55389232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71824100799999 meters 0.06489721809583379 Centerline is valid? [True, True] Translation: X:124.34, Y:-19.66, Z:-15.54 [[ 9.36831969e-01 3.38387408e-01 8.85427820e-02 1.24335740e+02] [-3.36810042e-01 9.41006581e-01 -3.26436802e-02 -1.96644648e+01] [-9.43655509e-02 7.59545087e-04 9.95537325e-01 -1.55439407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.778241008 meters 0.06495773364700207 Centerline is valid? [True, True] Translation: X:124.39, Y:-19.69, Z:-15.55 [[ 9.36914215e-01 3.37239179e-01 9.19863594e-02 1.24392980e+02] [-3.35528364e-01 9.41418538e-01 -3.39389581e-02 -1.96857063e+01] [-9.80432104e-02 9.33859554e-04 9.95181720e-01 -1.55493084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.838241008 meters 0.06456139540727347 Centerline is valid? [True, True] Translation: X:124.45, Y:-19.71, Z:-15.56 [[ 9.36115478e-01 3.39118297e-01 9.32018901e-02 1.24451270e+02] [-3.37368933e-01 9.40743425e-01 -3.44094755e-02 -1.97052619e+01] [-9.93479480e-02 7.67820428e-04 9.95052459e-01 -1.55554822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.898241008 meters 0.0640167284420189 Centerline is valid? [True, True] Translation: X:124.51, Y:-19.72, Z:-15.56 [[ 9.34929917e-01 3.41874192e-01 9.50162521e-02 1.24511269e+02] [-3.40067244e-01 9.39745591e-01 -3.51068867e-02 -1.97226845e+01] [-1.01293242e-01 5.10563692e-04 9.94856481e-01 -1.55605629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.958241008 meters 0.06408073004764565 Centerline is valid? [True, True] Translation: X:124.57, Y:-19.74, Z:-15.57 [[ 9.32790645e-01 3.47672927e-01 9.50007861e-02 1.24572160e+02] [-3.45895929e-01 9.37615872e-01 -3.51067412e-02 -1.97358363e+01] [-1.01279908e-01 -1.13145331e-04 9.94857963e-01 -1.55693107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.018241008 meters 0.06438051560435402 Centerline is valid? [True, True] Translation: X:124.63, Y:-19.75, Z:-15.58 [[ 9.31452743e-01 3.51696736e-01 9.33016235e-02 1.24631933e+02] [-3.50000685e-01 9.36113848e-01 -3.45019448e-02 -1.97514951e+01] [-9.94751632e-02 -5.18701000e-04 9.95039910e-01 -1.55784393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.078241008 meters 0.06485628742728619 Centerline is valid? [True, True] Translation: X:124.69, Y:-19.77, Z:-15.59 [[ 9.30717596e-01 3.54137302e-01 9.13866878e-02 1.24689890e+02] [-3.52519503e-01 9.35193148e-01 -3.38197437e-02 -1.97681302e+01] [-9.74410371e-02 -7.38959161e-04 9.95241025e-01 -1.55896352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.138241008 meters 0.06486354568975634 Centerline is valid? [True, True] Translation: X:124.75, Y:-19.79, Z:-15.60 [[ 9.31729569e-01 3.52033147e-01 8.91777580e-02 1.24745512e+02] [-3.50482335e-01 9.35987401e-01 -3.30108694e-02 -1.97934576e+01] [-9.50901782e-02 -4.98025729e-04 9.95468538e-01 -1.55976632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.198241008 meters 0.0648667356190915 Centerline is valid? [True, True] Translation: X:124.80, Y:-19.82, Z:-15.61 [[ 9.33994321e-01 3.45846924e-01 8.96912114e-02 1.24800409e+02] [-3.44247582e-01 9.38290937e-01 -3.32222905e-02 -1.98182229e+01] [-9.56462777e-02 1.53448032e-04 9.95415374e-01 -1.56087909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.258241008 meters 0.06489613648979603 Centerline is valid? [True, True] Translation: X:124.86, Y:-19.85, Z:-15.61 [[ 9.35474761e-01 3.41801383e-01 8.97707398e-02 1.24856539e+02] [-3.40178614e-01 9.39772031e-01 -3.32722314e-02 -1.98454015e+01] [-9.57365251e-02 5.87246914e-04 9.95406536e-01 -1.56146559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.318241008 meters 0.06436306061008557 Centerline is valid? [True, True] Translation: X:124.92, Y:-19.87, Z:-15.62 [[ 9.36680239e-01 3.38044538e-01 9.14112726e-02 1.24915087e+02] [-3.36341787e-01 9.41129572e-01 -3.39017927e-02 -1.98694900e+01] [-9.74901677e-02 1.00970851e-03 9.95235976e-01 -1.56158600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.378241008 meters 0.06433917555878516 Centerline is valid? [True, True] Translation: X:124.97, Y:-19.89, Z:-15.62 [[ 9.36688194e-01 3.37772328e-01 9.23313688e-02 1.24972877e+02] [-3.36030892e-01 9.41227229e-01 -3.42715939e-02 -1.98909867e+01] [-9.84807945e-02 1.07560509e-03 9.95138370e-01 -1.56222878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.438241008 meters 0.0645992324135464 Centerline is valid? [True, True] Translation: X:125.03, Y:-19.91, Z:-15.63 [[ 9.36220232e-01 3.39112826e-01 9.21638189e-02 1.25030410e+02] [-3.37381857e-01 9.40745225e-01 -3.42330772e-02 -1.99094041e+01] [-9.83115481e-02 9.55299039e-04 9.95155228e-01 -1.56317876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.498241008 meters 0.06443459673999602 Centerline is valid? [True, True] Translation: X:125.09, Y:-19.93, Z:-15.64 [[ 9.35680099e-01 3.40807739e-01 9.13938574e-02 1.25090115e+02] [-3.39111749e-01 9.40132683e-01 -3.39670429e-02 -1.99275305e+01] [-9.74985834e-02 7.89555276e-04 9.95235350e-01 -1.56388442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.558241008 meters 0.06439420621716163 Centerline is valid? [True, True] Translation: X:125.15, Y:-19.94, Z:-15.65 [[ 9.34567304e-01 3.43610130e-01 9.22823592e-02 1.25149572e+02] [-3.41891760e-01 9.39112240e-01 -3.43252851e-02 -1.99422487e+01] [-9.84580087e-02 5.28710981e-04 9.95141066e-01 -1.56471051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.618241008 meters 0.06435869392007784 Centerline is valid? [True, True] Translation: X:125.21, Y:-19.96, Z:-15.66 [[ 9.33491245e-01 3.46592186e-01 9.20214806e-02 1.25210742e+02] [-3.44896046e-01 9.38015886e-01 -3.42478416e-02 -1.99578500e+01] [-9.81876449e-02 2.32215523e-04 9.95167892e-01 -1.56552231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.678241008 meters 0.06471402339133821 Centerline is valid? [True, True] Translation: X:125.27, Y:-19.97, Z:-15.66 [[ 9.32413468e-01 3.49561317e-01 9.17170151e-02 1.25270242e+02] [-3.47888229e-01 9.36913487e-01 -3.41598769e-02 -1.99742000e+01] [-9.78718801e-02 -5.61406934e-05 9.95199021e-01 -1.56635818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.738241008 meters 0.06444440461336573 Centerline is valid? [True, True] Translation: X:125.33, Y:-19.99, Z:-15.67 [[ 9.31711331e-01 3.50897404e-01 9.37283718e-02 1.25329921e+02] [-3.49154000e-01 9.36413894e-01 -3.49357030e-02 -1.99921189e+01] [-1.00027397e-01 -1.75645627e-04 9.94984668e-01 -1.56652142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.798241008 meters 0.06440301374463335 Centerline is valid? [True, True] Translation: X:125.39, Y:-20.01, Z:-15.67 [[ 9.31311213e-01 3.52022637e-01 9.34852259e-02 1.25389496e+02] [-3.50291648e-01 9.35991447e-01 -3.48679359e-02 -2.00116934e+01] [-9.97756745e-02 -2.74194212e-04 9.95009919e-01 -1.56717472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.858241008 meters 0.06440198799391231 Centerline is valid? [True, True] Translation: X:125.45, Y:-20.03, Z:-15.68 [[ 9.31087365e-01 3.52877800e-01 9.24855513e-02 1.25448734e+02] [-3.51185254e-01 9.35669357e-01 -3.45220579e-02 -2.00285236e+01] [-9.87179641e-02 -3.36509950e-04 9.95115395e-01 -1.56814881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.918241008 meters 0.06449978771978601 Centerline is valid? [True, True] Translation: X:125.51, Y:-20.05, Z:-15.69 [[ 9.31159213e-01 3.52763898e-01 9.21962656e-02 1.25507511e+02] [-3.51079165e-01 9.35712317e-01 -3.44365958e-02 -2.00486081e+01] [-9.84171692e-02 -3.02234481e-04 9.95145200e-01 -1.56887127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.978241008 meters 0.06408544666300434 Centerline is valid? [True, True] Translation: X:125.56, Y:-20.07, Z:-15.69 [[ 9.32675462e-01 3.48589612e-01 9.27457047e-02 1.25564591e+02] [-3.46861299e-01 9.37275442e-01 -3.46696418e-02 -2.00724694e+01] [-9.90137484e-02 1.65628563e-04 9.95086052e-01 -1.56926539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.038241008 meters 0.06460475960184832 Centerline is valid? [True, True] Translation: X:125.62, Y:-20.10, Z:-15.70 [[ 9.35131431e-01 3.42302607e-01 9.14228231e-02 1.25619282e+02] [-3.40591012e-01 9.39589387e-01 -3.41986350e-02 -2.00982308e+01] [-9.76061962e-02 8.42426585e-04 9.95224759e-01 -1.57018066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.098241008 meters 0.0652572244838475 Centerline is valid? [True, True] Translation: X:125.68, Y:-20.12, Z:-15.71 [[ 9.36551310e-01 3.38389406e-01 9.14562902e-02 1.25675434e+02] [-3.36655793e-01 9.41005310e-01 -3.42327878e-02 -2.01208924e+01] [-9.76448674e-02 1.27147237e-03 9.95220510e-01 -1.57116464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.158241008 meters 0.0659541285160754 Centerline is valid? [True, True] Translation: X:125.73, Y:-20.14, Z:-15.72 [[ 9.39028647e-01 3.31654474e-01 9.07221589e-02 1.25733000e+02] [-3.29915157e-01 9.43398856e-01 -3.39792139e-02 -2.01435060e+01] [-9.68565393e-02 1.97683989e-03 9.95296389e-01 -1.57183109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21824100799999 meters 0.06587253114428163 Centerline is valid? [True, True] Translation: X:125.79, Y:-20.16, Z:-15.72 [[ 9.40094860e-01 3.28997124e-01 8.93450964e-02 1.25790871e+02] [-3.27297108e-01 9.44328293e-01 -3.34765272e-02 -2.01633684e+01] [-9.53847836e-02 2.22871953e-03 9.95437982e-01 -1.57238380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.278241008 meters 0.06785995248380083 Centerline is valid? [True, True] Translation: X:125.85, Y:-20.19, Z:-15.73 [[ 9.41454787e-01 3.25671953e-01 8.71817760e-02 1.25846309e+02] [-3.24037367e-01 9.45479464e-01 -3.26858834e-02 -2.01876611e+01] [-9.30734544e-02 2.52212826e-03 9.95656051e-01 -1.57349726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.338241008 meters 0.06723790173120874 Centerline is valid? [True, True] Translation: X:125.91, Y:-20.20, Z:-15.74 [[ 9.42012408e-01 3.23905139e-01 8.77387299e-02 1.25906831e+02] [-3.22239953e-01 9.46085613e-01 -3.29154300e-02 -2.02028398e+01] [-9.36698270e-02 2.73381926e-03 9.95599563e-01 -1.57398362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.398241008 meters 0.0673547787426948 Centerline is valid? [True, True] Translation: X:125.97, Y:-20.22, Z:-15.75 [[ 9.42027681e-01 3.23606232e-01 8.86727388e-02 1.25965270e+02] [-3.21901885e-01 9.46187659e-01 -3.32879860e-02 -2.02212941e+01] [-9.46732508e-02 2.81428252e-03 9.95504423e-01 -1.57470387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.458241008 meters 0.06648076403432895 Centerline is valid? [True, True] Translation: X:126.03, Y:-20.23, Z:-15.75 [[ 9.41540725e-01 3.24879331e-01 8.91879141e-02 1.26026579e+02] [-3.23158680e-01 9.45751557e-01 -3.35031475e-02 -2.02345926e+01] [-9.52340887e-02 2.72272920e-03 9.95451182e-01 -1.57509901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.518241008 meters 0.06528674439122926 Centerline is valid? [True, True] Translation: X:126.09, Y:-20.25, Z:-15.76 [[ 9.39222537e-01 3.30973122e-01 9.12020768e-02 1.26088643e+02] [-3.29199945e-01 9.43637673e-01 -3.42832070e-02 -2.02452711e+01] [-9.74085356e-02 2.17584198e-03 9.95242103e-01 -1.57558336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.578241008 meters 0.06438776913886535 Centerline is valid? [True, True] Translation: X:126.15, Y:-20.26, Z:-15.76 [[ 9.36856291e-01 3.37515208e-01 9.15629542e-02 1.26149769e+02] [-3.35756820e-01 9.41318842e-01 -3.44411794e-02 -2.02563295e+01] [-9.78143559e-02 1.52354934e-03 9.95203512e-01 -1.57629921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.638241008 meters 0.06408006929840486 Centerline is valid? [True, True] Translation: X:126.21, Y:-20.27, Z:-15.77 [[ 9.34013181e-01 3.45163017e-01 9.20970602e-02 1.26208994e+02] [-3.43418863e-01 9.38542451e-01 -3.46634231e-02 -2.02679729e+01] [-9.84015323e-02 7.48226427e-04 9.95146511e-01 -1.57741428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.698241008 meters 0.06343345992930807 Centerline is valid? [True, True] Translation: X:126.27, Y:-20.28, Z:-15.78 [[ 9.30673821e-01 3.54266495e-01 9.13317606e-02 1.26272198e+02] [-3.52593235e-01 9.35144488e-01 -3.43918325e-02 -2.02781360e+01] [-9.75922664e-02 -1.95382740e-04 9.95226462e-01 -1.57759937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.758241008 meters 0.06413958779368344 Centerline is valid? [True, True] Translation: X:126.33, Y:-20.29, Z:-15.79 [[ 9.29450552e-01 3.58268813e-01 8.81199648e-02 1.26330629e+02] [-3.56726963e-01 9.33618301e-01 -3.32075480e-02 -2.02923834e+01] [-9.41676406e-02 -5.69993589e-04 9.95556192e-01 -1.57891600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.818241008 meters 0.06428233508919341 Centerline is valid? [True, True] Translation: X:126.39, Y:-20.31, Z:-15.80 [[ 9.28727938e-01 3.60367815e-01 8.71748480e-02 1.26388507e+02] [-3.58867429e-01 9.32809975e-01 -3.28590867e-02 -2.03140241e+01] [-9.31589250e-02 -7.67061681e-04 9.95650956e-01 -1.57975962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.878241008 meters 0.06468178429493585 Centerline is valid? [True, True] Translation: X:126.44, Y:-20.34, Z:-15.81 [[ 9.28057415e-01 3.62282689e-01 8.63752738e-02 1.26444298e+02] [-3.60815684e-01 9.32067806e-01 -3.25829375e-02 -2.03360512e+01] [-9.23118461e-02 -9.26716715e-04 9.95729714e-01 -1.58064862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.938241008 meters 0.0650183702993345 Centerline is valid? [True, True] Translation: X:126.50, Y:-20.36, Z:-15.82 [[ 9.27794472e-01 3.63168287e-01 8.54763917e-02 1.26501290e+02] [-3.61734815e-01 9.31723028e-01 -3.22509476e-02 -2.03592308e+01] [-9.13528438e-02 -9.97535862e-04 9.95818087e-01 -1.58159857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.998241008 meters 0.06504614093125735 Centerline is valid? [True, True] Translation: X:126.55, Y:-20.39, Z:-15.82 [[ 9.28531710e-01 3.61000423e-01 8.66461641e-02 1.26554973e+02] [-3.59515861e-01 9.32565330e-01 -3.27146891e-02 -2.03882129e+01] [-9.26132252e-02 -7.74044058e-04 9.95701859e-01 -1.58236450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05824100799998 meters 0.06485325170405422 Centerline is valid? [True, True] Translation: X:126.61, Y:-20.42, Z:-15.83 [[ 9.29973486e-01 3.57225952e-01 8.68270380e-02 1.26609720e+02] [-3.55716523e-01 9.34017921e-01 -3.28066744e-02 -2.04196407e+01] [-9.28174051e-02 -3.76474705e-04 9.95683076e-01 -1.58303445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11824100799998 meters 0.06477193378698529 Centerline is valid? [True, True] Translation: X:126.66, Y:-20.45, Z:-15.84 [[ 9.31663487e-01 3.52478926e-01 8.81008118e-02 1.26662472e+02] [-3.50903167e-01 9.35819745e-01 -3.32922137e-02 -2.04510324e+01] [-9.41812831e-02 1.02286081e-04 9.95555059e-01 -1.58386867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.178241008 meters 0.0649798941567853 Centerline is valid? [True, True] Translation: X:126.72, Y:-20.48, Z:-15.85 [[ 9.32336116e-01 3.50799332e-01 8.76880544e-02 1.26716898e+02] [-3.49229122e-01 9.36450610e-01 -3.31553169e-02 -2.04801613e+01] [-9.37463951e-02 2.88677210e-04 9.95596068e-01 -1.58481974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.238241008 meters 0.06520557506522723 Centerline is valid? [True, True] Translation: X:126.77, Y:-20.51, Z:-15.86 [[ 9.32800829e-01 3.49649537e-01 8.73373593e-02 1.26770343e+02] [-3.48084929e-01 9.36880475e-01 -3.30432832e-02 -2.05112139e+01] [-9.33782353e-02 4.21983488e-04 9.95630618e-01 -1.58571070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.298241008 meters 0.06533294927523013 Centerline is valid? [True, True] Translation: X:126.83, Y:-20.54, Z:-15.87 [[ 9.32566898e-01 3.50452169e-01 8.66155792e-02 1.26826138e+02] [-3.48914960e-01 9.36580562e-01 -3.27902625e-02 -2.05362017e+01] [-9.26138865e-02 3.57642000e-04 9.95702034e-01 -1.58670652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.358241008 meters 0.06558696165985924 Centerline is valid? [True, True] Translation: X:126.88, Y:-20.56, Z:-15.88 [[ 9.31844393e-01 3.52550224e-01 8.58741348e-02 1.26882647e+02] [-3.51046353e-01 9.35792879e-01 -3.25291571e-02 -2.05601857e+01] [-9.18285654e-02 1.66310876e-04 9.95774817e-01 -1.58768596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.418241008 meters 0.06542597927616717 Centerline is valid? [True, True] Translation: X:126.94, Y:-20.58, Z:-15.88 [[ 9.30351840e-01 3.56653369e-01 8.51106814e-02 1.26939045e+02] [-3.55191539e-01 9.34236761e-01 -3.22590138e-02 -2.05847773e+01] [-9.10188133e-02 -2.18361136e-04 9.95849149e-01 -1.58833523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.478241008 meters 0.06579130252128118 Centerline is valid? [True, True] Translation: X:127.00, Y:-20.61, Z:-15.89 [[ 9.28768862e-01 3.60538341e-01 8.60261881e-02 1.26995886e+02] [-3.59059436e-01 9.32744211e-01 -3.26275855e-02 -2.06080742e+01] [-9.20039244e-02 -5.85029031e-04 9.95758473e-01 -1.58903028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53824100799997 meters 0.06591631812994796 Centerline is valid? [True, True] Translation: X:127.05, Y:-20.63, Z:-15.89 [[ 9.26104769e-01 3.66642257e-01 8.89011403e-02 1.27053893e+02] [-3.65088163e-01 9.30361220e-01 -3.37436475e-02 -2.06313670e+01] [-9.50820204e-02 -1.20660117e-03 9.95468710e-01 -1.58936971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59824100799997 meters 0.0664707494214637 Centerline is valid? [True, True] Translation: X:127.11, Y:-20.65, Z:-15.90 [[ 9.24958597e-01 3.69317224e-01 8.97573533e-02 1.27110243e+02] [-3.67744317e-01 9.29302204e-01 -3.40812573e-02 -2.06526143e+01] [-9.59985015e-02 -1.48400464e-03 9.95380372e-01 -1.59023125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65824100799998 meters 0.06710129796319783 Centerline is valid? [True, True] Translation: X:127.16, Y:-20.68, Z:-15.91 [[ 9.24505748e-01 3.70471874e-01 8.96644386e-02 1.27164859e+02] [-3.68906631e-01 9.28842320e-01 -3.40564652e-02 -2.06793331e+01] [-9.59010876e-02 -1.59240809e-03 9.95389595e-01 -1.59123722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71824100799998 meters 0.06670855699023809 Centerline is valid? [True, True] Translation: X:127.22, Y:-20.71, Z:-15.92 [[ 9.25229263e-01 3.68755449e-01 8.92761442e-02 1.27219683e+02] [-3.67193810e-01 9.29525411e-01 -3.39295842e-02 -2.07091885e+01] [-9.54961636e-02 -1.38900328e-03 9.95428829e-01 -1.59197565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77824100799998 meters 0.06564847330060493 Centerline is valid? [True, True] Translation: X:127.27, Y:-20.74, Z:-15.92 [[ 9.26750426e-01 3.64496471e-01 9.09723598e-02 1.27272193e+02] [-3.62851972e-01 9.31204289e-01 -3.45979475e-02 -2.07448034e+01] [-9.73246814e-02 -9.45837551e-04 9.95252235e-01 -1.59248359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83824100799998 meters 0.06517783239914755 Centerline is valid? [True, True] Translation: X:127.33, Y:-20.78, Z:-15.93 [[ 9.27727738e-01 3.61623118e-01 9.24660162e-02 1.27326294e+02] [-3.59907515e-01 9.32324149e-01 -3.51889393e-02 -2.07755132e+01] [-9.89334339e-02 -6.33459081e-04 9.95093852e-01 -1.59312262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89824100799999 meters 0.06468337305644398 Centerline is valid? [True, True] Translation: X:127.38, Y:-20.81, Z:-15.94 [[ 9.28682793e-01 3.59256020e-01 9.21052796e-02 1.27380494e+02] [-3.57540021e-01 9.33238974e-01 -3.50734995e-02 -2.08079179e+01] [-9.85566025e-02 -3.59168152e-04 9.95131382e-01 -1.59378738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.958241008 meters 0.06489575992686271 Centerline is valid? [True, True] Translation: X:127.43, Y:-20.84, Z:-15.95 [[ 9.28686986e-01 3.59261266e-01 9.20425146e-02 1.27434957e+02] [-3.57544880e-01 9.33236964e-01 -3.50774428e-02 -2.08361419e+01] [-9.84994435e-02 -3.33365230e-04 9.95137050e-01 -1.59509182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.018241008 meters 0.06490853974109365 Centerline is valid? [True, True] Translation: X:127.49, Y:-20.86, Z:-15.95 [[ 9.28026666e-01 3.61217379e-01 9.10412660e-02 1.27492183e+02] [-3.59545130e-01 9.32481498e-01 -3.47211226e-02 -2.08600281e+01] [-9.74361690e-02 -5.11316151e-04 9.95241645e-01 -1.59548272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.078241008 meters 0.06494234761714632 Centerline is valid? [True, True] Translation: X:127.55, Y:-20.88, Z:-15.96 [[ 9.27824116e-01 3.61857994e-01 9.05604895e-02 1.27549173e+02] [-3.60204216e-01 9.32233064e-01 -3.45606348e-02 -2.08828966e+01] [-9.69295246e-02 -5.54079715e-04 9.95291093e-01 -1.59618522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.138241008 meters 0.064747409513687 Centerline is valid? [True, True] Translation: X:127.61, Y:-20.90, Z:-15.97 [[ 9.28101411e-01 3.61281626e-01 9.00186501e-02 1.27607738e+02] [-3.59642774e-01 9.32456629e-01 -3.43760037e-02 -2.09041602e+01] [-9.63579055e-02 -4.70139515e-04 9.95346640e-01 -1.59705228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.198241008 meters 0.06505813929605493 Centerline is valid? [True, True] Translation: X:127.66, Y:-20.92, Z:-15.98 [[ 9.28286648e-01 3.61059899e-01 8.89924021e-02 1.27664216e+02] [-3.59454365e-01 9.32542534e-01 -3.40144255e-02 -2.09247268e+01] [-9.52704452e-02 -4.13570328e-04 9.95451340e-01 -1.59810614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.258241008 meters 0.06467074241039432 Centerline is valid? [True, True] Translation: X:127.72, Y:-20.95, Z:-15.99 [[ 9.30187503e-01 3.56121081e-01 8.90448506e-02 1.27719629e+02] [-3.54490004e-01 9.34439813e-01 -3.40451529e-02 -2.09533811e+01] [-9.53312503e-02 1.02866346e-04 9.95445600e-01 -1.59871158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31824100799997 meters 0.06487246539694992 Centerline is valid? [True, True] Translation: X:127.78, Y:-20.98, Z:-15.99 [[ 9.32094971e-01 3.51021760e-01 8.93459005e-02 1.27775123e+02] [-3.49353974e-01 9.36367077e-01 -3.41832933e-02 -2.09818528e+01] [-9.56596394e-02 6.48730336e-04 9.95413890e-01 -1.59941094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37824100799997 meters 0.06538810031326546 Centerline is valid? [True, True] Translation: X:127.83, Y:-21.01, Z:-16.00 [[ 9.33302749e-01 3.47617738e-01 9.00438106e-02 1.27830121e+02] [-3.45905417e-01 9.37635776e-01 -3.44760032e-02 -2.10079135e+01] [-9.64127684e-02 1.02990673e-03 9.95340905e-01 -1.60005962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43824100799998 meters 0.06528145673338251 Centerline is valid? [True, True] Translation: X:127.89, Y:-21.03, Z:-16.01 [[ 9.33593491e-01 3.46895341e-01 8.98154527e-02 1.27888256e+02] [-3.45187376e-01 9.37903186e-01 -3.43989547e-02 -2.10282060e+01] [-9.61710364e-02 1.11147972e-03 9.95364203e-01 -1.60080562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49824100799998 meters 0.06541397089709089 Centerline is valid? [True, True] Translation: X:127.95, Y:-21.05, Z:-16.02 [[ 9.33363106e-01 3.47561317e-01 8.96350550e-02 1.27946232e+02] [-3.45861191e-01 9.37656656e-01 -3.43515979e-02 -2.10484834e+01] [-9.59861925e-02 1.06122728e-03 9.95382100e-01 -1.60178313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55824100799998 meters 0.06482428008708042 Centerline is valid? [True, True] Translation: X:128.01, Y:-21.06, Z:-16.03 [[ 9.32244538e-01 3.50829112e-01 8.85384401e-02 1.28006574e+02] [-3.49183013e-01 9.36439209e-01 -3.39533820e-02 -2.10649817e+01] [-9.48227016e-02 7.36735636e-04 9.95493904e-01 -1.60253334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61824100799998 meters 0.0650391643849379 Centerline is valid? [True, True] Translation: X:128.06, Y:-21.09, Z:-16.03 [[ 9.31608907e-01 3.52920549e-01 8.69018448e-02 1.28063145e+02] [-3.51341462e-01 9.35653138e-01 -3.33523841e-02 -2.10859186e+01] [-9.30807255e-02 5.39156932e-04 9.95658419e-01 -1.60343602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.678241008 meters 0.06467801084036956 Centerline is valid? [True, True] Translation: X:128.12, Y:-21.11, Z:-16.04 [[ 9.31254960e-01 3.53348357e-01 8.89333420e-02 1.28121138e+02] [-3.51694314e-01 9.35491668e-01 -3.41533274e-02 -2.11089655e+01] [-9.52644225e-02 5.28104884e-04 9.95451863e-01 -1.60374163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.738241008 meters 0.0643766594256172 Centerline is valid? [True, True] Translation: X:128.18, Y:-21.13, Z:-16.04 [[ 9.31473978e-01 3.52326183e-01 9.06779433e-02 1.28178136e+02] [-3.50599295e-01 9.35877030e-01 -3.48470730e-02 -2.11328418e+01] [-9.71409404e-02 6.67518718e-04 9.95270412e-01 -1.60427444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.798241008 meters 0.06423248337990854 Centerline is valid? [True, True] Translation: X:128.23, Y:-21.16, Z:-16.05 [[ 9.31929055e-01 3.50369697e-01 9.35377573e-02 1.28234080e+02] [-3.48519544e-01 9.36611032e-01 -3.59708573e-02 -2.11577998e+01] [-1.00211594e-01 9.22550457e-04 9.94965721e-01 -1.60488940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.858241008 meters 0.06398736951077418 Centerline is valid? [True, True] Translation: X:128.29, Y:-21.18, Z:-16.05 [[ 9.32081155e-01 3.49373103e-01 9.57243753e-02 1.28290274e+02] [-3.47427409e-01 9.36983071e-01 -3.68364127e-02 -2.11829612e+01] [-1.02561771e-01 1.07725440e-03 9.94726054e-01 -1.60538381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.918241008 meters 0.06404127701962226 Centerline is valid? [True, True] Translation: X:128.35, Y:-21.21, Z:-16.06 [[ 9.31866611e-01 3.49627551e-01 9.68772122e-02 1.28347367e+02] [-3.47633416e-01 9.36888146e-01 -3.73042802e-02 -2.12050905e+01] [-1.03805716e-01 1.08485699e-03 9.94597002e-01 -1.60605649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.978241008 meters 0.06368443694986337 Centerline is valid? [True, True] Translation: X:128.41, Y:-21.22, Z:-16.07 [[ 9.30772062e-01 3.52483673e-01 9.70496173e-02 1.28407266e+02] [-3.50495433e-01 9.35817630e-01 -3.73940580e-02 -2.12214154e+01] [-1.04001538e-01 7.89896885e-04 9.94576823e-01 -1.60679826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03824100799997 meters 0.06344028993620443 Centerline is valid? [True, True] Translation: X:128.47, Y:-21.24, Z:-16.08 [[ 9.29607844e-01 3.55853047e-01 9.59054996e-02 1.28466589e+02] [-3.53926941e-01 9.34541826e-01 -3.69769759e-02 -2.12407115e+01] [-1.02786070e-01 4.30546768e-04 9.94703392e-01 -1.60755510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09824100799997 meters 0.06348497766299178 Centerline is valid? [True, True] Translation: X:128.52, Y:-21.26, Z:-16.09 [[ 9.28094777e-01 3.60114024e-01 9.46465809e-02 1.28524144e+02] [-3.58257340e-01 9.32908297e-01 -3.65210689e-02 -2.12573529e+01] [-1.01448330e-01 -1.28190424e-05 9.94840810e-01 -1.60865559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15824100799998 meters 0.06382184325360873 Centerline is valid? [True, True] Translation: X:128.58, Y:-21.28, Z:-16.10 [[ 9.27505450e-01 3.61932487e-01 9.34800249e-02 1.28582132e+02] [-3.60128373e-01 9.32204290e-01 -3.60931522e-02 -2.12782046e+01] [-1.00205765e-01 -1.88213902e-04 9.94966718e-01 -1.60967786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21824100799998 meters 0.06399740940933225 Centerline is valid? [True, True] Translation: X:128.64, Y:-21.30, Z:-16.11 [[ 9.26709714e-01 3.64300409e-01 9.21646218e-02 1.28639773e+02] [-3.62556167e-01 9.31281396e-01 -3.56087965e-02 -2.12995259e+01] [-9.88034968e-02 -4.15834428e-04 9.95106877e-01 -1.61052572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27824100799998 meters 0.06420175921412416 Centerline is valid? [True, True] Translation: X:128.70, Y:-21.32, Z:-16.11 [[ 9.26857614e-01 3.64064075e-01 9.16095611e-02 1.28696890e+02] [-3.62337367e-01 9.31373832e-01 -3.54177626e-02 -2.13231853e+01] [-9.82170830e-02 -3.66344197e-04 9.95164946e-01 -1.61135796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33824100799998 meters 0.06405437620594906 Centerline is valid? [True, True] Translation: X:128.75, Y:-21.35, Z:-16.12 [[ 9.27194841e-01 3.62990115e-01 9.24548720e-02 1.28753376e+02] [-3.61223605e-01 9.31792961e-01 -3.57684886e-02 -2.13480887e+01] [-9.91324068e-02 -2.32524163e-04 9.95074224e-01 -1.61211101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39824100799999 meters 0.06416123180157761 Centerline is valid? [True, True] Translation: X:128.81, Y:-21.37, Z:-16.13 [[ 9.27353015e-01 3.62630034e-01 9.22813271e-02 1.28811001e+02] [-3.60866160e-01 9.31933167e-01 -3.57237458e-02 -2.13723997e+01] [-9.89545326e-02 -1.72684759e-04 9.95091941e-01 -1.61297362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.458241008 meters 0.06407587390873608 Centerline is valid? [True, True] Translation: X:128.87, Y:-21.40, Z:-16.14 [[ 9.26648518e-01 3.64281116e-01 9.28536122e-02 1.28868588e+02] [-3.62500779e-01 9.31288979e-01 -3.59725254e-02 -2.13962252e+01] [-9.95776575e-02 -3.25619456e-04 9.95029740e-01 -1.61350324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.518241008 meters 0.0641408470483114 Centerline is valid? [True, True] Translation: X:128.93, Y:-21.42, Z:-16.14 [[ 9.26384605e-01 3.65014151e-01 9.26079572e-02 1.28925931e+02] [-3.63244561e-01 9.31001893e-01 -3.59007563e-02 -2.14201404e+01] [-9.93224675e-02 -3.81428900e-04 9.95055226e-01 -1.61410691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.578241008 meters 0.06412345839246716 Centerline is valid? [True, True] Translation: X:128.98, Y:-21.44, Z:-16.15 [[ 9.26605252e-01 3.64157043e-01 9.37675544e-02 1.28982713e+02] [-3.62335409e-01 9.31337521e-01 -3.63795886e-02 -2.14405122e+01] [-1.00577125e-01 -2.65787218e-04 9.94929229e-01 -1.61516548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.638241008 meters 0.06426102830421393 Centerline is valid? [True, True] Translation: X:129.04, Y:-21.46, Z:-16.16 [[ 9.26745987e-01 3.64057504e-01 9.27577972e-02 1.29039866e+02] [-3.62272361e-01 9.31376444e-01 -3.60091230e-02 -2.14623583e+01] [-9.95018187e-02 -2.32275855e-04 9.95037353e-01 -1.61605379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.698241008 meters 0.06448041013471228 Centerline is valid? [True, True] Translation: X:129.10, Y:-21.49, Z:-16.17 [[ 9.27030886e-01 3.63827536e-01 9.07924028e-02 1.29096623e+02] [-3.62114135e-01 9.31466312e-01 -3.52684334e-02 -2.14860631e+01] [-9.74016918e-02 -1.82285337e-04 9.95245134e-01 -1.61699479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.758241008 meters 0.06430143713101324 Centerline is valid? [True, True] Translation: X:129.15, Y:-21.51, Z:-16.18 [[ 9.27565098e-01 3.62771434e-01 8.95537645e-02 1.29153326e+02] [-3.61097570e-01 9.31878149e-01 -3.48089164e-02 -2.15107366e+01] [-9.60808768e-02 -5.01107811e-05 9.95373529e-01 -1.61763649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81824100799997 meters 0.06462767942073055 Centerline is valid? [True, True] Translation: X:129.21, Y:-21.53, Z:-16.19 [[ 9.28553702e-01 3.60663174e-01 8.78071576e-02 1.29209703e+02] [-3.59042595e-01 9.32696114e-01 -3.41522284e-02 -2.15349321e+01] [-9.42148457e-02 1.85668358e-04 9.95551871e-01 -1.61875428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87824100799997 meters 0.06475035400032483 Centerline is valid? [True, True] Translation: X:129.27, Y:-21.56, Z:-16.19 [[ 9.28987237e-01 3.59709069e-01 8.71326541e-02 1.29266274e+02] [-3.58107060e-01 9.33064465e-01 -3.39122174e-02 -2.15590643e+01] [-9.34989154e-02 3.01198590e-04 9.95619336e-01 -1.61944924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93824100799998 meters 0.06465052971122061 Centerline is valid? [True, True] Translation: X:129.32, Y:-21.59, Z:-16.20 [[ 9.30509959e-01 3.55320734e-01 8.88729021e-02 1.29321212e+02] [-3.53631624e-01 9.34744119e-01 -3.46136781e-02 -2.15865414e+01] [-9.53723801e-02 7.80103418e-04 9.95441360e-01 -1.61990360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99824100799998 meters 0.06484887559962445 Centerline is valid? [True, True] Translation: X:129.38, Y:-21.61, Z:-16.20 [[ 9.31545175e-01 3.51983094e-01 9.12769863e-02 1.29377543e+02] [-3.50182962e-01 9.36005622e-01 -3.55720132e-02 -2.16131868e+01] [-9.79565196e-02 1.17329183e-03 9.95190004e-01 -1.62047155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05824100799998 meters 0.06450884428545813 Centerline is valid? [True, True] Translation: X:129.44, Y:-21.64, Z:-16.21 [[ 9.32760297e-01 3.48524241e-01 9.21362085e-02 1.29435594e+02] [-3.46670847e-01 9.37298447e-01 -3.59297169e-02 -2.16350669e+01] [-9.88815025e-02 1.57287598e-03 9.95097972e-01 -1.62085698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11824100799998 meters 0.06487560371219596 Centerline is valid? [True, True] Translation: X:129.49, Y:-21.66, Z:-16.22 [[ 9.33416870e-01 3.47190278e-01 9.05088857e-02 1.29492098e+02] [-3.45393317e-01 9.37793153e-01 -3.53193676e-02 -2.16580678e+01] [-9.71411544e-02 1.70652926e-03 9.95269151e-01 -1.62177077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.178241008 meters 0.06622481242755966 Centerline is valid? [True, True] Translation: X:129.55, Y:-21.68, Z:-16.23 [[ 9.33268248e-01 3.48028365e-01 8.88067309e-02 1.29547154e+02] [-3.46300197e-01 9.37482622e-01 -3.46771720e-02 -2.16813396e+01] [-9.53234064e-02 1.60931515e-03 9.95445055e-01 -1.62340653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.238241008 meters 0.06509422508851681 Centerline is valid? [True, True] Translation: X:129.61, Y:-21.70, Z:-16.24 [[ 9.32212325e-01 3.51038873e-01 8.80448170e-02 1.29606513e+02] [-3.49351703e-01 9.36359970e-01 -3.44004976e-02 -2.16998550e+01] [-9.45175541e-02 1.30996114e-03 9.95522333e-01 -1.62381220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.298241008 meters 0.06408824738483442 Centerline is valid? [True, True] Translation: X:129.67, Y:-21.72, Z:-16.24 [[ 9.29820525e-01 3.57044768e-01 8.91786126e-02 1.29666661e+02] [-3.55339029e-01 9.34086987e-01 -3.48665329e-02 -2.17152846e+01] [-9.57494947e-02 7.30976351e-04 9.95405194e-01 -1.62435277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.358241008 meters 0.06385572844851567 Centerline is valid? [True, True] Translation: X:129.73, Y:-21.73, Z:-16.25 [[ 9.27339034e-01 3.63404022e-01 8.93299059e-02 1.29726036e+02] [-3.61719643e-01 9.31631637e-01 -3.49484301e-02 -2.17337120e+01] [-9.59229665e-02 9.66617571e-05 9.95388756e-01 -1.62504098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.418241008 meters 0.06373945192861921 Centerline is valid? [True, True] Translation: X:129.78, Y:-21.75, Z:-16.26 [[ 9.25935148e-01 3.66878358e-01 8.96904267e-02 1.29783646e+02] [-3.65194342e-01 9.30268892e-01 -3.51123979e-02 -2.17548728e+01] [-9.63181927e-02 -2.42633041e-04 9.95350565e-01 -1.62574626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.478241008 meters 0.06371585986556136 Centerline is valid? [True, True] Translation: X:129.84, Y:-21.78, Z:-16.27 [[ 9.26122469e-01 3.66248355e-01 9.03289253e-02 1.29839510e+02] [-3.64534752e-01 9.30517124e-01 -3.53877881e-02 -2.17816582e+01] [-9.70133310e-02 -1.54606709e-04 9.95283070e-01 -1.62652774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53824100799997 meters 0.06371786662082825 Centerline is valid? [True, True] Translation: X:129.90, Y:-21.81, Z:-16.27 [[ 9.26151721e-01 3.65715947e-01 9.21674346e-02 1.29895440e+02] [-3.63926325e-01 9.30726512e-01 -3.61357094e-02 -2.18052108e+01] [-9.89980802e-02 -7.50062953e-05 9.95087622e-01 -1.62741532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59824100799997 meters 0.06324203587756325 Centerline is valid? [True, True] Translation: X:129.95, Y:-21.83, Z:-16.28 [[ 9.25838401e-01 3.65900191e-01 9.45531945e-02 1.29953871e+02] [-3.64016156e-01 9.30654094e-01 -3.70836254e-02 -2.18263404e+01] [-1.01565223e-01 -8.54459484e-05 9.94828879e-01 -1.62765176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65824100799998 meters 0.06325145414301335 Centerline is valid? [True, True] Translation: X:130.01, Y:-21.85, Z:-16.29 [[ 9.25791306e-01 3.65906720e-01 9.49880552e-02 1.30010395e+02] [-3.64002639e-01 9.30651529e-01 -3.72801648e-02 -2.18481681e+01] [-1.02041842e-01 -6.22502542e-05 9.94780106e-01 -1.62851593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71824100799998 meters 0.06333191132246063 Centerline is valid? [True, True] Translation: X:130.07, Y:-21.87, Z:-16.29 [[ 9.25854012e-01 3.66235716e-01 9.30900031e-02 1.30067416e+02] [-3.64406622e-01 9.30522109e-01 -3.65570638e-02 -2.18721106e+01] [-1.00010808e-01 -7.61094006e-05 9.94986348e-01 -1.62934922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77824100799998 meters 0.06367421894707871 Centerline is valid? [True, True] Translation: X:130.12, Y:-21.89, Z:-16.31 [[ 9.25812612e-01 3.67077351e-01 9.01400366e-02 1.30124721e+02] [-3.65364368e-01 9.30190410e-01 -3.54214648e-02 -2.18938469e+01] [-9.68498150e-02 -1.40318624e-04 9.95298997e-01 -1.63057440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83824100799998 meters 0.06414336622865208 Centerline is valid? [True, True] Translation: X:130.18, Y:-21.92, Z:-16.32 [[ 9.25921274e-01 3.67197390e-01 8.85204556e-02 1.30180472e+02] [-3.65543452e-01 9.30143033e-01 -3.48126826e-02 -2.19153170e+01] [-9.51198112e-02 -1.24269459e-04 9.95465824e-01 -1.63181514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89824100799999 meters 0.0642588816107525 Centerline is valid? [True, True] Translation: X:130.24, Y:-21.94, Z:-16.33 [[ 9.26516152e-01 3.66046186e-01 8.70517617e-02 1.30236894e+02] [-3.64440819e-01 9.30596685e-01 -3.42447040e-02 -2.19395528e+01] [-9.35452241e-02 3.05598251e-06 9.95615032e-01 -1.63264883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.958241008 meters 0.06402143209639598 Centerline is valid? [True, True] Translation: X:130.29, Y:-21.97, Z:-16.33 [[ 9.28262389e-01 3.61373009e-01 8.79686631e-02 1.30292049e+02] [-3.59710419e-01 9.32421202e-01 -3.46282657e-02 -2.19683989e+01] [-9.45375672e-02 5.00871999e-04 9.95521169e-01 -1.63297788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.018241008 meters 0.06441729199434942 Centerline is valid? [True, True] Translation: X:130.35, Y:-22.00, Z:-16.33 [[ 9.30867697e-01 3.54175661e-01 8.96935485e-02 1.30346860e+02] [-3.52411270e-01 9.35178038e-01 -3.53317808e-02 -2.19981879e+01] [-9.63930935e-02 1.28019607e-03 9.95342520e-01 -1.63347221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.078241008 meters 0.06522648205525822 Centerline is valid? [True, True] Translation: X:130.40, Y:-22.03, Z:-16.34 [[ 9.32853585e-01 3.48774790e-01 9.02238014e-02 1.30402633e+02] [-3.46961878e-01 9.37204696e-01 -3.55642140e-02 -2.20258777e+01] [-9.69620716e-02 1.87198490e-03 9.95286317e-01 -1.63411114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.138241008 meters 0.06554305679565291 Centerline is valid? [True, True] Translation: X:130.46, Y:-22.05, Z:-16.35 [[ 9.33826610e-01 3.46038680e-01 9.06923063e-02 1.30459159e+02] [-3.44191345e-01 9.38217685e-01 -3.57756039e-02 -2.20495698e+01] [-9.74688684e-02 2.19270401e-03 9.95236159e-01 -1.63475756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.198241008 meters 0.06632419600770359 Centerline is valid? [True, True] Translation: X:130.52, Y:-22.07, Z:-16.35 [[ 9.35284140e-01 3.42413386e-01 8.94239977e-02 1.30516326e+02] [-3.40598916e-01 9.39545927e-01 -3.52963180e-02 -2.20731439e+01] [-9.61038846e-02 2.55436973e-03 9.95368032e-01 -1.63549653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.258241008 meters 0.06758490463448834 Centerline is valid? [True, True] Translation: X:130.57, Y:-22.10, Z:-16.37 [[ 9.34717669e-01 3.44237254e-01 8.83379418e-02 1.30572087e+02] [-3.42472505e-01 9.38879726e-01 -3.48918833e-02 -2.20950393e+01] [-9.49497887e-02 2.36074358e-03 9.95479264e-01 -1.63675798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31824100799997 meters 0.06596229059744649 Centerline is valid? [True, True] Translation: X:130.63, Y:-22.11, Z:-16.37 [[ 9.33237527e-01 3.48420189e-01 8.75847566e-02 1.30634120e+02] [-3.46701852e-01 9.37336447e-01 -3.46151864e-02 -2.21058081e+01] [-9.41570143e-02 1.93839366e-03 9.95555473e-01 -1.63746348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37824100799997 meters 0.06564299002978002 Centerline is valid? [True, True] Translation: X:130.69, Y:-22.12, Z:-16.38 [[ 9.32087589e-01 3.51329319e-01 8.82067773e-02 1.30693617e+02] [-3.49596899e-01 9.36250438e-01 -3.48873141e-02 -2.21245134e+01] [-9.48405702e-02 1.68121665e-03 9.95491055e-01 -1.63823915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43824100799998 meters 0.06466277699745364 Centerline is valid? [True, True] Translation: X:130.75, Y:-22.14, Z:-16.39 [[ 9.31064387e-01 3.53842108e-01 8.89655501e-02 1.30752952e+02] [-3.52090444e-01 9.35304056e-01 -3.51943519e-02 -2.21430283e+01] [-9.56630834e-02 1.44428761e-03 9.95412723e-01 -1.63858366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49824100799998 meters 0.06441841783347187 Centerline is valid? [True, True] Translation: X:130.81, Y:-22.17, Z:-16.39 [[ 9.31268466e-01 3.53229013e-01 8.92653808e-02 1.30811534e+02] [-3.51460536e-01 9.35535629e-01 -3.53352214e-02 -2.21667762e+01] [-9.59923695e-02 1.53331883e-03 9.95380889e-01 -1.63901511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55824100799998 meters 0.0647623173176075 Centerline is valid? [True, True] Translation: X:130.87, Y:-22.19, Z:-16.40 [[ 9.31796684e-01 3.51865150e-01 8.91395249e-02 1.30868622e+02] [-3.50092734e-01 9.36049162e-01 -3.53135177e-02 -2.21897568e+01] [-9.58645737e-02 1.69791871e-03 9.95392938e-01 -1.63990357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61824100799998 meters 0.06475657523799444 Centerline is valid? [True, True] Translation: X:130.92, Y:-22.22, Z:-16.40 [[ 9.32035619e-01 3.50711183e-01 9.11661735e-02 1.30924433e+02] [-3.48849084e-01 9.36481781e-01 -3.61412618e-02 -2.22171214e+01] [-9.80506052e-02 1.88170716e-03 9.95179651e-01 -1.64029492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.678241008 meters 0.06413067656734817 Centerline is valid? [True, True] Translation: X:130.98, Y:-22.24, Z:-16.41 [[ 9.31680810e-01 3.51428942e-01 9.20248202e-02 1.30983835e+02] [-3.49532264e-01 9.36212732e-01 -3.65091481e-02 -2.22373936e+01] [-9.89851796e-02 1.84922899e-03 9.95087189e-01 -1.64061981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.738241008 meters 0.06356460295973365 Centerline is valid? [True, True] Translation: X:131.04, Y:-22.25, Z:-16.42 [[ 9.29346179e-01 3.57226250e-01 9.33010534e-02 1.31042360e+02] [-3.55304659e-01 9.34017036e-01 -3.70239844e-02 -2.22531991e+01] [-1.00370712e-01 1.25779947e-03 9.94949314e-01 -1.64157567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.798241008 meters 0.06338408974891632 Centerline is valid? [True, True] Translation: X:131.10, Y:-22.27, Z:-16.43 [[ 9.27061713e-01 3.63105703e-01 9.33318226e-02 1.31100874e+02] [-3.61211079e-01 9.31747737e-01 -3.70501216e-02 -2.22700304e+01] [-1.00414825e-01 6.35260780e-04 9.94945455e-01 -1.64261849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.858241008 meters 0.06304678272755378 Centerline is valid? [True, True] Translation: X:131.16, Y:-22.29, Z:-16.43 [[ 9.23989856e-01 3.70586116e-01 9.43857853e-02 1.31161678e+02] [-3.68685903e-01 9.28798096e-01 -3.74806885e-02 -2.22857474e+01] [-1.01555160e-01 -1.66932551e-04 9.94829896e-01 -1.64300900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.918241008 meters 0.06326696158967333 Centerline is valid? [True, True] Translation: X:131.22, Y:-22.31, Z:-16.44 [[ 9.22524218e-01 3.74274525e-01 9.41681836e-02 1.31219715e+02] [-3.72399623e-01 9.27317788e-01 -3.74197836e-02 -2.23057916e+01] [-1.01329103e-01 -5.47539455e-04 9.94852810e-01 -1.64397411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.978241008 meters 0.06400011520696389 Centerline is valid? [True, True] Translation: X:131.28, Y:-22.33, Z:-16.45 [[ 9.21546278e-01 3.77315083e-01 9.15739368e-02 1.31277119e+02] [-3.75554932e-01 9.26084570e-01 -3.64124018e-02 -2.23274041e+01] [-9.85441582e-02 -8.35330250e-04 9.95132328e-01 -1.64518098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03824100799997 meters 0.06411403989078236 Centerline is valid? [True, True] Translation: X:131.33, Y:-22.35, Z:-16.46 [[ 9.20824873e-01 3.79178092e-01 9.11346726e-02 1.31333523e+02] [-3.77441018e-01 9.25323171e-01 -3.62671741e-02 -2.23507895e+01] [-9.80807421e-02 -1.00224758e-03 9.95177956e-01 -1.64595969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09824100799997 meters 0.06361922135222028 Centerline is valid? [True, True] Translation: X:131.39, Y:-22.38, Z:-16.47 [[ 9.21252663e-01 3.78049125e-01 9.15007627e-02 1.31387500e+02] [-3.76291093e-01 9.25785125e-01 -3.64268522e-02 -2.23792496e+01] [-9.84811846e-02 -8.72587424e-04 9.95138530e-01 -1.64670248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15824100799998 meters 0.06324328886754221 Centerline is valid? [True, True] Translation: X:131.44, Y:-22.41, Z:-16.48 [[ 9.23210304e-01 3.73585478e-01 9.00923162e-02 1.31442322e+02] [-3.71859065e-01 9.27595680e-01 -3.58760396e-02 -2.24086690e+01] [-9.69720107e-02 -3.80515076e-04 9.95287036e-01 -1.64772427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21824100799998 meters 0.06339090909790378 Centerline is valid? [True, True] Translation: X:131.49, Y:-22.44, Z:-16.49 [[ 9.25608224e-01 3.67989745e-01 8.85040271e-02 1.31494725e+02] [-3.66295596e-01 9.29829821e-01 -3.52709712e-02 -2.24384984e+01] [-9.52730394e-02 2.28465692e-04 9.95451152e-01 -1.64895817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27824100799998 meters 0.06324811501704963 Centerline is valid? [True, True] Translation: X:131.55, Y:-22.46, Z:-16.50 [[ 9.25779355e-01 3.67308953e-01 8.95361310e-02 1.31550449e+02] [-3.65569738e-01 9.30098935e-01 -3.57034570e-02 -2.24642442e+01] [-9.63916596e-02 3.21823396e-04 9.95343430e-01 -1.64961805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33824100799998 meters 0.06273662599802231 Centerline is valid? [True, True] Translation: X:131.61, Y:-22.49, Z:-16.50 [[ 9.25214106e-01 3.68043136e-01 9.23206756e-02 1.31607330e+02] [-3.66194788e-01 9.29808675e-01 -3.68402598e-02 -2.24874500e+01] [-9.93993698e-02 2.77777789e-04 9.95047581e-01 -1.64983704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39824100799999 meters 0.0625720049134727 Centerline is valid? [True, True] Translation: X:131.66, Y:-22.51, Z:-16.51 [[ 9.25390202e-01 3.67120656e-01 9.42093349e-02 1.31664703e+02] [-3.65189739e-01 9.30173246e-01 -3.76056812e-02 -2.25099521e+01] [-1.01436825e-01 3.95646510e-04 9.94841904e-01 -1.65054152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.458241008 meters 0.06234457458276043 Centerline is valid? [True, True] Translation: X:131.72, Y:-22.53, Z:-16.51 [[ 9.25395468e-01 3.67108267e-01 9.42058775e-02 1.31722875e+02] [-3.65175171e-01 9.30178126e-01 -3.76264363e-02 -2.25322905e+01] [-1.01441222e-01 4.17686211e-04 9.94841447e-01 -1.65115553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.518241008 meters 0.06247075746080117 Centerline is valid? [True, True] Translation: X:131.78, Y:-22.56, Z:-16.52 [[ 9.25622615e-01 3.66891548e-01 9.28082306e-02 1.31779983e+02] [-3.65011663e-01 9.30263608e-01 -3.70959055e-02 -2.25550122e+01] [-9.99462936e-02 4.60722475e-04 9.94992727e-01 -1.65206628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.578241008 meters 0.06277517586378932 Centerline is valid? [True, True] Translation: X:131.84, Y:-22.58, Z:-16.53 [[ 9.26380653e-01 3.65397441e-01 9.11240648e-02 1.31835931e+02] [-3.63575801e-01 9.30851390e-01 -3.64462190e-02 -2.25795042e+01] [-9.81403175e-02 6.32567271e-04 9.95172386e-01 -1.65299841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.638241008 meters 0.06339113794429364 Centerline is valid? [True, True] Translation: X:131.89, Y:-22.61, Z:-16.54 [[ 9.27757154e-01 3.62269831e-01 8.95948240e-02 1.31889720e+02] [-3.60491906e-01 9.32072758e-01 -3.58602862e-02 -2.26066464e+01] [-9.64999946e-02 9.71428263e-04 9.95332511e-01 -1.65383556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.698241008 meters 0.06301003876887372 Centerline is valid? [True, True] Translation: X:131.95, Y:-22.63, Z:-16.54 [[ 9.27592165e-01 3.62709108e-01 8.95258526e-02 1.31948015e+02] [-3.60935216e-01 9.31901944e-01 -3.58404241e-02 -2.26292370e+01] [-9.64289644e-02 9.32263575e-04 9.95339432e-01 -1.65427560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.758241008 meters 0.06252194522826271 Centerline is valid? [True, True] Translation: X:132.01, Y:-22.65, Z:-16.55 [[ 9.26542974e-01 3.65040341e-01 9.09047132e-02 1.32006470e+02] [-3.63219574e-01 9.30991418e-01 -3.64214300e-02 -2.26486074e+01] [-9.79267991e-02 7.27648825e-04 9.95193354e-01 -1.65480910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81824100799997 meters 0.06245281917302643 Centerline is valid? [True, True] Translation: X:132.07, Y:-22.67, Z:-16.56 [[ 9.25313306e-01 3.67515608e-01 9.34214310e-02 1.32065989e+02] [-3.65602059e-01 9.30017216e-01 -3.74581363e-02 -2.26664843e+01] [-1.00649989e-01 5.05444388e-04 9.94921768e-01 -1.65561979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87824100799997 meters 0.06253717480096747 Centerline is valid? [True, True] Translation: X:132.12, Y:-22.69, Z:-16.56 [[ 9.24239444e-01 3.70487137e-01 9.23078103e-02 1.32123913e+02] [-3.68632762e-01 9.28837578e-01 -3.70221714e-02 -2.26859980e+01] [-9.94552012e-02 1.89668035e-04 9.95042023e-01 -1.65646820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93824100799998 meters 0.06269220264997069 Centerline is valid? [True, True] Translation: X:132.18, Y:-22.70, Z:-16.57 [[ 9.23104007e-01 3.73140813e-01 9.29780936e-02 1.32181089e+02] [-3.71270045e-01 9.27774719e-01 -3.73178932e-02 -2.27047610e+01] [-1.00187554e-01 -7.16843097e-05 9.94968567e-01 -1.65735169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99824100799998 meters 0.06274738763315127 Centerline is valid? [True, True] Translation: X:132.24, Y:-22.72, Z:-16.58 [[ 9.22408014e-01 3.74969023e-01 9.25293883e-02 1.32239411e+02] [-3.73124351e-01 9.27037305e-01 -3.71490720e-02 -2.27248075e+01] [-9.97079460e-02 -2.58366264e-04 9.95016713e-01 -1.65805648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05824100799998 meters 0.06271475992927368 Centerline is valid? [True, True] Translation: X:132.30, Y:-22.75, Z:-16.59 [[ 9.22393929e-01 3.74994661e-01 9.25658893e-02 1.32296886e+02] [-3.73146291e-01 9.27026940e-01 -3.71873418e-02 -2.27479190e+01] [-9.97561277e-02 -2.39240002e-04 9.95011888e-01 -1.65882517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11824100799998 meters 0.06270501102489946 Centerline is valid? [True, True] Translation: X:132.35, Y:-22.77, Z:-16.60 [[ 9.22981582e-01 3.73529286e-01 9.26329988e-02 1.32352952e+02] [-3.71667982e-01 9.27618386e-01 -3.72430048e-02 -2.27730974e+01] [-9.98394257e-02 -5.41122833e-05 9.95003561e-01 -1.65971972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.178241008 meters 0.06278527736405383 Centerline is valid? [True, True] Translation: X:132.41, Y:-22.80, Z:-16.60 [[ 9.24289921e-01 3.70549906e-01 9.15473059e-02 1.32407518e+02] [-3.68714939e-01 9.28812513e-01 -3.68321808e-02 -2.28023454e+01] [-9.86784444e-02 2.88754066e-04 9.95119330e-01 -1.66048427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.238241008 meters 0.06304122186375309 Centerline is valid? [True, True] Translation: X:132.46, Y:-22.83, Z:-16.61 [[ 9.25593951e-01 3.67622238e-01 9.01650054e-02 1.32462416e+02] [-3.65826276e-01 9.29975007e-01 -3.62990638e-02 -2.28306860e+01] [-9.71955447e-02 6.13465774e-04 9.95265115e-01 -1.66128309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.298241008 meters 0.06308017022689447 Centerline is valid? [True, True] Translation: X:132.52, Y:-22.86, Z:-16.62 [[ 9.26227823e-01 3.66257103e-01 8.92062476e-02 1.32517631e+02] [-3.64490633e-01 9.30513375e-01 -3.59365769e-02 -2.28573755e+01] [-9.61696331e-02 7.70615742e-04 9.95364661e-01 -1.66204320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.358241008 meters 0.06305779869462004 Centerline is valid? [True, True] Translation: X:132.58, Y:-22.88, Z:-16.63 [[ 9.25803879e-01 3.67403791e-01 8.88911224e-02 1.32575136e+02] [-3.65652852e-01 9.30061291e-01 -3.58327705e-02 -2.28821280e+01] [-9.58392877e-02 6.70825606e-04 9.95396595e-01 -1.66281228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.418241008 meters 0.06289327373184538 Centerline is valid? [True, True] Translation: X:132.63, Y:-22.90, Z:-16.64 [[ 9.24598624e-01 3.70108235e-01 9.02068628e-02 1.32633214e+02] [-3.68314898e-01 9.28988544e-01 -3.63926054e-02 -2.29017174e+01] [-9.72703450e-02 4.24021409e-04 9.95257906e-01 -1.66355156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.478241008 meters 0.06268173616910666 Centerline is valid? [True, True] Translation: X:132.69, Y:-22.92, Z:-16.64 [[ 9.24273222e-01 3.70615599e-01 9.14499218e-02 1.32691582e+02] [-3.68772023e-01 9.28786259e-01 -3.69226154e-02 -2.29231028e+01] [-9.86215280e-02 4.02412093e-04 9.95124933e-01 -1.66433392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53824100799997 meters 0.06282253550575005 Centerline is valid? [True, True] Translation: X:132.75, Y:-22.95, Z:-16.65 [[ 9.24557617e-01 3.69973352e-01 9.11752780e-02 1.32748704e+02] [-3.68137297e-01 9.29042246e-01 -3.68162504e-02 -2.29466333e+01] [-9.83267166e-02 4.73724285e-04 9.95154075e-01 -1.66516555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59824100799997 meters 0.06299228119031598 Centerline is valid? [True, True] Translation: X:132.81, Y:-22.97, Z:-16.66 [[ 9.24247859e-01 3.71043563e-01 8.99587049e-02 1.32805389e+02] [-3.69258769e-01 9.28615383e-01 -3.63515003e-02 -2.29671887e+01] [-9.70250274e-02 3.79755659e-04 9.95281870e-01 -1.66609919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65824100799998 meters 0.06325716650991242 Centerline is valid? [True, True] Translation: X:132.86, Y:-22.99, Z:-16.67 [[ 9.24183335e-01 3.71365931e-01 8.92889012e-02 1.32861754e+02] [-3.69607100e-01 9.28486518e-01 -3.61023285e-02 -2.29894800e+01] [-9.63107157e-02 3.63358572e-04 9.95351252e-01 -1.66713693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71824100799998 meters 0.0630917476013444 Centerline is valid? [True, True] Translation: X:132.92, Y:-23.02, Z:-16.68 [[ 9.25138939e-01 3.68958641e-01 8.93726132e-02 1.32917723e+02] [-3.67183296e-01 9.29445598e-01 -3.61567082e-02 -2.30162159e+01] [-9.64073118e-02 6.33847916e-04 9.95341765e-01 -1.66764100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77824100799998 meters 0.06307706308458551 Centerline is valid? [True, True] Translation: X:132.97, Y:-23.04, Z:-16.68 [[ 9.25333442e-01 3.68461229e-01 8.94110944e-02 1.32973714e+02] [-3.66679570e-01 9.29642845e-01 -3.61977042e-02 -2.30416506e+01] [-9.64578347e-02 7.09724597e-04 9.95336819e-01 -1.66840949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83824100799998 meters 0.06275279350709331 Centerline is valid? [True, True] Translation: X:133.03, Y:-23.06, Z:-16.69 [[ 9.25481950e-01 3.68039050e-01 8.96125970e-02 1.33031748e+02] [-3.66246035e-01 9.29810017e-01 -3.62928986e-02 -2.30646985e+01] [-9.66798942e-02 7.68164282e-04 9.95315230e-01 -1.66871905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89824100799999 meters 0.06346142295223013 Centerline is valid? [True, True] Translation: X:133.09, Y:-23.09, Z:-16.70 [[ 9.25261075e-01 3.68484270e-01 9.00626785e-02 1.33086512e+02] [-3.66672300e-01 9.29633678e-01 -3.65054782e-02 -2.30890220e+01] [-9.71769935e-02 7.53608561e-04 9.95266831e-01 -1.67026665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.958241008 meters 0.06284607949646547 Centerline is valid? [True, True] Translation: X:133.15, Y:-23.11, Z:-16.70 [[ 9.24860345e-01 3.69669231e-01 8.93196605e-02 1.33145531e+02] [-3.67890492e-01 9.29163196e-01 -3.62262562e-02 -2.31099266e+01] [-9.63842734e-02 6.44373971e-04 9.95343989e-01 -1.67045157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.018241008 meters 0.0629110395813006 Centerline is valid? [True, True] Translation: X:133.20, Y:-23.13, Z:-16.71 [[ 9.24440708e-01 3.70542842e-01 9.00409881e-02 1.33202824e+02] [-3.68736817e-01 9.28815194e-01 -3.65444302e-02 -2.31321690e+01] [-9.71727148e-02 5.81731484e-04 9.95267364e-01 -1.67116178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.078241008 meters 0.06285383866818217 Centerline is valid? [True, True] Translation: X:133.26, Y:-23.16, Z:-16.72 [[ 9.23807276e-01 3.71952405e-01 9.07277545e-02 1.33258931e+02] [-3.70122964e-01 9.28251688e-01 -3.68482644e-02 -2.31563344e+01] [-9.79239919e-02 4.60269310e-04 9.95193790e-01 -1.67185139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.138241008 meters 0.062391765435222075 Centerline is valid? [True, True] Translation: X:133.32, Y:-23.18, Z:-16.72 [[ 9.23524163e-01 3.72240463e-01 9.24129739e-02 1.33316261e+02] [-3.70341408e-01 9.28136212e-01 -3.75554820e-02 -2.31802820e+01] [-9.97514975e-02 4.59044207e-04 9.95012275e-01 -1.67235333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.198241008 meters 0.06248571122493661 Centerline is valid? [True, True] Translation: X:133.37, Y:-23.20, Z:-16.73 [[ 9.22917884e-01 3.73479145e-01 9.34660757e-02 1.33373024e+02] [-3.71540177e-01 9.27638509e-01 -3.80091154e-02 -2.32005610e+01] [-1.00898343e-01 3.52890096e-04 9.94896678e-01 -1.67328480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.258241008 meters 0.06265620584280726 Centerline is valid? [True, True] Translation: X:133.43, Y:-23.22, Z:-16.74 [[ 9.22343451e-01 3.75267063e-01 9.19629776e-02 1.33431135e+02] [-3.73396817e-01 9.26916717e-01 -3.74194596e-02 -2.32217274e+01] [-9.92843120e-02 1.74910396e-04 9.95059091e-01 -1.67414941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31824100799997 meters 0.0629855380616569 Centerline is valid? [True, True] Translation: X:133.49, Y:-23.24, Z:-16.75 [[ 9.21743142e-01 3.77296266e-01 8.96499141e-02 1.33487307e+02] [-3.75526432e-01 9.26092613e-01 -3.65016642e-02 -2.32436454e+01] [-9.67960648e-02 -2.07537479e-05 9.95304236e-01 -1.67531726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37824100799997 meters 0.06315060720068291 Centerline is valid? [True, True] Translation: X:133.54, Y:-23.27, Z:-16.76 [[ 9.21949314e-01 3.77184931e-01 8.79829013e-02 1.33543368e+02] [-3.75477954e-01 9.26137964e-01 -3.58438106e-02 -2.32673494e+01] [-9.50040503e-02 1.05368677e-05 9.95476886e-01 -1.67630346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43824100799998 meters 0.06312359561776784 Centerline is valid? [True, True] Translation: X:133.60, Y:-23.29, Z:-16.77 [[ 9.22479363e-01 3.75958794e-01 8.76744566e-02 1.33600740e+02] [-3.74256419e-01 9.26636369e-01 -3.57375435e-02 -2.32915533e+01] [-9.46781839e-02 1.54418209e-04 9.95507919e-01 -1.67704568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49824100799998 meters 0.06277922434154323 Centerline is valid? [True, True] Translation: X:133.66, Y:-23.32, Z:-16.77 [[ 9.22617785e-01 3.75258751e-01 8.92036565e-02 1.33656856e+02] [-3.73490284e-01 9.26920063e-01 -3.63896154e-02 -2.33169346e+01] [-9.63401805e-02 2.57007436e-04 9.95348433e-01 -1.67745732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55824100799998 meters 0.062433106799162606 Centerline is valid? [True, True] Translation: X:133.71, Y:-23.34, Z:-16.78 [[ 9.22131600e-01 3.75599201e-01 9.27283747e-02 1.33713154e+02] [-3.73686864e-01 9.26782161e-01 -3.78543683e-02 -2.33408199e+01] [-1.00157074e-01 2.55333745e-04 9.94971605e-01 -1.67796129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61824100799998 meters 0.06234740732755124 Centerline is valid? [True, True] Translation: X:133.77, Y:-23.36, Z:-16.79 [[ 9.21447691e-01 3.77036465e-01 9.36891489e-02 1.33771638e+02] [-3.75088729e-01 9.26198406e-01 -3.82747586e-02 -2.33623522e+01] [-1.01205720e-01 1.26444136e-04 9.94865512e-01 -1.67856543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.678241008 meters 0.0622758041393866 Centerline is valid? [True, True] Translation: X:133.83, Y:-23.39, Z:-16.79 [[ 9.21774717e-01 3.76373250e-01 9.31372544e-02 1.33827629e+02] [-3.74443934e-01 9.26468096e-01 -3.80605700e-02 -2.33883961e+01] [-1.00613675e-01 2.08591134e-04 9.94925547e-01 -1.67930989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.738241008 meters 0.06244862656986336 Centerline is valid? [True, True] Translation: X:133.88, Y:-23.41, Z:-16.80 [[ 9.21980666e-01 3.76052320e-01 9.23921243e-02 1.33881919e+02] [-3.74149648e-01 9.26598393e-01 -3.77817182e-02 -2.34140096e+01] [-9.98182967e-02 2.65532903e-04 9.95005647e-01 -1.68025033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.798241008 meters 0.06257592168332844 Centerline is valid? [True, True] Translation: X:133.94, Y:-23.44, Z:-16.81 [[ 9.22588420e-01 3.75210765e-01 8.97078052e-02 1.33938533e+02] [-3.73411289e-01 9.26939452e-01 -3.67050500e-02 -2.34378301e+01] [-9.69258336e-02 3.65746841e-04 9.95291540e-01 -1.68131766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.858241008 meters 0.0628187628760172 Centerline is valid? [True, True] Translation: X:134.00, Y:-23.46, Z:-16.82 [[ 9.22267152e-01 3.76259858e-01 8.86104929e-02 1.33995353e+02] [-3.74506666e-01 9.26514136e-01 -3.62810340e-02 -2.34599526e+01] [-9.57499710e-02 2.75585574e-04 9.95405378e-01 -1.68230974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.918241008 meters 0.06273368166962717 Centerline is valid? [True, True] Translation: X:134.05, Y:-23.48, Z:-16.83 [[ 9.22254099e-01 3.76154010e-01 8.91938251e-02 1.34052039e+02] [-3.74374778e-01 9.26557103e-01 -3.65439604e-02 -2.34842355e+01] [-9.63893294e-02 3.10898708e-04 9.95343660e-01 -1.68300556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.978241008 meters 0.06267380887219902 Centerline is valid? [True, True] Translation: X:134.11, Y:-23.51, Z:-16.84 [[ 9.22171033e-01 3.76239852e-01 8.96892409e-02 1.34108229e+02] [-3.74438762e-01 9.26522243e-01 -3.67715368e-02 -2.35076210e+01] [-9.69339942e-02 3.26517718e-04 9.95290759e-01 -1.68369069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03824100799997 meters 0.062475181538877024 Centerline is valid? [True, True] Translation: X:134.16, Y:-23.53, Z:-16.85 [[ 9.22308286e-01 3.75752869e-01 9.03172534e-02 1.34164801e+02] [-3.73921926e-01 9.26719818e-01 -3.70509439e-02 -2.35323327e+01] [-9.76207871e-02 4.00791197e-04 9.95223604e-01 -1.68450482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09824100799997 meters 0.06221303423960647 Centerline is valid? [True, True] Translation: X:134.22, Y:-23.56, Z:-16.85 [[ 9.22485766e-01 3.75035290e-01 9.14797395e-02 1.34221387e+02] [-3.73150929e-01 9.27010397e-01 -3.75514028e-02 -2.35562892e+01] [-9.88857709e-02 5.04884821e-04 9.95098663e-01 -1.68501106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15824100799998 meters 0.062242099129113757 Centerline is valid? [True, True] Translation: X:134.28, Y:-23.58, Z:-16.86 [[ 9.23437211e-01 3.72788709e-01 9.10620441e-02 1.34277969e+02] [-3.70908307e-01 9.27915941e-01 -3.74036559e-02 -2.35811342e+01] [-9.84415830e-02 7.64259107e-04 9.95142538e-01 -1.68565750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21824100799998 meters 0.06240550023263501 Centerline is valid? [True, True] Translation: X:134.33, Y:-23.61, Z:-16.86 [[ 9.24006313e-01 3.71497373e-01 9.05650852e-02 1.34333101e+02] [-3.69628869e-01 9.28433549e-01 -3.72242425e-02 -2.36067502e+01] [-9.79123718e-02 9.19965146e-04 9.95194615e-01 -1.68649215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27824100799998 meters 0.06214438026386172 Centerline is valid? [True, True] Translation: X:134.39, Y:-23.63, Z:-16.87 [[ 9.24470960e-01 3.70060055e-01 9.17005993e-02 1.34389905e+02] [-3.68134986e-01 9.29007175e-01 -3.77134155e-02 -2.36309474e+01] [-9.91467433e-02 1.10675862e-03 9.95072208e-01 -1.68705522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33824100799998 meters 0.06225275549307927 Centerline is valid? [True, True] Translation: X:134.45, Y:-23.65, Z:-16.88 [[ 9.24199865e-01 3.70642129e-01 9.20816062e-02 1.34445502e+02] [-3.68701316e-01 9.28775141e-01 -3.78956170e-02 -2.36534137e+01] [-9.95688189e-02 1.07251473e-03 9.95030100e-01 -1.68790939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39824100799999 meters 0.062075166674993285 Centerline is valid? [True, True] Translation: X:134.50, Y:-23.67, Z:-16.89 [[ 9.23080690e-01 3.73771862e-01 9.06456543e-02 1.34504928e+02] [-3.71904254e-01 9.27520374e-01 -3.73253530e-02 -2.36723257e+01] [-9.80268578e-02 7.42808174e-04 9.95183492e-01 -1.68865051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.458241008 meters 0.062237143402019836 Centerline is valid? [True, True] Translation: X:134.56, Y:-23.69, Z:-16.89 [[ 9.22509965e-01 3.75112548e-01 9.09172181e-02 1.34561482e+02] [-3.73237341e-01 9.26979062e-01 -3.74660688e-02 -2.36935154e+01] [-9.83323501e-02 6.29121057e-04 9.95153432e-01 -1.68949799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.518241008 meters 0.06224613787998459 Centerline is valid? [True, True] Translation: X:134.62, Y:-23.72, Z:-16.90 [[ 9.22422368e-01 3.75507545e-01 9.01723834e-02 1.34618588e+02] [-3.73662823e-01 9.26819142e-01 -3.71802767e-02 -2.37158699e+01] [-9.75349654e-02 6.01851530e-04 9.95231917e-01 -1.69032831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.578241008 meters 0.06206999844689513 Centerline is valid? [True, True] Translation: X:134.68, Y:-23.74, Z:-16.91 [[ 9.22286731e-01 3.75470990e-01 9.16990794e-02 1.34675036e+02] [-3.73560488e-01 9.26833927e-01 -3.78342988e-02 -2.37399353e+01] [-9.91954994e-02 6.38918957e-04 9.95067759e-01 -1.69091942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.638241008 meters 0.0618470258457449 Centerline is valid? [True, True] Translation: X:134.73, Y:-23.77, Z:-16.92 [[ 9.22458853e-01 3.74880503e-01 9.23811244e-02 1.34730855e+02] [-3.72935939e-01 9.27072853e-01 -3.81406757e-02 -2.37662425e+01] [-9.99422282e-02 7.30962536e-04 9.94992973e-01 -1.69154497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.698241008 meters 0.061866525179109524 Centerline is valid? [True, True] Translation: X:134.79, Y:-23.79, Z:-16.92 [[ 9.22297348e-01 3.75140469e-01 9.29366966e-02 1.34787637e+02] [-3.73171127e-01 9.26967688e-01 -3.83955137e-02 -2.37901552e+01] [-1.00553026e-01 7.30788653e-04 9.94931432e-01 -1.69237853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.758241008 meters 0.061958988627426166 Centerline is valid? [True, True] Translation: X:134.84, Y:-23.81, Z:-16.93 [[ 9.21879388e-01 3.76531073e-01 9.14480511e-02 1.34844960e+02] [-3.74628894e-01 9.26403800e-01 -3.78046483e-02 -2.38130821e+01] [-9.89524469e-02 5.92243834e-04 9.95091987e-01 -1.69317161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81824100799997 meters 0.06208770773010515 Centerline is valid? [True, True] Translation: X:134.90, Y:-23.84, Z:-16.94 [[ 9.21483423e-01 3.77417750e-01 9.17831326e-02 1.34901426e+02] [-3.75503352e-01 9.26042962e-01 -3.79692566e-02 -2.38351063e+01] [-9.93253954e-02 5.23166631e-04 9.95054869e-01 -1.69409455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87824100799997 meters 0.06230922360130422 Centerline is valid? [True, True] Translation: X:134.96, Y:-23.86, Z:-16.95 [[ 9.21956679e-01 3.76588808e-01 9.04253984e-02 1.34957687e+02] [-3.74724544e-01 9.26380311e-01 -3.74304150e-02 -2.38586845e+01] [-9.78641840e-02 6.24604861e-04 9.95199584e-01 -1.69492157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93824100799998 meters 0.062193906116316915 Centerline is valid? [True, True] Translation: X:135.02, Y:-23.88, Z:-16.96 [[ 9.21830200e-01 3.76734911e-01 9.11037228e-02 1.35016029e+02] [-3.74841001e-01 9.26320897e-01 -3.77335438e-02 -2.38790451e+01] [-9.86068255e-02 6.34509574e-04 9.95126269e-01 -1.69570707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99824100799998 meters 0.06227187885057505 Centerline is valid? [True, True] Translation: X:135.07, Y:-23.90, Z:-16.96 [[ 9.21982465e-01 3.76333714e-01 9.12209952e-02 1.35072105e+02] [-3.74430480e-01 9.26483914e-01 -3.78070384e-02 -2.39036015e+01] [-9.87428479e-02 7.01505451e-04 9.95112736e-01 -1.69641631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05824100799998 meters 0.06232993395912526 Centerline is valid? [True, True] Translation: X:135.13, Y:-23.93, Z:-16.97 [[ 9.22363812e-01 3.75322298e-01 9.15323519e-02 1.35128241e+02] [-3.73398363e-01 9.26893991e-01 -3.79630300e-02 -2.39296752e+01] [-9.90891586e-02 8.37694665e-04 9.95078206e-01 -1.69706977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11824100799998 meters 0.06239266759562843 Centerline is valid? [True, True] Translation: X:135.19, Y:-23.95, Z:-16.98 [[ 9.22281414e-01 3.75243987e-01 9.26765547e-02 1.35185428e+02] [-3.73268376e-01 9.26925656e-01 -3.84648843e-02 -2.39526659e+01] [-1.00337993e-01 8.82220780e-04 9.94953018e-01 -1.69801977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.178241008 meters 0.06272091614928106 Centerline is valid? [True, True] Translation: X:135.24, Y:-23.97, Z:-16.99 [[ 9.21470585e-01 3.77743330e-01 9.05645466e-02 1.35242628e+02] [-3.75866733e-01 9.25910145e-01 -3.76112083e-02 -2.39742285e+01] [-9.80620154e-02 6.17421825e-04 9.95180114e-01 -1.69911450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.238241008 meters 0.06225629431539175 Centerline is valid? [True, True] Translation: X:135.30, Y:-24.00, Z:-16.99 [[ 9.20796359e-01 3.79422378e-01 9.04031209e-02 1.35300686e+02] [-3.77558407e-01 9.25223459e-01 -3.75659476e-02 -2.39985004e+01] [-9.78964494e-02 4.58129503e-04 9.95196501e-01 -1.69935066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.298241008 meters 0.06237943065143587 Centerline is valid? [True, True] Translation: X:135.36, Y:-24.02, Z:-17.00 [[ 9.20281312e-01 3.80412745e-01 9.14792331e-02 1.35357038e+02] [-3.78505839e-01 9.24816736e-01 -3.80438533e-02 -2.40206913e+01] [-9.90738924e-02 3.85623352e-04 9.95080004e-01 -1.70029090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.358241008 meters 0.06259540992930028 Centerline is valid? [True, True] Translation: X:135.41, Y:-24.04, Z:-17.01 [[ 9.20238237e-01 3.80864304e-01 9.00220515e-02 1.35413223e+02] [-3.79017804e-01 9.24630877e-01 -3.74599278e-02 -2.40448479e+01] [-9.75043177e-02 3.52097656e-04 9.95235040e-01 -1.70133806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.418241008 meters 0.06271361337343459 Centerline is valid? [True, True] Translation: X:135.47, Y:-24.07, Z:-17.02 [[ 9.21125616e-01 3.78611286e-01 9.04493983e-02 1.35468734e+02] [-3.76733974e-01 9.25555571e-01 -3.76616201e-02 -2.40742001e+01] [-9.79750589e-02 6.15721772e-04 9.95188680e-01 -1.70202999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.478241008 meters 0.06274500271546389 Centerline is valid? [True, True] Translation: X:135.52, Y:-24.10, Z:-17.03 [[ 9.21548946e-01 3.77190247e-01 9.20600827e-02 1.35524451e+02] [-3.75235239e-01 9.26135446e-01 -3.83621034e-02 -2.41007402e+01] [-9.97299170e-02 8.08368809e-04 9.95014216e-01 -1.70264657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53824100799997 meters 0.06316019916773517 Centerline is valid? [True, True] Translation: X:135.58, Y:-24.13, Z:-17.04 [[ 9.22210333e-01 3.75547084e-01 9.21547053e-02 1.35579832e+02] [-3.73577316e-01 9.26802766e-01 -3.84268485e-02 -2.41255846e+01] [-9.98403266e-02 1.01072933e-03 9.95002959e-01 -1.70353422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59824100799997 meters 0.06365178952790893 Centerline is valid? [True, True] Translation: X:135.64, Y:-24.15, Z:-17.04 [[ 9.23291268e-01 3.73171773e-01 9.09728636e-02 1.35636133e+02] [-3.71238642e-01 9.27761397e-01 -3.79560335e-02 -2.41489633e+01] [-9.85652314e-02 1.27183194e-03 9.95129779e-01 -1.70446668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65824100799998 meters 0.06449883736316676 Centerline is valid? [True, True] Translation: X:135.69, Y:-24.18, Z:-17.05 [[ 9.24789332e-01 3.69265937e-01 9.16916548e-02 1.35690371e+02] [-3.67280558e-01 9.29322171e-01 -3.82791708e-02 -2.41769353e+01] [-9.93462815e-02 1.72360664e-03 9.95051429e-01 -1.70522858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71824100799998 meters 0.06468142040847688 Centerline is valid? [True, True] Translation: X:135.75, Y:-24.20, Z:-17.06 [[ 9.25845166e-01 3.66146012e-01 9.35298212e-02 1.35746660e+02] [-3.64061758e-01 9.30554994e-01 -3.90696864e-02 -2.42033034e+01] [-1.01339852e-01 2.12184912e-03 9.94849603e-01 -1.70555469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77824100799998 meters 0.06668428857021773 Centerline is valid? [True, True] Translation: X:135.80, Y:-24.23, Z:-17.06 [[ 9.27540549e-01 3.61432570e-01 9.50527587e-02 1.35800802e+02] [-3.59252304e-01 9.32394327e-01 -3.97315977e-02 -2.42325833e+01] [-1.02986947e-01 2.70474529e-03 9.94679030e-01 -1.70634324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83824100799998 meters 0.06556932721450721 Centerline is valid? [True, True] Translation: X:135.86, Y:-24.25, Z:-17.07 [[ 9.27775214e-01 3.60849996e-01 9.49759547e-02 1.35859770e+02] [-3.58667622e-01 9.32619693e-01 -3.97246097e-02 -2.42520792e+01] [-1.02911071e-01 2.79070846e-03 9.94686646e-01 -1.70684845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89824100799999 meters 0.06748448994289644 Centerline is valid? [True, True] Translation: X:135.91, Y:-24.28, Z:-17.08 [[ 9.28465207e-01 3.59069212e-01 9.49824188e-02 1.35913565e+02] [-3.56874537e-01 9.33306072e-01 -3.97535118e-02 -2.42776127e+01] [-1.02921930e-01 3.01294585e-03 9.94684874e-01 -1.70801451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.958241008 meters 0.06688142487467133 Centerline is valid? [True, True] Translation: X:135.97, Y:-24.30, Z:-17.09 [[ 9.28408973e-01 3.59355468e-01 9.44480065e-02 1.35972034e+02] [-3.57184929e-01 9.33195987e-01 -3.95496605e-02 -2.42992597e+01] [-1.02350887e-01 2.98285517e-03 9.94743886e-01 -1.70855502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.018241008 meters 0.06590395005997704 Centerline is valid? [True, True] Translation: X:136.03, Y:-24.32, Z:-17.09 [[ 9.27769098e-01 3.61142960e-01 9.39162586e-02 1.36030987e+02] [-3.59003132e-01 9.32506271e-01 -3.93548755e-02 -2.43179248e+01] [-1.01790236e-01 2.79600638e-03 9.94801955e-01 -1.70905390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.078241008 meters 0.06498682592587332 Centerline is valid? [True, True] Translation: X:136.09, Y:-24.33, Z:-17.10 [[ 9.26869731e-01 3.63383881e-01 9.41523090e-02 1.36091090e+02] [-3.61242226e-01 9.31635927e-01 -3.94785254e-02 -2.43343914e+01] [-1.02061533e-01 2.57966054e-03 9.94774743e-01 -1.70968868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.138241008 meters 0.06435571413920442 Centerline is valid? [True, True] Translation: X:136.15, Y:-24.35, Z:-17.11 [[ 9.24744718e-01 3.69297700e-01 9.20131208e-02 1.36150644e+02] [-3.67279215e-01 9.29309193e-01 -3.86057306e-02 -2.43511624e+01] [-9.97656465e-02 1.90593870e-03 9.95009137e-01 -1.71056963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.198241008 meters 0.06402904878179685 Centerline is valid? [True, True] Translation: X:136.21, Y:-24.37, Z:-17.11 [[ 9.22899984e-01 3.74021204e-01 9.14535812e-02 1.36208695e+02] [-3.72047877e-01 9.27419080e-01 -3.83956698e-02 -2.43700538e+01] [-9.91765908e-02 1.41025231e-03 9.95068849e-01 -1.71146069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.258241008 meters 0.06397049733708746 Centerline is valid? [True, True] Translation: X:136.27, Y:-24.38, Z:-17.13 [[ 9.19340859e-01 3.82860308e-01 9.07213785e-02 1.36268854e+02] [-3.80958821e-01 9.23806125e-01 -3.81132669e-02 -2.43819769e+01] [-9.84010222e-02 4.77974205e-04 9.95146728e-01 -1.71280084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31824100799997 meters 0.0638626277210446 Centerline is valid? [True, True] Translation: X:136.33, Y:-24.40, Z:-17.13 [[ 9.16580735e-01 3.89691383e-01 8.95565865e-02 1.36329566e+02] [-3.87868870e-01 9.20945477e-01 -3.76452818e-02 -2.43972283e+01] [-9.71467753e-02 -2.31271948e-04 9.95270039e-01 -1.71346969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37824100799997 meters 0.06468840693596613 Centerline is valid? [True, True] Translation: X:136.39, Y:-24.41, Z:-17.14 [[ 9.12362751e-01 3.99342624e-01 9.01092640e-02 1.36390341e+02] [-3.97541878e-01 9.16800919e-01 -3.79015780e-02 -2.44113883e+01] [-9.77479717e-02 -1.24221803e-03 9.95210425e-01 -1.71413614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43824100799998 meters 0.06529822483537426 Centerline is valid? [True, True] Translation: X:136.45, Y:-24.43, Z:-17.15 [[ 9.10712640e-01 4.03022578e-01 9.04173038e-02 1.36447937e+02] [-4.01225099e-01 9.15188602e-01 -3.80557745e-02 -2.44346512e+01] [-9.80862223e-02 -1.61981684e-03 9.95176602e-01 -1.71467228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49824100799998 meters 0.0652083079821096 Centerline is valid? [True, True] Translation: X:136.50, Y:-24.46, Z:-17.15 [[ 9.10400400e-01 4.03638976e-01 9.08112846e-02 1.36504663e+02] [-4.01826453e-01 9.14916817e-01 -3.82455066e-02 -2.44601600e+01] [-9.85221486e-02 -1.67165184e-03 9.95133454e-01 -1.71546280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55824100799998 meters 0.06496191354593087 Centerline is valid? [True, True] Translation: X:136.56, Y:-24.49, Z:-17.16 [[ 9.11872579e-01 4.00699838e-01 8.90395420e-02 1.36558888e+02] [-3.98940847e-01 9.16208462e-01 -3.75267344e-02 -2.44920376e+01] [-9.66157382e-02 -1.30191018e-03 9.95320905e-01 -1.71645754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61824100799998 meters 0.06462806475308801 Centerline is valid? [True, True] Translation: X:136.61, Y:-24.53, Z:-17.18 [[ 9.14318689e-01 3.95198318e-01 8.85416519e-02 1.36609692e+02] [-3.93430352e-01 9.18595567e-01 -3.73462600e-02 -2.45255945e+01] [-9.60931481e-02 -6.88589743e-04 9.95372108e-01 -1.71751936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.678241008 meters 0.0641251706328331 Centerline is valid? [True, True] Translation: X:136.66, Y:-24.56, Z:-17.18 [[ 9.16258220e-01 3.90489828e-01 8.93787869e-02 1.36662348e+02] [-3.88663605e-01 9.20607225e-01 -3.77218639e-02 -2.45592005e+01] [-9.70127612e-02 -1.75313601e-04 9.95283122e-01 -1.71803845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.738241008 meters 0.06393377906719483 Centerline is valid? [True, True] Translation: X:136.71, Y:-24.60, Z:-17.19 [[ 9.18830449e-01 3.84426814e-01 8.92559834e-02 1.36713419e+02] [-3.82574641e-01 9.23155343e-01 -3.76942607e-02 -2.45961143e+01] [-9.68878225e-02 4.87558736e-04 9.95295188e-01 -1.71858993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.798241008 meters 0.06464559323593679 Centerline is valid? [True, True] Translation: X:136.77, Y:-24.63, Z:-17.20 [[ 9.20580847e-01 3.80378961e-01 8.85593048e-02 1.36767184e+02] [-3.78534619e-01 9.24830245e-01 -3.74240558e-02 -2.46262416e+01] [-9.61376471e-02 9.29106325e-04 9.95367615e-01 -1.71961445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.858241008 meters 0.06497924762247781 Centerline is valid? [True, True] Translation: X:136.82, Y:-24.65, Z:-17.20 [[ 9.22197100e-01 3.76730033e-01 8.73326479e-02 1.36822572e+02] [-3.74918076e-01 9.26322169e-01 -3.69279850e-02 -2.46549688e+01] [-9.48100488e-02 1.31229239e-03 9.95494517e-01 -1.72046042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.918241008 meters 0.06477627847036298 Centerline is valid? [True, True] Translation: X:136.88, Y:-24.68, Z:-17.21 [[ 9.22593189e-01 3.75838810e-01 8.69884850e-02 1.36879075e+02] [-3.74034742e-01 9.26683962e-01 -3.68082285e-02 -2.46814392e+01] [-9.44447947e-02 1.42230534e-03 9.95529084e-01 -1.72090793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.978241008 meters 0.0661877701331536 Centerline is valid? [True, True] Translation: X:136.93, Y:-24.71, Z:-17.22 [[ 9.23123215e-01 3.74662266e-01 8.64390933e-02 1.36933234e+02] [-3.72873218e-01 9.27160049e-01 -3.66033656e-02 -2.47074218e+01] [-9.38567739e-02 1.55859370e-03 9.95584490e-01 -1.72239955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03824100799997 meters 0.06549786587092178 Centerline is valid? [True, True] Translation: X:136.99, Y:-24.73, Z:-17.23 [[ 9.22919704e-01 3.75263434e-01 8.60033462e-02 1.36992427e+02] [-3.73492779e-01 9.26916970e-01 -3.64427677e-02 -2.47278998e+01] [-9.33935992e-02 1.51211959e-03 9.95628118e-01 -1.72278397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09824100799997 meters 0.06580959649630887 Centerline is valid? [True, True] Translation: X:137.05, Y:-24.75, Z:-17.24 [[ 9.23379924e-01 3.74181039e-01 8.57791680e-02 1.37049263e+02] [-3.72412357e-01 9.27354220e-01 -3.63756417e-02 -2.47510992e+01] [-9.31587489e-02 1.64331518e-03 9.95649912e-01 -1.72365830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15824100799998 meters 0.06592430407058415 Centerline is valid? [True, True] Translation: X:137.11, Y:-24.78, Z:-17.24 [[ 9.24620895e-01 3.70726621e-01 8.73954945e-02 1.37105712e+02] [-3.68872785e-01 9.28739771e-01 -3.70851212e-02 -2.47780210e+01] [-9.49161132e-02 2.05185849e-03 9.95483160e-01 -1.72400977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21824100799998 meters 0.06688512085966031 Centerline is valid? [True, True] Translation: X:137.16, Y:-24.80, Z:-17.25 [[ 9.25388799e-01 3.68700899e-01 8.78363094e-02 1.37160463e+02] [-3.66816769e-01 9.29545256e-01 -3.72971280e-02 -2.48044908e+01] [-9.53993093e-02 2.29451329e-03 9.95436440e-01 -1.72487255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27824100799998 meters 0.0657300075512518 Centerline is valid? [True, True] Translation: X:137.22, Y:-24.82, Z:-17.25 [[ 9.24539911e-01 3.70894792e-01 8.75385956e-02 1.37220196e+02] [-3.69031207e-01 9.28672559e-01 -3.71920106e-02 -2.48234540e+01] [-9.50890147e-02 2.08102453e-03 9.95466598e-01 -1.72524697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33824100799998 meters 0.06497417209220913 Centerline is valid? [True, True] Translation: X:137.28, Y:-24.84, Z:-17.26 [[ 9.22736379e-01 3.75329115e-01 8.76677221e-02 1.37279302e+02] [-3.73477597e-01 9.26890141e-01 -3.72713076e-02 -2.48408739e+01] [-9.52473542e-02 1.64966125e-03 9.95452269e-01 -1.72600767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39824100799999 meters 0.06460819878732331 Centerline is valid? [True, True] Translation: X:137.34, Y:-24.86, Z:-17.27 [[ 9.19968344e-01 3.81760361e-01 8.89790542e-02 1.37339247e+02] [-3.79880364e-01 9.24260775e-01 -3.78540484e-02 -2.48552710e+01] [-9.66910248e-02 1.02313067e-03 9.95313920e-01 -1.72681340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.458241008 meters 0.06420351995760931 Centerline is valid? [True, True] Translation: X:137.40, Y:-24.87, Z:-17.27 [[ 9.18774019e-01 3.84771009e-01 8.83491511e-02 1.37398131e+02] [-3.82929294e-01 9.23011782e-01 -3.76085958e-02 -2.48741409e+01] [-9.60180047e-02 7.22322682e-04 9.95379335e-01 -1.72730045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.518241008 meters 0.0640101038088969 Centerline is valid? [True, True] Translation: X:137.46, Y:-24.89, Z:-17.28 [[ 9.18801966e-01 3.84685507e-01 8.84308099e-02 1.37457477e+02] [-3.82837748e-01 9.23047395e-01 -3.76665023e-02 -2.48948498e+01] [-9.61155863e-02 7.53404214e-04 9.95369894e-01 -1.72784618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.578241008 meters 0.06442539550520286 Centerline is valid? [True, True] Translation: X:137.51, Y:-24.92, Z:-17.29 [[ 9.19372867e-01 3.83271233e-01 8.86379946e-02 1.37512625e+02] [-3.81405323e-01 9.23635369e-01 -3.77847171e-02 -2.49204170e+01] [-9.63509820e-02 9.31240645e-04 9.95346985e-01 -1.72885587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.638241008 meters 0.06465266950457838 Centerline is valid? [True, True] Translation: X:137.57, Y:-24.94, Z:-17.29 [[ 9.20545252e-01 3.80306916e-01 8.92361390e-02 1.37569126e+02] [-3.78399010e-01 9.24859460e-01 -3.80679503e-02 -2.49442060e+01] [-9.70083921e-02 1.27640426e-03 9.95282745e-01 -1.72945741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.698241008 meters 0.065010591921043 Centerline is valid? [True, True] Translation: X:137.63, Y:-24.97, Z:-17.30 [[ 9.21908518e-01 3.76975716e-01 8.92972190e-02 1.37625296e+02] [-3.75047195e-01 9.26221671e-01 -3.81184746e-02 -2.49687567e+01] [-9.70787587e-02 1.65107494e-03 9.95275333e-01 -1.73010447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75824100799997 meters 0.06537560929224477 Centerline is valid? [True, True] Translation: X:137.68, Y:-24.99, Z:-17.31 [[ 9.22564117e-01 3.75398833e-01 8.91693100e-02 1.37680838e+02] [-3.73466290e-01 9.26861558e-01 -3.80865234e-02 -2.49935808e+01] [-9.69452420e-02 1.83552842e-03 9.95288024e-01 -1.73087004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81824100799997 meters 0.06548436376877073 Centerline is valid? [True, True] Translation: X:137.74, Y:-25.02, Z:-17.32 [[ 9.23634012e-01 3.73445998e-01 8.62455752e-02 1.37738726e+02] [-3.71628056e-01 9.27649784e-01 -3.68573862e-02 -2.50152158e+01] [-9.37699325e-02 1.99146001e-03 9.95591901e-01 -1.73159062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87824100799997 meters 0.06528701335843541 Centerline is valid? [True, True] Translation: X:137.80, Y:-25.03, Z:-17.33 [[ 9.22150118e-01 3.77418239e-01 8.48211806e-02 1.37799034e+02] [-3.75674607e-01 9.26041558e-01 -3.62714995e-02 -2.50309477e+01] [-9.22374637e-02 1.58260387e-03 9.95735781e-01 -1.73252201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93824100799998 meters 0.06512381171061182 Centerline is valid? [True, True] Translation: X:137.86, Y:-25.05, Z:-17.33 [[ 9.20573098e-01 3.81386584e-01 8.41988349e-02 1.37857472e+02] [-3.79682908e-01 9.24414863e-01 -3.60284819e-02 -2.50487921e+01] [-9.15754340e-02 1.19799275e-03 9.95797422e-01 -1.73334832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99824100799998 meters 0.06474839651451869 Centerline is valid? [True, True] Translation: X:137.92, Y:-25.06, Z:-17.34 [[ 9.18703464e-01 3.85992298e-01 8.36294856e-02 1.37917853e+02] [-3.84328812e-01 9.22501696e-01 -3.58048258e-02 -2.50633314e+01] [-9.09687293e-02 7.52796692e-04 9.95853465e-01 -1.73402900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05824100799998 meters 0.06472993902252373 Centerline is valid? [True, True] Translation: X:137.98, Y:-25.08, Z:-17.35 [[ 9.17435272e-01 3.88760623e-01 8.47213073e-02 1.37976287e+02] [-3.87062873e-01 9.21338657e-01 -3.62961571e-02 -2.50810151e+01] [-9.21675321e-02 5.06902215e-04 9.95743385e-01 -1.73485898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11824100799998 meters 0.06461719072690426 Centerline is valid? [True, True] Translation: X:138.04, Y:-25.10, Z:-17.35 [[ 9.16148069e-01 3.91782050e-01 8.47321663e-02 1.38035234e+02] [-3.90094822e-01 9.20058028e-01 -3.63215432e-02 -2.51012160e+01] [-9.21886385e-02 2.22332382e-04 9.95741535e-01 -1.73542663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.178241008 meters 0.06444375454783152 Centerline is valid? [True, True] Translation: X:138.10, Y:-25.11, Z:-17.36 [[ 9.14120408e-01 3.96280998e-01 8.57044323e-02 1.38097522e+02] [-3.94571859e-01 9.18129254e-01 -3.67657529e-02 -2.51143773e+01] [-9.32573157e-02 -2.08232076e-04 9.95642019e-01 -1.73598432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.238241008 meters 0.06461027453090862 Centerline is valid? [True, True] Translation: X:138.16, Y:-25.13, Z:-17.37 [[ 9.12962840e-01 3.98623898e-01 8.71655954e-02 1.38155632e+02] [-3.96866058e-01 9.17114379e-01 -3.73971625e-02 -2.51337808e+01] [-9.48482236e-02 -4.50846549e-04 9.95491643e-01 -1.73677323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.298241008 meters 0.06452293393228012 Centerline is valid? [True, True] Translation: X:138.21, Y:-25.15, Z:-17.37 [[ 9.12349059e-01 3.99809500e-01 8.81564440e-02 1.38214069e+02] [-3.98014529e-01 9.16598086e-01 -3.78468305e-02 -2.51542847e+01] [-9.59355502e-02 -5.58025317e-04 9.95387391e-01 -1.73740992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.358241008 meters 0.06459191309000702 Centerline is valid? [True, True] Translation: X:138.27, Y:-25.18, Z:-17.38 [[ 9.12285456e-01 4.00336376e-01 8.64062018e-02 1.38271281e+02] [-3.98612387e-01 9.16368075e-01 -3.71176083e-02 -2.51773265e+01] [-9.40394136e-02 -5.80728103e-04 9.95568306e-01 -1.73813822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.418241008 meters 0.06467394147570385 Centerline is valid? [True, True] Translation: X:138.33, Y:-25.20, Z:-17.39 [[ 9.11932920e-01 4.01123715e-01 8.64760886e-02 1.38330151e+02] [-3.99398354e-01 9.16023664e-01 -3.71699094e-02 -2.51995363e+01] [-9.41238757e-02 -6.41943435e-04 9.95560286e-01 -1.73890760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.478241008 meters 0.06498150868107372 Centerline is valid? [True, True] Translation: X:138.39, Y:-25.22, Z:-17.40 [[ 9.11860960e-01 4.01589247e-01 8.50627159e-02 1.38387852e+02] [-3.99919522e-01 9.15819659e-01 -3.65886287e-02 -2.52208334e+01] [-9.25957074e-02 -6.54498625e-04 9.95703574e-01 -1.73996723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53824100799997 meters 0.06537015696211448 Centerline is valid? [True, True] Translation: X:138.44, Y:-25.24, Z:-17.41 [[ 9.11312111e-01 4.03066139e-01 8.39519123e-02 1.38443678e+02] [-4.01444020e-01 9.15170525e-01 -3.61332097e-02 -2.52433010e+01] [-9.13943890e-02 -7.73361595e-04 9.95814474e-01 -1.74083973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59824100799997 meters 0.06553157319260883 Centerline is valid? [True, True] Translation: X:138.50, Y:-25.26, Z:-17.41 [[ 9.09455138e-01 4.07132103e-01 8.44677612e-02 1.38502435e+02] [-4.05505521e-01 9.13368536e-01 -3.63756824e-02 -2.52619698e+01] [-9.19599035e-02 -1.17009230e-03 9.95762023e-01 -1.74139442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65824100799998 meters 0.06587130118810863 Centerline is valid? [True, True] Translation: X:138.56, Y:-25.28, Z:-17.42 [[ 9.08599037e-01 4.09072229e-01 8.43071809e-02 1.38559723e+02] [-4.07458250e-01 9.12501015e-01 -3.63272826e-02 -2.52831136e+01] [-9.17908706e-02 -1.34472237e-03 9.95777399e-01 -1.74224326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71824100799998 meters 0.06590033356680057 Centerline is valid? [True, True] Translation: X:138.62, Y:-25.31, Z:-17.43 [[ 9.07359726e-01 4.11564468e-01 8.55161796e-02 1.38617789e+02] [-4.09912975e-01 9.11379242e-01 -3.68677365e-02 -2.53067642e+01] [-9.31111213e-02 -1.60189231e-03 9.95654435e-01 -1.74279077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77824100799998 meters 0.0666895488712124 Centerline is valid? [True, True] Translation: X:138.67, Y:-25.33, Z:-17.44 [[ 9.06798197e-01 4.13250097e-01 8.33149928e-02 1.38674127e+02] [-4.11687363e-01 9.10615974e-01 -3.59452764e-02 -2.53287226e+01] [-9.07223523e-02 -1.70461784e-03 9.95874766e-01 -1.74384941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83824100799998 meters 0.06671662581812092 Centerline is valid? [True, True] Translation: X:138.73, Y:-25.35, Z:-17.45 [[ 9.06393790e-01 4.14285056e-01 8.25723299e-02 1.38729913e+02] [-4.12752639e-01 9.10145452e-01 -3.56442826e-02 -2.53543049e+01] [-8.99197241e-02 -1.77419066e-03 9.95947436e-01 -1.74458015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89824100799999 meters 0.06634859673334928 Centerline is valid? [True, True] Translation: X:138.78, Y:-25.39, Z:-17.45 [[ 9.07409283e-01 4.12172607e-01 8.19886288e-02 1.38783996e+02] [-4.10651244e-01 9.11104489e-01 -3.54141964e-02 -2.53858635e+01] [-8.92969694e-02 -1.53356188e-03 9.96003865e-01 -1.74518996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.958241008 meters 0.06595207951191288 Centerline is valid? [True, True] Translation: X:138.84, Y:-25.41, Z:-17.46 [[ 9.08845828e-01 4.09018034e-01 8.18749553e-02 1.38838696e+02] [-4.07486109e-01 9.12525509e-01 -3.53873659e-02 -2.54142774e+01] [-8.91870561e-02 -1.20124712e-03 9.96014170e-01 -1.74599461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.018241008 meters 0.06569730820531915 Centerline is valid? [True, True] Translation: X:138.89, Y:-25.45, Z:-17.47 [[ 9.10529858e-01 4.05105195e-01 8.26145211e-02 1.38891484e+02] [-4.03527267e-01 9.14269727e-01 -3.57296876e-02 -2.54457603e+01] [-9.00062377e-02 -8.04264628e-04 9.95940877e-01 -1.74683320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.078241008 meters 0.06486998608524021 Centerline is valid? [True, True] Translation: X:138.94, Y:-25.48, Z:-17.47 [[ 9.12368607e-01 4.00372808e-01 8.53530260e-02 1.38943699e+02] [-3.98665379e-01 9.16352284e-01 -3.69378796e-02 -2.54809224e+01] [-9.30023629e-02 -3.26334730e-04 9.95665835e-01 -1.74701483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.138241008 meters 0.06521275792214588 Centerline is valid? [True, True] Translation: X:139.00, Y:-25.51, Z:-17.48 [[ 9.12392453e-01 4.00408428e-01 8.49299800e-02 1.38997486e+02] [-3.98715962e-01 9.16336726e-01 -3.67775155e-02 -2.55074673e+01] [-9.25504870e-02 -3.07411118e-04 9.95707946e-01 -1.74804352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.198241008 meters 0.06529026286819965 Centerline is valid? [True, True] Translation: X:139.05, Y:-25.53, Z:-17.49 [[ 9.11307406e-01 4.03065022e-01 8.40083311e-02 1.39053663e+02] [-4.01418545e-01 9.15171177e-01 -3.63987362e-02 -2.55316870e+01] [-9.15530607e-02 -5.52064130e-04 9.95800046e-01 -1.74868496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25824100799997 meters 0.06637077321391195 Centerline is valid? [True, True] Translation: X:139.11, Y:-25.55, Z:-17.50 [[ 9.09272534e-01 4.08143501e-01 8.15005650e-02 1.39110085e+02] [-4.06612665e-01 9.12917222e-01 -3.53310815e-02 -2.55539483e+01] [-8.88234207e-02 -1.01357995e-03 9.96046873e-01 -1.74999684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31824100799997 meters 0.0669793521080065 Centerline is valid? [True, True] Translation: X:139.17, Y:-25.58, Z:-17.51 [[ 9.08036415e-01 4.11268207e-01 7.95508063e-02 1.39166392e+02] [-4.09820052e-01 9.11513495e-01 -3.45061258e-02 -2.55788823e+01] [-8.67029060e-02 -1.26869683e-03 9.96233405e-01 -1.75102292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37824100799997 meters 0.06752727239249762 Centerline is valid? [True, True] Translation: X:139.22, Y:-25.61, Z:-17.52 [[ 9.07832839e-01 4.11737170e-01 7.94483372e-02 1.39221060e+02] [-4.10292524e-01 9.11301727e-01 -3.44848910e-02 -2.56059580e+01] [-8.66001183e-02 -1.29054231e-03 9.96242317e-01 -1.75196947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43824100799998 meters 0.06673314282636632 Centerline is valid? [True, True] Translation: X:139.27, Y:-25.64, Z:-17.52 [[ 9.08448671e-01 4.09810710e-01 8.23176431e-02 1.39272866e+02] [-4.08249420e-01 9.12169896e-01 -3.57559978e-02 -2.56399094e+01] [-8.97408668e-02 -1.12364140e-03 9.95964515e-01 -1.75242017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49824100799998 meters 0.06641578000911043 Centerline is valid? [True, True] Translation: X:139.33, Y:-25.67, Z:-17.53 [[ 9.09864471e-01 4.06399806e-01 8.35813485e-02 1.39325801e+02] [-4.04773791e-01 9.13695020e-01 -3.63261413e-02 -2.56708183e+01] [-9.11307987e-02 -7.79673911e-04 9.95838626e-01 -1.75328937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55824100799998 meters 0.06587043141813355 Centerline is valid? [True, True] Translation: X:139.38, Y:-25.71, Z:-17.54 [[ 9.12748337e-01 3.99703924e-01 8.44230158e-02 1.39375272e+02] [-3.98014253e-01 9.16644296e-01 -3.67136226e-02 -2.57121110e+01] [-9.20604549e-02 -9.12655180e-05 9.95753415e-01 -1.75408635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61824100799998 meters 0.06531408893805889 Centerline is valid? [True, True] Translation: X:139.43, Y:-25.75, Z:-17.54 [[ 9.15576479e-01 3.93036018e-01 8.51022839e-02 1.39427393e+02] [-3.91288276e-01 9.19522879e-01 -3.70291837e-02 -2.57516107e+01] [-9.28073000e-02 6.03523625e-04 9.95683906e-01 -1.75417768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.678241008 meters 0.06617080727862965 Centerline is valid? [True, True] Translation: X:139.48, Y:-25.78, Z:-17.55 [[ 9.16892857e-01 3.89838324e-01 8.56362692e-02 1.39479340e+02] [-3.88051672e-01 9.20882813e-01 -3.72926858e-02 -2.57832802e+01] [-9.33990866e-02 9.62099808e-04 9.95628287e-01 -1.75541066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.738241008 meters 0.06655658967411382 Centerline is valid? [True, True] Translation: X:139.53, Y:-25.82, Z:-17.56 [[ 9.19777793e-01 3.83156972e-01 8.48501399e-02 1.39531237e+02] [-3.81373728e-01 9.23681797e-01 -3.69596841e-02 -2.58205156e+01] [-9.25358903e-02 1.63508251e-03 9.95708007e-01 -1.75598445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.798241008 meters 0.06631039734575961 Centerline is valid? [True, True] Translation: X:139.59, Y:-25.85, Z:-17.57 [[ 9.20279752e-01 3.82181337e-01 8.38009782e-02 1.39587070e+02] [-3.80435856e-01 9.24085722e-01 -3.65258442e-02 -2.58473573e+01] [-9.13987835e-02 1.73309793e-03 9.95812863e-01 -1.75661940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.858241008 meters 0.06724681375191043 Centerline is valid? [True, True] Translation: X:139.64, Y:-25.88, Z:-17.58 [[ 9.19640589e-01 3.83589263e-01 8.43828474e-02 1.39639639e+02] [-3.81822777e-01 9.23502366e-01 -3.68068798e-02 -2.58767423e+01] [-9.20464831e-02 1.62980753e-03 9.95753377e-01 -1.75793409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.918241008 meters 0.06631220391939341 Centerline is valid? [True, True] Translation: X:139.70, Y:-25.90, Z:-17.58 [[ 9.18920799e-01 3.85321679e-01 8.43313049e-02 1.39697468e+02] [-3.83562675e-01 9.22781138e-01 -3.68055262e-02 -2.58998239e+01] [-9.20013046e-02 1.47502269e-03 9.95757794e-01 -1.75830956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.978241008 meters 0.06557557027654028 Centerline is valid? [True, True] Translation: X:139.75, Y:-25.92, Z:-17.59 [[ 9.17765137e-01 3.87695124e-01 8.60211866e-02 1.39754574e+02] [-3.85872874e-01 9.21786765e-01 -3.75670632e-02 -2.59237044e+01] [-9.38577585e-02 1.28449840e-03 9.95584789e-01 -1.75884571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03824100799997 meters 0.06543412283464543 Centerline is valid? [True, True] Translation: X:139.81, Y:-25.95, Z:-17.60 [[ 9.16676597e-01 3.89848594e-01 8.78754283e-02 1.39810957e+02] [-3.87954182e-01 9.20878298e-01 -3.84019776e-02 -2.59460762e+01] [-9.58935318e-02 1.11055422e-03 9.95390977e-01 -1.75969901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09824100799997 meters 0.06525999982145532 Centerline is valid? [True, True] Translation: X:139.87, Y:-25.97, Z:-17.60 [[ 9.16326544e-01 3.90467371e-01 8.87744163e-02 1.39868040e+02] [-3.88534648e-01 9.20616137e-01 -3.88169477e-02 -2.59687679e+01] [-9.68839117e-02 1.07706293e-03 9.95295106e-01 -1.76033566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15824100799998 meters 0.06511103917989455 Centerline is valid? [True, True] Translation: X:139.92, Y:-26.00, Z:-17.61 [[ 9.16359936e-01 3.89914034e-01 9.08378434e-02 1.39922604e+02] [-3.87884913e-01 9.20850498e-01 -3.97448702e-02 -2.59961977e+01] [-9.91451561e-02 1.18597777e-03 9.95072275e-01 -1.76091717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21824100799998 meters 0.06470772870800992 Centerline is valid? [True, True] Translation: X:139.98, Y:-26.02, Z:-17.61 [[ 9.16638900e-01 3.89300142e-01 9.06560956e-02 1.39980329e+02] [-3.87274073e-01 9.21110085e-01 -3.96863130e-02 -2.60194210e+01] [-9.89541312e-02 1.26926290e-03 9.95091186e-01 -1.76148914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27824100799998 meters 0.06560282268052814 Centerline is valid? [True, True] Translation: X:140.03, Y:-26.04, Z:-17.63 [[ 9.16931651e-01 3.88804297e-01 8.98196337e-02 1.40034743e+02] [-3.86810359e-01 9.21319397e-01 -3.93486320e-02 -2.60444235e+01] [-9.80514879e-02 1.33684136e-03 9.95180445e-01 -1.76295892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33824100799998 meters 0.06479539091271529 Centerline is valid? [True, True] Translation: X:140.09, Y:-26.07, Z:-17.63 [[ 9.16313125e-01 3.90191650e-01 9.01151106e-02 1.40094082e+02] [-3.88188729e-01 9.20732859e-01 -3.95033219e-02 -2.60657692e+01] [-9.83858098e-02 1.21574211e-03 9.95147604e-01 -1.76332064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39824100799999 meters 0.06425937221146519 Centerline is valid? [True, True] Translation: X:140.15, Y:-26.08, Z:-17.64 [[ 9.14641599e-01 3.93778087e-01 9.14853183e-02 1.40153726e+02] [-3.91728595e-01 9.19205125e-01 -4.01328521e-02 -2.60837358e+01] [-9.98972112e-02 8.69760866e-04 9.94997382e-01 -1.76394512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.458241008 meters 0.0640811735650355 Centerline is valid? [True, True] Translation: X:140.21, Y:-26.10, Z:-17.65 [[ 9.12627050e-01 3.98024207e-01 9.32126491e-02 1.40211580e+02] [-3.95915609e-01 9.17374808e-01 -4.09181228e-02 -2.61031955e+01] [-1.01797339e-01 4.38642946e-04 9.94805061e-01 -1.76483798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.518241008 meters 0.06393567051374761 Centerline is valid? [True, True] Translation: X:140.27, Y:-26.12, Z:-17.66 [[ 9.10913693e-01 4.01936677e-01 9.31834289e-02 1.40270961e+02] [-3.99847072e-01 9.15667465e-01 -4.09318018e-02 -2.61222139e+01] [-1.01777027e-01 2.62175646e-05 9.94807236e-01 -1.76559358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.578241008 meters 0.06435119573733718 Centerline is valid? [True, True] Translation: X:140.33, Y:-26.14, Z:-17.67 [[ 9.07795954e-01 4.08748271e-01 9.39752959e-02 1.40331660e+02] [-4.06656485e-01 9.12646884e-01 -4.13057942e-02 -2.61364140e+01] [-1.02649933e-01 -7.18430642e-04 9.94717284e-01 -1.76662179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.638241008 meters 0.064943077612619 Centerline is valid? [True, True] Translation: X:140.39, Y:-26.16, Z:-17.68 [[ 9.06268385e-01 4.12392657e-01 9.27896068e-02 1.40388307e+02] [-4.10369616e-01 9.11005547e-01 -4.08126400e-02 -2.61565452e+01] [-1.01362680e-01 -1.09082996e-03 9.94848942e-01 -1.76751182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.698241008 meters 0.06473322968603042 Centerline is valid? [True, True] Translation: X:140.45, Y:-26.18, Z:-17.68 [[ 9.05366919e-01 4.13856917e-01 9.50431121e-02 1.40445496e+02] [-4.11739912e-01 9.10341063e-01 -4.18257611e-02 -2.61794307e+01] [-1.03831528e-01 -1.26538212e-03 9.94594094e-01 -1.76804990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75824100799997 meters 0.06397270738665209 Centerline is valid? [True, True] Translation: X:140.50, Y:-26.21, Z:-17.68 [[ 9.06686196e-01 4.10280632e-01 9.79282647e-02 1.40500454e+02] [-4.08008923e-01 9.11958919e-01 -4.31236456e-02 -2.62096041e+01] [-1.06999351e-01 -8.55991625e-04 9.94258722e-01 -1.76841983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81824100799997 meters 0.0636087644782875 Centerline is valid? [True, True] Translation: X:140.55, Y:-26.24, Z:-17.69 [[ 9.08481942e-01 4.06103191e-01 9.86952797e-02 1.40554382e+02] [-4.03767963e-01 9.13827162e-01 -4.34896517e-02 -2.62402730e+01] [-1.07851714e-01 -3.40428825e-04 9.94166934e-01 -1.76905126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87824100799997 meters 0.06357084800697371 Centerline is valid? [True, True] Translation: X:140.61, Y:-26.27, Z:-17.70 [[ 9.10899550e-01 4.01256833e-01 9.62027282e-02 1.40607051e+02] [-3.99008608e-01 9.15965551e-01 -4.24174529e-02 -2.62715194e+01] [-1.05138678e-01 2.52322075e-04 9.94457538e-01 -1.77001551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93824100799998 meters 0.06388460684105449 Centerline is valid? [True, True] Translation: X:140.66, Y:-26.30, Z:-17.71 [[ 9.12001226e-01 3.99100205e-01 9.47248136e-02 1.40661577e+02] [-3.96906310e-01 9.16907170e-01 -4.17926171e-02 -2.62983037e+01] [-1.03533303e-01 5.18041787e-04 9.94625853e-01 -1.77102972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99824100799998 meters 0.06406029052830897 Centerline is valid? [True, True] Translation: X:140.72, Y:-26.33, Z:-17.72 [[ 9.13079548e-01 3.96731138e-01 9.42875531e-02 1.40716976e+02] [-3.94542473e-01 9.17934506e-01 -4.16230748e-02 -2.63261905e+01] [-1.03062968e-01 8.04733965e-04 9.94674508e-01 -1.77176666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05824100799998 meters 0.06412898126938069 Centerline is valid? [True, True] Translation: X:140.77, Y:-26.35, Z:-17.73 [[ 9.13371208e-01 3.96139486e-01 9.39496887e-02 1.40772777e+02] [-3.93960772e-01 9.18189911e-01 -4.14993706e-02 -2.63513531e+01] [-1.02703196e-01 8.91838312e-04 9.94711646e-01 -1.77270188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11824100799998 meters 0.0645463668690078 Centerline is valid? [True, True] Translation: X:140.83, Y:-26.38, Z:-17.74 [[ 9.13855233e-01 3.95484081e-01 9.19834507e-02 1.40827389e+02] [-3.93390061e-01 9.18472321e-01 -4.06553182e-02 -2.63761643e+01] [-1.00562785e-01 9.67700027e-04 9.94930244e-01 -1.77374842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.178241008 meters 0.06464162729136164 Centerline is valid? [True, True] Translation: X:140.88, Y:-26.40, Z:-17.75 [[ 9.13923189e-01 3.95511117e-01 9.11885986e-02 1.40882978e+02] [-3.93451179e-01 9.18460670e-01 -4.03257571e-02 -2.64017686e+01] [-9.97024266e-02 9.76382830e-04 9.95016820e-01 -1.77467247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.238241008 meters 0.06481516418181632 Centerline is valid? [True, True] Translation: X:140.94, Y:-26.42, Z:-17.76 [[ 9.13732405e-01 3.96287981e-01 8.97158230e-02 1.40939481e+02] [-3.94295644e-01 9.18125824e-01 -3.96978138e-02 -2.64245679e+01] [-9.81021804e-02 8.98620637e-04 9.95175942e-01 -1.77558138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.298241008 meters 0.06450412635483094 Centerline is valid? [True, True] Translation: X:141.00, Y:-26.45, Z:-17.76 [[ 9.13505830e-01 3.96958225e-01 8.90576563e-02 1.40995727e+02] [-3.94996128e-01 9.17836293e-01 -3.94283946e-02 -2.64504163e+01] [-9.73917747e-02 8.40638980e-04 9.95245766e-01 -1.77618443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.358241008 meters 0.06415567837355099 Centerline is valid? [True, True] Translation: X:141.05, Y:-26.48, Z:-17.77 [[ 9.13175864e-01 3.97243235e-01 9.11463351e-02 1.41051025e+02] [-3.95186623e-01 9.17712964e-01 -4.03788186e-02 -2.64773200e+01] [-9.96863859e-02 8.53150258e-04 9.95018541e-01 -1.77650950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.418241008 meters 0.06380405187331177 Centerline is valid? [True, True] Translation: X:141.11, Y:-26.50, Z:-17.77 [[ 9.12648954e-01 3.97879768e-01 9.36139790e-02 1.41109018e+02] [-3.95710571e-01 9.17437192e-01 -4.14987031e-02 -2.65003335e+01] [-1.02396440e-01 8.29706933e-04 9.94743324e-01 -1.77697383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.478241008 meters 0.0639359062331312 Centerline is valid? [True, True] Translation: X:141.17, Y:-26.53, Z:-17.78 [[ 9.12999909e-01 3.97131254e-01 9.33698715e-02 1.41165236e+02] [-3.94967434e-01 9.17761354e-01 -4.14104242e-02 -2.65269427e+01] [-1.02136633e-01 9.29654980e-04 9.94769945e-01 -1.77779779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53824100799997 meters 0.06451970489116565 Centerline is valid? [True, True] Translation: X:141.22, Y:-26.55, Z:-17.79 [[ 9.12980210e-01 3.97187669e-01 9.33225113e-02 1.41219752e+02] [-3.95023302e-01 9.17736919e-01 -4.14190571e-02 -2.65549545e+01] [-1.02096653e-01 9.50212891e-04 9.94774030e-01 -1.77904545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59824100799997 meters 0.06398293631277743 Centerline is valid? [True, True] Translation: X:141.28, Y:-26.58, Z:-17.79 [[ 9.12762102e-01 3.97956777e-01 9.21723846e-02 1.41278622e+02] [-3.95846825e-01 9.17403746e-01 -4.09347945e-02 -2.65777692e+01] [-1.00849570e-01 8.77583282e-04 9.94901299e-01 -1.77931164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65824100799998 meters 0.06425629438813121 Centerline is valid? [True, True] Translation: X:141.33, Y:-26.60, Z:-17.80 [[ 9.12288732e-01 3.99625094e-01 8.96049876e-02 1.41334549e+02] [-3.97636579e-01 9.16678403e-01 -3.98228159e-02 -2.65994690e+01] [-9.80531534e-02 6.99685512e-04 9.95180933e-01 -1.78049866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71824100799998 meters 0.0643730168410609 Centerline is valid? [True, True] Translation: X:141.39, Y:-26.62, Z:-17.82 [[ 9.10697924e-01 4.03491163e-01 8.84543510e-02 1.41393662e+02] [-4.01569642e-01 9.14983493e-01 -3.93323175e-02 -2.66182533e+01] [-9.68045135e-02 2.99277889e-04 9.95303369e-01 -1.78169294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77824100799998 meters 0.06417521605846731 Centerline is valid? [True, True] Translation: X:141.45, Y:-26.64, Z:-17.82 [[ 9.08032374e-01 4.09166882e-01 8.97756708e-02 1.41451189e+02] [-4.07212008e-01 9.12459524e-01 -3.99499356e-02 -2.66389260e+01] [-9.82628564e-02 -2.81896343e-04 9.95160455e-01 -1.78229781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83824100799998 meters 0.06440438797689368 Centerline is valid? [True, True] Translation: X:141.51, Y:-26.66, Z:-17.83 [[ 9.06422247e-01 4.12528948e-01 9.06563637e-02 1.41508206e+02] [-4.10549933e-01 9.10944273e-01 -4.03644040e-02 -2.66609715e+01] [-9.92343804e-02 -6.31770243e-04 9.95063887e-01 -1.78299522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89824100799999 meters 0.06487231217835766 Centerline is valid? [True, True] Translation: X:141.57, Y:-26.68, Z:-17.84 [[ 9.03997985e-01 4.18006670e-01 8.97667394e-02 1.41566408e+02] [-4.16090867e-01 9.08443168e-01 -3.99925194e-02 -2.66820041e+01] [-9.82651209e-02 -1.19796348e-03 9.95159550e-01 -1.78353936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.958241008 meters 0.06565928307940677 Centerline is valid? [True, True] Translation: X:141.62, Y:-26.70, Z:-17.84 [[ 9.02289268e-01 4.21970605e-01 8.84018420e-02 1.41623993e+02] [-4.20129159e-01 9.06608135e-01 -3.94103964e-02 -2.67038701e+01] [-9.67758579e-02 -1.58061386e-03 9.95304946e-01 -1.78447234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.018241008 meters 0.0651801661916625 Centerline is valid? [True, True] Translation: X:141.68, Y:-26.73, Z:-17.85 [[ 9.03870838e-01 4.18763775e-01 8.74894833e-02 1.41676559e+02] [-4.16943920e-01 9.08094396e-01 -3.90171125e-02 -2.67331566e+01] [-9.57876629e-02 -1.21177797e-03 9.95401052e-01 -1.78543771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.078241008 meters 0.06487723355179953 Centerline is valid? [True, True] Translation: X:141.73, Y:-26.76, Z:-17.86 [[ 9.04695438e-01 4.16948718e-01 8.76352188e-02 1.41731046e+02] [-4.15112140e-01 9.08929461e-01 -3.91043056e-02 -2.67628061e+01] [-9.59587222e-02 -1.00095637e-03 9.95384811e-01 -1.78605944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.138241008 meters 0.06504670868242435 Centerline is valid? [True, True] Translation: X:141.78, Y:-26.79, Z:-17.87 [[ 9.05066674e-01 4.16292823e-01 8.69172036e-02 1.41784967e+02] [-4.14480652e-01 9.09230157e-01 -3.88112270e-02 -2.67888663e+01] [-9.51845779e-02 -8.98751061e-04 9.95459235e-01 -1.78704292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.198241008 meters 0.06440907314642547 Centerline is valid? [True, True] Translation: X:141.84, Y:-26.82, Z:-17.88 [[ 9.05675823e-01 4.14637515e-01 8.84705308e-02 1.41839280e+02] [-4.12751047e-01 9.09986373e-01 -3.95142277e-02 -2.68184895e+01] [-9.68910586e-02 -7.29223534e-04 9.95294726e-01 -1.78756113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25824100799997 meters 0.06443032962397788 Centerline is valid? [True, True] Translation: X:141.90, Y:-26.85, Z:-17.88 [[ 9.06398472e-01 4.13176409e-01 8.79037278e-02 1.41895275e+02] [-4.11305042e-01 9.10650841e-01 -3.92836895e-02 -2.68459743e+01] [-9.62806974e-02 -5.48570395e-04 9.95354071e-01 -1.78843806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31824100799997 meters 0.06475960904657771 Centerline is valid? [True, True] Translation: X:141.95, Y:-26.87, Z:-17.89 [[ 9.06373772e-01 4.13271636e-01 8.77105483e-02 1.41950994e+02] [-4.11406321e-01 9.10607638e-01 -3.92245883e-02 -2.68720487e+01] [-9.60803051e-02 -5.32535932e-04 9.95373443e-01 -1.78932928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37824100799997 meters 0.06426436629059758 Centerline is valid? [True, True] Translation: X:142.01, Y:-26.90, Z:-17.90 [[ 9.06531763e-01 4.13107558e-01 8.68464645e-02 1.42006562e+02] [-4.11275806e-01 9.10682111e-01 -3.88626275e-02 -2.68994483e+01] [-9.51439668e-02 -4.87643364e-04 9.95463404e-01 -1.78990663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43824100799998 meters 0.0646946122851899 Centerline is valid? [True, True] Translation: X:142.06, Y:-26.92, Z:-17.91 [[ 9.06722290e-01 4.12837742e-01 8.61376061e-02 1.42060983e+02] [-4.11032144e-01 9.10804486e-01 -3.85715469e-02 -2.69241300e+01] [-9.43783084e-02 -4.31643519e-04 9.95536312e-01 -1.79103659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49824100799998 meters 0.06414671068699768 Centerline is valid? [True, True] Translation: X:142.12, Y:-26.95, Z:-17.91 [[ 9.07140418e-01 4.12171008e-01 8.49195033e-02 1.42116574e+02] [-4.10412500e-01 9.11106436e-01 -3.80347367e-02 -2.69526084e+01] [-9.30475218e-02 -3.49178749e-04 9.95661608e-01 -1.79130501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55824100799998 meters 0.06406116579538494 Centerline is valid? [True, True] Translation: X:142.17, Y:-26.98, Z:-17.92 [[ 9.07469164e-01 4.11323099e-01 8.55162274e-02 1.42171771e+02] [-4.09533349e-01 9.11489579e-01 -3.83299387e-02 -2.69787093e+01] [-9.37131392e-02 -2.38509572e-04 9.95599212e-01 -1.79218962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61824100799998 meters 0.06376523758002442 Centerline is valid? [True, True] Translation: X:142.23, Y:-27.01, Z:-17.93 [[ 9.07677310e-01 4.10773621e-01 8.59472696e-02 1.42227828e+02] [-4.08961070e-01 9.11737356e-01 -3.85465543e-02 -2.70059970e+01] [-9.41952440e-02 -1.61254563e-04 9.95553730e-01 -1.79280698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.678241008 meters 0.06352941311801169 Centerline is valid? [True, True] Translation: X:142.28, Y:-27.03, Z:-17.93 [[ 9.07878094e-01 4.10001380e-01 8.74999157e-02 1.42281913e+02] [-4.08116211e-01 9.12084900e-01 -3.92720444e-02 -2.70336131e+01] [-9.59089442e-02 -5.59052049e-05 9.95390110e-01 -1.79338829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.738241008 meters 0.06334081011577779 Centerline is valid? [True, True] Translation: X:142.34, Y:-27.06, Z:-17.94 [[ 9.09118691e-01 4.06993252e-01 8.86549420e-02 1.42337026e+02] [-4.05041398e-01 9.13431120e-01 -3.98127396e-02 -2.70624474e+01] [-9.71836994e-02 2.85583968e-04 9.95266420e-01 -1.79400737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.798241008 meters 0.06358698114075745 Centerline is valid? [True, True] Translation: X:142.39, Y:-27.09, Z:-17.95 [[ 9.09752251e-01 4.05766587e-01 8.77742526e-02 1.42393967e+02] [-4.03845265e-01 9.13976634e-01 -3.94425477e-02 -2.70867099e+01] [-9.62280839e-02 4.35730280e-04 9.95359215e-01 -1.79488788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.858241008 meters 0.06418878301502012 Centerline is valid? [True, True] Translation: X:142.45, Y:-27.11, Z:-17.96 [[ 9.09988340e-01 4.05900208e-01 8.46536606e-02 1.42449113e+02] [-4.04111530e-01 9.13917303e-01 -3.80661939e-02 -2.71108057e+01] [-9.28175212e-02 4.30272300e-04 9.95683043e-01 -1.79609575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.918241008 meters 0.06437732936269214 Centerline is valid? [True, True] Translation: X:142.51, Y:-27.14, Z:-17.97 [[ 9.10051266e-01 4.06224598e-01 8.23909520e-02 1.42505620e+02] [-4.04529826e-01 9.13773173e-01 -3.70703181e-02 -2.71360517e+01] [-9.03455167e-02 4.06292394e-04 9.95910399e-01 -1.79692251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.978241008 meters 0.0645378094522678 Centerline is valid? [True, True] Translation: X:142.56, Y:-27.16, Z:-17.98 [[ 9.10076415e-01 4.05991534e-01 8.32573924e-02 1.42561957e+02] [-4.04257591e-01 9.13876723e-01 -3.74851259e-02 -2.71594087e+01] [-9.13056367e-02 4.56896111e-04 9.95822812e-01 -1.79773780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03824100799997 meters 0.06421142392097218 Centerline is valid? [True, True] Translation: X:142.62, Y:-27.19, Z:-17.98 [[ 9.10844387e-01 4.04183511e-01 8.36551963e-02 1.42618870e+02] [-4.02423352e-01 9.14677677e-01 -3.76854526e-02 -2.71854556e+01] [-9.17493792e-02 6.60778439e-04 9.95781911e-01 -1.79811659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09824100799997 meters 0.06376453784547505 Centerline is valid? [True, True] Translation: X:142.68, Y:-27.21, Z:-17.98 [[ 9.11093245e-01 4.03296265e-01 8.52127981e-02 1.42676074e+02] [-4.01463326e-01 9.15069123e-01 -3.84148202e-02 -2.72104397e+01] [-9.34681539e-02 7.89669866e-04 9.95621957e-01 -1.79842798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15824100799998 meters 0.06404022050779098 Centerline is valid? [True, True] Translation: X:142.73, Y:-27.24, Z:-17.99 [[ 9.12661174e-01 3.99577656e-01 8.59492811e-02 1.42730078e+02] [-3.97694030e-01 9.16698559e-01 -3.87712513e-02 -2.72398055e+01] [-9.42817079e-02 1.20349975e-03 9.95544831e-01 -1.79906340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21824100799998 meters 0.06426847898468972 Centerline is valid? [True, True] Translation: X:142.78, Y:-27.27, Z:-18.00 [[ 9.13704067e-01 3.97036617e-01 8.66418075e-02 1.42784289e+02] [-3.95108306e-01 9.17801538e-01 -3.91121928e-02 -2.72664371e+01] [-9.50489569e-02 1.50407181e-03 9.95471463e-01 -1.79969558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27824100799998 meters 0.06495276247534514 Centerline is valid? [True, True] Translation: X:142.84, Y:-27.29, Z:-18.00 [[ 9.15324317e-01 3.93078165e-01 8.75839629e-02 1.42839269e+02] [-3.91088379e-01 9.19502999e-01 -3.95488833e-02 -2.72946925e+01] [-9.60795191e-02 1.94698449e-03 9.95371757e-01 -1.80036438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33824100799998 meters 0.06505357767137827 Centerline is valid? [True, True] Translation: X:142.90, Y:-27.32, Z:-18.01 [[ 9.17043745e-01 3.89237336e-01 8.67471388e-02 1.42897718e+02] [-3.87266259e-01 9.21134511e-01 -3.91925678e-02 -2.73176107e+01] [-9.51609939e-02 2.34705925e-03 9.95459129e-01 -1.80084103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39824100799999 meters 0.06488230679660885 Centerline is valid? [True, True] Translation: X:142.95, Y:-27.34, Z:-18.02 [[ 9.16822663e-01 3.90056263e-01 8.53950639e-02 1.42954639e+02] [-3.88147184e-01 9.20788270e-01 -3.86099212e-02 -2.73397612e+01] [-9.36908147e-02 2.25259717e-03 9.95598793e-01 -1.80168846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.458241008 meters 0.06499581092966766 Centerline is valid? [True, True] Translation: X:143.01, Y:-27.36, Z:-18.03 [[ 9.16501865e-01 3.90915105e-01 8.49100237e-02 1.43011215e+02] [-3.89029442e-01 9.20424177e-01 -3.84113037e-02 -2.73644162e+01] [-9.31687974e-02 2.17153237e-03 9.95647960e-01 -1.80254522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.518241008 meters 0.0642347996083773 Centerline is valid? [True, True] Translation: X:143.07, Y:-27.38, Z:-18.03 [[ 9.14403315e-01 3.95755228e-01 8.51139086e-02 1.43071486e+02] [-3.93878938e-01 9.18354445e-01 -3.85291441e-02 -2.73798700e+01] [-9.34128466e-02 1.70660119e-03 9.95625998e-01 -1.80332104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.578241008 meters 0.06351088361021463 Centerline is valid? [True, True] Translation: X:143.13, Y:-27.40, Z:-18.04 [[ 9.11638735e-01 4.02339896e-01 8.38893565e-02 1.43131546e+02] [-4.00543096e-01 9.15489777e-01 -3.79960090e-02 -2.73959314e+01] [-9.20871586e-02 1.03733101e-03 9.95750410e-01 -1.80407355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.638241008 meters 0.06310417350614259 Centerline is valid? [True, True] Translation: X:143.19, Y:-27.41, Z:-18.05 [[ 9.09670093e-01 4.06693663e-01 8.42649811e-02 1.43191135e+02] [-4.04897211e-01 9.13564382e-01 -3.81885951e-02 -2.74142357e+01] [-9.25125450e-02 6.20367043e-04 9.95711326e-01 -1.80481403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.698241008 meters 0.06278122897775976 Centerline is valid? [True, True] Translation: X:143.25, Y:-27.43, Z:-18.06 [[ 9.06077503e-01 4.14609423e-01 8.43954014e-02 1.43250990e+02] [-4.12839354e-01 9.09999450e-01 -3.82709975e-02 -2.74306854e+01] [-9.26672851e-02 -1.65253060e-04 9.95697116e-01 -1.80557406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75824100799997 meters 0.06314155091078862 Centerline is valid? [True, True] Translation: X:143.31, Y:-27.45, Z:-18.06 [[ 9.03512821e-01 4.20197814e-01 8.42518872e-02 1.43308790e+02] [-4.18455706e-01 9.07432249e-01 -3.82300284e-02 -2.74505387e+01] [-9.25170538e-02 -7.14362175e-04 9.95710844e-01 -1.80633471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81824100799997 meters 0.06418634271593157 Centerline is valid? [True, True] Translation: X:143.37, Y:-27.47, Z:-18.07 [[ 9.00623097e-01 4.25821560e-01 8.69139605e-02 1.43367462e+02] [-4.23991188e-01 9.04806211e-01 -3.94612772e-02 -2.74681210e+01] [-9.54437539e-02 -1.31101569e-03 9.95433961e-01 -1.80735103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87824100799997 meters 0.06384466665928504 Centerline is valid? [True, True] Translation: X:143.42, Y:-27.50, Z:-18.08 [[ 9.00332172e-01 4.26450580e-01 8.68440183e-02 1.43422258e+02] [-4.24624086e-01 9.04509845e-01 -3.94503031e-02 -2.74987116e+01] [-9.53748741e-02 -1.35768482e-03 9.95440501e-01 -1.80787581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93824100799998 meters 0.06390591136692454 Centerline is valid? [True, True] Translation: X:143.48, Y:-27.53, Z:-18.09 [[ 9.00924419e-01 4.25142727e-01 8.71140191e-02 1.43475779e+02] [-4.23296011e-01 9.05125532e-01 -3.96012516e-02 -2.75276109e+01] [-9.56853069e-02 -1.19728213e-03 9.95410914e-01 -1.80892112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99824100799998 meters 0.06353089500085526 Centerline is valid? [True, True] Translation: X:143.53, Y:-27.56, Z:-18.10 [[ 9.01411885e-01 4.24032276e-01 8.74828095e-02 1.43528621e+02] [-4.22162334e-01 9.05646454e-01 -3.97927604e-02 -2.75595037e+01] [-9.61019111e-02 -1.06227984e-03 9.95370933e-01 -1.80957694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05824100799998 meters 0.06381608190702442 Centerline is valid? [True, True] Translation: X:143.58, Y:-27.59, Z:-18.11 [[ 9.02501089e-01 4.22416440e-01 8.40008090e-02 1.43579703e+02] [-4.20683505e-01 9.06401488e-01 -3.82325940e-02 -2.75943475e+01] [-9.22885346e-02 -8.32796977e-04 9.95731958e-01 -1.81076097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11824100799998 meters 0.06382825760939795 Centerline is valid? [True, True] Translation: X:143.63, Y:-27.63, Z:-18.12 [[ 9.03013543e-01 4.21518595e-01 8.29976831e-02 1.43632356e+02] [-4.19822120e-01 9.06819470e-01 -3.77867133e-02 -2.76252624e+01] [-9.11917173e-02 -7.22349404e-04 9.95833093e-01 -1.81190751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.178241008 meters 0.06306348797134628 Centerline is valid? [True, True] Translation: X:143.68, Y:-27.66, Z:-18.12 [[ 9.04259153e-01 4.18668079e-01 8.38595540e-02 1.43684675e+02] [-4.16921834e-01 9.08139232e-01 -3.82010475e-02 -2.76602103e+01] [-9.21497101e-02 -4.19232180e-04 9.95745075e-01 -1.81226319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.238241008 meters 0.06301635409050402 Centerline is valid? [True, True] Translation: X:143.74, Y:-27.69, Z:-18.13 [[ 9.05442932e-01 4.15921215e-01 8.47504617e-02 1.43736067e+02] [-4.14123292e-01 9.09400643e-01 -3.86312035e-02 -2.76940396e+01] [-9.31396615e-02 -1.18790062e-04 9.95653047e-01 -1.81298162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.298241008 meters 0.06301723030410736 Centerline is valid? [True, True] Translation: X:143.79, Y:-27.72, Z:-18.14 [[ 9.04660403e-01 4.17650482e-01 8.46027773e-02 1.43794154e+02] [-4.15864469e-01 9.08607725e-01 -3.85842623e-02 -2.77169014e+01] [-9.29854727e-02 -2.77634788e-04 9.95667427e-01 -1.81378632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.358241008 meters 0.06266568041403675 Centerline is valid? [True, True] Translation: X:143.85, Y:-27.74, Z:-18.14 [[ 9.04671022e-01 4.17716023e-01 8.41645204e-02 1.43852188e+02] [-4.15946493e-01 9.08577600e-01 -3.84091041e-02 -2.77386712e+01] [-9.25140962e-02 -2.60333658e-04 9.95711341e-01 -1.81437128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.418241008 meters 0.06248923622572721 Centerline is valid? [True, True] Translation: X:143.91, Y:-27.77, Z:-18.15 [[ 9.05251996e-01 4.16542360e-01 8.37334189e-02 1.43909019e+02] [-4.14783931e-01 9.09116301e-01 -3.82340566e-02 -2.77654924e+01] [-9.20495202e-02 -1.19820575e-04 9.95754423e-01 -1.81501988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.478241008 meters 0.062475852362112394 Centerline is valid? [True, True] Translation: X:143.96, Y:-27.79, Z:-18.16 [[ 9.06110817e-01 4.14479995e-01 8.46730232e-02 1.43962483e+02] [-4.12670087e-01 9.10058416e-01 -3.86921115e-02 -2.77943627e+01] [-9.30945036e-02 1.17316926e-04 9.95657270e-01 -1.81584187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53824100799997 meters 0.062039403779790635 Centerline is valid? [True, True] Translation: X:144.02, Y:-27.82, Z:-18.16 [[ 9.07161095e-01 4.12120008e-01 8.49461358e-02 1.44018436e+02] [-4.10285861e-01 9.11129493e-01 -3.88401765e-02 -2.78235546e+01] [-9.34037435e-02 3.82098545e-04 9.95628241e-01 -1.81608775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59824100799997 meters 0.062055622745667796 Centerline is valid? [True, True] Translation: X:144.07, Y:-27.85, Z:-18.17 [[ 9.08414183e-01 4.09341469e-01 8.49896067e-02 1.44074764e+02] [-4.07490731e-01 9.12380996e-01 -3.88873068e-02 -2.78509865e+01] [-9.34610893e-02 6.93304085e-04 9.95622692e-01 -1.81673994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65824100799998 meters 0.062212190022508274 Centerline is valid? [True, True] Translation: X:144.13, Y:-27.88, Z:-18.18 [[ 9.08960891e-01 4.08159893e-01 8.48268835e-02 1.44131061e+02] [-4.06308618e-01 9.12910072e-01 -3.88395088e-02 -2.78768452e+01] [-9.32920461e-02 8.37700799e-04 9.95638435e-01 -1.81751578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71824100799998 meters 0.06209075002512373 Centerline is valid? [True, True] Translation: X:144.19, Y:-27.90, Z:-18.18 [[ 9.09337909e-01 4.07280443e-01 8.50129925e-02 1.44188636e+02] [-4.05414721e-01 9.13302650e-01 -3.89509078e-02 -2.79020896e+01] [-9.35065343e-02 9.54018386e-04 9.95618209e-01 -1.81800878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77824100799998 meters 0.06180198333439339 Centerline is valid? [True, True] Translation: X:144.25, Y:-27.92, Z:-18.19 [[ 9.08861492e-01 4.08276966e-01 8.53270610e-02 1.44246448e+02] [-4.06398824e-01 9.12857677e-01 -3.91261722e-02 -2.79248946e+01] [-9.38657776e-02 8.83453989e-04 9.95584469e-01 -1.81880626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83824100799998 meters 0.061984123489505556 Centerline is valid? [True, True] Translation: X:144.31, Y:-27.94, Z:-18.20 [[ 9.07033583e-01 4.12606389e-01 8.39407374e-02 1.44305303e+02] [-4.10806596e-01 9.10909313e-01 -3.84988763e-02 -2.79426338e+01] [-9.23472818e-02 4.36365087e-04 9.95726764e-01 -1.81986186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89824100799999 meters 0.0620256593476341 Centerline is valid? [True, True] Translation: X:144.37, Y:-27.96, Z:-18.21 [[ 9.04849443e-01 4.17462104e-01 8.35037566e-02 1.44366340e+02] [-4.15699582e-01 9.08694333e-01 -3.83205813e-02 -2.79583303e+01] [-9.18767809e-02 -3.81200642e-05 9.95770383e-01 -1.82082914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.958241008 meters 0.0621493745098883 Centerline is valid? [True, True] Translation: X:144.42, Y:-27.98, Z:-18.22 [[ 9.03637787e-01 4.20173547e-01 8.30237331e-02 1.44424604e+02] [-4.18440216e-01 9.07443722e-01 -3.81271260e-02 -2.79799277e+01] [-9.13593751e-02 -2.87357047e-04 9.95817946e-01 -1.82157131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.018241008 meters 0.06199214094916625 Centerline is valid? [True, True] Translation: X:144.48, Y:-28.00, Z:-18.22 [[ 9.02352032e-01 4.22749142e-01 8.39283788e-02 1.44483278e+02] [-4.20986686e-01 9.06246589e-01 -3.85659215e-02 -2.80008782e+01] [-9.23635172e-02 -5.32692404e-04 9.95725212e-01 -1.82207521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.078241008 meters 0.06196193264502898 Centerline is valid? [True, True] Translation: X:144.54, Y:-28.03, Z:-18.23 [[ 9.03197958e-01 4.20669199e-01 8.52694246e-02 1.44537795e+02] [-4.18838056e-01 9.07214051e-01 -3.92090328e-02 -2.80275197e+01] [-9.38516526e-02 -3.00561701e-04 9.95586147e-01 -1.82290198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.138241008 meters 0.06156282089335819 Centerline is valid? [True, True] Translation: X:144.59, Y:-28.06, Z:-18.24 [[ 9.05804186e-01 4.14878078e-01 8.59939375e-02 1.44591338e+02] [-4.12988474e-01 9.09876960e-01 -3.95529722e-02 -2.80579401e+01] [-9.46535636e-02 3.12742721e-04 9.95510224e-01 -1.82354405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.198241008 meters 0.06193751680597573 Centerline is valid? [True, True] Translation: X:144.64, Y:-28.09, Z:-18.25 [[ 9.07465953e-01 4.11450055e-01 8.49376034e-02 1.44644523e+02] [-4.09589534e-01 9.11432052e-01 -3.90900108e-02 -2.80871655e+01] [-9.34984412e-02 6.83300552e-04 9.95619192e-01 -1.82451321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25824100799997 meters 0.06175877330494026 Centerline is valid? [True, True] Translation: X:144.70, Y:-28.12, Z:-18.25 [[ 9.09237805e-01 4.07323923e-01 8.58710391e-02 1.44698984e+02] [-4.05401885e-01 9.13283047e-01 -3.95396820e-02 -2.81174793e+01] [-9.45300227e-02 1.13869253e-03 9.95521360e-01 -1.82473455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31824100799997 meters 0.06238689730681065 Centerline is valid? [True, True] Translation: X:144.75, Y:-28.14, Z:-18.26 [[ 9.09964273e-01 4.05742506e-01 8.56623648e-02 1.44752598e+02] [-4.03820554e-01 9.13986473e-01 -3.94675631e-02 -2.81446054e+01] [-9.43079106e-02 1.32184880e-03 9.95542199e-01 -1.82573399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37824100799997 meters 0.06178057024104941 Centerline is valid? [True, True] Translation: X:144.81, Y:-28.17, Z:-18.26 [[ 9.09664608e-01 4.06124943e-01 8.70220234e-02 1.44810434e+02] [-4.04140809e-01 9.13816599e-01 -4.01177036e-02 -2.81683925e+01] [-9.58149696e-02 1.32450425e-03 9.95398281e-01 -1.82619647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43824100799998 meters 0.06233221560567072 Centerline is valid? [True, True] Translation: X:144.86, Y:-28.19, Z:-18.27 [[ 9.08751163e-01 4.08053844e-01 8.75407556e-02 1.44864880e+02] [-4.06053396e-01 9.12957150e-01 -4.03717968e-02 -2.81929646e+01] [-9.63948256e-02 1.14169614e-03 9.95342521e-01 -1.82742076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49824100799998 meters 0.06184179069629719 Centerline is valid? [True, True] Translation: X:144.93, Y:-28.21, Z:-18.28 [[ 9.06699969e-01 4.12910108e-01 8.60256285e-02 1.44925135e+02] [-4.10998317e-01 9.10771564e-01 -3.96930978e-02 -2.82114960e+01] [-9.47393775e-02 6.33341974e-04 9.95501908e-01 -1.82795868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55824100799998 meters 0.061696516531282025 Centerline is valid? [True, True] Translation: X:144.98, Y:-28.23, Z:-18.29 [[ 9.05449234e-01 4.15421234e-01 8.71027097e-02 1.44981567e+02] [-4.13469972e-01 9.09629065e-01 -4.02187270e-02 -2.82349470e+01] [-9.59388697e-02 4.01660672e-04 9.95387147e-01 -1.82870743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61824100799998 meters 0.061838886436673825 Centerline is valid? [True, True] Translation: X:145.04, Y:-28.26, Z:-18.30 [[ 9.04568249e-01 4.17380808e-01 8.68881101e-02 1.45038011e+02] [-4.15446012e-01 9.08731652e-01 -4.01421881e-02 -2.82585457e+01] [-9.57125547e-02 2.14029962e-04 9.95408992e-01 -1.82955573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.678241008 meters 0.061875613791439396 Centerline is valid? [True, True] Translation: X:145.09, Y:-28.28, Z:-18.31 [[ 9.04660560e-01 4.17121679e-01 8.71709642e-02 1.45094366e+02] [-4.15170647e-01 9.08850612e-01 -4.02976255e-02 -2.82828216e+01] [-9.60343973e-02 2.64846844e-04 9.95377981e-01 -1.83063010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.738241008 meters 0.06210223058360535 Centerline is valid? [True, True] Translation: X:145.15, Y:-28.31, Z:-18.31 [[ 9.06592734e-01 4.12616654e-01 8.85274587e-02 1.45146918e+02] [-4.10580027e-01 9.10904434e-01 -4.09530677e-02 -2.83139438e+01] [-9.75379725e-02 7.80147221e-04 9.95231498e-01 -1.83130696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.798241008 meters 0.06175325697626445 Centerline is valid? [True, True] Translation: X:145.20, Y:-28.34, Z:-18.31 [[ 9.08320124e-01 4.08306007e-01 9.07786109e-02 1.45202157e+02] [-4.06141640e-01 9.12844211e-01 -4.20049347e-02 -2.83447118e+01] [-1.00017597e-01 1.28495356e-03 9.94984839e-01 -1.83116995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.858241008 meters 0.06186898632306916 Centerline is valid? [True, True] Translation: X:145.26, Y:-28.37, Z:-18.32 [[ 9.08777099e-01 4.06899125e-01 9.25056016e-02 1.45256691e+02] [-4.04640912e-01 9.13471873e-01 -4.28353695e-02 -2.83716942e+01] [-1.01930940e-01 1.49625190e-03 9.94790352e-01 -1.83165422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.918241008 meters 0.062343248456633235 Centerline is valid? [True, True] Translation: X:145.31, Y:-28.40, Z:-18.32 [[ 9.09768699e-01 4.04870407e-01 9.16562454e-02 1.45312788e+02] [-4.02641029e-01 9.14372444e-01 -4.24645185e-02 -2.83970471e+01] [-1.01000572e-01 1.72832480e-03 9.94884866e-01 -1.83249946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.978241008 meters 0.06321059619089657 Centerline is valid? [True, True] Translation: X:145.37, Y:-28.42, Z:-18.34 [[ 9.10236292e-01 4.04346672e-01 8.92953658e-02 1.45367075e+02] [-4.02226073e-01 9.14604102e-01 -4.13947091e-02 -2.84219673e+01] [-9.84077208e-02 1.76204222e-03 9.95144620e-01 -1.83375905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03824100799997 meters 0.06306126945420423 Centerline is valid? [True, True] Translation: X:145.42, Y:-28.45, Z:-18.35 [[ 9.10146834e-01 4.05003576e-01 8.72057533e-02 1.45423216e+02] [-4.02982395e-01 9.14313577e-01 -4.04459230e-02 -2.84465316e+01] [-9.61141477e-02 1.66934545e-03 9.95368918e-01 -1.83450251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09824100799997 meters 0.06227046560585231 Centerline is valid? [True, True] Translation: X:145.48, Y:-28.47, Z:-18.35 [[ 9.07214011e-01 4.11455842e-01 8.75604282e-02 1.45482617e+02] [-4.09445723e-01 9.11429133e-01 -4.06341702e-02 -2.84653947e+01] [-9.65242919e-02 1.01264574e-03 9.95330114e-01 -1.83506038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15824100799998 meters 0.061866644364698214 Centerline is valid? [True, True] Translation: X:145.54, Y:-28.48, Z:-18.36 [[ 9.03681175e-01 4.18818191e-01 8.91720659e-02 1.45543044e+02] [-4.16766370e-01 9.08070073e-01 -4.14069403e-02 -2.84824999e+01] [-9.83164643e-02 2.54754233e-04 9.95155168e-01 -1.83591110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21824100799998 meters 0.06215227579599179 Centerline is valid? [True, True] Translation: X:145.60, Y:-28.50, Z:-18.37 [[ 8.99944757e-01 4.26546767e-01 9.03177141e-02 1.45602917e+02] [-4.24478378e-01 9.04465324e-01 -4.19593115e-02 -2.84982073e+01] [-9.95868493e-02 -5.76854364e-04 9.95028706e-01 -1.83685783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27824100799998 meters 0.06269036041729092 Centerline is valid? [True, True] Translation: X:145.66, Y:-28.52, Z:-18.38 [[ 8.97827343e-01 4.31090035e-01 8.98189487e-02 1.45659388e+02] [-4.29064648e-01 9.02308304e-01 -4.17522731e-02 -2.85208565e+01] [-9.90433721e-02 -1.05180317e-03 9.95082561e-01 -1.83763635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33824100799998 meters 0.0629285737300975 Centerline is valid? [True, True] Translation: X:145.71, Y:-28.55, Z:-18.38 [[ 8.96609790e-01 4.33530008e-01 9.02364421e-02 1.45714876e+02] [-4.31495761e-01 9.01138182e-01 -4.19688538e-02 -2.85471839e+01] [-9.95102610e-02 -1.30695699e-03 9.95035678e-01 -1.83827662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39824100799999 meters 0.0628983371242516 Centerline is valid? [True, True] Translation: X:145.77, Y:-28.58, Z:-18.39 [[ 8.97393328e-01 4.32084730e-01 8.93756202e-02 1.45767743e+02] [-4.30079688e-01 9.01832327e-01 -4.15922638e-02 -2.85777502e+01] [-9.85732055e-02 -1.11401887e-03 9.95129179e-01 -1.83919736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.458241008 meters 0.06222303171844481 Centerline is valid? [True, True] Translation: X:145.82, Y:-28.62, Z:-18.40 [[ 9.00254489e-01 4.26135617e-01 8.91643983e-02 1.45817602e+02] [-4.24108277e-01 9.04659187e-01 -4.15201738e-02 -2.86174323e+01] [-9.83566170e-02 -4.36636411e-04 9.95151137e-01 -1.83991932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.518241008 meters 0.062136355319141835 Centerline is valid? [True, True] Translation: X:145.87, Y:-28.65, Z:-18.41 [[ 9.02287537e-01 4.21754702e-01 8.94436812e-02 1.45868190e+02] [-4.19690627e-01 9.06709969e-01 -4.16750585e-02 -2.86532774e+01] [-9.86761292e-02 6.42111818e-05 9.95119600e-01 -1.84079804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.578241008 meters 0.06194432842756376 Centerline is valid? [True, True] Translation: X:145.92, Y:-28.69, Z:-18.41 [[ 9.02911760e-01 4.20203453e-01 9.04400990e-02 1.45920949e+02] [-4.18082687e-01 9.07429882e-01 -4.21648705e-02 -2.86860728e+01] [-9.97858725e-02 2.59717898e-04 9.95008901e-01 -1.84132250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.638241008 meters 0.061986233414458365 Centerline is valid? [True, True] Translation: X:145.97, Y:-28.72, Z:-18.42 [[ 9.03590590e-01 4.18930870e-01 8.95598742e-02 1.45974591e+02] [-4.16842634e-01 9.08018034e-01 -4.17787917e-02 -2.87173906e+01] [-9.88244065e-02 4.18549147e-04 9.95104799e-01 -1.84217589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.698241008 meters 0.06226141219699418 Centerline is valid? [True, True] Translation: X:146.03, Y:-28.75, Z:-18.43 [[ 9.03793631e-01 4.18740322e-01 8.83946628e-02 1.46028984e+02] [-4.16702591e-01 9.08105904e-01 -4.12627906e-02 -2.87479145e+01] [-9.75501093e-02 4.58762262e-04 9.95230509e-01 -1.84317744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75824100799997 meters 0.06270096000001313 Centerline is valid? [True, True] Translation: X:146.08, Y:-28.78, Z:-18.44 [[ 9.04666567e-01 4.17441317e-01 8.55637195e-02 1.46081513e+02] [-4.15524060e-01 9.08703683e-01 -3.99671392e-02 -2.87802638e+01] [-9.44360022e-02 6.03150472e-04 9.95530752e-01 -1.84436005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81824100799997 meters 0.06277604471528028 Centerline is valid? [True, True] Translation: X:146.13, Y:-28.81, Z:-18.45 [[ 9.05045824e-01 4.16992974e-01 8.37192711e-02 1.46134620e+02] [-4.15153435e-01 9.08909470e-01 -3.91305466e-02 -2.88120821e+01] [-9.24104014e-02 6.58594789e-04 9.95720786e-01 -1.84508407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87824100799997 meters 0.06317887326885989 Centerline is valid? [True, True] Translation: X:146.19, Y:-28.84, Z:-18.46 [[ 9.04462181e-01 4.18626064e-01 8.18558660e-02 1.46187955e+02] [-4.16872165e-01 9.08158558e-01 -3.82835685e-02 -2.88418291e+01] [-9.03646048e-02 5.02607705e-04 9.95908623e-01 -1.84621039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93824100799998 meters 0.06311926350693926 Centerline is valid? [True, True] Translation: X:146.24, Y:-28.87, Z:-18.47 [[ 9.02711380e-01 4.22210475e-01 8.27676266e-02 1.46243474e+02] [-4.20429823e-01 9.06497814e-01 -3.87359994e-02 -2.88653649e+01] [-9.13834173e-02 1.69448811e-04 9.95815767e-01 -1.84698063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99824100799998 meters 0.06273979621786038 Centerline is valid? [True, True] Translation: X:146.30, Y:-28.89, Z:-18.47 [[ 9.01922929e-01 4.23297651e-01 8.57562147e-02 1.46301474e+02] [-4.21388546e-01 9.05990669e-01 -4.01572124e-02 -2.88886385e+01] [-9.46927840e-02 8.20240499e-05 9.95506539e-01 -1.84743075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05824100799998 meters 0.06270630322395855 Centerline is valid? [True, True] Translation: X:146.36, Y:-28.91, Z:-18.48 [[ 9.01992612e-01 4.22700633e-01 8.79403316e-02 1.46357391e+02] [-4.20687331e-01 9.06269356e-01 -4.12071006e-02 -2.89142427e+01] [-9.71158952e-02 1.73116998e-04 9.95273065e-01 -1.84818137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11824100799998 meters 0.06275298476562181 Centerline is valid? [True, True] Translation: X:146.42, Y:-28.94, Z:-18.49 [[ 9.01183018e-01 4.24129078e-01 8.93515137e-02 1.46415044e+02] [-4.22054942e-01 9.05601746e-01 -4.18939468e-02 -2.89367831e+01] [-9.86853280e-02 4.28654798e-05 9.95118689e-01 -1.84886974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.178241008 meters 0.06273805629427688 Centerline is valid? [True, True] Translation: X:146.47, Y:-28.96, Z:-18.49 [[ 9.00431502e-01 4.26007510e-01 8.79813135e-02 1.46471637e+02] [-4.24003064e-01 9.04719616e-01 -4.12773408e-02 -2.89618197e+01] [-9.71828774e-02 -1.36928513e-04 9.95266532e-01 -1.84948746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.238241008 meters 0.06304048470877792 Centerline is valid? [True, True] Translation: X:146.53, Y:-28.99, Z:-18.51 [[ 9.00959570e-01 4.25403392e-01 8.54623150e-02 1.46526974e+02] [-4.23508433e-01 9.05003840e-01 -4.01080615e-02 -2.89898104e+01] [-9.44058287e-02 -5.82692286e-05 9.95533795e-01 -1.85052521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.298241008 meters 0.06315984553371495 Centerline is valid? [True, True] Translation: X:146.58, Y:-29.02, Z:-18.51 [[ 9.01379336e-01 4.24676265e-01 8.46484718e-02 1.46582182e+02] [-4.22811541e-01 9.05345276e-01 -3.97533927e-02 -2.90169057e+01] [-9.35184164e-02 4.25359240e-05 9.95617549e-01 -1.85140473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.358241008 meters 0.06339679538967437 Centerline is valid? [True, True] Translation: X:146.64, Y:-29.05, Z:-18.52 [[ 9.03692372e-01 4.19748044e-01 8.45675860e-02 1.46635574e+02] [-4.17863026e-01 9.07640484e-01 -3.97396849e-02 -2.90497279e+01] [-9.34376197e-02 5.74782665e-04 9.95624970e-01 -1.85231841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.418241008 meters 0.06356407966120373 Centerline is valid? [True, True] Translation: X:146.69, Y:-29.08, Z:-18.53 [[ 9.05100147e-01 4.16458090e-01 8.57693560e-02 1.46689138e+02] [-4.14501588e-01 9.09154415e-01 -4.03321590e-02 -2.90809923e+01] [-9.47742427e-02 9.53108801e-04 9.95498335e-01 -1.85295879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.478241008 meters 0.06349940827263 Centerline is valid? [True, True] Translation: X:146.75, Y:-29.11, Z:-18.53 [[ 9.06046518e-01 4.14276532e-01 8.63403846e-02 1.46745447e+02] [-4.12281457e-01 9.10150253e-01 -4.06265528e-02 -2.91096164e+01] [-9.54133503e-02 1.21300707e-03 9.95437000e-01 -1.85336162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53824100799997 meters 0.06346781126423306 Centerline is valid? [True, True] Translation: X:146.80, Y:-29.14, Z:-18.54 [[ 9.06163916e-01 4.13807171e-01 8.73532083e-02 1.46801573e+02] [-4.11759972e-01 9.10363623e-01 -4.11314780e-02 -2.91355629e+01] [-9.65436837e-02 1.30330655e-03 9.95327895e-01 -1.85400565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59824100799997 meters 0.06345018332412211 Centerline is valid? [True, True] Translation: X:146.86, Y:-29.16, Z:-18.55 [[ 9.06306269e-01 4.13108309e-01 8.91654206e-02 1.46857398e+02] [-4.10968879e-01 9.10680774e-01 -4.20131906e-02 -2.91621825e+01] [-9.85572324e-02 1.43260507e-03 9.95130353e-01 -1.85471445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65824100799998 meters 0.0634953178767042 Centerline is valid? [True, True] Translation: X:146.91, Y:-29.19, Z:-18.56 [[ 9.06043080e-01 4.13692252e-01 8.91328115e-02 1.46914433e+02] [-4.11554515e-01 9.10415718e-01 -4.20250251e-02 -2.91878390e+01] [-9.85333398e-02 1.39347218e-03 9.95132775e-01 -1.85558544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71824100799998 meters 0.06374442417039246 Centerline is valid? [True, True] Translation: X:146.97, Y:-29.21, Z:-18.57 [[ 9.05320554e-01 4.15648388e-01 8.73562411e-02 1.46969712e+02] [-4.13601542e-01 9.09524611e-01 -4.12158466e-02 -2.92133316e+01] [-9.65839514e-02 1.18287704e-03 9.95324139e-01 -1.85661873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77824100799998 meters 0.06406688281970259 Centerline is valid? [True, True] Translation: X:147.03, Y:-29.24, Z:-18.58 [[ 9.04356094e-01 4.18278541e-01 8.47532706e-02 1.47026321e+02] [-4.16361384e-01 9.08318368e-01 -4.00117476e-02 -2.92363911e+01] [-9.37190079e-02 8.96878753e-04 9.95598284e-01 -1.85785472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83824100799998 meters 0.06387327159487075 Centerline is valid? [True, True] Translation: X:147.08, Y:-29.26, Z:-18.59 [[ 9.03419568e-01 4.20624041e-01 8.31173856e-02 1.47083615e+02] [-4.18788295e-01 9.07234799e-01 -3.92604599e-02 -2.92597927e+01] [-9.19208779e-02 6.60079589e-04 9.95766095e-01 -1.85864719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89824100799999 meters 0.06407224043853045 Centerline is valid? [True, True] Translation: X:147.14, Y:-29.28, Z:-18.60 [[ 9.02244156e-01 4.23172619e-01 8.29482877e-02 1.47140082e+02] [-4.21352374e-01 9.06048979e-01 -3.92099985e-02 -2.92836086e+01] [-9.17478091e-02 4.26534081e-04 9.95782184e-01 -1.85969804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.958241008 meters 0.06437344174435806 Centerline is valid? [True, True] Translation: X:147.20, Y:-29.31, Z:-18.61 [[ 9.02027913e-01 4.23604429e-01 8.30959146e-02 1.47195886e+02] [-4.21778319e-01 9.05847190e-01 -3.92927226e-02 -2.93094360e+01] [-9.19167720e-02 3.95077445e-04 9.95766615e-01 -1.86069415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.018241008 meters 0.06417065804339529 Centerline is valid? [True, True] Translation: X:147.25, Y:-29.34, Z:-18.61 [[ 9.01966475e-01 4.23595809e-01 8.38037475e-02 1.47251572e+02] [-4.21736065e-01 9.05851209e-01 -3.96519706e-02 -2.93388203e+01] [-9.27101346e-02 4.21685512e-04 9.95693052e-01 -1.86108011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.078241008 meters 0.06429923872238819 Centerline is valid? [True, True] Translation: X:147.31, Y:-29.36, Z:-18.62 [[ 9.01668004e-01 4.24128570e-01 8.43194303e-02 1.47305680e+02] [-4.22245606e-01 9.05601900e-01 -3.99230186e-02 -2.93647211e+01] [-9.32923290e-02 3.93799597e-04 9.95638683e-01 -1.86197052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.138241008 meters 0.06413402288570379 Centerline is valid? [True, True] Translation: X:147.36, Y:-29.39, Z:-18.62 [[ 9.01341153e-01 4.24730194e-01 8.47843651e-02 1.47362340e+02] [-4.22827083e-01 9.05319910e-01 -4.01636592e-02 -2.93903160e+01] [-9.38156925e-02 3.52033141e-04 9.95589520e-01 -1.86244730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.198241008 meters 0.06438458550687905 Centerline is valid? [True, True] Translation: X:147.42, Y:-29.42, Z:-18.63 [[ 9.01064768e-01 4.25452205e-01 8.40993803e-02 1.47417696e+02] [-4.23580207e-01 9.04980845e-01 -3.98682503e-02 -2.94156991e+01] [-9.30703632e-02 3.01042766e-04 9.95659488e-01 -1.86344306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25824100799997 meters 0.06415134859435673 Centerline is valid? [True, True] Translation: X:147.47, Y:-29.44, Z:-18.64 [[ 9.00024285e-01 4.27555224e-01 8.45743290e-02 1.47473512e+02] [-4.25669918e-01 9.03989226e-01 -4.01073485e-02 -2.94422430e+01] [-9.36023886e-02 9.68399222e-05 9.95609654e-01 -1.86405661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31824100799997 meters 0.06404414768653267 Centerline is valid? [True, True] Translation: X:147.53, Y:-29.47, Z:-18.65 [[ 8.99543037e-01 4.28233677e-01 8.62452436e-02 1.47530896e+02] [-4.26273716e-01 9.03668034e-01 -4.09243634e-02 -2.94651855e+01] [-9.54622603e-02 4.91456782e-05 9.95433049e-01 -1.86479107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37824100799997 meters 0.06393771436943134 Centerline is valid? [True, True] Translation: X:147.59, Y:-29.49, Z:-18.65 [[ 8.99620337e-01 4.27944142e-01 8.68738172e-02 1.47586728e+02] [-4.25951796e-01 9.03805178e-01 -4.12464182e-02 -2.94913392e+01] [-9.61681690e-02 1.02058164e-04 9.95365095e-01 -1.86526458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43824100799998 meters 0.06440298989427799 Centerline is valid? [True, True] Translation: X:147.65, Y:-29.51, Z:-18.66 [[ 8.98437738e-01 4.30948128e-01 8.42219838e-02 1.47645312e+02] [-4.29086933e-01 9.02376681e-01 -4.00091254e-02 -2.95111333e+01] [-9.32418119e-02 -1.92844555e-04 9.95643474e-01 -1.86638007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49824100799998 meters 0.064701329589629 Centerline is valid? [True, True] Translation: X:147.70, Y:-29.54, Z:-18.67 [[ 8.97737592e-01 4.32626681e-01 8.30744924e-02 1.47702047e+02] [-4.30820893e-01 9.01573091e-01 -3.94882130e-02 -2.95373645e+01] [-9.19813815e-02 -3.40173708e-04 9.95760669e-01 -1.86715644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55824100799998 meters 0.06563775483242217 Centerline is valid? [True, True] Translation: X:147.76, Y:-29.56, Z:-18.69 [[ 8.98222591e-01 4.31937783e-01 8.13998125e-02 1.47756608e+02] [-4.30199073e-01 9.01903373e-01 -3.87177405e-02 -2.95620009e+01] [-9.01384204e-02 -2.40974700e-04 9.95929218e-01 -1.86881947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61824100799998 meters 0.06486961620094113 Centerline is valid? [True, True] Translation: X:147.81, Y:-29.59, Z:-18.69 [[ 8.98842684e-01 4.30684086e-01 8.11975754e-02 1.47812268e+02] [-4.28946890e-01 9.02502747e-01 -3.86439782e-02 -2.95930002e+01] [-8.99243813e-02 -9.45903805e-05 9.95948591e-01 -1.86898094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.678241008 meters 0.06463754433401941 Centerline is valid? [True, True] Translation: X:147.86, Y:-29.63, Z:-18.69 [[ 9.01335444e-01 4.25134481e-01 8.27954766e-02 1.47864748e+02] [-4.23302073e-01 9.05130062e-01 -3.94325521e-02 -2.96268433e+01] [-9.17048124e-02 4.94459944e-04 9.95786113e-01 -1.86948391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.738241008 meters 0.06494488119716242 Centerline is valid? [True, True] Translation: X:147.92, Y:-29.66, Z:-18.70 [[ 9.04072774e-01 4.18761939e-01 8.53865216e-02 1.47916653e+02] [-4.16782008e-01 9.08095258e-01 -4.06910261e-02 -2.96612708e+01] [-9.45789484e-02 1.20008292e-03 9.95516641e-01 -1.86994366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.798241008 meters 0.06484101696218379 Centerline is valid? [True, True] Translation: X:147.97, Y:-29.69, Z:-18.70 [[ 9.05520475e-01 4.15298347e-01 8.69479859e-02 1.47971358e+02] [-4.13226987e-01 9.09683838e-01 -4.14580800e-02 -2.96917146e+01] [-9.63126496e-02 1.61188612e-03 9.95349826e-01 -1.87029651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.858241008 meters 0.06506803175616124 Centerline is valid? [True, True] Translation: X:148.03, Y:-29.72, Z:-18.71 [[ 9.06255799e-01 4.13863135e-01 8.61262579e-02 1.48025548e+02] [-4.11821738e-01 9.10337390e-01 -4.10937080e-02 -2.97204267e+01] [-9.54111236e-02 1.77274600e-03 9.95436374e-01 -1.87121168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.918241008 meters 0.06527608104989215 Centerline is valid? [True, True] Translation: X:148.08, Y:-29.75, Z:-18.72 [[ 9.06232256e-01 4.14071319e-01 8.53700261e-02 1.48081213e+02] [-4.12064353e-01 9.10242745e-01 -4.07567654e-02 -2.97464623e+01] [-9.45836545e-02 1.75715087e-03 9.95515366e-01 -1.87223296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.978241008 meters 0.06580400931338747 Centerline is valid? [True, True] Translation: X:148.14, Y:-29.77, Z:-18.73 [[ 9.06376442e-01 4.14019720e-01 8.40798223e-02 1.48137259e+02] [-4.12070528e-01 9.10266213e-01 -4.01659167e-02 -2.97701366e+01] [-9.31645031e-02 1.75862386e-03 9.95649176e-01 -1.87326064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03824100799997 meters 0.06546659444198275 Centerline is valid? [True, True] Translation: X:148.19, Y:-29.80, Z:-18.74 [[ 9.06750353e-01 4.13306172e-01 8.35572016e-02 1.48193765e+02] [-4.11377318e-01 9.10590283e-01 -3.99254159e-02 -2.97951919e+01] [-9.25877967e-02 1.82884739e-03 9.95702845e-01 -1.87379007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09824100799997 meters 0.06479785892516961 Centerline is valid? [True, True] Translation: X:148.25, Y:-29.82, Z:-18.74 [[ 9.06348535e-01 4.13931811e-01 8.48103131e-02 1.48252499e+02] [-4.11944882e-01 9.10306082e-01 -4.05493670e-02 -2.98174711e+01] [-9.39880168e-02 1.81468495e-03 9.95571675e-01 -1.87414487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15824100799998 meters 0.06451027007236716 Centerline is valid? [True, True] Translation: X:148.31, Y:-29.84, Z:-18.75 [[ 9.05904256e-01 4.14845064e-01 8.50943667e-02 1.48309478e+02] [-4.12847365e-01 9.09890404e-01 -4.07002038e-02 -2.98422076e+01] [-9.43108263e-02 1.73950279e-03 9.95541281e-01 -1.87489088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21824100799998 meters 0.06375051201588611 Centerline is valid? [True, True] Translation: X:148.37, Y:-29.86, Z:-18.75 [[ 9.04158521e-01 4.18200008e-01 8.72130886e-02 1.48368427e+02] [-4.16114230e-01 9.08353814e-01 -4.17408164e-02 -2.98639687e+01] [-9.66763514e-02 1.44970757e-03 9.95314815e-01 -1.87528444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27824100799998 meters 0.06370908843522435 Centerline is valid? [True, True] Translation: X:148.42, Y:-29.89, Z:-18.76 [[ 9.03448656e-01 4.19656425e-01 8.75728895e-02 1.48423979e+02] [-4.17557538e-01 9.07682066e-01 -4.19400789e-02 -2.98877058e+01] [-9.70887648e-02 1.32398781e-03 9.95274846e-01 -1.87609253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33824100799998 meters 0.06301057996995237 Centerline is valid? [True, True] Translation: X:148.48, Y:-29.91, Z:-18.76 [[ 9.02307802e-01 4.21819806e-01 8.89307697e-02 1.48483763e+02] [-4.19663411e-01 9.06678983e-01 -4.26127257e-02 -2.99065652e+01] [-9.86065514e-02 1.12880475e-03 9.95125858e-01 -1.87637077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39824100799999 meters 0.06274632793387767 Centerline is valid? [True, True] Translation: X:148.54, Y:-29.93, Z:-18.77 [[ 9.01339762e-01 4.23556733e-01 9.04783224e-02 1.48540249e+02] [-4.21330475e-01 9.05869049e-01 -4.33808272e-02 -2.99300348e+01] [-1.00335753e-01 9.79589904e-04 9.94953153e-01 -1.87711177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.458241008 meters 0.06267414008377632 Centerline is valid? [True, True] Translation: X:148.60, Y:-29.96, Z:-18.78 [[ 9.00353497e-01 4.25210128e-01 9.25198806e-02 1.48595365e+02] [-4.22887895e-01 9.05094274e-01 -4.43867518e-02 -2.99554889e+01] [-1.02612911e-01 8.38229647e-04 9.94721010e-01 -1.87760580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.518241008 meters 0.06220082103997891 Centerline is valid? [True, True] Translation: X:148.65, Y:-29.98, Z:-18.78 [[ 8.98993164e-01 4.27616069e-01 9.46350280e-02 1.48652202e+02] [-4.25196800e-01 9.03960253e-01 -4.54262347e-02 -2.99796083e+01] [-1.04971292e-01 5.99363377e-04 9.94475072e-01 -1.87800426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.578241008 meters 0.06223427734556713 Centerline is valid? [True, True] Translation: X:148.71, Y:-30.00, Z:-18.79 [[ 8.97293065e-01 4.30918105e-01 9.57848772e-02 1.48709102e+02] [-4.28455228e-01 9.02391006e-01 -4.60064027e-02 -3.00001944e+01] [-1.06260404e-01 2.41694666e-04 9.94338307e-01 -1.87876681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.638241008 meters 0.062327631537917004 Centerline is valid? [True, True] Translation: X:148.76, Y:-30.02, Z:-18.80 [[ 8.96404967e-01 4.33107806e-01 9.42112757e-02 1.48764674e+02] [-4.30734906e-01 9.01342126e-01 -4.52748556e-02 -3.00239562e+01] [-1.04525485e-01 4.52046426e-06 9.94522208e-01 -1.87963147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.698241008 meters 0.06258411611705339 Centerline is valid? [True, True] Translation: X:148.82, Y:-30.05, Z:-18.81 [[ 8.96054719e-01 4.34026804e-01 9.33095623e-02 1.48820727e+02] [-4.31701744e-01 9.00899954e-01 -4.48651024e-02 -3.00490951e+01] [-1.03535237e-01 -8.03140607e-05 9.94625783e-01 -1.88069122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75824100799997 meters 0.06294415540646811 Centerline is valid? [True, True] Translation: X:148.88, Y:-30.07, Z:-18.82 [[ 8.95797437e-01 4.35375637e-01 8.94147999e-02 1.48877467e+02] [-4.33245536e-01 9.00248861e-01 -4.30150354e-02 -3.00730380e+01] [-9.92232702e-02 -2.05804496e-04 9.95065174e-01 -1.88177994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81824100799997 meters 0.06316351489739046 Centerline is valid? [True, True] Translation: X:148.93, Y:-30.10, Z:-18.83 [[ 8.95851218e-01 4.35271222e-01 8.93843341e-02 1.48932700e+02] [-4.33139069e-01 9.00299359e-01 -4.30303492e-02 -3.00986763e+01] [-9.92025314e-02 -1.67056494e-04 9.95067249e-01 -1.88282035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87824100799997 meters 0.06331801873454276 Centerline is valid? [True, True] Translation: X:148.99, Y:-30.13, Z:-18.84 [[ 8.96438305e-01 4.34066176e-01 8.93583800e-02 1.48987597e+02] [-4.31927497e-01 9.00880988e-01 -4.30358378e-02 -3.01265432e+01] [-9.91816672e-02 -1.73679233e-05 9.95069343e-01 -1.88374027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93824100799998 meters 0.06300189904256802 Centerline is valid? [True, True] Translation: X:149.04, Y:-30.15, Z:-18.84 [[ 8.96988572e-01 4.32914494e-01 8.94233893e-02 1.49043919e+02] [-4.30765540e-01 9.01434981e-01 -4.30815990e-02 -3.01542223e+01] [-9.92600200e-02 1.23187448e-04 9.95061522e-01 -1.88416001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99824100799998 meters 0.06297402759283037 Centerline is valid? [True, True] Translation: X:149.10, Y:-30.18, Z:-18.85 [[ 8.97113057e-01 4.32683273e-01 8.92936118e-02 1.49099190e+02] [-4.30536495e-01 9.01545980e-01 -4.30484801e-02 -3.01832727e+01] [-9.91286541e-02 1.75194888e-04 9.95074610e-01 -1.88476451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05824100799998 meters 0.06313285587419747 Centerline is valid? [True, True] Translation: X:149.15, Y:-30.21, Z:-18.86 [[ 8.97992006e-01 4.30906123e-01 8.90520622e-02 1.49152745e+02] [-4.28759221e-01 9.02396673e-01 -4.29624889e-02 -3.02111061e+01] [-9.88730841e-02 3.98078766e-04 9.95099972e-01 -1.88569134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11824100799998 meters 0.06342888929191302 Centerline is valid? [True, True] Translation: X:149.21, Y:-30.24, Z:-18.87 [[ 8.99027214e-01 4.28900032e-01 8.82883370e-02 1.49208488e+02] [-4.26777998e-01 9.03351737e-01 -4.26166571e-02 -3.02358424e+01] [-9.80337082e-02 6.34014822e-04 9.95182893e-01 -1.88657366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.178241008 meters 0.06351963202481781 Centerline is valid? [True, True] Translation: X:149.26, Y:-30.26, Z:-18.87 [[ 8.99295853e-01 4.28695140e-01 8.65300285e-02 1.49263714e+02] [-4.26653985e-01 9.03448968e-01 -4.17892220e-02 -3.02630596e+01] [-9.60903014e-02 6.62492490e-04 9.95372400e-01 -1.88731663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.238241008 meters 0.06370405636063894 Centerline is valid? [True, True] Translation: X:149.32, Y:-30.29, Z:-18.88 [[ 8.99693023e-01 4.27850156e-01 8.65835329e-02 1.49318566e+02] [-4.25800257e-01 9.03849348e-01 -4.18389487e-02 -3.02895476e+01] [-9.61592704e-02 7.74919765e-04 9.95365659e-01 -1.88819482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.298241008 meters 0.06359493541827536 Centerline is valid? [True, True] Translation: X:149.37, Y:-30.32, Z:-18.89 [[ 9.00605482e-01 4.25951548e-01 8.64583370e-02 1.49374504e+02] [-4.23896451e-01 9.04745423e-01 -4.18033252e-02 -3.03172333e+01] [-9.60289758e-02 9.98921684e-04 9.95378038e-01 -1.88858944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.358241008 meters 0.06355210638844762 Centerline is valid? [True, True] Translation: X:149.43, Y:-30.34, Z:-18.89 [[ 9.00272710e-01 4.26628116e-01 8.65880965e-02 1.49430355e+02] [-4.24567249e-01 9.04426637e-01 -4.18940307e-02 -3.03434291e+01] [-9.61857523e-02 9.53582649e-04 9.95362945e-01 -1.88925887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.418241008 meters 0.06343152775492392 Centerline is valid? [True, True] Translation: X:149.49, Y:-30.37, Z:-18.90 [[ 8.99919577e-01 4.27037254e-01 8.82266349e-02 1.49487196e+02] [-4.24896928e-01 9.04233532e-01 -4.27120553e-02 -3.03667754e+01] [-9.80171206e-02 9.50188618e-04 9.95184275e-01 -1.88999229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.478241008 meters 0.06346496895898182 Centerline is valid? [True, True] Translation: X:149.54, Y:-30.39, Z:-18.91 [[ 8.99570144e-01 4.27769071e-01 8.82449865e-02 1.49543584e+02] [-4.25629022e-01 9.03887618e-01 -4.27447014e-02 -3.03930749e+01] [-9.80484118e-02 8.92229861e-04 9.95181246e-01 -1.89072705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53824100799997 meters 0.06392397962790677 Centerline is valid? [True, True] Translation: X:149.60, Y:-30.42, Z:-18.92 [[ 9.00275391e-01 4.26097091e-01 8.91374745e-02 1.49598234e+02] [-4.23902328e-01 9.04676756e-01 -4.32062903e-02 -3.04216120e+01] [-9.90506759e-02 1.11197695e-03 9.95081769e-01 -1.89162828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59824100799997 meters 0.06419141062952864 Centerline is valid? [True, True] Translation: X:149.65, Y:-30.45, Z:-18.93 [[ 9.00448252e-01 4.25857870e-01 8.85325973e-02 1.49652792e+02] [-4.23689049e-01 9.04789335e-01 -4.29400568e-02 -3.04469977e+01] [-9.83897110e-02 1.15500712e-03 9.95147291e-01 -1.89261598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65824100799998 meters 0.06360038315239815 Centerline is valid? [True, True] Translation: X:149.71, Y:-30.47, Z:-18.93 [[ 8.99405497e-01 4.28291908e-01 8.73830255e-02 1.49710687e+02] [-4.26188747e-01 9.03639995e-01 -4.24017755e-02 -3.04720824e+01] [-9.71231341e-02 8.94727836e-04 9.95271971e-01 -1.89303001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71824100799998 meters 0.06380931463115917 Centerline is valid? [True, True] Translation: X:149.77, Y:-30.49, Z:-18.94 [[ 8.98059925e-01 4.31329692e-01 8.62732156e-02 1.49769230e+02] [-4.29291078e-01 9.02194190e-01 -4.18905123e-02 -3.04945359e+01] [-9.59038156e-02 5.83868657e-04 9.95390435e-01 -1.89409839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77824100799998 meters 0.06361721093226086 Centerline is valid? [True, True] Translation: X:149.83, Y:-30.52, Z:-18.95 [[ 8.96485794e-01 4.34480920e-01 8.68305921e-02 1.49825795e+02] [-4.32427748e-01 9.00680995e-01 -4.21899065e-02 -3.05190035e+01] [-9.65373735e-02 2.74694428e-04 9.95329322e-01 -1.89478931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83824100799998 meters 0.06371811699810852 Centerline is valid? [True, True] Translation: X:149.88, Y:-30.54, Z:-18.96 [[ 8.94275988e-01 4.38848450e-01 8.76498463e-02 1.49883908e+02] [-4.36774722e-01 8.98561076e-01 -4.26126150e-02 -3.05403236e+01] [-9.74592202e-02 -1.75798918e-04 9.95239504e-01 -1.89562234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89824100799999 meters 0.06406052141791957 Centerline is valid? [True, True] Translation: X:149.94, Y:-30.57, Z:-18.97 [[ 8.93606063e-01 4.40214309e-01 8.76331336e-02 1.49939200e+02] [-4.38145583e-01 8.97892683e-01 -4.26283630e-02 -3.05671896e+01] [-9.74507648e-02 -3.03106758e-04 9.95240301e-01 -1.89650468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.958241008 meters 0.06401563906430126 Centerline is valid? [True, True] Translation: X:150.00, Y:-30.59, Z:-18.97 [[ 8.91725596e-01 4.43843836e-01 8.84766140e-02 1.49996516e+02] [-4.41750220e-01 8.96103891e-01 -4.30645995e-02 -3.05929202e+01] [-9.83981950e-02 -6.82758057e-04 9.95146888e-01 -1.89712974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.018241008 meters 0.06403688932282535 Centerline is valid? [True, True] Translation: X:150.05, Y:-30.62, Z:-18.98 [[ 8.91402499e-01 4.44298919e-01 8.94430290e-02 1.50051492e+02] [-4.42158583e-01 8.95878317e-01 -4.35640695e-02 -3.06201103e+01] [-9.94855393e-02 -7.14882548e-04 9.95038751e-01 -1.89795271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.078241008 meters 0.06386828984746662 Centerline is valid? [True, True] Translation: X:150.11, Y:-30.65, Z:-18.99 [[ 8.92101461e-01 4.42870818e-01 8.95568029e-02 1.50105155e+02] [-4.40715354e-01 8.96585274e-01 -4.36442854e-02 -3.06504987e+01] [-9.96240910e-02 -5.33927269e-04 9.95025002e-01 -1.89877951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.138241008 meters 0.06366334404012572 Centerline is valid? [True, True] Translation: X:150.16, Y:-30.68, Z:-18.99 [[ 8.93235231e-01 4.40399560e-01 9.04381050e-02 1.50157742e+02] [-4.38186184e-01 8.97801855e-01 -4.40987204e-02 -3.06834706e+01] [-1.00616556e-01 -2.38197468e-04 9.94925249e-01 -1.89945846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.198241008 meters 0.06376387460216196 Centerline is valid? [True, True] Translation: X:150.21, Y:-30.72, Z:-19.00 [[ 8.96184701e-01 4.34546846e-01 8.95657286e-02 1.50207757e+02] [-4.32344352e-01 9.00649125e-01 -4.36979962e-02 -3.07211822e+01] [-9.96561216e-02 4.38238746e-04 9.95021842e-01 -1.90030483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25824100799997 meters 0.06396818098682258 Centerline is valid? [True, True] Translation: X:150.26, Y:-30.75, Z:-19.01 [[ 8.97832632e-01 4.31088878e-01 8.97716192e-02 1.50259330e+02] [-4.28856300e-01 9.02309071e-01 -4.38248164e-02 -3.07538169e+01] [-9.98941373e-02 8.48225789e-04 9.94997709e-01 -1.90114620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31824100799997 meters 0.06446245639718594 Centerline is valid? [True, True] Translation: X:150.31, Y:-30.79, Z:-19.02 [[ 8.99438432e-01 4.27995239e-01 8.84905804e-02 1.50311284e+02] [-4.25809041e-01 9.03780200e-01 -4.32204945e-02 -3.07887355e+01] [-9.84742003e-02 1.19408454e-03 9.95138888e-01 -1.90208385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37824100799997 meters 0.06482747870552659 Centerline is valid? [True, True] Translation: X:150.36, Y:-30.82, Z:-19.03 [[ 9.00590337e-01 4.25464867e-01 8.89757999e-02 1.50364229e+02] [-4.23239661e-01 9.04973695e-01 -4.34833296e-02 -3.08205492e+01] [-9.90213875e-02 1.50257903e-03 9.95084171e-01 -1.90291405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43824100799998 meters 0.06466677905073594 Centerline is valid? [True, True] Translation: X:150.42, Y:-30.85, Z:-19.03 [[ 9.01684047e-01 4.23133819e-01 8.90148939e-02 1.50417801e+02] [-4.20893045e-01 9.06065451e-01 -4.35251948e-02 -3.08528997e+01] [-9.90703020e-02 1.78022407e-03 9.95078844e-01 -1.90342799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49824100799998 meters 0.0656175004910868 Centerline is valid? [True, True] Translation: X:150.47, Y:-30.89, Z:-19.05 [[ 9.02352259e-01 4.21745454e-01 8.88322734e-02 1.50469011e+02] [-4.19504378e-01 9.06712166e-01 -4.34640622e-02 -3.08853947e+01] [-9.88760737e-02 1.95436710e-03 9.95097836e-01 -1.90452587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55824100799998 meters 0.06529949406085554 Centerline is valid? [True, True] Translation: X:150.52, Y:-30.92, Z:-19.05 [[ 9.02115246e-01 4.22433297e-01 8.79670000e-02 1.50522697e+02] [-4.20236824e-01 9.06392063e-01 -4.30632183e-02 -3.09164263e+01] [-9.79239278e-02 1.88101309e-03 9.95192125e-01 -1.90521040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61824100799998 meters 0.06519104112211867 Centerline is valid? [True, True] Translation: X:150.58, Y:-30.94, Z:-19.06 [[ 9.01114970e-01 4.24521627e-01 8.81657482e-02 1.50577718e+02] [-4.22322659e-01 9.05416237e-01 -4.31857538e-02 -3.09436959e+01] [-9.81599864e-02 1.68093604e-03 9.95169228e-01 -1.90615417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.678241008 meters 0.06474166034527147 Centerline is valid? [True, True] Translation: X:150.63, Y:-30.97, Z:-19.07 [[ 8.98706045e-01 4.29518155e-01 8.85528098e-02 1.50632466e+02] [-4.27321480e-01 9.03057474e-01 -4.33998959e-02 -3.09690178e+01] [-9.86093199e-02 1.16323107e-03 9.95125544e-01 -1.90706534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.738241008 meters 0.06401594045068332 Centerline is valid? [True, True] Translation: X:150.69, Y:-30.99, Z:-19.08 [[ 8.96369229e-01 4.34051419e-01 9.01197602e-02 1.50689014e+02] [-4.31796632e-01 9.00887829e-01 -4.41903693e-02 -3.09940998e+01] [-1.00368688e-01 6.97478332e-04 9.94950069e-01 -1.90760507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.798241008 meters 0.06337451066245058 Centerline is valid? [True, True] Translation: X:150.75, Y:-31.02, Z:-19.08 [[ 8.92908617e-01 4.40656666e-01 9.23899612e-02 1.50746449e+02] [-4.38318988e-01 8.97675722e-01 -4.53294892e-02 -3.10171579e+01] [-1.02910967e-01 -2.11828226e-05 9.94690571e-01 -1.90793492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.858241008 meters 0.06344439711575837 Centerline is valid? [True, True] Translation: X:150.80, Y:-31.04, Z:-19.08 [[ 8.89745278e-01 4.46665363e-01 9.40393185e-02 1.50803815e+02] [-4.44273756e-01 8.94700821e-01 -4.61656927e-02 -3.10417160e+01] [-1.04757671e-01 -7.03494085e-04 9.94497529e-01 -1.90848308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.918241008 meters 0.06375148738570073 Centerline is valid? [True, True] Translation: X:150.86, Y:-31.07, Z:-19.09 [[ 8.88677585e-01 4.48875219e-01 9.36118968e-02 1.50859533e+02] [-4.46514323e-01 8.93593963e-01 -4.59868393e-02 -3.10698606e+01] [-1.04293378e-01 -9.31579390e-04 9.94546139e-01 -1.90929844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.978241008 meters 0.06344506585276281 Centerline is valid? [True, True] Translation: X:150.91, Y:-31.10, Z:-19.10 [[ 8.90543100e-01 4.45220765e-01 9.33351897e-02 1.50911647e+02] [-4.42850508e-01 8.95420709e-01 -4.58822484e-02 -3.11046056e+01] [-1.04001991e-01 -4.73416511e-04 9.94576976e-01 -1.91021465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03824100799997 meters 0.06334977102411522 Centerline is valid? [True, True] Translation: X:150.96, Y:-31.14, Z:-19.11 [[ 8.93442685e-01 4.39464004e-01 9.29061764e-02 1.50962941e+02] [-4.37080925e-01 8.98260173e-01 -4.57047825e-02 -3.11398873e+01] [-1.03539525e-01 2.27086020e-04 9.94625314e-01 -1.91124844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09824100799997 meters 0.06417128839465604 Centerline is valid? [True, True] Translation: X:151.01, Y:-31.18, Z:-19.12 [[ 8.98260824e-01 4.29692126e-01 9.21529639e-02 1.51010410e+02] [-4.27292728e-01 9.02974411e-01 -4.53667073e-02 -3.11829480e+01] [-1.02705485e-01 1.37484457e-03 9.94710859e-01 -1.91203190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15824100799998 meters 0.06422295989175518 Centerline is valid? [True, True] Translation: X:151.07, Y:-31.21, Z:-19.12 [[ 8.99452083e-01 4.26979932e-01 9.31347861e-02 1.51065025e+02] [-4.24512723e-01 9.04259468e-01 -4.58667841e-02 -3.12140944e+01] [-1.03802209e-01 1.71807286e-03 9.94596476e-01 -1.91236175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21824100799998 meters 0.06552939265797272 Centerline is valid? [True, True] Translation: X:151.12, Y:-31.25, Z:-19.13 [[ 9.01616907e-01 4.22711331e-01 9.16628780e-02 1.51117135e+02] [-4.20296497e-01 9.06261705e-01 -4.51727496e-02 -3.12455177e+01] [-1.02165589e-01 2.20292830e-03 9.94764967e-01 -1.91344401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27824100799998 meters 0.06551059456328784 Centerline is valid? [True, True] Translation: X:151.17, Y:-31.27, Z:-19.14 [[ 9.02200218e-01 4.21583029e-01 9.11181403e-02 1.51173871e+02] [-4.19189701e-01 9.06786812e-01 -4.49185121e-02 -3.12706907e+01] [-1.01561610e-01 2.32970541e-03 9.94826523e-01 -1.91422304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33824100799998 meters 0.0648504614049994 Centerline is valid? [True, True] Translation: X:151.23, Y:-31.29, Z:-19.15 [[ 9.01070713e-01 4.24005222e-01 9.10557114e-02 1.51232110e+02] [-4.21624590e-01 9.05657352e-01 -4.49162071e-02 -3.12914071e+01] [-1.01509981e-01 2.08135175e-03 9.94832344e-01 -1.91492542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39824100799999 meters 0.06510509643840537 Centerline is valid? [True, True] Translation: X:151.29, Y:-31.32, Z:-19.16 [[ 8.99915981e-01 4.26643693e-01 9.01464735e-02 1.51287961e+02] [-4.24321080e-01 9.04418022e-01 -4.44933989e-02 -3.13153410e+01] [-1.00512923e-01 1.78927170e-03 9.94934144e-01 -1.91612176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.458241008 meters 0.06499979874167817 Centerline is valid? [True, True] Translation: X:151.35, Y:-31.34, Z:-19.17 [[ 8.98571047e-01 4.29943402e-01 8.78563818e-02 1.51345389e+02] [-4.27750893e-01 9.02854747e-01 -4.33875592e-02 -3.13365862e+01] [-9.79757462e-02 1.40615875e-03 9.95187809e-01 -1.91718780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.518241008 meters 0.06426018139942652 Centerline is valid? [True, True] Translation: X:151.40, Y:-31.36, Z:-19.18 [[ 8.97474157e-01 4.32130134e-01 8.83384685e-02 1.51403509e+02] [-4.29921424e-01 9.01810464e-01 -4.36515275e-02 -3.13593388e+01] [-9.85276957e-02 1.19751771e-03 9.95133589e-01 -1.91771094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.578241008 meters 0.06410163282612988 Centerline is valid? [True, True] Translation: X:151.46, Y:-31.38, Z:-19.18 [[ 8.96982655e-01 4.33282839e-01 8.76817989e-02 1.51461345e+02] [-4.31110132e-01 9.01257347e-01 -4.33502946e-02 -3.13841353e+01] [-9.78068043e-02 1.08395050e-03 9.95204830e-01 -1.91840063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.638241008 meters 0.06418294559907732 Centerline is valid? [True, True] Translation: X:151.52, Y:-31.41, Z:-19.19 [[ 8.96934807e-01 4.33505743e-01 8.70673442e-02 1.51516480e+02] [-4.31361718e-01 9.01150159e-01 -4.30750393e-02 -3.14117655e+01] [-9.71340280e-02 1.07798293e-03 9.95270726e-01 -1.91922798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.698241008 meters 0.06405793683847033 Centerline is valid? [True, True] Translation: X:151.57, Y:-31.44, Z:-19.20 [[ 8.96717702e-01 4.33927564e-01 8.72022493e-02 1.51572181e+02] [-4.31776417e-01 9.00947142e-01 -4.31667973e-02 -3.14392283e+01] [-9.72958805e-02 1.05655653e-03 9.95254940e-01 -1.91990852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75824100799997 meters 0.06391560119036915 Centerline is valid? [True, True] Translation: X:151.63, Y:-31.46, Z:-19.21 [[ 8.95612643e-01 4.36205014e-01 8.71962103e-02 1.51629683e+02] [-4.34062114e-01 8.99846925e-01 -4.31925019e-02 -3.14625770e+01] [-9.73040276e-02 8.35179353e-04 9.95254354e-01 -1.92073870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81824100799997 meters 0.06347021334016954 Centerline is valid? [True, True] Translation: X:151.69, Y:-31.49, Z:-19.21 [[ 8.94296863e-01 4.38684376e-01 8.82560942e-02 1.51685718e+02] [-4.36498150e-01 8.98641007e-01 -4.37459090e-02 -3.14886192e+01] [-9.85011922e-02 5.98207355e-04 9.95136753e-01 -1.92120183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87824100799997 meters 0.06321930748907185 Centerline is valid? [True, True] Translation: X:151.74, Y:-31.51, Z:-19.22 [[ 8.92792040e-01 4.41668232e-01 8.86089446e-02 1.51743037e+02] [-4.39476611e-01 8.97178403e-01 -4.39456691e-02 -3.15124568e+01] [-9.89074374e-02 2.92784932e-04 9.95096595e-01 -1.92185038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93824100799998 meters 0.0633452980737163 Centerline is valid? [True, True] Translation: X:151.80, Y:-31.54, Z:-19.23 [[ 8.92283481e-01 4.42797795e-01 8.80925787e-02 1.51798305e+02] [-4.40634471e-01 8.96621479e-01 -4.37171199e-02 -3.15404785e+01] [-9.83435425e-02 1.91437000e-04 9.95152506e-01 -1.92262291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99824100799998 meters 0.06341940366969115 Centerline is valid? [True, True] Translation: X:151.85, Y:-31.57, Z:-19.24 [[ 8.92073685e-01 4.43106970e-01 8.86608894e-02 1.51852457e+02] [-4.40914078e-01 8.96468727e-01 -4.40294940e-02 -3.15693517e+01] [-9.89914904e-02 1.85718647e-04 9.95088263e-01 -1.92356870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05824100799998 meters 0.06338138553528849 Centerline is valid? [True, True] Translation: X:151.91, Y:-31.60, Z:-19.24 [[ 8.92640288e-01 4.41978298e-01 8.85917630e-02 1.51907692e+02] [-4.39780762e-01 8.97025681e-01 -4.40205565e-02 -3.15989603e+01] [-9.89252172e-02 3.33569183e-04 9.95094815e-01 -1.92419337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11824100799998 meters 0.06342067723968303 Centerline is valid? [True, True] Translation: X:151.96, Y:-31.63, Z:-19.25 [[ 8.93659191e-01 4.39969958e-01 8.83158352e-02 1.51960035e+02] [-4.37773432e-01 8.98012304e-01 -4.39126770e-02 -3.16321178e+01] [-9.86289653e-02 5.80641168e-04 9.95124108e-01 -1.92494543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.178241008 meters 0.06352086587714756 Centerline is valid? [True, True] Translation: X:152.01, Y:-31.66, Z:-19.26 [[ 8.94127832e-01 4.38970432e-01 8.85459262e-02 1.52014062e+02] [-4.36754980e-01 8.98501223e-01 -4.40526931e-02 -3.16627858e+01] [-9.88964527e-02 7.15864755e-04 9.95097472e-01 -1.92579729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.238241008 meters 0.06342080257156131 Centerline is valid? [True, True] Translation: X:152.07, Y:-31.69, Z:-19.27 [[ 8.94403242e-01 4.38276167e-01 8.92011268e-02 1.52066140e+02] [-4.36021320e-01 8.98839986e-01 -4.44081999e-02 -3.16940677e+01] [-9.96405952e-02 8.25244911e-04 9.95023151e-01 -1.92652133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.298241008 meters 0.06353346694670783 Centerline is valid? [True, True] Translation: X:152.12, Y:-31.72, Z:-19.27 [[ 8.94447738e-01 4.38239061e-01 8.89368857e-02 1.52120110e+02] [-4.35995276e-01 8.98858059e-01 -4.42979641e-02 -3.17241436e+01] [-9.93547347e-02 8.46151741e-04 9.95051718e-01 -1.92747899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.358241008 meters 0.06336570904619336 Centerline is valid? [True, True] Translation: X:152.18, Y:-31.75, Z:-19.28 [[ 8.93300709e-01 4.41082652e-01 8.63709309e-02 1.52175557e+02] [-4.38977538e-01 8.97466325e-01 -4.30455146e-02 -3.17512239e+01] [-9.65016317e-02 5.37690099e-04 9.95332681e-01 -1.92814830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.418241008 meters 0.06350653025692521 Centerline is valid? [True, True] Translation: X:152.23, Y:-31.78, Z:-19.29 [[ 8.92078911e-01 4.43649467e-01 8.58508446e-02 1.52229767e+02] [-4.41579049e-01 8.96200352e-01 -4.28120579e-02 -3.17782426e+01] [-9.59331038e-02 2.81799709e-04 9.95387744e-01 -1.92915737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.478241008 meters 0.06361715214731471 Centerline is valid? [True, True] Translation: X:152.29, Y:-31.80, Z:-19.30 [[ 8.90495517e-01 4.46964660e-01 8.50901062e-02 1.52286483e+02] [-4.44943570e-01 8.94551614e-01 -4.24573831e-02 -3.18017735e+01] [-9.50944417e-02 -5.21863499e-05 9.95468254e-01 -1.93012070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53824100799997 meters 0.06362216931946019 Centerline is valid? [True, True] Translation: X:152.34, Y:-31.83, Z:-19.31 [[ 8.90336005e-01 4.47301339e-01 8.49900591e-02 1.52342247e+02] [-4.45284398e-01 8.94383311e-01 -4.24299148e-02 -3.18298143e+01] [-9.49926482e-02 -6.78664745e-05 9.95477972e-01 -1.93073781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59824100799997 meters 0.06372393468050942 Centerline is valid? [True, True] Translation: X:152.39, Y:-31.86, Z:-19.32 [[ 8.92142409e-01 4.43734327e-01 8.47453244e-02 1.52394640e+02] [-4.41710227e-01 8.96158320e-01 -4.23360603e-02 -3.18611865e+01] [-9.47311908e-02 3.36918382e-04 9.95502832e-01 -1.93166191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65824100799998 meters 0.06403629354110055 Centerline is valid? [True, True] Translation: X:152.45, Y:-31.89, Z:-19.33 [[ 8.93995825e-01 4.39864351e-01 8.53862803e-02 1.52447995e+02] [-4.37789384e-01 8.98063890e-01 -4.26814335e-02 -3.18934738e+01] [-9.54563761e-02 7.75816328e-04 9.95433312e-01 -1.93251298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71824100799998 meters 0.0645201286782355 Centerline is valid? [True, True] Translation: X:152.50, Y:-31.93, Z:-19.33 [[ 8.95873072e-01 4.36344448e-01 8.37553614e-02 1.52500579e+02] [-4.34330306e-01 8.99778969e-01 -4.18926255e-02 -3.19270426e+01] [-9.36409273e-02 1.15298336e-03 9.95605367e-01 -1.93317436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77824100799998 meters 0.06443079860211201 Centerline is valid? [True, True] Translation: X:152.56, Y:-31.95, Z:-19.34 [[ 8.95838805e-01 4.36523689e-01 8.31859628e-02 1.52557392e+02] [-4.34535472e-01 8.99692032e-01 -4.16313781e-02 -3.19522302e+01] [-9.30148306e-02 1.14775237e-03 9.95664062e-01 -1.93400948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83824100799998 meters 0.06387536255753391 Centerline is valid? [True, True] Translation: X:152.62, Y:-31.98, Z:-19.35 [[ 8.95100644e-01 4.38065140e-01 8.30287342e-02 1.52615501e+02] [-4.36088736e-01 8.98942666e-01 -4.15776193e-02 -3.19755723e+01] [-9.28517773e-02 1.00825802e-03 9.95679432e-01 -1.93465465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89824100799999 meters 0.06359110991198944 Centerline is valid? [True, True] Translation: X:152.67, Y:-32.00, Z:-19.35 [[ 8.93068910e-01 4.42269626e-01 8.26165852e-02 1.52672274e+02] [-4.40328255e-01 8.96881947e-01 -4.13980872e-02 -3.20015518e+01] [-9.24064404e-02 5.92927822e-04 9.95721195e-01 -1.93537769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.958241008 meters 0.06345285350617737 Centerline is valid? [True, True] Translation: X:152.73, Y:-32.03, Z:-19.36 [[ 8.91512099e-01 4.45125287e-01 8.40812525e-02 1.52727850e+02] [-4.43124307e-01 8.95468241e-01 -4.21601419e-02 -3.20256233e+01] [-9.40586365e-02 3.27829836e-04 9.95566605e-01 -1.93604749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.018241008 meters 0.06344331863166956 Centerline is valid? [True, True] Translation: X:152.79, Y:-32.05, Z:-19.37 [[ 8.89698276e-01 4.48691742e-01 8.43368183e-02 1.52785254e+02] [-4.46692520e-01 8.93686589e-01 -4.23092490e-02 -3.20493166e+01] [-9.43544941e-02 -3.01600173e-05 9.95538663e-01 -1.93678901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.078241008 meters 0.0636695723435296 Centerline is valid? [True, True] Translation: X:152.84, Y:-32.08, Z:-19.38 [[ 8.88812634e-01 4.50344162e-01 8.48659986e-02 1.52840092e+02] [-4.48324568e-01 8.92855029e-01 -4.26025724e-02 -3.20763794e+01] [-9.49588534e-02 -1.81807529e-04 9.95481182e-01 -1.93772680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.138241008 meters 0.0634088497786608 Centerline is valid? [True, True] Translation: X:152.90, Y:-32.11, Z:-19.38 [[ 8.88253142e-01 4.51255527e-01 8.58766853e-02 1.52896864e+02] [-4.49189548e-01 8.92394745e-01 -4.31320026e-02 -3.21079177e+01] [-9.60994572e-02 -2.62772603e-04 9.95371702e-01 -1.93814746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.198241008 meters 0.0635593095720598 Centerline is valid? [True, True] Translation: X:152.95, Y:-32.14, Z:-19.39 [[ 8.89097959e-01 4.49752084e-01 8.50169550e-02 1.52951579e+02] [-4.47716738e-01 8.93153435e-01 -4.27394791e-02 -3.21400631e+01] [-9.51553552e-02 -6.39301671e-05 9.95462432e-01 -1.93910387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25824100799997 meters 0.06397364678524643 Centerline is valid? [True, True] Translation: X:153.00, Y:-32.17, Z:-19.40 [[ 8.89501928e-01 4.49190741e-01 8.37496199e-02 1.53004558e+02] [-4.47210284e-01 8.93435883e-01 -4.21341249e-02 -3.21681329e+01] [-9.37511744e-02 2.46940826e-05 9.95595659e-01 -1.94038055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31824100799997 meters 0.06409547299771903 Centerline is valid? [True, True] Translation: X:153.06, Y:-32.20, Z:-19.41 [[ 8.89779974e-01 4.49138558e-01 8.10318113e-02 1.53059744e+02] [-4.47282589e-01 8.93462116e-01 -4.07888745e-02 -3.21960710e+01] [-9.07187099e-02 4.90053751e-05 9.95876555e-01 -1.94124538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37824100799997 meters 0.0642690235083735 Centerline is valid? [True, True] Translation: X:153.12, Y:-32.22, Z:-19.42 [[ 8.90122303e-01 4.48586199e-01 8.03287454e-02 1.53115001e+02] [-4.46759008e-01 8.93739564e-01 -4.04472471e-02 -3.22231171e+01] [-8.99370547e-02 1.15406124e-04 9.95947445e-01 -1.94221652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43824100799998 meters 0.06377279870075571 Centerline is valid? [True, True] Translation: X:153.17, Y:-32.25, Z:-19.42 [[ 8.91188629e-01 4.46303906e-01 8.12136151e-02 1.53169720e+02] [-4.44424458e-01 8.94881381e-01 -4.09171796e-02 -3.22538406e+01] [-9.09380491e-02 3.71608302e-04 9.95856482e-01 -1.94248704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49824100799998 meters 0.06378524285118416 Centerline is valid? [True, True] Translation: X:153.22, Y:-32.29, Z:-19.43 [[ 8.92539211e-01 4.43477955e-01 8.18600005e-02 1.53223698e+02] [-4.41554030e-01 8.96285015e-01 -4.12699770e-02 -3.22850173e+01] [-9.16722168e-02 6.89459601e-04 9.95788998e-01 -1.94310325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55824100799998 meters 0.06421818193631625 Centerline is valid? [True, True] Translation: X:153.28, Y:-32.32, Z:-19.44 [[ 8.94448852e-01 4.39569504e-01 8.20969064e-02 1.53278104e+02] [-4.37615554e-01 8.98207884e-01 -4.14152633e-02 -3.23168957e+01] [-9.19449753e-02 1.11695154e-03 9.95763463e-01 -1.94376002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61824100799998 meters 0.06478315261710331 Centerline is valid? [True, True] Translation: X:153.33, Y:-32.35, Z:-19.45 [[ 8.95065589e-01 4.38143907e-01 8.29910092e-02 1.53332277e+02] [-4.36137608e-01 8.98903889e-01 -4.19020919e-02 -3.23459897e+01] [-9.29600871e-02 1.30962033e-03 9.95668975e-01 -1.94454507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.678241008 meters 0.06438164391284279 Centerline is valid? [True, True] Translation: X:153.39, Y:-32.37, Z:-19.45 [[ 8.94648924e-01 4.38931124e-01 8.33232926e-02 1.53388722e+02] [-4.36910805e-01 8.98519848e-01 -4.20836118e-02 -3.23716290e+01] [-9.33394393e-02 1.24521117e-03 9.95633566e-01 -1.94504190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.738241008 meters 0.06424885544748199 Centerline is valid? [True, True] Translation: X:153.44, Y:-32.40, Z:-19.46 [[ 8.94083876e-01 4.39684614e-01 8.53900643e-02 1.53444613e+02] [-4.37563294e-01 8.98151406e-01 -4.31557005e-02 -3.23985520e+01] [-9.56681039e-02 1.22125810e-03 9.95412539e-01 -1.94556815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.798241008 meters 0.0639476880219297 Centerline is valid? [True, True] Translation: X:153.50, Y:-32.42, Z:-19.46 [[ 8.93534133e-01 4.40380664e-01 8.75307021e-02 1.53500078e+02] [-4.38152163e-01 8.97810354e-01 -4.42634154e-02 -3.24241581e+01] [-9.80787230e-02 1.19910610e-03 9.95177937e-01 -1.94599498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.858241008 meters 0.06402823672955048 Centerline is valid? [True, True] Translation: X:153.56, Y:-32.45, Z:-19.47 [[ 8.93555344e-01 4.40416505e-01 8.71329419e-02 1.53555831e+02] [-4.38206270e-01 8.97792759e-01 -4.40843122e-02 -3.24511500e+01] [-9.76427830e-02 1.20957128e-03 9.95220792e-01 -1.94669990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.918241008 meters 0.06405858789026331 Centerline is valid? [True, True] Translation: X:153.61, Y:-32.48, Z:-19.47 [[ 8.93461053e-01 4.40554464e-01 8.74020090e-02 1.53611512e+02] [-4.38328897e-01 8.97725057e-01 -4.42436384e-02 -3.24786700e+01] [-9.79547059e-02 1.21914151e-03 9.95190127e-01 -1.94748074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.978241008 meters 0.06394890126648041 Centerline is valid? [True, True] Translation: X:153.67, Y:-32.50, Z:-19.48 [[ 8.93696397e-01 4.39933835e-01 8.81190656e-02 1.53668405e+02] [-4.37665450e-01 8.98029211e-01 -4.46373260e-02 -3.25037547e+01] [-9.87709649e-02 1.32554696e-03 9.95109310e-01 -1.94828524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03824100799997 meters 0.0632823427584243 Centerline is valid? [True, True] Translation: X:153.73, Y:-32.53, Z:-19.49 [[ 8.92587019e-01 4.41945723e-01 8.92882526e-02 1.53726450e+02] [-4.39625451e-01 8.97041083e-01 -4.52411078e-02 -3.25273356e+01] [-1.00089345e-01 1.12823722e-03 9.94977814e-01 -1.94866093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09824100799997 meters 0.06283925036891942 Centerline is valid? [True, True] Translation: X:153.78, Y:-32.55, Z:-19.49 [[ 8.91507859e-01 4.43931795e-01 9.02125166e-02 1.53783200e+02] [-4.41571278e-01 8.96060094e-01 -4.57286946e-02 -3.25521886e+01] [-1.01136258e-01 9.32234357e-04 9.94872147e-01 -1.94918045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15824100799998 meters 0.06285789997134021 Centerline is valid? [True, True] Translation: X:153.84, Y:-32.57, Z:-19.50 [[ 8.89840752e-01 4.47573415e-01 8.86649518e-02 1.53842165e+02] [-4.45308976e-01 8.94247033e-01 -4.49684386e-02 -3.25726838e+01] [-9.94150477e-02 5.31450323e-04 9.95045911e-01 -1.95022371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21824100799998 meters 0.062943438028681 Centerline is valid? [True, True] Translation: X:153.90, Y:-32.60, Z:-19.51 [[ 8.89171615e-01 4.49075903e-01 8.77762604e-02 1.53899953e+02] [-4.46861205e-01 8.93493528e-01 -4.45463629e-02 -3.25964480e+01] [-9.84322187e-02 3.85555928e-04 9.95143683e-01 -1.95107390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27824100799998 meters 0.06306332259189978 Centerline is valid? [True, True] Translation: X:153.95, Y:-32.62, Z:-19.52 [[ 8.89568078e-01 4.48486044e-01 8.67692499e-02 1.53953808e+02] [-4.46316412e-01 8.93789710e-01 -4.40637445e-02 -3.26247194e+01] [-9.73154372e-02 4.71160188e-04 9.95253477e-01 -1.95186307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33824100799998 meters 0.06320791818615318 Centerline is valid? [True, True] Translation: X:154.01, Y:-32.65, Z:-19.53 [[ 8.90658205e-01 4.46558955e-01 8.55164423e-02 1.54008741e+02] [-4.44440492e-01 8.94753943e-01 -4.34514748e-02 -3.26527958e+01] [-9.59198192e-02 6.93442834e-04 9.95388822e-01 -1.95271447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39824100799999 meters 0.06329887294893241 Centerline is valid? [True, True] Translation: X:154.06, Y:-32.68, Z:-19.54 [[ 8.90251466e-01 4.47159426e-01 8.66070200e-02 1.54064486e+02] [-4.44986506e-01 8.94454029e-01 -4.40340776e-02 -3.26794482e+01] [-9.71562508e-02 6.62446911e-04 9.95268920e-01 -1.95354287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.458241008 meters 0.0626790483677447 Centerline is valid? [True, True] Translation: X:154.12, Y:-32.70, Z:-19.54 [[ 8.87662672e-01 4.51599226e-01 9.00728546e-02 1.54123148e+02] [-4.49268482e-01 8.92220878e-01 -4.58228705e-02 -3.27019674e+01] [-1.01058454e-01 2.08356966e-04 9.94880468e-01 -1.95394741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.518241008 meters 0.06252055134099184 Centerline is valid? [True, True] Translation: X:154.18, Y:-32.73, Z:-19.54 [[ 8.85503947e-01 4.55468801e-01 9.18200958e-02 1.54180604e+02] [-4.53064216e-01 8.90251721e-01 -4.67406658e-02 -3.27261150e+01] [-1.03031913e-01 -2.11355629e-04 9.94678028e-01 -1.95439415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.578241008 meters 0.062392923808967146 Centerline is valid? [True, True] Translation: X:154.24, Y:-32.75, Z:-19.55 [[ 8.83303915e-01 4.59207051e-01 9.43561262e-02 1.54238510e+02] [-4.56685698e-01 8.88329035e-01 -4.80593279e-02 -3.27498899e+01] [-1.05888469e-01 -6.40100847e-04 9.94377807e-01 -1.95480657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.638241008 meters 0.06267087039571975 Centerline is valid? [True, True] Translation: X:154.29, Y:-32.78, Z:-19.56 [[ 8.83878141e-01 4.58630482e-01 9.17470056e-02 1.54293077e+02] [-4.56241218e-01 8.88626917e-01 -4.67563142e-02 -3.27763450e+01] [-1.02972730e-01 -5.31881521e-04 9.94684037e-01 -1.95614787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.698241008 meters 0.06255578833084947 Centerline is valid? [True, True] Translation: X:154.35, Y:-32.81, Z:-19.57 [[ 8.84958170e-01 4.56849608e-01 9.02079413e-02 1.54347135e+02] [-4.54528158e-01 8.89543899e-01 -4.59978873e-02 -3.28070712e+01] [-1.01258041e-01 -2.95843237e-04 9.94860152e-01 -1.95700353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75824100799997 meters 0.0631866049153008 Centerline is valid? [True, True] Translation: X:154.40, Y:-32.84, Z:-19.58 [[ 8.88858667e-01 4.50144923e-01 8.54389803e-02 1.54397336e+02] [-4.48029453e-01 8.92955391e-01 -4.35921950e-02 -3.28443780e+01] [-9.59160033e-02 4.68120667e-04 9.95389321e-01 -1.95814033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81824100799997 meters 0.0640389046843765 Centerline is valid? [True, True] Translation: X:154.45, Y:-32.88, Z:-19.59 [[ 8.91286080e-01 4.45831565e-01 8.27244742e-02 1.54448094e+02] [-4.43827589e-01 8.95116392e-01 -4.22340520e-02 -3.28781417e+01] [-9.28773064e-02 9.27218686e-04 9.95677130e-01 -1.95926658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87824100799997 meters 0.06470874182085394 Centerline is valid? [True, True] Translation: X:154.50, Y:-32.91, Z:-19.60 [[ 8.94106089e-01 4.40379289e-01 8.14885485e-02 1.54500693e+02] [-4.38410236e-01 8.97810591e-01 -4.16246047e-02 -3.29126216e+01] [-9.14918957e-02 1.49139876e-03 9.95804704e-01 -1.95991727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93824100799998 meters 0.06571540555365457 Centerline is valid? [True, True] Translation: X:154.55, Y:-32.95, Z:-19.61 [[ 8.95738349e-01 4.36314849e-01 8.53355926e-02 1.54551818e+02] [-4.34133584e-01 8.99791780e-01 -4.36209012e-02 -3.29462658e+01] [-9.58167117e-02 2.02586731e-03 9.95396933e-01 -1.96055577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99824100799998 meters 0.06508776824063511 Centerline is valid? [True, True] Translation: X:154.61, Y:-32.97, Z:-19.61 [[ 8.96194664e-01 4.35202597e-01 8.62196283e-02 1.54608448e+02] [-4.32968312e-01 9.00329888e-01 -4.40968615e-02 -3.29739319e+01] [-9.68171770e-02 2.18900509e-03 9.95299775e-01 -1.96097359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05824100799998 meters 0.06503732959182831 Centerline is valid? [True, True] Translation: X:154.66, Y:-33.00, Z:-19.61 [[ 8.96730065e-01 4.33981810e-01 8.68042549e-02 1.54664157e+02] [-4.31708514e-01 9.00918534e-01 -4.44247008e-02 -3.30031977e+01] [-9.74830742e-02 2.36282897e-03 9.95234378e-01 -1.96139813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11824100799998 meters 0.06625911256207871 Centerline is valid? [True, True] Translation: X:154.72, Y:-33.03, Z:-19.63 [[ 8.97122032e-01 4.33372468e-01 8.57925596e-02 1.54717335e+02] [-4.31146449e-01 9.01211638e-01 -4.39354420e-02 -3.30320428e+01] [-9.63576641e-02 2.42629559e-03 9.95343817e-01 -1.96259243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.178241008 meters 0.06641225381965808 Centerline is valid? [True, True] Translation: X:154.77, Y:-33.06, Z:-19.63 [[ 8.97350340e-01 4.33390455e-01 8.32771351e-02 1.54773118e+02] [-4.31291218e-01 9.01203128e-01 -4.26709287e-02 -3.30584653e+01] [-9.35427878e-02 2.37407530e-03 9.95612430e-01 -1.96341459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.238241008 meters 0.06719894480302331 Centerline is valid? [True, True] Translation: X:154.83, Y:-33.08, Z:-19.65 [[ 8.97533833e-01 4.33222585e-01 8.21657550e-02 1.54827560e+02] [-4.31176107e-01 9.01283816e-01 -4.21265618e-02 -3.30841719e+01] [-9.23048432e-02 2.38210406e-03 9.95727946e-01 -1.96463580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.298241008 meters 0.06713214208651438 Centerline is valid? [True, True] Translation: X:154.88, Y:-33.11, Z:-19.66 [[ 8.97009766e-01 4.34412613e-01 8.16036841e-02 1.54883787e+02] [-4.32396828e-01 9.00711135e-01 -4.18620807e-02 -3.31100935e+01] [-9.16867628e-02 2.26552101e-03 9.95785321e-01 -1.96551300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.358241008 meters 0.06604554983820794 Centerline is valid? [True, True] Translation: X:154.94, Y:-33.13, Z:-19.66 [[ 8.94441373e-01 4.39338417e-01 8.34049554e-02 1.54940825e+02] [-4.37251484e-01 8.98319785e-01 -4.28101015e-02 -3.31335033e+01] [-9.37324438e-02 1.82218542e-03 9.95595756e-01 -1.96606443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.418241008 meters 0.06451775215665256 Centerline is valid? [True, True] Translation: X:155.00, Y:-33.15, Z:-19.67 [[ 8.90499581e-01 4.46948913e-01 8.51302781e-02 1.55001459e+02] [-4.44806769e-01 8.94558848e-01 -4.37196233e-02 -3.31514600e+01] [-9.56944816e-02 1.06578229e-03 9.95410182e-01 -1.96663811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.478241008 meters 0.06384333162666313 Centerline is valid? [True, True] Translation: X:155.06, Y:-33.17, Z:-19.67 [[ 8.86885136e-01 4.53628148e-01 8.75000496e-02 1.55059911e+02] [-4.51394328e-01 8.91190977e-01 -4.49644603e-02 -3.31721292e+01] [-9.83763996e-02 3.81285375e-04 9.95149204e-01 -1.96727974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53824100799997 meters 0.06425322631226435 Centerline is valid? [True, True] Translation: X:155.12, Y:-33.19, Z:-19.68 [[ 8.82142934e-01 4.62813579e-01 8.73351853e-02 1.55119725e+02] [-4.60630378e-01 8.86455419e-01 -4.49048372e-02 -3.31904192e+01] [-9.82013168e-02 -6.16754629e-04 9.95166379e-01 -1.96831663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59824100799997 meters 0.06491767596415676 Centerline is valid? [True, True] Translation: X:155.18, Y:-33.21, Z:-19.69 [[ 8.79446931e-01 4.68041838e-01 8.66598690e-02 1.55175654e+02] [-4.65915115e-01 8.83705536e-01 -4.45828629e-02 -3.32136117e+01] [-9.74484510e-02 -1.16788084e-03 9.95239888e-01 -1.96918114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65824100799998 meters 0.0654489890369749 Centerline is valid? [True, True] Translation: X:155.23, Y:-33.24, Z:-19.70 [[ 8.78212144e-01 4.70537306e-01 8.56625597e-02 1.55230129e+02] [-4.68468938e-01 8.82378979e-01 -4.40929809e-02 -3.32402895e+01] [-9.63342345e-02 -1.40725708e-03 9.95348047e-01 -1.97020821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71824100799998 meters 0.0655460290204684 Centerline is valid? [True, True] Translation: X:155.28, Y:-33.27, Z:-19.71 [[ 8.79005274e-01 4.69270397e-01 8.44690584e-02 1.55284020e+02] [-4.67251580e-01 8.83053665e-01 -4.34992562e-02 -3.32713510e+01] [-9.50036249e-02 -1.23222542e-03 9.95476164e-01 -1.97137488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77824100799998 meters 0.06526381979550232 Centerline is valid? [True, True] Translation: X:155.34, Y:-33.31, Z:-19.72 [[ 8.80649379e-01 4.66451231e-01 8.29452836e-02 1.55335193e+02] [-4.64489787e-01 8.84546472e-01 -4.27408017e-02 -3.33070928e+01] [-9.33054576e-02 -8.87576636e-04 9.95637135e-01 -1.97227284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83824100799998 meters 0.06503042582057848 Centerline is valid? [True, True] Translation: X:155.39, Y:-33.34, Z:-19.73 [[ 8.83037443e-01 4.62098771e-01 8.19121553e-02 1.55385170e+02] [-4.60164793e-01 8.86828376e-01 -4.22350038e-02 -3.33442506e+01] [-9.21587670e-02 -3.98000295e-04 9.95744246e-01 -1.97314964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89824100799999 meters 0.06496555950725962 Centerline is valid? [True, True] Translation: X:155.43, Y:-33.39, Z:-19.74 [[ 8.86871582e-01 4.54548114e-01 8.27333618e-02 1.55433736e+02] [-4.52539809e-01 8.90722089e-01 -4.26835022e-02 -3.33860816e+01] [-9.30941383e-02 4.14645325e-04 9.95657225e-01 -1.97383317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.958241008 meters 0.06506953001727378 Centerline is valid? [True, True] Translation: X:155.49, Y:-33.42, Z:-19.74 [[ 8.89194493e-01 4.49763331e-01 8.39410521e-02 1.55485355e+02] [-4.47672145e-01 8.93147267e-01 -4.33313989e-02 -3.34224728e+01] [-9.44605955e-02 9.51970369e-04 9.95528146e-01 -1.97426186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.018241008 meters 0.06552805631408734 Centerline is valid? [True, True] Translation: X:155.54, Y:-33.46, Z:-19.75 [[ 8.91803457e-01 4.44329733e-01 8.51920311e-02 1.55536178e+02] [-4.42148051e-01 8.95861932e-01 -4.40056757e-02 -3.34596210e+01] [-9.58733277e-02 1.57692328e-03 9.95392294e-01 -1.97494339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.078241008 meters 0.06582909473299499 Centerline is valid? [True, True] Translation: X:155.59, Y:-33.50, Z:-19.75 [[ 8.94616604e-01 4.38750862e-01 8.46097683e-02 1.55588451e+02] [-4.36571597e-01 8.98606095e-01 -4.37301612e-02 -3.34954991e+01] [-9.52174993e-02 2.18350662e-03 9.95454097e-01 -1.97536463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.138241008 meters 0.06721343325456326 Centerline is valid? [True, True] Translation: X:155.64, Y:-33.53, Z:-19.76 [[ 8.96424732e-01 4.35333758e-01 8.31096765e-02 1.55641232e+02] [-4.33213688e-01 9.00265584e-01 -4.29857983e-02 -3.35275470e+01] [-9.35339506e-02 2.52928321e-03 9.95612878e-01 -1.97645866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.198241008 meters 0.06766716629846115 Centerline is valid? [True, True] Translation: X:155.70, Y:-33.55, Z:-19.78 [[ 8.96876246e-01 4.35029449e-01 7.97645160e-02 1.55697257e+02] [-4.33074765e-01 9.00412845e-01 -4.12668967e-02 -3.35543159e+01] [-8.97733101e-02 2.46730034e-03 9.95959168e-01 -1.97752243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25824100799997 meters 0.06765536590131928 Centerline is valid? [True, True] Translation: X:155.75, Y:-33.58, Z:-19.78 [[ 8.95994710e-01 4.36825338e-01 7.98567698e-02 1.55753341e+02] [-4.34870700e-01 8.99543363e-01 -4.13426097e-02 -3.35796803e+01] [-8.98941268e-02 2.31539018e-03 9.95948636e-01 -1.97833588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31824100799997 meters 0.06670941325965224 Centerline is valid? [True, True] Translation: X:155.81, Y:-33.60, Z:-19.79 [[ 8.94010420e-01 4.40630743e-01 8.11783040e-02 1.55811685e+02] [-4.38624195e-01 8.97686249e-01 -4.20501254e-02 -3.36006283e+01] [-9.14012253e-02 1.98648205e-03 9.95812166e-01 -1.97884045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37824100799997 meters 0.06601347101891604 Centerline is valid? [True, True] Translation: X:155.87, Y:-33.62, Z:-19.80 [[ 8.92296008e-01 4.43682125e-01 8.33906836e-02 1.55869719e+02] [-4.41575420e-01 8.96182535e-01 -4.32205114e-02 -3.36226947e+01] [-9.39094426e-02 1.74221364e-03 9.95579219e-01 -1.97952705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43824100799998 meters 0.06558996714998776 Centerline is valid? [True, True] Translation: X:155.93, Y:-33.65, Z:-19.80 [[ 8.90994100e-01 4.45952220e-01 8.51829283e-02 1.55926160e+02] [-4.43761744e-01 8.95055412e-01 -4.41737872e-02 -3.36456158e+01] [-9.59428395e-02 1.55765902e-03 9.95385626e-01 -1.98009510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49824100799998 meters 0.0649935696560511 Centerline is valid? [True, True] Translation: X:155.98, Y:-33.67, Z:-19.80 [[ 8.91192866e-01 4.45675869e-01 8.45475888e-02 1.55983876e+02] [-4.43514945e-01 8.95192987e-01 -4.38635437e-02 -3.36705639e+01] [-9.52353314e-02 1.59275805e-03 9.95453512e-01 -1.98042113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55824100799998 meters 0.06527438345225337 Centerline is valid? [True, True] Translation: X:156.04, Y:-33.70, Z:-19.81 [[ 8.91135229e-01 4.45879084e-01 8.40823776e-02 1.56039262e+02] [-4.43740303e-01 8.95091798e-01 -4.36487929e-02 -3.36974381e+01] [-9.47235304e-02 1.58623735e-03 9.95502354e-01 -1.98141629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61824100799998 meters 0.0649167494807516 Centerline is valid? [True, True] Translation: X:156.10, Y:-33.72, Z:-19.82 [[ 8.89478336e-01 4.49220675e-01 8.38395775e-02 1.56096541e+02] [-4.47106657e-01 8.93419959e-01 -4.35478327e-02 -3.37211558e+01] [-9.44665387e-02 1.24962063e-03 9.95527253e-01 -1.98221290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.678241008 meters 0.06430562569178255 Centerline is valid? [True, True] Translation: X:156.15, Y:-33.75, Z:-19.83 [[ 8.88067457e-01 4.51762908e-01 8.51261813e-02 1.56152960e+02] [-4.49592650e-01 8.92137457e-01 -4.42403402e-02 -3.37464985e+01] [-9.59303997e-02 1.01630104e-03 9.95387525e-01 -1.98261436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.738241008 meters 0.06356232370612486 Centerline is valid? [True, True] Translation: X:156.21, Y:-33.77, Z:-19.83 [[ 8.84849774e-01 4.57386870e-01 8.85332074e-02 1.56212531e+02] [-4.55064322e-01 8.89267705e-01 -4.60370784e-02 -3.37671294e+01] [-9.97864773e-02 4.47594408e-04 9.95008773e-01 -1.98319006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.798241008 meters 0.06364637795206027 Centerline is valid? [True, True] Translation: X:156.27, Y:-33.79, Z:-19.84 [[ 8.82426054e-01 4.61957862e-01 8.89898469e-02 1.56269783e+02] [-4.59631499e-01 8.86901873e-01 -4.63028373e-02 -3.37898489e+01] [-1.00315222e-01 -4.37067613e-05 9.94955705e-01 -1.98410314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.858241008 meters 0.0640213047998477 Centerline is valid? [True, True] Translation: X:156.33, Y:-33.81, Z:-19.85 [[ 8.79172499e-01 4.68227263e-01 8.84248122e-02 1.56328994e+02] [-4.65959347e-01 8.83607773e-01 -4.60346547e-02 -3.38083733e+01] [-9.96875318e-02 -7.29965388e-04 9.95018524e-01 -1.98502517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.918241008 meters 0.06471394060297635 Centerline is valid? [True, True] Translation: X:156.39, Y:-33.83, Z:-19.86 [[ 8.76925289e-01 4.72519442e-01 8.79057086e-02 1.56387410e+02] [-4.70297127e-01 8.81319446e-01 -4.57891583e-02 -3.38279656e+01] [-9.91092779e-02 -1.18813129e-03 9.95075846e-01 -1.98617140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.978241008 meters 0.06472090456853964 Centerline is valid? [True, True] Translation: X:156.44, Y:-33.86, Z:-19.87 [[ 8.76425106e-01 4.73650260e-01 8.68012921e-02 1.56442064e+02] [-4.71486726e-01 8.80712097e-01 -4.52379263e-02 -3.38566604e+01] [-9.78739035e-02 -1.27800266e-03 9.95198003e-01 -1.98680814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03824100799997 meters 0.0645724445290039 Centerline is valid? [True, True] Translation: X:156.50, Y:-33.88, Z:-19.88 [[ 8.77207738e-01 4.72141370e-01 8.71155065e-02 1.56495874e+02] [-4.69952091e-01 8.81522171e-01 -4.54279078e-02 -3.38841154e+01] [-9.82426450e-02 -1.09040220e-03 9.95161893e-01 -1.98776750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09824100799997 meters 0.0642231171981082 Centerline is valid? [True, True] Translation: X:156.55, Y:-33.91, Z:-19.89 [[ 8.78825160e-01 4.69281359e-01 8.62632280e-02 1.56549440e+02] [-4.67118818e-01 8.83048388e-01 -4.50061699e-02 -3.39141648e+01] [-9.72951610e-02 -7.42622578e-04 9.95255294e-01 -1.98874091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15824100799998 meters 0.06420055654405789 Centerline is valid? [True, True] Translation: X:156.60, Y:-33.95, Z:-19.90 [[ 8.82341526e-01 4.63222437e-01 8.30566426e-02 1.56601420e+02] [-4.61189105e-01 8.86242050e-01 -4.33547988e-02 -3.39487863e+01] [-9.36912048e-02 -5.10793376e-05 9.95601304e-01 -1.98962322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21824100799998 meters 0.06431185262107078 Centerline is valid? [True, True] Translation: X:156.65, Y:-33.98, Z:-19.90 [[ 8.84941708e-01 4.58414757e-01 8.20614653e-02 1.56652460e+02] [-4.56406740e-01 8.88738253e-01 -4.28626328e-02 -3.39821676e+01] [-9.25800267e-02 4.77525621e-04 9.95705132e-01 -1.99044999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27824100799998 meters 0.06532757111658165 Centerline is valid? [True, True] Translation: X:156.70, Y:-34.02, Z:-19.91 [[ 8.89905511e-01 4.48815300e-01 8.14432858e-02 1.56703139e+02] [-4.46795032e-01 8.93623305e-01 -4.25627565e-02 -3.40194130e+01] [-9.18824345e-02 1.48837611e-03 9.95768750e-01 -1.99136208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33824100799998 meters 0.06627919112492606 Centerline is valid? [True, True] Translation: X:156.76, Y:-34.05, Z:-19.92 [[ 8.92948926e-01 4.42770844e-01 8.12169626e-02 1.56755318e+02] [-4.40734390e-01 8.96632281e-01 -4.24705773e-02 -3.40541882e+01] [-9.16264838e-02 2.12894793e-03 9.95791170e-01 -1.99215474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39824100799999 meters 0.06842402892930535 Centerline is valid? [True, True] Translation: X:156.80, Y:-34.09, Z:-19.93 [[ 8.96590908e-01 4.35476234e-01 8.05306924e-02 1.56804347e+02] [-4.33442315e-01 9.00195637e-01 -4.21375667e-02 -3.40910752e+01] [-9.08432869e-02 2.87474947e-03 9.95861051e-01 -1.99321079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.458241008 meters 0.06810250477398816 Centerline is valid? [True, True] Translation: X:156.86, Y:-34.12, Z:-19.94 [[ 8.97642835e-01 4.33357125e-01 8.02430186e-02 1.56860091e+02] [-4.31327168e-01 9.01216953e-01 -4.20104549e-02 -3.41195336e+01] [-9.05218986e-02 3.09938987e-03 9.95889642e-01 -1.99374528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.518241008 meters 0.06789923103448078 Centerline is valid? [True, True] Translation: X:156.91, Y:-34.15, Z:-19.95 [[ 8.96490516e-01 4.35725524e-01 8.02995792e-02 1.56914601e+02] [-4.33699848e-01 9.00074965e-01 -4.20654171e-02 -3.41474549e+01] [-9.06046168e-02 2.88533224e-03 9.95882763e-01 -1.99455236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.578241008 meters 0.06709373154402005 Centerline is valid? [True, True] Translation: X:156.97, Y:-34.17, Z:-19.95 [[ 8.93654338e-01 4.41255090e-01 8.17059899e-02 1.56971277e+02] [-4.39178523e-01 8.97378541e-01 -4.28249760e-02 -3.41696017e+01] [-9.22179407e-02 2.38720964e-03 9.95735985e-01 -1.99547963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.638241008 meters 0.06531087004154883 Centerline is valid? [True, True] Translation: X:157.03, Y:-34.19, Z:-19.96 [[ 8.91247494e-01 4.45896201e-01 8.27917970e-02 1.57029311e+02] [-4.43781887e-01 8.95082548e-01 -4.34150893e-02 -3.41933922e+01] [-9.34641159e-02 1.95208966e-03 9.95620735e-01 -1.99578292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.698241008 meters 0.06485732934332257 Centerline is valid? [True, True] Translation: X:157.09, Y:-34.22, Z:-19.97 [[ 8.89097127e-01 4.49960096e-01 8.39178822e-02 1.57085605e+02] [-4.47803222e-01 8.93047281e-01 -4.40321232e-02 -3.42178714e+01] [-9.47553349e-02 1.57013618e-03 9.95499353e-01 -1.99658627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75824100799997 meters 0.06423574439923144 Centerline is valid? [True, True] Translation: X:157.14, Y:-34.24, Z:-19.97 [[ 8.86906513e-01 4.54021141e-01 8.52152665e-02 1.57141268e+02] [-4.51813202e-01 8.90990135e-01 -4.47371203e-02 -3.42441970e+01] [-9.62375602e-02 1.17626090e-03 9.95357699e-01 -1.99715964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81824100799997 meters 0.06353736094093682 Centerline is valid? [True, True] Translation: X:157.20, Y:-34.27, Z:-19.98 [[ 8.84896662e-01 4.57359771e-01 8.82039542e-02 1.57196999e+02] [-4.55007757e-01 8.89281334e-01 -4.63319548e-02 -3.42706949e+01] [-9.96285023e-02 8.65508780e-04 9.95024328e-01 -1.99758100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87824100799997 meters 0.06370762468706906 Centerline is valid? [True, True] Translation: X:157.25, Y:-34.30, Z:-19.98 [[ 8.85387181e-01 4.56368773e-01 8.84142642e-02 1.57252263e+02] [-4.53998308e-01 8.89790168e-01 -4.64649561e-02 -3.42991293e+01] [-9.98752981e-02 9.99550152e-04 9.94999460e-01 -1.99845079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93824100799998 meters 0.06425417730214762 Centerline is valid? [True, True] Translation: X:157.30, Y:-34.33, Z:-19.99 [[ 8.87036320e-01 4.53227160e-01 8.80437872e-02 1.57302692e+02] [-4.50858215e-01 8.91393995e-01 -4.62992009e-02 -3.43330031e+01] [-9.94657585e-02 1.37380799e-03 9.95040037e-01 -1.99926310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99824100799998 meters 0.06492197645220944 Centerline is valid? [True, True] Translation: X:157.35, Y:-34.37, Z:-20.00 [[ 8.88423191e-01 4.50892889e-01 8.60223006e-02 1.57354873e+02] [-4.48618805e-01 8.92576602e-01 -4.52567930e-02 -3.43660007e+01] [-9.71874589e-02 1.61596278e-03 9.95264782e-01 -2.00016368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05824100799998 meters 0.0655203298324909 Centerline is valid? [True, True] Translation: X:157.41, Y:-34.40, Z:-20.01 [[ 8.90125268e-01 4.47660751e-01 8.53045102e-02 1.57409284e+02] [-4.45407526e-01 8.94201297e-01 -4.49018499e-02 -3.43956993e+01] [-9.63801995e-02 1.97300028e-03 9.95342637e-01 -2.00096581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11824100799998 meters 0.06491574044705185 Centerline is valid? [True, True] Translation: X:157.46, Y:-34.42, Z:-20.02 [[ 8.90340380e-01 4.47271003e-01 8.51038079e-02 1.57464823e+02] [-4.45024270e-01 8.94396176e-01 -4.48205238e-02 -3.44235253e+01] [-9.61634410e-02 2.03226220e-03 9.95363483e-01 -2.00157336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.178241008 meters 0.06513183784582935 Centerline is valid? [True, True] Translation: X:157.52, Y:-34.45, Z:-20.02 [[ 8.90404876e-01 4.47320657e-01 8.41628589e-02 1.57519738e+02] [-4.45121112e-01 8.94371352e-01 -4.43517731e-02 -3.44530908e+01] [-9.51123142e-02 2.02836973e-03 9.95464481e-01 -2.00244794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.238241008 meters 0.06571914153191893 Centerline is valid? [True, True] Translation: X:157.57, Y:-34.48, Z:-20.03 [[ 8.91351405e-01 4.45644215e-01 8.30295537e-02 1.57574329e+02] [-4.43494004e-01 8.95207458e-01 -4.37798510e-02 -3.44824267e+01] [-9.38389131e-02 2.20012247e-03 9.95584963e-01 -2.00345573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.298241008 meters 0.06524757882645238 Centerline is valid? [True, True] Translation: X:157.63, Y:-34.51, Z:-20.04 [[ 8.91699654e-01 4.44732745e-01 8.41695434e-02 1.57629689e+02] [-4.42516272e-01 8.95660232e-01 -4.44083064e-02 -3.45133591e+01] [-9.51371408e-02 2.35247891e-03 9.95461396e-01 -2.00375566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.358241008 meters 0.06557202248733943 Centerline is valid? [True, True] Translation: X:157.68, Y:-34.54, Z:-20.05 [[ 8.90677718e-01 4.46758416e-01 8.42622131e-02 1.57682785e+02] [-4.44543227e-01 8.94652016e-01 -4.44869688e-02 -3.45414976e+01] [-9.52602865e-02 2.16535581e-03 9.95450043e-01 -2.00471547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.418241008 meters 0.06460573794220227 Centerline is valid? [True, True] Translation: X:157.74, Y:-34.56, Z:-20.06 [[ 8.86808593e-01 4.54357956e-01 8.44355818e-02 1.57741789e+02] [-4.52165677e-01 8.90818141e-01 -4.46008927e-02 -3.45608694e+01] [-9.54815184e-02 1.37358288e-03 9.95430255e-01 -2.00563718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.478241008 meters 0.06398311431333736 Centerline is valid? [True, True] Translation: X:157.80, Y:-34.59, Z:-20.06 [[ 8.84581742e-01 4.58554431e-01 8.51056717e-02 1.57798330e+02] [-4.56344159e-01 8.88665816e-01 -4.49786235e-02 -3.45857889e+01] [-9.62556483e-02 9.49792964e-04 9.95356192e-01 -2.00611484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53824100799997 meters 0.06393285262983647 Centerline is valid? [True, True] Translation: X:157.85, Y:-34.61, Z:-20.07 [[ 8.84065051e-01 4.59467609e-01 8.55482458e-02 1.57852286e+02] [-4.57236075e-01 8.88194093e-01 -4.52374241e-02 -3.46142801e+01] [-9.67685777e-02 8.77081502e-04 9.95306522e-01 -2.00691210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59824100799997 meters 0.06422664776391851 Centerline is valid? [True, True] Translation: X:157.90, Y:-34.65, Z:-20.08 [[ 8.84915172e-01 4.57703054e-01 8.62151540e-02 1.57904611e+02] [-4.55425737e-01 8.89104439e-01 -4.56146367e-02 -3.46472553e+01] [-9.75322346e-02 1.10048404e-03 9.95231758e-01 -2.00782738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65824100799998 meters 0.06435062106716088 Centerline is valid? [True, True] Translation: X:157.96, Y:-34.68, Z:-20.09 [[ 8.85778910e-01 4.56140931e-01 8.56222688e-02 1.57957172e+02] [-4.53885127e-01 8.89906622e-01 -4.53265550e-02 -3.46798084e+01] [-9.68711210e-02 1.28663215e-03 9.95296102e-01 -2.00853068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71824100799998 meters 0.0653203695074466 Centerline is valid? [True, True] Translation: X:158.01, Y:-34.71, Z:-20.10 [[ 8.87264651e-01 4.53473492e-01 8.43992359e-02 1.58007687e+02] [-4.51267541e-01 8.91268370e-01 -4.47023342e-02 -3.47131222e+01] [-9.54936931e-02 1.57616534e-03 9.95428787e-01 -2.00981277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77824100799998 meters 0.06498555851034415 Centerline is valid? [True, True] Translation: X:158.06, Y:-34.75, Z:-20.10 [[ 8.88254475e-01 4.51595425e-01 8.40568804e-02 1.58061150e+02] [-4.49396842e-01 8.92221029e-01 -4.45433858e-02 -3.47462230e+01] [-9.51129055e-02 1.79096518e-03 9.95464880e-01 -2.01028649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83824100799998 meters 0.06501129960973104 Centerline is valid? [True, True] Translation: X:158.11, Y:-34.78, Z:-20.11 [[ 8.90002929e-01 4.48083386e-01 8.43567727e-02 1.58113671e+02] [-4.45850778e-01 8.93989065e-01 -4.47284698e-02 -3.47799230e+01] [-9.54561166e-02 2.19793636e-03 9.95431213e-01 -2.01080893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89824100799999 meters 0.06635108681244493 Centerline is valid? [True, True] Translation: X:158.16, Y:-34.81, Z:-20.12 [[ 8.91104871e-01 4.46186192e-01 8.27646750e-02 1.58164641e+02] [-4.44026645e-01 8.94936993e-01 -4.39103168e-02 -3.48127220e+01] [-9.36613465e-02 2.37897618e-03 9.95601272e-01 -2.01213585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.958241008 meters 0.06687109638058149 Centerline is valid? [True, True] Translation: X:158.22, Y:-34.85, Z:-20.13 [[ 8.92341928e-01 4.43663648e-01 8.29966904e-02 1.58216659e+02] [-4.41478809e-01 8.96189390e-01 -4.40572135e-02 -3.48466638e+01] [-9.39273375e-02 2.67281886e-03 9.95575467e-01 -2.01287829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.018241008 meters 0.06684396348772574 Centerline is valid? [True, True] Translation: X:158.27, Y:-34.88, Z:-20.14 [[ 8.93124206e-01 4.42346432e-01 8.16013825e-02 1.58271373e+02] [-4.40226976e-01 8.96839941e-01 -4.33396994e-02 -3.48774960e+01] [-9.23545405e-02 2.78460472e-03 9.95722293e-01 -2.01351205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.078241008 meters 0.06698031058773636 Centerline is valid? [True, True] Translation: X:158.32, Y:-34.91, Z:-20.14 [[ 8.92524149e-01 4.43390359e-01 8.24962572e-02 1.58324685e+02] [-4.41225781e-01 8.96324453e-01 -4.38438856e-02 -3.49064616e+01] [-9.33833687e-02 2.73225121e-03 9.95626477e-01 -2.01438682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.138241008 meters 0.0655262001287955 Centerline is valid? [True, True] Translation: X:158.38, Y:-34.93, Z:-20.15 [[ 8.90727914e-01 4.46841333e-01 8.32862968e-02 1.58381491e+02] [-4.44648005e-01 8.94609972e-01 -4.42848680e-02 -3.49317245e+01] [-9.42970611e-02 2.41268243e-03 9.95541181e-01 -2.01488905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.198241008 meters 0.0647641843016805 Centerline is valid? [True, True] Translation: X:158.44, Y:-34.96, Z:-20.16 [[ 8.86824084e-01 4.54457215e-01 8.37357999e-02 1.58437718e+02] [-4.52271459e-01 8.90767066e-01 -4.45484183e-02 -3.49562188e+01] [-9.48344429e-02 1.63529780e-03 9.95491715e-01 -2.01584674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25824100799997 meters 0.0640260074366096 Centerline is valid? [True, True] Translation: X:158.50, Y:-34.97, Z:-20.17 [[ 8.80323960e-01 4.66767217e-01 8.46054998e-02 1.58496442e+02] [-4.64589286e-01 8.84380149e-01 -4.50393923e-02 -3.49743219e+01] [-9.58463363e-02 3.42447405e-04 9.95396083e-01 -2.01686366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31824100799997 meters 0.06430329230502292 Centerline is valid? [True, True] Translation: X:158.56, Y:-35.00, Z:-20.18 [[ 8.76042329e-01 4.74690462e-01 8.49635424e-02 1.58555131e+02] [-4.72529844e-01 8.80152658e-01 -4.52420710e-02 -3.49973696e+01] [-9.62568672e-02 -5.13840215e-04 9.95356394e-01 -2.01776378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37824100799997 meters 0.06527808261311369 Centerline is valid? [True, True] Translation: X:158.61, Y:-35.02, Z:-20.18 [[ 8.71793821e-01 4.82461196e-01 8.48924490e-02 1.58612799e+02] [-4.80339537e-01 8.75916293e-01 -4.52170041e-02 -3.50219467e+01] [-9.61741291e-02 -1.35729485e-03 9.95363599e-01 -2.01849618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43824100799998 meters 0.0663869831355999 Centerline is valid? [True, True] Translation: X:158.67, Y:-35.05, Z:-20.20 [[ 8.69959943e-01 4.86009990e-01 8.34505053e-02 1.58668416e+02] [-4.83973860e-01 8.73951605e-01 -4.44735275e-02 -3.50509926e+01] [-9.45462817e-02 -1.69767575e-03 9.95519020e-01 -2.01953503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49824100799998 meters 0.0669988501489584 Centerline is valid? [True, True] Translation: X:158.72, Y:-35.08, Z:-20.21 [[ 8.69107991e-01 4.87846582e-01 8.15905173e-02 1.58721539e+02] [-4.85905617e-01 8.72927472e-01 -4.35127581e-02 -3.50828578e+01] [-9.24501543e-02 -1.82800487e-03 9.95715636e-01 -2.02059552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55824100799998 meters 0.06681838101666693 Centerline is valid? [True, True] Translation: X:158.77, Y:-35.12, Z:-20.22 [[ 8.70233029e-01 4.85882534e-01 8.13181269e-02 1.58770717e+02] [-4.83943423e-01 8.74022675e-01 -4.33950081e-02 -3.51202889e+01] [-9.21587633e-02 -1.58960334e-03 9.95743057e-01 -2.02169939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61824100799998 meters 0.0660543925865646 Centerline is valid? [True, True] Translation: X:158.82, Y:-35.16, Z:-20.22 [[ 8.70888877e-01 4.84775371e-01 8.09036747e-02 1.58822691e+02] [-4.82849060e-01 8.74637499e-01 -4.31975777e-02 -3.51560182e+01] [-9.17025094e-02 -1.44397330e-03 9.95785401e-01 -2.02219518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.678241008 meters 0.06519918378760178 Centerline is valid? [True, True] Translation: X:158.87, Y:-35.20, Z:-20.23 [[ 8.73003440e-01 4.80825867e-01 8.16791218e-02 1.58872532e+02] [-4.78842457e-01 8.76815521e-01 -4.36399225e-02 -3.51954400e+01] [-9.26007253e-02 -1.01362895e-03 9.95702806e-01 -2.02289566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.738241008 meters 0.06445061943864001 Centerline is valid? [True, True] Translation: X:158.92, Y:-35.24, Z:-20.24 [[ 8.77380399e-01 4.72500555e-01 8.33478303e-02 1.58916526e+02] [-4.70394482e-01 8.81330366e-01 -4.45625150e-02 -3.52417489e+01] [-9.45127868e-02 -1.08082258e-04 9.95523642e-01 -2.02357804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.798241008 meters 0.0643820632888118 Centerline is valid? [True, True] Translation: X:158.97, Y:-35.28, Z:-20.24 [[ 8.79415834e-01 4.68599520e-01 8.39182987e-02 1.58967172e+02] [-4.66444597e-01 8.83410651e-01 -4.48894111e-02 -3.52794725e+01] [-9.51694754e-02 3.33221936e-04 9.95461029e-01 -2.02422150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.858241008 meters 0.0644968761138078 Centerline is valid? [True, True] Translation: X:159.02, Y:-35.31, Z:-20.25 [[ 8.81356991e-01 4.65050269e-01 8.32952718e-02 1.59019650e+02] [-4.62908809e-01 8.85283969e-01 -4.45839548e-02 -3.53131507e+01] [-9.44737490e-02 7.36265148e-04 9.95527081e-01 -2.02490785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.918241008 meters 0.06503649490792086 Centerline is valid? [True, True] Translation: X:159.07, Y:-35.34, Z:-20.26 [[ 8.81250297e-01 4.65660161e-01 8.09847453e-02 1.59073629e+02] [-4.63635969e-01 8.84963363e-01 -4.33766514e-02 -3.53397320e+01] [-9.18673111e-02 6.78246091e-04 9.95771026e-01 -2.02621453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.978241008 meters 0.06549384823817761 Centerline is valid? [True, True] Translation: X:159.13, Y:-35.37, Z:-20.27 [[ 8.81039661e-01 4.66182939e-01 8.02657068e-02 1.59127995e+02] [-4.64195754e-01 8.84688122e-01 -4.30026557e-02 -3.53669736e+01] [-9.10572219e-02 6.28044867e-04 9.95845464e-01 -2.02729183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03824100799997 meters 0.0648272968768442 Centerline is valid? [True, True] Translation: X:159.19, Y:-35.40, Z:-20.27 [[ 8.80130059e-01 4.68082420e-01 7.91828733e-02 1.59185479e+02] [-4.66154421e-01 8.83684701e-01 -4.24429580e-02 -3.53957615e+01] [-8.98394962e-02 4.43876613e-04 9.95956158e-01 -2.02745835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09824100799997 meters 0.06496835250853053 Centerline is valid? [True, True] Translation: X:159.24, Y:-35.42, Z:-20.28 [[ 8.79639588e-01 4.68957641e-01 7.94539213e-02 1.59240910e+02] [-4.67016985e-01 8.83220574e-01 -4.26210389e-02 -3.54239348e+01] [-9.01627999e-02 3.84822298e-04 9.95926966e-01 -2.02806320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15824100799998 meters 0.06470843218881808 Centerline is valid? [True, True] Translation: X:159.30, Y:-35.45, Z:-20.29 [[ 8.78585613e-01 4.70452215e-01 8.22315934e-02 1.59296839e+02] [-4.68376821e-01 8.82425432e-01 -4.41419420e-02 -3.54489100e+01] [-9.33299237e-02 2.67102803e-04 9.95635201e-01 -2.02863612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21824100799998 meters 0.06464468263280389 Centerline is valid? [True, True] Translation: X:159.35, Y:-35.48, Z:-20.29 [[ 8.78417136e-01 4.70481317e-01 8.38490646e-02 1.59351582e+02] [-4.68321063e-01 8.82409908e-01 -4.50348294e-02 -3.54779717e+01] [-9.51772912e-02 2.91082720e-04 9.95460295e-01 -2.02931869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27824100799998 meters 0.06440052481390394 Centerline is valid? [True, True] Translation: X:159.41, Y:-35.51, Z:-20.30 [[ 8.79155169e-01 4.68845264e-01 8.52660956e-02 1.59406346e+02] [-4.66600354e-01 8.83280173e-01 -4.58284459e-02 -3.55080975e+01] [-9.68003015e-02 5.05124725e-04 9.95303696e-01 -2.02972265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33824100799998 meters 0.06470880185814297 Centerline is valid? [True, True] Translation: X:159.46, Y:-35.54, Z:-20.31 [[ 8.78864021e-01 4.69370687e-01 8.53767561e-02 1.59461237e+02] [-4.67121275e-01 8.83001103e-01 -4.58995172e-02 -3.55360100e+01] [-9.69316577e-02 4.58135142e-04 9.95290934e-01 -2.03073383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39824100799999 meters 0.06419539573299884 Centerline is valid? [True, True] Translation: X:159.52, Y:-35.56, Z:-20.31 [[ 8.78242213e-01 4.70455102e-01 8.58056638e-02 1.59517541e+02] [-4.68185319e-01 8.82423857e-01 -4.61588946e-02 -3.55647499e+01] [-9.74326522e-02 3.65737695e-04 9.95242053e-01 -2.03112765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.458241008 meters 0.06414369709842623 Centerline is valid? [True, True] Translation: X:159.58, Y:-35.59, Z:-20.32 [[ 8.76552662e-01 4.73279959e-01 8.75300572e-02 1.59576056e+02] [-4.70928610e-01 8.80912069e-01 -4.71186878e-02 -3.55891160e+01] [-9.94066144e-02 8.16030339e-05 9.95046893e-01 -2.03176608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.518241008 meters 0.06421508620185044 Centerline is valid? [True, True] Translation: X:159.63, Y:-35.62, Z:-20.33 [[ 8.75166006e-01 4.75996252e-01 8.66719696e-02 1.59632126e+02] [-4.73702209e-01 8.79447284e-01 -4.66764570e-02 -3.56151912e+01] [-9.84412469e-02 -2.07055035e-04 9.95142843e-01 -2.03272104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.578241008 meters 0.0645900534242679 Centerline is valid? [True, True] Translation: X:159.69, Y:-35.64, Z:-20.34 [[ 8.73721889e-01 4.78742206e-01 8.61159776e-02 1.59689492e+02] [-4.76488207e-01 8.77955387e-01 -4.64039637e-02 -3.56434895e+01] [-9.78215224e-02 -4.89088968e-04 9.95203854e-01 -2.03356433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.638241008 meters 0.06414870455390718 Centerline is valid? [True, True] Translation: X:159.74, Y:-35.68, Z:-20.34 [[ 8.73301846e-01 4.79354765e-01 8.69649060e-02 1.59744754e+02] [-4.77055029e-01 8.77621063e-01 -4.69016970e-02 -3.56753740e+01] [-9.88047852e-02 -5.27707202e-04 9.95106696e-01 -2.03389706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.698241008 meters 0.06409245716619011 Centerline is valid? [True, True] Translation: X:159.80, Y:-35.71, Z:-20.35 [[ 8.73997795e-01 4.77840396e-01 8.82972850e-02 1.59796859e+02] [-4.75458004e-01 8.78446611e-01 -4.76575116e-02 -3.57073040e+01] [-1.00337135e-01 -3.29090861e-04 9.94953442e-01 -2.03469963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75824100799997 meters 0.06405514579121876 Centerline is valid? [True, True] Translation: X:159.85, Y:-35.74, Z:-20.36 [[ 8.76400151e-01 4.73311250e-01 8.88776466e-02 1.59846404e+02] [-4.70871298e-01 8.80895234e-01 -4.79979866e-02 -3.57432893e+01] [-1.01009882e-01 2.15509894e-04 9.94885399e-01 -2.03551147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81824100799997 meters 0.06420322360829443 Centerline is valid? [True, True] Translation: X:159.90, Y:-35.78, Z:-20.36 [[ 8.78067461e-01 4.70203499e-01 8.89168385e-02 1.59898095e+02] [-4.67742743e-01 8.82557824e-01 -4.80459524e-02 -3.57784942e+01] [-1.01065626e-01 5.97381478e-04 9.94879582e-01 -2.03621633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87824100799997 meters 0.06503594863339147 Centerline is valid? [True, True] Translation: X:159.95, Y:-35.81, Z:-20.37 [[ 8.80339165e-01 4.66489629e-01 8.59673186e-02 1.59948159e+02] [-4.64169162e-01 8.84526083e-01 -4.64822291e-02 -3.58132562e+01] [-9.77238134e-02 1.01674855e-03 9.95213054e-01 -2.03731670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93824100799998 meters 0.06587344176199317 Centerline is valid? [True, True] Translation: X:160.00, Y:-35.84, Z:-20.38 [[ 8.81934098e-01 4.63913263e-01 8.35268252e-02 1.60002097e+02] [-4.61710350e-01 8.85879709e-01 -4.51740513e-02 -3.58438039e+01] [-9.49515611e-02 1.27533647e-03 9.95481077e-01 -2.03839851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99824100799998 meters 0.06575549572486343 Centerline is valid? [True, True] Translation: X:160.06, Y:-35.87, Z:-20.39 [[ 8.83382293e-01 4.61355898e-01 8.23799774e-02 1.60059634e+02] [-4.59199717e-01 8.87213801e-01 -4.45790493e-02 -3.58711309e+01] [-9.36554602e-02 1.55148047e-03 9.95603459e-01 -2.03907580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05824100799998 meters 0.06604152242135511 Centerline is valid? [True, True] Translation: X:160.11, Y:-35.90, Z:-20.40 [[ 8.84038463e-01 4.60025259e-01 8.27813778e-02 1.60113127e+02] [-4.57838697e-01 8.87904137e-01 -4.48327060e-02 -3.59020585e+01] [-9.41261050e-02 1.73331841e-03 9.95558774e-01 -2.03973493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11824100799998 meters 0.06646097224890468 Centerline is valid? [True, True] Translation: X:160.17, Y:-35.93, Z:-20.40 [[ 8.84307178e-01 4.59381185e-01 8.34849732e-02 1.60167706e+02] [-4.57151903e-01 8.88237322e-01 -4.52393338e-02 -3.59319692e+01] [-9.49365679e-02 1.84015327e-03 9.95481623e-01 -2.04033870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.178241008 meters 0.06572275285130756 Centerline is valid? [True, True] Translation: X:160.23, Y:-35.95, Z:-20.41 [[ 8.82487288e-01 4.62765264e-01 8.40505578e-02 1.60226838e+02] [-4.60518159e-01 8.86479568e-01 -4.55741198e-02 -3.59530125e+01] [-9.55992218e-02 1.51177320e-03 9.95418758e-01 -2.04109706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.238241008 meters 0.06556101834326457 Centerline is valid? [True, True] Translation: X:160.28, Y:-35.98, Z:-20.42 [[ 8.79561231e-01 4.68206158e-01 8.45874449e-02 1.60282120e+02] [-4.65952184e-01 8.83618742e-01 -4.58964103e-02 -3.59766762e+01] [-9.62320335e-02 9.54998444e-04 9.95358470e-01 -2.04220005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.298241008 meters 0.06478860117384103 Centerline is valid? [True, True] Translation: X:160.34, Y:-35.99, Z:-20.43 [[ 8.73330619e-01 4.79456914e-01 8.61086447e-02 1.60344352e+02] [-4.77173884e-01 8.77565378e-01 -4.67342619e-02 -3.59931777e+01] [-9.79730303e-02 -2.74334633e-04 9.95189032e-01 -2.04255943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.358241008 meters 0.06537137706064676 Centerline is valid? [True, True] Translation: X:160.40, Y:-36.02, Z:-20.43 [[ 8.69752707e-01 4.85861395e-01 8.64229908e-02 1.60403374e+02] [-4.83590541e-01 8.74035327e-01 -4.69301157e-02 -3.60158242e+01] [-9.83382785e-02 -9.75745741e-04 9.95152567e-01 -2.04335449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.418241008 meters 0.06602255709900781 Centerline is valid? [True, True] Translation: X:160.46, Y:-36.04, Z:-20.44 [[ 8.67477138e-01 4.89577430e-01 8.83026330e-02 1.60460842e+02] [-4.87222530e-01 8.71958703e-01 -4.79815247e-02 -3.60413192e+01] [-1.00486921e-01 -1.40015650e-03 9.94937394e-01 -2.04421731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.478241008 meters 0.06611764544703631 Centerline is valid? [True, True] Translation: X:160.52, Y:-36.07, Z:-20.45 [[ 8.67197979e-01 4.90121921e-01 8.80236755e-02 1.60515005e+02] [-4.87781736e-01 8.71652712e-01 -4.78594617e-02 -3.60722718e+01] [-1.00183047e-01 -1.43271281e-03 9.94967992e-01 -2.04488925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53824100799997 meters 0.0660727282633436 Centerline is valid? [True, True] Translation: X:160.57, Y:-36.10, Z:-20.46 [[ 8.67159505e-01 4.90257640e-01 8.76461032e-02 1.60569610e+02] [-4.87935329e-01 8.71576410e-01 -4.76830721e-02 -3.61032250e+01] [-9.97672664e-02 -1.41680106e-03 9.95009792e-01 -2.04569949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59824100799997 meters 0.0657138697794138 Centerline is valid? [True, True] Translation: X:160.62, Y:-36.14, Z:-20.47 [[ 8.68754517e-01 4.87624506e-01 8.65328288e-02 1.60620510e+02] [-4.85345031e-01 8.73052797e-01 -4.71064074e-02 -3.61388216e+01] [-9.85179669e-02 -1.07437430e-03 9.95134692e-01 -2.04664190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65824100799998 meters 0.0649757958648088 Centerline is valid? [True, True] Translation: X:160.67, Y:-36.18, Z:-20.47 [[ 8.71726756e-01 4.82267093e-01 8.66655304e-02 1.60669835e+02] [-4.79951461e-01 8.76024116e-01 -4.72053180e-02 -3.61784487e+01] [-9.86866662e-02 -4.45109284e-04 9.95118457e-01 -2.04722410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71824100799998 meters 0.06496821381438417 Centerline is valid? [True, True] Translation: X:160.72, Y:-36.22, Z:-20.48 [[ 8.73779949e-01 4.78457776e-01 8.71019904e-02 1.60720918e+02] [-4.76098205e-01 8.78110560e-01 -4.74588548e-02 -3.62159794e+01] [-9.91922358e-02 -5.05560335e-07 9.95068289e-01 -2.04797885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77824100799998 meters 0.06515104624799661 Centerline is valid? [True, True] Translation: X:160.77, Y:-36.26, Z:-20.49 [[ 8.77151209e-01 4.72321484e-01 8.67073967e-02 1.60768004e+02] [-4.69949804e-01 8.81426057e-01 -4.72788256e-02 -3.62567888e+01] [-9.87569639e-02 7.22554849e-04 9.95111320e-01 -2.04883432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83824100799998 meters 0.06517513780170872 Centerline is valid? [True, True] Translation: X:160.82, Y:-36.29, Z:-20.50 [[ 8.77553223e-01 4.71657967e-01 8.62502341e-02 1.60821816e+02] [-4.69305593e-01 8.81781207e-01 -4.70548934e-02 -3.62892278e+01] [-9.82476509e-02 8.15456114e-04 9.95161662e-01 -2.04958126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89824100799999 meters 0.065041603344483 Centerline is valid? [True, True] Translation: X:160.88, Y:-36.32, Z:-20.50 [[ 8.78049646e-01 4.70769563e-01 8.60513671e-02 1.60875286e+02] [-4.68420961e-01 8.82255710e-01 -4.69751570e-02 -3.63218632e+01] [-9.80337841e-02 9.38255880e-04 9.95182645e-01 -2.05023294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.958241008 meters 0.06545714412090836 Centerline is valid? [True, True] Translation: X:160.93, Y:-36.35, Z:-20.51 [[ 8.79455296e-01 4.68192997e-01 8.57537191e-02 1.60930573e+02] [-4.65845741e-01 8.83625354e-01 -4.68399345e-02 -3.63514543e+01] [-9.77042897e-02 1.24562367e-03 9.95214711e-01 -2.05096766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.018241008 meters 0.06571837887683478 Centerline is valid? [True, True] Translation: X:160.98, Y:-36.38, Z:-20.52 [[ 8.80091307e-01 4.67129335e-01 8.50263246e-02 1.60984597e+02] [-4.64813795e-01 8.84187921e-01 -4.64742606e-02 -3.63817108e+01] [-9.68887396e-02 1.38018412e-03 9.95294262e-01 -2.05189837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.078241008 meters 0.06588898617324482 Centerline is valid? [True, True] Translation: X:161.04, Y:-36.41, Z:-20.53 [[ 8.80301327e-01 4.66538916e-01 8.60872379e-02 1.61038235e+02] [-4.64159354e-01 8.84499418e-01 -4.70836860e-02 -3.64138299e+01] [-9.81104837e-02 1.48963449e-03 9.95174414e-01 -2.05257823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.138241008 meters 0.0654263655322029 Centerline is valid? [True, True] Translation: X:161.09, Y:-36.44, Z:-20.53 [[ 8.80204556e-01 4.66732632e-01 8.60266807e-02 1.61094577e+02] [-4.64355259e-01 8.84397220e-01 -4.70717609e-02 -3.64414291e+01] [-9.80516841e-02 1.48583674e-03 9.95180215e-01 -2.05309276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.198241008 meters 0.06561893836770623 Centerline is valid? [True, True] Translation: X:161.15, Y:-36.47, Z:-20.54 [[ 8.78605112e-01 4.69690683e-01 8.62769893e-02 1.61149842e+02] [-4.67310637e-01 8.82830253e-01 -4.72388996e-02 -3.64672270e+01] [-9.83556073e-02 1.18618394e-03 9.95150626e-01 -2.05426217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25824100799997 meters 0.06510968762132291 Centerline is valid? [True, True] Translation: X:161.21, Y:-36.49, Z:-20.55 [[ 8.75940499e-01 4.74832009e-01 8.52220920e-02 1.61208648e+02] [-4.72531586e-01 8.80076231e-01 -4.66875600e-02 -3.64902585e+01] [-9.71706855e-02 6.25394379e-04 9.95267535e-01 -2.05502036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31824100799997 meters 0.06538961999218731 Centerline is valid? [True, True] Translation: X:161.27, Y:-36.51, Z:-20.56 [[ 8.70776522e-01 4.84330820e-01 8.46871084e-02 1.61267943e+02] [-4.82101035e-01 8.74884846e-01 -4.64230293e-02 -3.65090036e+01] [-9.65755716e-02 -4.03658676e-04 9.95325573e-01 -2.05601267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37824100799997 meters 0.06579238201390715 Centerline is valid? [True, True] Translation: X:161.33, Y:-36.53, Z:-20.56 [[ 8.66614489e-01 4.91603002e-01 8.54740711e-02 1.61327634e+02] [-4.89364145e-01 8.70818606e-01 -4.68795122e-02 -3.65325291e+01] [-9.74785203e-02 -1.20148122e-03 9.95236904e-01 -2.05643664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43824100799998 meters 0.06601243278543054 Centerline is valid? [True, True] Translation: X:161.38, Y:-36.56, Z:-20.57 [[ 8.66755720e-01 4.91219326e-01 8.62443938e-02 1.61381135e+02] [-4.88934419e-01 8.71035177e-01 -4.73376613e-02 -3.65618723e+01] [-9.83750749e-02 -1.13766381e-03 9.95148758e-01 -2.05748927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49824100799998 meters 0.06569582269504316 Centerline is valid? [True, True] Translation: X:161.43, Y:-36.60, Z:-20.58 [[ 8.67341357e-01 4.90227615e-01 8.59991603e-02 1.61432475e+02] [-4.87948161e-01 8.71593878e-01 -4.72303275e-02 -3.65979973e+01] [-9.81099525e-02 -9.98315722e-04 9.95175080e-01 -2.05802046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55824100799998 meters 0.06546232630185662 Centerline is valid? [True, True] Translation: X:161.49, Y:-36.64, Z:-20.59 [[ 8.68243178e-01 4.88638300e-01 8.59441448e-02 1.61487460e+02] [-4.86351495e-01 8.72486091e-01 -4.72254661e-02 -3.66352950e+01] [-9.80612424e-02 -7.95874592e-04 9.95180064e-01 -2.05878788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61824100799998 meters 0.06529210778455509 Centerline is valid? [True, True] Translation: X:161.54, Y:-36.67, Z:-20.60 [[ 8.70013028e-01 4.85788470e-01 8.41836854e-02 1.61538201e+02] [-4.83576456e-01 8.74076304e-01 -4.63079439e-02 -3.66703213e+01] [-9.60788298e-02 -4.20733763e-04 9.95373639e-01 -2.05981461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.678241008 meters 0.06551401638568617 Centerline is valid? [True, True] Translation: X:161.59, Y:-36.70, Z:-20.61 [[ 8.70236825e-01 4.85572448e-01 8.31099627e-02 1.61591510e+02] [-4.83413208e-01 8.74196352e-01 -4.57428606e-02 -3.66990927e+01] [-9.48658990e-02 -3.69331877e-04 9.95489992e-01 -2.06088019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.738241008 meters 0.06555714462705738 Centerline is valid? [True, True] Translation: X:161.65, Y:-36.73, Z:-20.62 [[ 8.69450993e-01 4.86825961e-01 8.39967559e-02 1.61646701e+02] [-4.84623643e-01 8.73498852e-01 -4.62566743e-02 -3.67272505e+01] [-9.58900198e-02 -4.88902489e-04 9.95391815e-01 -2.06173210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.798241008 meters 0.06535571186510364 Centerline is valid? [True, True] Translation: X:161.70, Y:-36.76, Z:-20.62 [[ 8.69500463e-01 4.86552934e-01 8.50599039e-02 1.61700110e+02] [-4.84290374e-01 8.73650988e-01 -4.68698740e-02 -3.67583318e+01] [-9.71173438e-02 -4.40315529e-04 9.95272841e-01 -2.06235131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.858241008 meters 0.06546997524207351 Centerline is valid? [True, True] Translation: X:161.75, Y:-36.79, Z:-20.63 [[ 8.69578674e-01 4.86329296e-01 8.55379820e-02 1.61753308e+02] [-4.84037617e-01 8.73775520e-01 -4.71585161e-02 -3.67877697e+01] [-9.76755626e-02 -3.95561117e-04 9.95218231e-01 -2.06321934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.918241008 meters 0.06570266331428372 Centerline is valid? [True, True] Translation: X:161.81, Y:-36.82, Z:-20.64 [[ 8.69564792e-01 4.86565107e-01 8.43295291e-02 1.61806293e+02] [-4.84336914e-01 8.73644229e-01 -4.65136039e-02 -3.68182696e+01] [-9.63059031e-02 -3.97311552e-04 9.95351704e-01 -2.06411076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.978241008 meters 0.06611037606622895 Centerline is valid? [True, True] Translation: X:161.86, Y:-36.85, Z:-20.65 [[ 8.69521574e-01 4.87007008e-01 8.21973658e-02 1.61858138e+02] [-4.84890095e-01 8.73397963e-01 -4.53607052e-02 -3.68485115e+01] [-9.38819932e-02 -4.14576793e-04 9.95583246e-01 -2.06521588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03824100799997 meters 0.06633104645164346 Centerline is valid? [True, True] Translation: X:161.91, Y:-36.88, Z:-20.66 [[ 8.69792363e-01 4.86699711e-01 8.11457774e-02 1.61911814e+02] [-4.84633695e-01 8.73569265e-01 -4.47986689e-02 -3.68780889e+01] [-9.26899564e-02 -3.60437852e-04 9.95694954e-01 -2.06634415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09824100799997 meters 0.06633396844131727 Centerline is valid? [True, True] Translation: X:161.97, Y:-36.91, Z:-20.67 [[ 8.70171424e-01 4.86193861e-01 8.01075695e-02 1.61965875e+02] [-4.84176204e-01 8.73850931e-01 -4.42487729e-02 -3.69088870e+01] [-9.15155559e-02 -2.82161233e-04 9.95803607e-01 -2.06690976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15824100799998 meters 0.06599945371141587 Centerline is valid? [True, True] Translation: X:162.02, Y:-36.94, Z:-20.67 [[ 8.70109237e-01 4.86086529e-01 8.14235920e-02 1.62018820e+02] [-4.83998878e-01 8.73910649e-01 -4.50029290e-02 -3.69400352e+01] [-9.30322617e-02 -2.51462880e-04 9.95663063e-01 -2.06745941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21824100799998 meters 0.06570347187020499 Centerline is valid? [True, True] Translation: X:162.07, Y:-36.97, Z:-20.68 [[ 8.70532700e-01 4.85003188e-01 8.33350253e-02 1.62072943e+02] [-4.82809011e-01 8.74512375e-01 -4.60821609e-02 -3.69722211e+01] [-9.52275058e-02 -1.18873223e-04 9.95455528e-01 -2.06806174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27824100799998 meters 0.06574630122788243 Centerline is valid? [True, True] Translation: X:162.13, Y:-37.00, Z:-20.69 [[ 8.70852860e-01 4.84330054e-01 8.39028860e-02 1.62126688e+02] [-4.82099534e-01 8.74885363e-01 -4.64288815e-02 -3.70026968e+01] [-9.58923095e-02 -1.68180318e-05 9.95391714e-01 -2.06885706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33824100799998 meters 0.0659623572316301 Centerline is valid? [True, True] Translation: X:162.18, Y:-37.03, Z:-20.70 [[ 8.70927617e-01 4.84259793e-01 8.35316673e-02 1.62180856e+02] [-4.82046584e-01 8.74924256e-01 -4.62454122e-02 -3.70329185e+01] [-9.54786756e-02 1.02517990e-05 9.95431475e-01 -2.06984373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39824100799999 meters 0.06597701103954001 Centerline is valid? [True, True] Translation: X:162.23, Y:-37.06, Z:-20.71 [[ 8.70616888e-01 4.84702607e-01 8.41998616e-02 1.62234759e+02] [-4.82453000e-01 8.74679017e-01 -4.66446219e-02 -3.70636712e+01] [-9.62566220e-02 -1.28802516e-05 9.95356550e-01 -2.07059828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.458241008 meters 0.066083379115691 Centerline is valid? [True, True] Translation: X:162.29, Y:-37.09, Z:-20.71 [[ 8.69745105e-01 4.86404612e-01 8.33906792e-02 1.62288906e+02] [-4.84203373e-01 8.73733668e-01 -4.62230581e-02 -3.70921954e+01] [-9.53443526e-02 -1.75769656e-04 9.95444335e-01 -2.07142864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.518241008 meters 0.06603464682500905 Centerline is valid? [True, True] Translation: X:162.34, Y:-37.12, Z:-20.72 [[ 8.69512285e-01 4.86649922e-01 8.43815058e-02 1.62343449e+02] [-4.84394844e-01 8.73597058e-01 -4.67954676e-02 -3.71234898e+01] [-9.64884459e-02 -1.84732406e-04 9.95334087e-01 -2.07206326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.578241008 meters 0.0652605006042427 Centerline is valid? [True, True] Translation: X:162.39, Y:-37.16, Z:-20.72 [[ 8.71440080e-01 4.82745776e-01 8.68832741e-02 1.62394810e+02] [-4.80332413e-01 8.75760491e-01 -4.82113745e-02 -3.71603316e+01] [-9.93627762e-02 2.80471345e-04 9.95051235e-01 -2.07212967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.638241008 meters 0.06551648051981561 Centerline is valid? [True, True] Translation: X:162.45, Y:-37.19, Z:-20.73 [[ 8.72595869e-01 4.80622766e-01 8.70528893e-02 1.62449405e+02] [-4.78187366e-01 8.76927285e-01 -4.83257662e-02 -3.71935205e+01] [-9.95655173e-02 5.41272205e-04 9.95030861e-01 -2.07293027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.698241008 meters 0.06568913944098453 Centerline is valid? [True, True] Translation: X:162.50, Y:-37.22, Z:-20.74 [[ 8.73015203e-01 4.80006621e-01 8.62444131e-02 1.62503539e+02] [-4.77609842e-01 8.77264634e-01 -4.79124284e-02 -3.72228506e+01] [-9.86574563e-02 6.37097855e-04 9.95121249e-01 -2.07383267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75824100799997 meters 0.06577784138101486 Centerline is valid? [True, True] Translation: X:162.56, Y:-37.25, Z:-20.75 [[ 8.72592095e-01 4.81213524e-01 8.37650349e-02 1.62559100e+02] [-4.78956010e-01 8.76603266e-01 -4.65602233e-02 -3.72504666e+01] [-9.58341123e-02 5.08315847e-04 9.95397189e-01 -2.07465916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81824100799997 meters 0.06571763220845218 Centerline is valid? [True, True] Translation: X:162.62, Y:-37.28, Z:-20.75 [[ 8.72555421e-01 4.81413998e-01 8.29915703e-02 1.62615778e+02] [-4.79196636e-01 8.76493189e-01 -4.61548975e-02 -3.72794692e+01] [-9.49611598e-02 5.03424761e-04 9.95480851e-01 -2.07538888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87824100799997 meters 0.06627635209326425 Centerline is valid? [True, True] Translation: X:162.67, Y:-37.31, Z:-20.76 [[ 8.73046798e-01 4.80707290e-01 8.19133037e-02 1.62668355e+02] [-4.78541025e-01 8.76880915e-01 -4.55889167e-02 -3.73102193e+01] [-9.37431372e-02 6.02381447e-04 9.95596234e-01 -2.07648753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93824100799998 meters 0.0663913565536652 Centerline is valid? [True, True] Translation: X:162.72, Y:-37.34, Z:-20.77 [[ 8.73607339e-01 4.79766837e-01 8.14493703e-02 1.62722071e+02] [-4.77618717e-01 8.77395727e-01 -4.53552503e-02 -3.73417139e+01] [-9.32232744e-02 7.20935749e-04 9.95644968e-01 -2.07733367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99824100799998 meters 0.06667457576836466 Centerline is valid? [True, True] Translation: X:162.77, Y:-37.37, Z:-20.78 [[ 8.74445214e-01 4.78614151e-01 7.92089804e-02 1.62774999e+02] [-4.76575865e-01 8.78024934e-01 -4.41322974e-02 -3.73742133e+01] [-9.06698019e-02 8.42187855e-04 9.95880654e-01 -2.07814314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05824100799998 meters 0.06661512831110387 Centerline is valid? [True, True] Translation: X:162.83, Y:-37.40, Z:-20.79 [[ 8.74362898e-01 4.78631246e-01 8.00103291e-02 1.62828978e+02] [-4.76548859e-01 8.78015584e-01 -4.46073797e-02 -3.74045465e+01] [-9.16008015e-02 8.74206710e-04 9.95795425e-01 -2.07881920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11824100799998 meters 0.06623990815591854 Centerline is valid? [True, True] Translation: X:162.89, Y:-37.44, Z:-20.79 [[ 8.73445248e-01 4.80146287e-01 8.09502455e-02 1.62886712e+02] [-4.78018963e-01 8.77188116e-01 -4.51539652e-02 -3.74353997e+01] [-9.26891020e-02 7.43763899e-04 9.95694821e-01 -2.07930662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.178241008 meters 0.06622346344087167 Centerline is valid? [True, True] Translation: X:162.94, Y:-37.46, Z:-20.80 [[ 8.73060638e-01 4.80605732e-01 8.23605052e-02 1.62939703e+02] [-4.78401181e-01 8.76936469e-01 -4.59862910e-02 -3.74649873e+01] [-9.43262057e-02 7.47457627e-04 9.95541063e-01 -2.08017492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.238241008 meters 0.06583185971640017 Centerline is valid? [True, True] Translation: X:162.99, Y:-37.50, Z:-20.81 [[ 8.73526206e-01 4.79241830e-01 8.53184363e-02 1.62994183e+02] [-4.76866475e-01 8.77682381e-01 -4.76655250e-02 -3.74971105e+01] [-9.77258018e-02 9.51583169e-04 9.95212923e-01 -2.08054727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.298241008 meters 0.06602663130352679 Centerline is valid? [True, True] Translation: X:163.04, Y:-37.53, Z:-20.81 [[ 8.74810609e-01 4.76792324e-01 8.58806057e-02 1.63044650e+02] [-4.74371431e-01 8.79015078e-01 -4.80024753e-02 -3.75318170e+01] [-9.83775591e-02 1.25376882e-03 9.95148373e-01 -2.08106844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.358241008 meters 0.06632905079275694 Centerline is valid? [True, True] Translation: X:163.10, Y:-37.56, Z:-20.82 [[ 8.74669864e-01 4.77193950e-01 8.50797518e-02 1.63098180e+02] [-4.74818864e-01 8.78797176e-01 -4.75664801e-02 -3.75625073e+01] [-9.74662821e-02 1.20749555e-03 9.95238095e-01 -2.08201496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.418241008 meters 0.06636082000384692 Centerline is valid? [True, True] Translation: X:163.15, Y:-37.59, Z:-20.83 [[ 8.74169894e-01 4.78426770e-01 8.32755818e-02 1.63152348e+02] [-4.76154616e-01 8.78126801e-01 -4.65843548e-02 -3.75933743e+01] [-9.54137227e-02 1.07058774e-03 9.95437128e-01 -2.08282184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.478241008 meters 0.06635709347499648 Centerline is valid? [True, True] Translation: X:163.21, Y:-37.62, Z:-20.84 [[ 8.73761941e-01 4.79369036e-01 8.21303746e-02 1.63208425e+02] [-4.77160951e-01 8.77612885e-01 -4.59679440e-02 -3.76231881e+01] [-9.41142839e-02 9.75632335e-04 9.95560922e-01 -2.08396866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53824100799997 meters 0.06633385443411345 Centerline is valid? [True, True] Translation: X:163.26, Y:-37.65, Z:-20.85 [[ 8.72844756e-01 4.81203422e-01 8.11498538e-02 1.63262983e+02] [-4.79052423e-01 8.76608594e-01 -4.54549120e-02 -3.76512093e+01] [-9.30097184e-02 8.00047477e-04 9.95664879e-01 -2.08502889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59824100799997 meters 0.06627141226281945 Centerline is valid? [True, True] Translation: X:163.32, Y:-37.68, Z:-20.86 [[ 8.71964225e-01 4.82759523e-01 8.13734147e-02 1.63316038e+02] [-4.80601163e-01 8.75752711e-01 -4.56038496e-02 -3.76810353e+01] [-9.32786812e-02 6.56767664e-04 9.95639823e-01 -2.08584091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65824100799998 meters 0.06564755199765757 Centerline is valid? [True, True] Translation: X:163.37, Y:-37.71, Z:-20.86 [[ 8.70155869e-01 4.85806355e-01 8.25890398e-02 1.63371826e+02] [-4.83594599e-01 8.74066394e-01 -4.63055473e-02 -3.77101753e+01] [-9.46838333e-02 3.53430146e-04 9.95507331e-01 -2.08627538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71824100799998 meters 0.06529279571771765 Centerline is valid? [True, True] Translation: X:163.43, Y:-37.74, Z:-20.87 [[ 8.69416029e-01 4.86902373e-01 8.39157189e-02 1.63426380e+02] [-4.84621225e-01 8.73456359e-01 -4.70771496e-02 -3.77401397e+01] [-9.62186941e-02 2.62290048e-04 9.95360183e-01 -2.08679169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77824100799998 meters 0.06570080672779835 Centerline is valid? [True, True] Translation: X:163.48, Y:-37.77, Z:-20.88 [[ 8.69442604e-01 4.87145129e-01 8.22142389e-02 1.63479500e+02] [-4.84954611e-01 8.73320995e-01 -4.61461282e-02 -3.77698350e+01] [-9.42792825e-02 2.51235597e-04 9.95545757e-01 -2.08773384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83824100799998 meters 0.06585502055562409 Centerline is valid? [True, True] Translation: X:163.53, Y:-37.80, Z:-20.89 [[ 8.69737601e-01 4.86728568e-01 8.15586104e-02 1.63531656e+02] [-4.84568861e-01 8.73553205e-01 -4.58019390e-02 -3.78009401e+01] [-9.35388977e-02 3.14905592e-04 9.95615576e-01 -2.08870400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89824100799999 meters 0.06597369702703519 Centerline is valid? [True, True] Translation: X:163.58, Y:-37.83, Z:-20.90 [[ 8.69807414e-01 4.86465053e-01 8.23821314e-02 1.63583920e+02] [-4.84257736e-01 8.73699958e-01 -4.62907097e-02 -3.78317013e+01] [-9.44960772e-02 3.69818079e-04 9.95525165e-01 -2.08967946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.958241008 meters 0.06605183021408101 Centerline is valid? [True, True] Translation: X:163.64, Y:-37.86, Z:-20.91 [[ 8.68846022e-01 4.88295458e-01 8.16953860e-02 1.63637740e+02] [-4.86130665e-01 8.72678354e-01 -4.59289299e-02 -3.78594168e+01] [-9.37206829e-02 1.90535713e-04 9.95598512e-01 -2.09058522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.018241008 meters 0.06541968516538518 Centerline is valid? [True, True] Translation: X:163.69, Y:-37.89, Z:-20.91 [[ 8.67488332e-01 4.90664497e-01 8.19288993e-02 1.63694722e+02] [-4.88496044e-01 8.71348581e-01 -4.60789111e-02 -3.78859771e+01] [-9.39979159e-02 -4.90254840e-05 9.95572393e-01 -2.09086204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.078241008 meters 0.06528410485803081 Centerline is valid? [True, True] Translation: X:163.75, Y:-37.92, Z:-20.92 [[ 8.67641627e-01 4.90124587e-01 8.35218370e-02 1.63748813e+02] [-4.87865496e-01 8.71652390e-01 -4.70039285e-02 -3.79155449e+01] [-9.58397898e-02 3.51425102e-05 9.95396772e-01 -2.09151663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.138241008 meters 0.06507908799571292 Centerline is valid? [True, True] Translation: X:163.80, Y:-37.95, Z:-20.92 [[ 8.69028589e-01 4.87588380e-01 8.39457139e-02 1.63802878e+02] [-4.85292155e-01 8.73073570e-01 -4.72659171e-02 -3.79476097e+01] [-9.63370960e-02 3.37236843e-04 9.95348708e-01 -2.09220515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.198241008 meters 0.06508162663397228 Centerline is valid? [True, True] Translation: X:163.86, Y:-37.98, Z:-20.93 [[ 8.68659041e-01 4.88244890e-01 8.39547391e-02 1.63857941e+02] [-4.85948474e-01 8.72706620e-01 -4.72994410e-02 -3.79770383e+01] [-9.63615669e-02 2.89409726e-04 9.95346354e-01 -2.09284498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25824100799997 meters 0.06520807581995501 Centerline is valid? [True, True] Translation: X:163.91, Y:-38.00, Z:-20.94 [[ 8.67237323e-01 4.90982084e-01 8.26802148e-02 1.63913355e+02] [-4.88764742e-01 8.71169669e-01 -4.66093761e-02 -3.80037978e+01] [-9.49128640e-02 1.02167109e-05 9.95485584e-01 -2.09380189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31824100799997 meters 0.06525704967794445 Centerline is valid? [True, True] Translation: X:163.97, Y:-38.03, Z:-20.95 [[ 8.66794302e-01 4.91846981e-01 8.21838544e-02 1.63968574e+02] [-4.89657502e-01 8.70681655e-01 -4.63571619e-02 -3.80327885e+01] [-9.43566044e-02 -5.98170647e-05 9.95538461e-01 -2.09461387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37824100799997 meters 0.06611686916099459 Centerline is valid? [True, True] Translation: X:164.02, Y:-38.06, Z:-20.96 [[ 8.65866751e-01 4.93662118e-01 8.10708497e-02 1.64022439e+02] [-4.91536691e-01 8.69653760e-01 -4.57604516e-02 -3.80594631e+01] [-9.30937707e-02 -2.26843712e-04 9.95657320e-01 -2.09611745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43824100799998 meters 0.06587585990494947 Centerline is valid? [True, True] Translation: X:164.08, Y:-38.09, Z:-20.96 [[ 8.65149113e-01 4.95112692e-01 7.98776200e-02 1.64077066e+02] [-4.93054615e-01 8.68828687e-01 -4.50983273e-02 -3.80895265e+01] [-9.17287219e-02 -3.67251358e-04 9.95783966e-01 -2.09641446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49824100799998 meters 0.0654969313450621 Centerline is valid? [True, True] Translation: X:164.13, Y:-38.12, Z:-20.97 [[ 8.65249757e-01 4.94765424e-01 8.09322743e-02 1.64130527e+02] [-4.92648489e-01 8.69026512e-01 -4.57207619e-02 -3.81227378e+01] [-9.29533442e-02 -3.11284530e-04 9.95670417e-01 -2.09684283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55824100799998 meters 0.06524393928759933 Centerline is valid? [True, True] Translation: X:164.18, Y:-38.16, Z:-20.98 [[ 8.65964952e-01 4.93313140e-01 8.21392042e-02 1.64183136e+02] [-4.91123311e-01 8.69851785e-01 -4.64302107e-02 -3.81557259e+01] [-9.43535664e-02 -1.33542816e-04 9.95538742e-01 -2.09752741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61824100799998 meters 0.0649309039871453 Centerline is valid? [True, True] Translation: X:164.23, Y:-38.19, Z:-20.98 [[ 8.67288401e-01 4.90670675e-01 8.39828432e-02 1.64234632e+02] [-4.88366363e-01 8.71345084e-01 -4.74977846e-02 -3.81916549e+01] [-9.64838076e-02 1.79882031e-04 9.95334538e-01 -2.09785544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.678241008 meters 0.06494547328196044 Centerline is valid? [True, True] Translation: X:164.29, Y:-38.23, Z:-20.99 [[ 8.68055263e-01 4.89131109e-01 8.50342269e-02 1.64287292e+02] [-4.86758461e-01 8.72210189e-01 -4.81205469e-02 -3.82250720e+01] [-9.77049756e-02 3.80164578e-04 9.95215350e-01 -2.09856781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.738241008 meters 0.0652899618009561 Centerline is valid? [True, True] Translation: X:164.34, Y:-38.26, Z:-21.00 [[ 8.69384234e-01 4.86930477e-01 8.40818953e-02 1.64339468e+02] [-4.84597679e-01 8.73440492e-01 -4.76108799e-02 -3.82577727e+01] [-9.66237205e-02 6.46256981e-04 9.95320772e-01 -2.09959799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.798241008 meters 0.06581759270208211 Centerline is valid? [True, True] Translation: X:164.39, Y:-38.29, Z:-21.01 [[ 8.70300212e-01 4.85706642e-01 8.16492391e-02 1.64391443e+02] [-4.83499405e-01 8.74121529e-01 -4.62588256e-02 -3.82896310e+01] [-9.38395765e-02 7.81707259e-04 9.95587024e-01 -2.10081990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.858241008 meters 0.06583989482171523 Centerline is valid? [True, True] Translation: X:164.45, Y:-38.32, Z:-21.01 [[ 8.71399850e-01 4.83789539e-01 8.13018093e-02 1.64445919e+02] [-4.81590523e-01 8.75183793e-01 -4.60857511e-02 -3.83243962e+01] [-9.34498301e-02 1.00493574e-03 9.95623483e-01 -2.10134695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.918241008 meters 0.0658592410448894 Centerline is valid? [True, True] Translation: X:164.50, Y:-38.36, Z:-21.02 [[ 8.71905027e-01 4.82809171e-01 8.17124766e-02 1.64500882e+02] [-4.80580083e-01 8.75724835e-01 -4.63551218e-02 -3.83558373e+01] [-9.39383230e-02 1.14787491e-03 9.95577357e-01 -2.10217878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97824100799997 meters 0.06569077336644374 Centerline is valid? [True, True] Translation: X:164.56, Y:-38.38, Z:-21.03 [[ 8.71363380e-01 4.83821182e-01 8.15041272e-02 1.64555986e+02] [-4.81604810e-01 8.75166230e-01 -4.62696158e-02 -3.83849200e+01] [-9.37158799e-02 1.06486910e-03 9.95598413e-01 -2.10294324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03824100799997 meters 0.06557307266531427 Centerline is valid? [True, True] Translation: X:164.61, Y:-38.41, Z:-21.04 [[ 8.69522987e-01 4.87252562e-01 8.07137913e-02 1.64611389e+02] [-4.85091181e-01 8.73260804e-01 -4.58488145e-02 -3.84128669e+01] [-9.28241427e-02 7.13049798e-04 9.95682264e-01 -2.10365896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09824100799997 meters 0.0655891248675042 Centerline is valid? [True, True] Translation: X:164.67, Y:-38.44, Z:-21.05 [[ 8.68187011e-01 4.89765240e-01 7.98831911e-02 1.64667406e+02] [-4.87656366e-01 8.71854228e-01 -4.54034524e-02 -3.84416164e+01] [-9.18835307e-02 4.63140937e-04 9.95769653e-01 -2.10453035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15824100799998 meters 0.06536098526634036 Centerline is valid? [True, True] Translation: X:164.72, Y:-38.47, Z:-21.05 [[ 8.65577875e-01 4.94233009e-01 8.06763630e-02 1.64721643e+02] [-4.92097968e-01 8.69329473e-01 -4.58896143e-02 -3.84697206e+01] [-9.28145023e-02 2.03605391e-05 9.95683417e-01 -2.10524523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21824100799998 meters 0.06520810523504779 Centerline is valid? [True, True] Translation: X:164.78, Y:-38.50, Z:-21.06 [[ 8.63079108e-01 4.98487982e-01 8.12661406e-02 1.64777737e+02] [-4.96338035e-01 8.66896509e-01 -4.62492988e-02 -3.84965733e+01] [-9.35040531e-02 -4.18673046e-04 9.95618811e-01 -2.10599813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27824100799998 meters 0.06576625296142688 Centerline is valid? [True, True] Translation: X:164.83, Y:-38.52, Z:-21.07 [[ 8.59873557e-01 5.03695251e-01 8.31177490e-02 1.64834764e+02] [-5.01467319e-01 8.63880856e-01 -4.73328158e-02 -3.85203073e+01] [-9.56451467e-02 -9.80598092e-04 9.95415011e-01 -2.10693958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33824100799998 meters 0.06567072616645972 Centerline is valid? [True, True] Translation: X:164.89, Y:-38.55, Z:-21.07 [[ 8.58954111e-01 5.05124617e-01 8.39461481e-02 1.64889262e+02] [-5.02856150e-01 8.63045682e-01 -4.78314064e-02 -3.85506134e+01] [-9.66101815e-02 -1.12785367e-03 9.95321657e-01 -2.10737654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39824100799999 meters 0.06587079695074383 Centerline is valid? [True, True] Translation: X:164.94, Y:-38.58, Z:-21.08 [[ 8.58720501e-01 5.05670761e-01 8.30432614e-02 1.64943875e+02] [-5.03450712e-01 8.62725771e-01 -4.73457923e-02 -3.85797269e+01] [-9.55849445e-02 -1.15138662e-03 9.95420611e-01 -2.10837078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.458241008 meters 0.06569687215936529 Centerline is valid? [True, True] Translation: X:165.00, Y:-38.61, Z:-21.09 [[ 8.58731575e-01 5.05776064e-01 8.22839920e-02 1.64997070e+02] [-5.03594405e-01 8.62664071e-01 -4.69401421e-02 -3.86122157e+01] [-9.47246438e-02 -1.12877579e-03 9.95502872e-01 -2.10904628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.518241008 meters 0.06616714705029196 Centerline is valid? [True, True] Translation: X:165.05, Y:-38.64, Z:-21.10 [[ 8.58706948e-01 5.05994809e-01 8.11888544e-02 1.65049200e+02] [-5.03869247e-01 8.62535805e-01 -4.63440004e-02 -3.86427834e+01] [-9.34781175e-02 -1.11265182e-03 9.95620713e-01 -2.11012769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.578241008 meters 0.06627305402976835 Centerline is valid? [True, True] Translation: X:165.10, Y:-38.67, Z:-21.11 [[ 8.58962206e-01 5.05612561e-01 8.08694462e-02 1.65103022e+02] [-5.03499702e-01 8.62760016e-01 -4.61866203e-02 -3.86728500e+01] [-9.31234601e-02 -1.04518081e-03 9.95654021e-01 -2.11113470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.638241008 meters 0.06588478913659195 Centerline is valid? [True, True] Translation: X:165.16, Y:-38.70, Z:-21.12 [[ 8.58837105e-01 5.05722813e-01 8.15062209e-02 1.65156707e+02] [-5.03574307e-01 8.62695400e-01 -4.65785878e-02 -3.87047755e+01] [-9.38708962e-02 -1.04101919e-03 9.95583834e-01 -2.11172761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.698241008 meters 0.06568773826016511 Centerline is valid? [True, True] Translation: X:165.21, Y:-38.74, Z:-21.12 [[ 8.58915628e-01 5.05333162e-01 8.30803214e-02 1.65208562e+02] [-5.03095813e-01 8.62923760e-01 -4.75098725e-02 -3.87356328e+01] [-9.57002973e-02 -9.90389863e-04 9.95409701e-01 -2.11237482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75824100799997 meters 0.06522547862495502 Centerline is valid? [True, True] Translation: X:165.26, Y:-38.77, Z:-21.13 [[ 8.59201327e-01 5.04696198e-01 8.39930229e-02 1.65261450e+02] [-5.02404071e-01 8.63296542e-01 -4.80544467e-02 -3.87693483e+01] [-9.67637828e-02 -9.09992292e-04 9.95306959e-01 -2.11282384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81824100799997 meters 0.0651167111620438 Centerline is valid? [True, True] Translation: X:165.31, Y:-38.80, Z:-21.14 [[ 8.59730710e-01 5.03900779e-01 8.33493354e-02 1.65313898e+02] [-5.01637334e-01 8.63761183e-01 -4.77137798e-02 -3.88024864e+01] [-9.60369313e-02 -7.90136633e-04 9.95377458e-01 -2.11350500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87824100799997 meters 0.0653894744920655 Centerline is valid? [True, True] Translation: X:165.37, Y:-38.83, Z:-21.15 [[ 8.60591942e-01 5.02769021e-01 8.12700506e-02 1.65366528e+02] [-5.00609561e-01 8.64420572e-01 -4.65525759e-02 -3.88340077e+01] [-9.36566967e-02 -6.21792665e-04 9.95604357e-01 -2.11452531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93824100799998 meters 0.06549390037198072 Centerline is valid? [True, True] Translation: X:165.42, Y:-38.87, Z:-21.15 [[ 8.61877379e-01 5.00764329e-01 8.00154346e-02 1.65418313e+02] [-4.98660220e-01 8.65583586e-01 -4.58589155e-02 -3.88658618e+01] [-9.22245559e-02 -3.75752318e-04 9.95738163e-01 -2.11545269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99824100799998 meters 0.06525749598845879 Centerline is valid? [True, True] Translation: X:165.47, Y:-38.90, Z:-21.16 [[ 8.63631203e-01 4.97550674e-01 8.11447646e-02 1.65467567e+02] [-4.95369942e-01 8.67434912e-01 -4.65327239e-02 -3.89025921e+01] [-9.35401899e-02 -9.56498420e-06 9.95615504e-01 -2.11606611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05824100799998 meters 0.06484728276564328 Centerline is valid? [True, True] Translation: X:165.52, Y:-38.94, Z:-21.16 [[ 8.65897906e-01 4.93012001e-01 8.46166811e-02 1.65519492e+02] [-4.90615957e-01 8.70022351e-01 -4.85498907e-02 -3.89380590e+01] [-9.75540826e-02 5.24954804e-04 9.95230087e-01 -2.11612561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11824100799998 meters 0.06470468782434566 Centerline is valid? [True, True] Translation: X:165.57, Y:-38.97, Z:-21.17 [[ 8.67229254e-01 4.90483862e-01 8.56679746e-02 1.65573316e+02] [-4.88012677e-01 8.71449866e-01 -4.91808781e-02 -3.89712538e+01] [-9.87777720e-02 8.44038622e-04 9.95109160e-01 -2.11653127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.178241008 meters 0.06517400574114629 Centerline is valid? [True, True] Translation: X:165.63, Y:-39.00, Z:-21.18 [[ 8.67296813e-01 4.90547436e-01 8.46135383e-02 1.65626624e+02] [-4.88134157e-01 8.71414072e-01 -4.86061730e-02 -3.90005631e+01] [-9.75770615e-02 8.53220761e-04 9.95227607e-01 -2.11769639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.238241008 meters 0.06502658939775686 Centerline is valid? [True, True] Translation: X:165.68, Y:-39.03, Z:-21.18 [[ 8.67032510e-01 4.90975804e-01 8.48374097e-02 1.65682233e+02] [-4.88549170e-01 8.71172813e-01 -4.87610304e-02 -3.90295514e+01] [-9.78485310e-02 8.30152461e-04 9.95200973e-01 -2.11830888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.298241008 meters 0.06506637187379645 Centerline is valid? [True, True] Translation: X:165.74, Y:-39.06, Z:-21.19 [[ 8.65934384e-01 4.92701209e-01 8.60416236e-02 1.65739270e+02] [-4.90210518e-01 8.70198293e-01 -4.94831240e-02 -3.90568036e+01] [-9.92536690e-02 6.70629702e-04 9.95061937e-01 -2.11896166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.358241008 meters 0.06491016505847048 Centerline is valid? [True, True] Translation: X:165.80, Y:-39.08, Z:-21.20 [[ 8.63232151e-01 4.97486800e-01 8.56570942e-02 1.65801295e+02] [-4.95038954e-01 8.67471534e-01 -4.92906769e-02 -3.90808323e+01] [-9.88265520e-02 1.45698665e-04 9.95104664e-01 -2.11962783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.418241008 meters 0.06552547377947822 Centerline is valid? [True, True] Translation: X:165.86, Y:-39.10, Z:-21.20 [[ 8.58779430e-01 5.05386626e-01 8.41561032e-02 1.65860937e+02] [-5.03056854e-01 8.62892729e-01 -4.84761871e-02 -3.91007541e+01] [-9.71169062e-02 -7.04952176e-04 9.95272731e-01 -2.12042346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47824100799997 meters 0.06617356015607584 Centerline is valid? [True, True] Translation: X:165.92, Y:-39.12, Z:-21.21 [[ 8.56249744e-01 5.09843539e-01 8.30418088e-02 1.65919047e+02] [-5.07593631e-01 8.60266350e-01 -4.78593110e-02 -3.91244261e+01] [-9.58388342e-02 -1.17197049e-03 9.95396175e-01 -2.12147901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53824100799997 meters 0.06730873491913143 Centerline is valid? [True, True] Translation: X:165.98, Y:-39.15, Z:-21.22 [[ 8.52946904e-01 5.15411654e-01 8.26583694e-02 1.65977301e+02] [-5.13205712e-01 8.56940907e-01 -4.76673717e-02 -3.91471436e+01] [-9.54016569e-02 -1.76301021e-03 9.95437299e-01 -2.12228915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59824100799997 meters 0.06794439125076301 Centerline is valid? [True, True] Translation: X:166.03, Y:-39.17, Z:-21.23 [[ 8.51228260e-01 5.18156599e-01 8.32117051e-02 1.66034166e+02] [-5.15931352e-01 8.55283282e-01 -4.80140291e-02 -3.91741314e+01] [-9.60483662e-02 -2.06062907e-03 9.95374535e-01 -2.12300687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65824100799998 meters 0.06898617542498879 Centerline is valid? [True, True] Translation: X:166.09, Y:-39.20, Z:-21.24 [[ 8.49784766e-01 5.20668558e-01 8.22806503e-02 1.66090137e+02] [-5.18501944e-01 8.53755816e-01 -4.75051652e-02 -3.92010413e+01] [-9.49820295e-02 -2.29351153e-03 9.95476345e-01 -2.12371505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71824100799998 meters 0.06898639131439169 Centerline is valid? [True, True] Translation: X:166.14, Y:-39.23, Z:-21.24 [[ 8.48997634e-01 5.21932039e-01 8.24012403e-02 1.66144444e+02] [-5.19762377e-01 8.52983654e-01 -4.76020620e-02 -3.92317368e+01] [-9.51319524e-02 -2.41502659e-03 9.95461742e-01 -2.12419894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77824100799998 meters 0.07010838527069689 Centerline is valid? [True, True] Translation: X:166.20, Y:-39.26, Z:-21.25 [[ 8.48490819e-01 5.22560383e-01 8.36299933e-02 1.66199235e+02] [-5.20325440e-01 8.52598624e-01 -4.83427597e-02 -3.92583479e+01] [-9.65648283e-02 -2.49642520e-03 9.95323566e-01 -2.12511904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83824100799998 meters 0.06924066882588795 Centerline is valid? [True, True] Translation: X:166.25, Y:-39.29, Z:-21.26 [[ 8.48500331e-01 5.22633749e-01 8.30731822e-02 1.66252019e+02] [-5.20426673e-01 8.52553736e-01 -4.80437895e-02 -3.92915118e+01] [-9.59336576e-02 -2.46832853e-03 9.95384670e-01 -2.12576142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89824100799999 meters 0.06864321732768214 Centerline is valid? [True, True] Translation: X:166.30, Y:-39.32, Z:-21.27 [[ 8.49346516e-01 5.21263285e-01 8.30366370e-02 1.66304183e+02] [-5.19049065e-01 8.53392843e-01 -4.80491781e-02 -3.93248003e+01] [-9.59091442e-02 -2.28968676e-03 9.95387459e-01 -2.12658159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.958241008 meters 0.0670544255907207 Centerline is valid? [True, True] Translation: X:166.36, Y:-39.36, Z:-21.27 [[ 8.51848241e-01 5.17198230e-01 8.28285320e-02 1.66355518e+02] [-5.14973619e-01 8.55863732e-01 -4.79525076e-02 -3.93619137e+01] [-9.56908886e-02 -1.80624971e-03 9.95409459e-01 -2.12705438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.018241008 meters 0.06611098867997503 Centerline is valid? [True, True] Translation: X:166.41, Y:-39.40, Z:-21.28 [[ 8.54761297e-01 5.12253971e-01 8.35403786e-02 1.66405288e+02] [-5.09964111e-01 8.58833130e-01 -4.83969158e-02 -3.93979413e+01] [-9.65387571e-02 -1.23478443e-03 9.95328460e-01 -2.12769583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.078241008 meters 0.0651891500025192 Centerline is valid? [True, True] Translation: X:166.46, Y:-39.44, Z:-21.28 [[ 8.59045617e-01 5.05022004e-01 8.36265679e-02 1.66455360e+02] [-5.02690634e-01 8.63106376e-01 -4.84717544e-02 -3.94371047e+01] [-9.66579265e-02 -3.98844220e-04 9.95317581e-01 -2.12835145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.138241008 meters 0.06543530876329222 Centerline is valid? [True, True] Translation: X:166.50, Y:-39.48, Z:-21.29 [[ 8.66373465e-01 4.92735596e-01 8.12936132e-02 1.66503385e+02] [-4.90475631e-01 8.70178534e-01 -4.71484314e-02 -3.94794116e+01] [-9.39716676e-02 9.75613681e-04 9.95574394e-01 -2.12941104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.198241008 meters 0.06656915144496565 Centerline is valid? [True, True] Translation: X:166.55, Y:-39.52, Z:-21.30 [[ 8.70777796e-01 4.85214094e-01 7.94563587e-02 1.66553051e+02] [-4.83021052e-01 8.74393577e-01 -4.61143682e-02 -3.95175370e+01] [-9.18514711e-02 1.77627393e-03 9.95771134e-01 -2.13021936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25824100799997 meters 0.06846623746218079 Centerline is valid? [True, True] Translation: X:166.60, Y:-39.56, Z:-21.31 [[ 8.75582491e-01 4.76564360e-01 7.90045069e-02 1.66603349e+02] [-4.74358467e-01 8.79135456e-01 -4.58791282e-02 -3.95551856e+01] [-9.13200206e-02 2.69450456e-03 9.95817952e-01 -2.13082881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31824100799997 meters 0.06994397086138172 Centerline is valid? [True, True] Translation: X:166.65, Y:-39.59, Z:-21.31 [[ 8.78401929e-01 4.71065646e-01 8.06672747e-02 1.66654663e+02] [-4.68739709e-01 8.82091746e-01 -4.68746851e-02 -3.95899283e+01] [-9.32369910e-02 3.36285892e-03 9.95638265e-01 -2.13117789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37824100799997 meters 0.07044936132609315 Centerline is valid? [True, True] Translation: X:166.71, Y:-39.62, Z:-21.32 [[ 8.78493537e-01 4.70758943e-01 8.14562662e-02 1.66710680e+02] [-4.68383092e-01 8.82255111e-01 -4.73624085e-02 -3.96167447e+01] [-9.41614846e-02 3.45483189e-03 9.95550942e-01 -2.13212471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43824100799998 meters 0.0668542491859208 Centerline is valid? [True, True] Translation: X:166.77, Y:-39.63, Z:-21.32 [[ 8.74358632e-01 4.78110674e-01 8.31093686e-02 1.66774528e+02] [-4.75669013e-01 8.78295357e-01 -4.83348318e-02 -3.96319244e+01] [-9.61039716e-02 2.72942607e-03 9.95367559e-01 -2.13229442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49824100799998 meters 0.06589826960303721 Centerline is valid? [True, True] Translation: X:166.84, Y:-39.65, Z:-21.33 [[ 8.70379158e-01 4.85346651e-01 8.29382223e-02 1.66835448e+02] [-4.82946563e-01 8.74319662e-01 -4.82467220e-02 -3.96509968e+01] [-9.59309034e-02 1.93821193e-03 9.95386109e-01 -2.13307166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55824100799998 meters 0.06469130744771232 Centerline is valid? [True, True] Translation: X:166.90, Y:-39.66, Z:-21.34 [[ 8.64635657e-01 4.95730358e-01 8.15879413e-02 1.66899756e+02] [-4.93451305e-01 8.68476121e-01 -4.74872243e-02 -3.96635300e+01] [-9.43980375e-02 7.99471260e-04 9.95534214e-01 -2.13363390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61824100799998 meters 0.0644773374685837 Centerline is valid? [True, True] Translation: X:166.96, Y:-39.68, Z:-21.34 [[ 8.60319014e-01 5.03206401e-01 8.14525089e-02 1.66960592e+02] [-5.00965839e-01 8.64166256e-01 -4.74332184e-02 -3.96810723e+01] [-9.42572088e-02 2.77517319e-06 9.95547879e-01 -2.13434746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.678241008 meters 0.0645839318161026 Centerline is valid? [True, True] Translation: X:167.02, Y:-39.70, Z:-21.35 [[ 8.58913295e-01 5.05438711e-01 8.24600567e-02 1.67017108e+02] [-5.03150044e-01 8.62862480e-01 -4.80455423e-02 -3.97047142e+01] [-9.54357660e-02 -2.22826102e-04 9.95435565e-01 -2.13535556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.738241008 meters 0.0647632415111186 Centerline is valid? [True, True] Translation: X:167.07, Y:-39.73, Z:-21.36 [[ 8.56920733e-01 5.08850076e-01 8.22098408e-02 1.67074721e+02] [-5.06588325e-01 8.60854963e-01 -4.79270419e-02 -3.97287941e+01] [-9.51584284e-02 -5.76869615e-04 9.95461974e-01 -2.13600315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.798241008 meters 0.06491960999079928 Centerline is valid? [True, True] Translation: X:167.13, Y:-39.76, Z:-21.37 [[ 8.54964521e-01 5.12046376e-01 8.27295399e-02 1.67130994e+02] [-5.09769635e-01 8.58957303e-01 -4.82418068e-02 -3.97563687e+01] [-9.57631847e-02 -9.27974129e-04 9.95403713e-01 -2.13657898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.858241008 meters 0.06593846957433336 Centerline is valid? [True, True] Translation: X:167.19, Y:-39.78, Z:-21.37 [[ 8.51650091e-01 5.17749120e-01 8.14123532e-02 1.67189357e+02] [-5.15567575e-01 8.55531148e-01 -4.75029549e-02 -3.97797688e+01] [-9.42454171e-02 -1.51767365e-03 9.95547838e-01 -2.13746376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.918241008 meters 0.06667762563987059 Centerline is valid? [True, True] Translation: X:167.24, Y:-39.81, Z:-21.38 [[ 8.49640216e-01 5.21149532e-01 8.07135016e-02 1.67244713e+02] [-5.19018090e-01 8.53463371e-01 -4.71221477e-02 -3.98063499e+01] [-9.34437023e-02 -1.85489574e-03 9.95622837e-01 -2.13837051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97824100799997 meters 0.06730782378309487 Centerline is valid? [True, True] Translation: X:167.30, Y:-39.83, Z:-21.39 [[ 8.48708619e-01 5.22964397e-01 7.87522651e-02 1.67300536e+02] [-5.20941127e-01 8.52352217e-01 -4.60004432e-02 -3.98324943e+01] [-9.11812618e-02 -1.98432108e-03 9.95832335e-01 -2.13947268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03824100799997 meters 0.06730071152852081 Centerline is valid? [True, True] Translation: X:167.35, Y:-39.87, Z:-21.40 [[ 8.50185372e-01 5.20870955e-01 7.66699506e-02 1.67351148e+02] [-5.18942870e-01 8.53633753e-01 -4.48075227e-02 -3.98653572e+01] [-8.87869948e-02 -1.69262383e-03 9.96049198e-01 -2.14043800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09824100799997 meters 0.06662267481440762 Centerline is valid? [True, True] Translation: X:167.40, Y:-39.90, Z:-21.41 [[ 8.51501561e-01 5.18656902e-01 7.70721068e-02 1.67402990e+02] [-5.16697110e-01 8.54981242e-01 -4.50685376e-02 -3.99004168e+01] [-8.92703137e-02 -1.44700469e-03 9.96006384e-01 -2.14100547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15824100799998 meters 0.06677737299593572 Centerline is valid? [True, True] Translation: X:167.46, Y:-39.93, Z:-21.42 [[ 8.52126035e-01 5.17640480e-01 7.70035931e-02 1.67455563e+02] [-5.15679706e-01 8.55597188e-01 -4.50321306e-02 -3.99308993e+01] [-8.91945114e-02 -1.33613940e-03 9.96013330e-01 -2.14198282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21824100799998 meters 0.0662729158380939 Centerline is valid? [True, True] Translation: X:167.51, Y:-39.97, Z:-21.43 [[ 8.54154002e-01 5.14319939e-01 7.67850285e-02 1.67506527e+02] [-5.12355043e-01 8.57597844e-01 -4.49249175e-02 -3.99655679e+01] [-8.89564558e-02 -9.68398515e-04 9.96035045e-01 -2.14263756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27824100799998 meters 0.06599752944973392 Centerline is valid? [True, True] Translation: X:167.56, Y:-40.00, Z:-21.43 [[ 8.54652393e-01 5.13437520e-01 7.71440242e-02 1.67558591e+02] [-5.11448591e-01 8.58126547e-01 -4.51571456e-02 -3.99994389e+01] [-8.93847080e-02 -8.61539900e-04 9.95996803e-01 -2.14315462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33824100799998 meters 0.06616838631320282 Centerline is valid? [True, True] Translation: X:167.61, Y:-40.03, Z:-21.44 [[ 8.54380668e-01 5.14278729e-01 7.45054559e-02 1.67613012e+02] [-5.12425259e-01 8.57622632e-01 -4.36322600e-02 -4.00292289e+01] [-8.63367084e-02 -8.99918071e-04 9.96265609e-01 -2.14418498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39824100799999 meters 0.06642859359478168 Centerline is valid? [True, True] Translation: X:167.67, Y:-40.06, Z:-21.45 [[ 8.53287584e-01 5.16233977e-01 7.35036089e-02 1.67667401e+02] [-5.14435286e-01 8.56446935e-01 -4.30695170e-02 -4.00582923e+01] [-8.51858886e-02 -1.06216597e-03 9.96364510e-01 -2.14500687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.458241008 meters 0.06680123018679371 Centerline is valid? [True, True] Translation: X:167.72, Y:-40.08, Z:-21.46 [[ 8.51409493e-01 5.19353554e-01 7.33059478e-02 1.67723913e+02] [-5.17574195e-01 8.54558400e-01 -4.29754876e-02 -4.00843948e+01] [-8.49636857e-02 -1.35152883e-03 9.96383132e-01 -2.14565202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.518241008 meters 0.0666934090425567 Centerline is valid? [True, True] Translation: X:167.78, Y:-40.11, Z:-21.46 [[ 8.50212853e-01 5.20874972e-01 7.63372050e-02 1.67779302e+02] [-5.18949098e-01 8.53631581e-01 -4.47767548e-02 -4.01125399e+01] [-8.84869399e-02 -1.54535126e-03 9.96076138e-01 -2.14600480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.578241008 meters 0.06819423076444486 Centerline is valid? [True, True] Translation: X:167.84, Y:-40.14, Z:-21.47 [[ 8.48788585e-01 5.23007825e-01 7.75935107e-02 1.67835950e+02] [-5.21024781e-01 8.52326026e-01 -4.55359474e-02 -4.01367864e+01] [-8.99506254e-02 -1.77774954e-03 9.95944639e-01 -2.14732141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.638241008 meters 0.06726255435380828 Centerline is valid? [True, True] Translation: X:167.89, Y:-40.17, Z:-21.48 [[ 8.46906081e-01 5.25886191e-01 7.87007295e-02 1.67890946e+02] [-5.23856090e-01 8.50552373e-01 -4.62110002e-02 -4.01662141e+01] [-9.12408192e-02 -2.09147945e-03 9.95826661e-01 -2.14751981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.698241008 meters 0.06713718687680455 Centerline is valid? [True, True] Translation: X:167.94, Y:-40.20, Z:-21.48 [[ 8.46190286e-01 5.26913589e-01 7.95240224e-02 1.67944856e+02] [-5.24843094e-01 8.49915998e-01 -4.67174696e-02 -4.01975819e+01] [-9.22048085e-02 -2.20576507e-03 9.95737620e-01 -2.14809691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75824100799997 meters 0.06657697051128307 Centerline is valid? [True, True] Translation: X:168.00, Y:-40.23, Z:-21.49 [[ 8.46056894e-01 5.26894030e-01 8.10580915e-02 1.67998017e+02] [-5.24739865e-01 8.49928083e-01 -4.76479621e-02 -4.02291025e+01] [-9.39989751e-02 -2.22152510e-03 9.95569815e-01 -2.14860415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81824100799997 meters 0.0662625249013777 Centerline is valid? [True, True] Translation: X:168.05, Y:-40.26, Z:-21.49 [[ 8.45677083e-01 5.27527380e-01 8.09020046e-02 1.68050609e+02] [-5.25382085e-01 8.49535006e-01 -4.75808602e-02 -4.02613679e+01] [-9.38292915e-02 -2.26642077e-03 9.95585721e-01 -2.14924171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87824100799997 meters 0.06571334342668798 Centerline is valid? [True, True] Translation: X:168.10, Y:-40.30, Z:-21.50 [[ 8.46173661e-01 5.26795634e-01 8.04766804e-02 1.68101286e+02] [-5.24667260e-01 8.49989251e-01 -4.73554608e-02 -4.02964978e+01] [-9.33509633e-02 -2.15253575e-03 9.95630938e-01 -2.14985765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93824100799998 meters 0.06665409834316016 Centerline is valid? [True, True] Translation: X:168.16, Y:-40.32, Z:-21.51 [[ 8.46147687e-01 5.26846048e-01 8.04197296e-02 1.68155792e+02] [-5.24718571e-01 8.49958047e-01 -4.73470023e-02 -4.03225680e+01] [-9.32979774e-02 -2.13516909e-03 9.95635942e-01 -2.15131893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99824100799998 meters 0.06668425109645919 Centerline is valid? [True, True] Translation: X:168.21, Y:-40.36, Z:-21.52 [[ 8.45702180e-01 5.27716316e-01 7.93934048e-02 1.68207102e+02] [-5.25644226e-01 8.49417883e-01 -4.67697276e-02 -4.03568003e+01] [-9.21193262e-02 -2.17942420e-03 9.95745590e-01 -2.15195064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05824100799998 meters 0.06692390219813034 Centerline is valid? [True, True] Translation: X:168.26, Y:-40.39, Z:-21.53 [[ 8.44717608e-01 5.29171431e-01 8.01857846e-02 1.68260310e+02] [-5.27061992e-01 8.48511706e-01 -4.72603525e-02 -4.03892196e+01] [-9.30474052e-02 -2.34122743e-03 9.95658927e-01 -2.15250452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11824100799998 meters 0.06723564866026435 Centerline is valid? [True, True] Translation: X:168.31, Y:-40.42, Z:-21.53 [[ 8.44226369e-01 5.29885549e-01 8.06420605e-02 1.68313954e+02] [-5.27752514e-01 8.48065741e-01 -4.75582059e-02 -4.04221962e+01] [-9.35901748e-02 -2.40915872e-03 9.95607892e-01 -2.15318541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.178241008 meters 0.06736266759981431 Centerline is valid? [True, True] Translation: X:168.37, Y:-40.46, Z:-21.54 [[ 8.43914649e-01 5.30245316e-01 8.15350862e-02 1.68365116e+02] [-5.28063504e-01 8.47840727e-01 -4.81148456e-02 -4.04559411e+01] [-9.46414383e-02 -2.45088030e-03 9.95508408e-01 -2.15394599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.238241008 meters 0.06719899810560645 Centerline is valid? [True, True] Translation: X:168.42, Y:-40.49, Z:-21.55 [[ 8.45166952e-01 5.28311444e-01 8.11162190e-02 1.68415812e+02] [-5.26140825e-01 8.49047803e-01 -4.78921895e-02 -4.04914604e+01] [-9.41735393e-02 -2.20165855e-03 9.95553362e-01 -2.15483086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.298241008 meters 0.06564303022191405 Centerline is valid? [True, True] Translation: X:168.46, Y:-40.54, Z:-21.56 [[ 8.49611380e-01 5.21048696e-01 8.16624727e-02 1.68462186e+02] [-5.18812918e-01 8.53525828e-01 -4.82370973e-02 -4.05361400e+01] [-9.48349062e-02 -1.38475894e-03 9.95492051e-01 -2.15576126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.358241008 meters 0.0651480486337054 Centerline is valid? [True, True] Translation: X:168.51, Y:-40.58, Z:-21.57 [[ 8.54330313e-01 5.13504158e-01 8.02072035e-02 1.68505079e+02] [-5.11310705e-01 8.58086957e-01 -4.74145206e-02 -4.05817985e+01] [-9.31723086e-02 -5.03139541e-04 9.95649872e-01 -2.15657683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.418241008 meters 0.06518544809516326 Centerline is valid? [True, True] Translation: X:168.55, Y:-40.62, Z:-21.58 [[ 8.57038231e-01 5.09081932e-01 7.95050825e-02 1.68553911e+02] [-5.06906901e-01 8.60718065e-01 -4.70085855e-02 -4.06218700e+01] [-9.23626822e-02 -1.35199888e-05 9.95725431e-01 -2.15755300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47824100799997 meters 0.0652445030765649 Centerline is valid? [True, True] Translation: X:168.60, Y:-40.66, Z:-21.58 [[ 8.60938950e-01 5.02370790e-01 8.00482005e-02 1.68599257e+02] [-5.00134192e-01 8.64651980e-01 -4.73576180e-02 -4.06648309e+01] [-9.30049190e-02 7.37175831e-04 9.95665376e-01 -2.15836164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53824100799997 meters 0.06561915584991918 Centerline is valid? [True, True] Translation: X:168.65, Y:-40.70, Z:-21.59 [[ 8.63222215e-01 4.98414793e-01 8.01879143e-02 1.68648533e+02] [-4.96151377e-01 8.66937883e-01 -4.74607032e-02 -4.07032018e+01] [-9.31730573e-02 1.18378930e-03 9.95649225e-01 -2.15902751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59824100799997 meters 0.06689033923876399 Centerline is valid? [True, True] Translation: X:168.70, Y:-40.74, Z:-21.60 [[ 8.66077756e-01 4.93546580e-01 7.95053066e-02 1.68696217e+02] [-4.91299041e-01 8.69717678e-01 -4.70788004e-02 -4.07429712e+01] [-9.23827516e-02 1.71302099e-03 9.95722096e-01 -2.16003886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65824100799998 meters 0.06721137690915535 Centerline is valid? [True, True] Translation: X:168.75, Y:-40.77, Z:-21.61 [[ 8.65987800e-01 4.93864693e-01 7.85034733e-02 1.68747442e+02] [-4.91672798e-01 8.69537148e-01 -4.65081465e-02 -4.07748600e+01] [-9.12304178e-02 1.67746503e-03 9.95828397e-01 -2.16102864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71824100799998 meters 0.0668621745562707 Centerline is valid? [True, True] Translation: X:168.80, Y:-40.80, Z:-21.62 [[ 8.63838808e-01 4.97849547e-01 7.69957338e-02 1.68802746e+02] [-4.95755298e-01 8.67262514e-01 -4.56334901e-02 -4.08013340e+01] [-8.94941260e-02 1.24893670e-03 9.95986567e-01 -2.16203024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77824100799998 meters 0.06556421244564403 Centerline is valid? [True, True] Translation: X:168.86, Y:-40.83, Z:-21.62 [[ 8.61823964e-01 5.01456335e-01 7.61642877e-02 1.68860393e+02] [-4.99419515e-01 8.65182505e-01 -4.51595117e-02 -4.08264320e+01] [-8.85415324e-02 8.81617754e-04 9.96072096e-01 -2.16236177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83824100799998 meters 0.06615313381249391 Centerline is valid? [True, True] Translation: X:168.91, Y:-40.85, Z:-21.64 [[ 8.58637994e-01 5.07028070e-01 7.52551068e-02 1.68914226e+02] [-5.05058669e-01 8.61929481e-01 -4.46465135e-02 -4.08519227e+01] [-8.75016307e-02 3.26948680e-04 9.96164323e-01 -2.16386602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89824100799999 meters 0.06551626925526863 Centerline is valid? [True, True] Translation: X:168.97, Y:-40.88, Z:-21.64 [[ 8.55482304e-01 5.12029265e-01 7.73049758e-02 1.68970347e+02] [-5.09969242e-01 8.58967987e-01 -4.58843032e-02 -4.08803012e+01] [-8.98966055e-02 -1.69950552e-04 9.95951089e-01 -2.16386856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.958241008 meters 0.06547762658360522 Centerline is valid? [True, True] Translation: X:169.02, Y:-40.91, Z:-21.65 [[ 8.53359957e-01 5.15250928e-01 7.93300985e-02 1.69024310e+02] [-5.13092955e-01 8.57039223e-01 -4.71104015e-02 -4.09098026e+01] [-9.22626841e-02 -5.01584549e-04 9.95734576e-01 -2.16458895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.018241008 meters 0.06571907849241057 Centerline is valid? [True, True] Translation: X:169.08, Y:-40.94, Z:-21.65 [[ 8.52285178e-01 5.17106684e-01 7.88076907e-02 1.69077519e+02] [-5.14982610e-01 8.55920686e-01 -4.68261729e-02 -4.09399883e+01] [-9.16672597e-02 -6.75337131e-04 9.95789464e-01 -2.16528518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.078241008 meters 0.06661503393168235 Centerline is valid? [True, True] Translation: X:169.13, Y:-40.97, Z:-21.66 [[ 8.48859285e-01 5.22458516e-01 8.04674670e-02 1.69133719e+02] [-5.20266755e-01 8.52663760e-01 -4.78227583e-02 -4.09652214e+01] [-9.35971003e-02 -1.26975552e-03 9.95609346e-01 -2.16623303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.138241008 meters 0.06656890396966089 Centerline is valid? [True, True] Translation: X:169.19, Y:-41.00, Z:-21.67 [[ 8.47107576e-01 5.25100011e-01 8.17235085e-02 1.69187641e+02] [-5.22848929e-01 8.51039090e-01 -4.85949099e-02 -4.09980939e+01] [-9.50670880e-02 -1.56393259e-03 9.95469639e-01 -2.16666085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.198241008 meters 0.06662536135699024 Centerline is valid? [True, True] Translation: X:169.24, Y:-41.03, Z:-21.67 [[ 8.46434460e-01 5.26023343e-01 8.27535309e-02 1.69239347e+02] [-5.23716903e-01 8.50468498e-01 -4.92335261e-02 -4.10311784e+01] [-9.62772551e-02 -1.66646986e-03 9.95353160e-01 -2.16729900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25824100799997 meters 0.06758143611806088 Centerline is valid? [True, True] Translation: X:169.29, Y:-41.06, Z:-21.69 [[ 8.46442709e-01 5.26118594e-01 8.20607495e-02 1.69291676e+02] [-5.23848701e-01 8.50409626e-01 -4.88467787e-02 -4.10612621e+01] [-9.54844498e-02 -1.64141737e-03 9.95429568e-01 -2.16851563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31824100799997 meters 0.06682529559018716 Centerline is valid? [True, True] Translation: X:169.34, Y:-41.10, Z:-21.69 [[ 8.48192808e-01 5.23673472e-01 7.95930558e-02 1.69339834e+02] [-5.21525718e-01 8.51918062e-01 -4.73976816e-02 -4.11021268e+01] [-9.26276704e-02 -1.30745294e-03 9.95699957e-01 -2.16917646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37824100799997 meters 0.06676554728940291 Centerline is valid? [True, True] Translation: X:169.39, Y:-41.14, Z:-21.70 [[ 8.50291479e-01 5.20438762e-01 7.84085187e-02 1.69389844e+02] [-5.18338468e-01 8.53898502e-01 -4.67180923e-02 -4.11394098e+01] [-9.12668228e-02 -9.18155658e-04 9.95826051e-01 -2.17020261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43824100799998 meters 0.06704952930204862 Centerline is valid? [True, True] Translation: X:169.44, Y:-41.18, Z:-21.71 [[ 8.52827578e-01 5.16500410e-01 7.68924463e-02 1.69438019e+02] [-5.14462319e-01 8.56286816e-01 -4.58411533e-02 -4.11769399e+01] [-8.95189625e-02 -4.63666491e-04 9.95985010e-01 -2.17147327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49824100799998 meters 0.06654009189200646 Centerline is valid? [True, True] Translation: X:169.49, Y:-41.22, Z:-21.72 [[ 8.54303469e-01 5.13951783e-01 7.75831581e-02 1.69486895e+02] [-5.11864054e-01 8.57819056e-01 -4.62780458e-02 -4.12158981e+01] [-9.03369957e-02 -1.76534706e-04 9.95911239e-01 -2.17200872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55824100799998 meters 0.0667018281356717 Centerline is valid? [True, True] Translation: X:169.54, Y:-41.25, Z:-21.73 [[ 8.54926896e-01 5.12827585e-01 7.81528744e-02 1.69536642e+02] [-5.10701943e-01 8.58491623e-01 -4.66439535e-02 -4.12499020e+01] [-9.10138940e-02 -3.56544031e-05 9.95849622e-01 -2.17284281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61824100799998 meters 0.06663060532096549 Centerline is valid? [True, True] Translation: X:169.59, Y:-41.28, Z:-21.73 [[ 8.53450771e-01 5.15174376e-01 7.88488708e-02 1.69589369e+02] [-5.13018695e-01 8.57085346e-01 -4.70800318e-02 -4.12820153e+01] [-9.18346376e-02 -2.70455374e-04 9.95774235e-01 -2.17330859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.678241008 meters 0.06646062126618994 Centerline is valid? [True, True] Translation: X:169.64, Y:-41.31, Z:-21.74 [[ 8.50824976e-01 5.19482612e-01 7.89599618e-02 1.69644499e+02] [-5.17337352e-01 8.54480720e-01 -4.71674037e-02 -4.13115875e+01] [-9.19724110e-02 -7.17732433e-04 9.95761297e-01 -2.17364894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.738241008 meters 0.06752224165172992 Centerline is valid? [True, True] Translation: X:169.70, Y:-41.34, Z:-21.75 [[ 8.48782658e-01 5.22946257e-01 7.80718380e-02 1.69697806e+02] [-5.20861178e-01 8.52365001e-01 -4.66641070e-02 -4.13402380e+01] [-9.09485224e-02 -1.05690468e-03 9.95855034e-01 -2.17497592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.798241008 meters 0.06791197711846608 Centerline is valid? [True, True] Translation: X:169.75, Y:-41.37, Z:-21.76 [[ 8.48409317e-01 5.23331093e-01 7.95374042e-02 1.69749903e+02] [-5.21165723e-01 8.52128730e-01 -4.75701246e-02 -4.13709564e+01] [-9.26710325e-02 -1.09323180e-03 9.95696181e-01 -2.17591222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.858241008 meters 0.06624626420795653 Centerline is valid? [True, True] Translation: X:169.80, Y:-41.41, Z:-21.76 [[ 8.48815709e-01 5.22377778e-01 8.14453746e-02 1.69800062e+02] [-5.20101713e-01 8.52713579e-01 -4.87212508e-02 -4.14100954e+01] [-9.49004756e-02 -1.00451581e-03 9.95486258e-01 -2.17562613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.918241008 meters 0.0657045817784075 Centerline is valid? [True, True] Translation: X:169.85, Y:-41.45, Z:-21.76 [[ 8.51265732e-01 5.18284245e-01 8.20249665e-02 1.69849658e+02] [-5.15953873e-01 8.55208258e-01 -4.90962042e-02 -4.14482958e+01] [-9.55942178e-02 -5.27182966e-04 9.95420247e-01 -2.17646185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97824100799997 meters 0.06555454826969358 Centerline is valid? [True, True] Translation: X:169.89, Y:-41.49, Z:-21.77 [[ 8.56682405e-01 5.09327209e-01 8.17376975e-02 1.69894994e+02] [-5.06970141e-01 8.60572804e-01 -4.89461459e-02 -4.14936030e+01] [-9.52708434e-02 4.92730001e-04 9.95451266e-01 -2.17727144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03824100799997 meters 0.06606452018023413 Centerline is valid? [True, True] Translation: X:169.94, Y:-41.53, Z:-21.78 [[ 8.60091331e-01 5.03577868e-01 8.15612216e-02 1.69943185e+02] [-5.01202488e-01 8.63949075e-01 -4.88678095e-02 -4.15344615e+01] [-9.50734893e-02 1.15209219e-03 9.95469590e-01 -2.17802626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09824100799997 meters 0.06732289360237734 Centerline is valid? [True, True] Translation: X:169.99, Y:-41.58, Z:-21.79 [[ 8.64130252e-01 4.96570351e-01 8.18339384e-02 1.69989510e+02] [-4.94144823e-01 8.67994275e-01 -4.90594883e-02 -4.15776504e+01] [-9.53928773e-02 1.95597098e-03 9.95437780e-01 -2.17876459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15824100799998 meters 0.0671294314154574 Centerline is valid? [True, True] Translation: X:170.04, Y:-41.61, Z:-21.79 [[ 8.64889470e-01 4.95319111e-01 8.13952228e-02 1.70043755e+02] [-4.92911769e-01 8.68708554e-01 -4.88204370e-02 -4.16096048e+01] [-9.48904219e-02 2.10361862e-03 9.95485501e-01 -2.17933200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21824100799998 meters 0.06689048329378516 Centerline is valid? [True, True] Translation: X:170.10, Y:-41.64, Z:-21.80 [[ 8.63727547e-01 4.97328691e-01 8.14794368e-02 1.70096561e+02] [-4.94922225e-01 8.67560093e-01 -4.89027227e-02 -4.16389522e+01] [-9.50090348e-02 1.91264451e-03 9.95474573e-01 -2.18007295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27824100799998 meters 0.06633295692088384 Centerline is valid? [True, True] Translation: X:170.15, Y:-41.67, Z:-21.81 [[ 8.61869974e-01 5.00349411e-01 8.26475374e-02 1.70152448e+02] [-4.97884995e-01 8.65822058e-01 -4.96255474e-02 -4.16666811e+01] [-9.63881744e-02 1.62180043e-03 9.95342499e-01 -2.18082647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33824100799998 meters 0.0657980330636942 Centerline is valid? [True, True] Translation: X:170.21, Y:-41.69, Z:-21.82 [[ 8.58979766e-01 5.05181403e-01 8.33397413e-02 1.70209880e+02] [-5.02695399e-01 8.63012463e-01 -5.00682001e-02 -4.16896939e+01] [-9.72167590e-02 1.11306632e-03 9.95262610e-01 -2.18156109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39824100799999 meters 0.06552252647556783 Centerline is valid? [True, True] Translation: X:170.27, Y:-41.72, Z:-21.82 [[ 8.57512483e-01 5.07492176e-01 8.44039816e-02 1.70265175e+02] [-5.04950881e-01 8.61655912e-01 -5.07316121e-02 -4.17175519e+01] [-9.84730860e-02 8.83125786e-04 9.95139323e-01 -2.18231154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.458241008 meters 0.06528158051464066 Centerline is valid? [True, True] Translation: X:170.32, Y:-41.74, Z:-21.83 [[ 8.54682196e-01 5.12475111e-01 8.29915916e-02 1.70321666e+02] [-5.10039327e-01 8.58702017e-01 -4.99072180e-02 -4.17419934e+01] [-9.68412543e-02 3.25835149e-04 9.95299787e-01 -2.18330516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.518241008 meters 0.06565669795615936 Centerline is valid? [True, True] Translation: X:170.38, Y:-41.77, Z:-21.84 [[ 8.52172252e-01 5.16798147e-01 8.19885853e-02 1.70378655e+02] [-5.14438542e-01 8.56107268e-01 -4.93288170e-02 -4.17661891e+01] [-9.56840650e-02 -1.41439239e-04 9.95411744e-01 -2.18425123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578241008 meters 0.06629586357831731 Centerline is valid? [True, True] Translation: X:170.44, Y:-41.79, Z:-21.85 [[ 8.48503075e-01 5.22752308e-01 8.22955431e-02 1.70436160e+02] [-5.20400523e-01 8.52484248e-01 -4.95368712e-02 -4.17883736e+01] [-9.60511680e-02 -7.94456159e-04 9.95376081e-01 -2.18509682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638241008 meters 0.06578478828549943 Centerline is valid? [True, True] Translation: X:170.49, Y:-41.82, Z:-21.85 [[ 8.46928836e-01 5.25211885e-01 8.28493919e-02 1.70490595e+02] [-5.22838115e-01 8.50970824e-01 -4.98894966e-02 -4.18194304e+01] [-9.67049719e-02 -1.06396664e-03 9.95312522e-01 -2.18524570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698241008 meters 0.0669260420018754 Centerline is valid? [True, True] Translation: X:170.55, Y:-41.85, Z:-21.87 [[ 8.46024940e-01 5.26451746e-01 8.42042743e-02 1.70545565e+02] [-5.24002714e-01 8.50204163e-01 -5.07349710e-02 -4.18495367e+01] [-9.83003386e-02 -1.20021744e-03 9.95156070e-01 -2.18654231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75824100799997 meters 0.06735753326504675 Centerline is valid? [True, True] Translation: X:171.42, Y:-40.71, Z:-20.78 [[ 8.90387878e-01 -4.37650487e-01 -1.25185775e-01 1.71421222e+02] [-4.31608738e-01 -8.99074540e-01 7.33407734e-02 -4.07147736e+01] [-1.44648968e-01 -1.12704613e-02 -9.89418846e-01 -2.07835178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81824100799997 meters 0.06641754590493429 Centerline is valid? [True, True] Translation: X:171.44, Y:-40.68, Z:-20.80 [[ 9.21939070e-01 -3.64797607e-01 -1.30196227e-01 1.71444479e+02] [-3.59470602e-01 -9.31016750e-01 6.31561294e-02 -4.06800321e+01] [-1.44254073e-01 -1.14243871e-02 -9.89474732e-01 -2.07973129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87824100799997 meters 0.06607373013910872 Centerline is valid? [True, True] Translation: X:171.46, Y:-40.65, Z:-20.81 [[ 9.47351306e-01 -2.89944552e-01 -1.35858968e-01 1.71461366e+02] [-2.85285639e-01 -9.56974658e-01 5.30245927e-02 -4.06527276e+01] [-1.45387781e-01 -1.14743048e-02 -9.89308210e-01 -2.08066382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93824100799998 meters 0.06673086271327319 Centerline is valid? [True, True] Translation: X:171.47, Y:-40.63, Z:-20.81 [[ 9.67026675e-01 -2.13272410e-01 -1.39191555e-01 1.71474882e+02] [-2.09404968e-01 -9.76925066e-01 4.20354087e-02 -4.06268500e+01] [-1.44944712e-01 -1.15019584e-02 -9.89372900e-01 -2.08087374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99824100799998 meters 0.0664367906501927 Centerline is valid? [True, True] Translation: X:171.48, Y:-40.58, Z:-20.82 [[ 9.80682237e-01 -1.36713559e-01 -1.39899084e-01 1.71484887e+02] [-1.33725631e-01 -9.90546332e-01 3.05846400e-02 -4.05842314e+01] [-1.42757859e-01 -1.12857198e-02 -9.89693299e-01 -2.08163383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05824100799998 meters 0.06529648142090798 Centerline is valid? [True, True] Translation: X:171.21, Y:-41.95, Z:-21.90 [[ 9.82546957e-01 1.58844887e-01 9.67976171e-02 1.71207191e+02] [-1.58181654e-01 9.87303015e-01 -1.45368610e-02 -4.19521292e+01] [-9.78776853e-02 -1.02845869e-03 9.95197921e-01 -2.19008296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11824100799998 meters 0.06554422180360886 Centerline is valid? [True, True] Translation: X:171.27, Y:-41.96, Z:-21.91 [[ 9.83028526e-01 1.56549960e-01 9.56400937e-02 1.71266452e+02] [-1.55895050e-01 9.87669697e-01 -1.43284169e-02 -4.19644894e+01] [-9.67039355e-02 -8.24574650e-04 9.95312850e-01 -2.19123125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.178241008 meters 0.0651542095084092 Centerline is valid? [True, True] Translation: X:171.33, Y:-41.98, Z:-21.92 [[ 9.83459903e-01 1.54501724e-01 9.45295578e-02 1.71327882e+02] [-1.53850231e-01 9.87992341e-01 -1.41858972e-02 -4.19796492e+01] [-9.55862247e-02 -5.92133279e-04 9.95420978e-01 -2.19170239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.238241008 meters 0.06516464978141398 Centerline is valid? [True, True] Translation: X:171.39, Y:-41.99, Z:-21.93 [[ 9.83876756e-01 1.52640600e-01 9.32061006e-02 1.71388338e+02] [-1.51996505e-01 9.88281692e-01 -1.40128367e-02 -4.19910923e+01] [-9.42528106e-02 -3.80097262e-04 9.95548222e-01 -2.19255343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298241008 meters 0.0656270755914339 Centerline is valid? [True, True] Translation: X:171.45, Y:-42.00, Z:-21.94 [[ 9.84516291e-01 1.50166701e-01 9.04302782e-02 1.71447679e+02] [-1.49548124e-01 9.88660684e-01 -1.36165549e-02 -4.20022150e+01] [-9.14496138e-02 -1.17958402e-04 9.95809698e-01 -2.19379890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358241008 meters 0.06578409224578839 Centerline is valid? [True, True] Translation: X:171.51, Y:-42.02, Z:-21.95 [[ 9.84938272e-01 1.47553501e-01 9.01363731e-02 1.71508731e+02] [-1.46926368e-01 9.89054065e-01 -1.35903716e-02 -4.20151651e+01] [-9.11550531e-02 1.42267222e-04 9.95836701e-01 -2.19457369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418241008 meters 0.06578243170204183 Centerline is valid? [True, True] Translation: X:171.57, Y:-42.03, Z:-21.95 [[ 9.85124122e-01 1.46349471e-01 9.00682931e-02 1.71570126e+02] [-1.45716079e-01 9.89232913e-01 -1.36039930e-02 -4.20293173e+01] [-9.10894571e-02 2.77223138e-04 9.95842675e-01 -2.19507168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47824100799997 meters 0.06573855743339876 Centerline is valid? [True, True] Translation: X:171.63, Y:-42.03, Z:-21.96 [[ 9.84776641e-01 1.47891633e-01 9.13401988e-02 1.71631776e+02] [-1.47244486e-01 9.89003559e-01 -1.38210842e-02 -4.20348185e+01] [-9.23798043e-02 1.61340269e-04 9.95723830e-01 -2.19578546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53824100799997 meters 0.06536690818425529 Centerline is valid? [True, True] Translation: X:171.69, Y:-42.04, Z:-21.96 [[ 9.84096120e-01 1.51207534e-01 9.32261166e-02 1.71693552e+02] [-1.50546149e-01 9.88502030e-01 -1.41277267e-02 -4.20379796e+01] [-9.42904243e-02 -1.31791847e-04 9.95544725e-01 -2.19621306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59824100799997 meters 0.0657319936783075 Centerline is valid? [True, True] Translation: X:171.76, Y:-42.04, Z:-21.97 [[ 9.83022787e-01 1.56934763e-01 9.50667159e-02 1.71755888e+02] [-1.56271398e-01 9.87608743e-01 -1.44298616e-02 -4.20393500e+01] [-9.61532667e-02 -6.71325770e-04 9.95366314e-01 -2.19683236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65824100799998 meters 0.06577938771888955 Centerline is valid? [True, True] Translation: X:171.82, Y:-42.04, Z:-21.97 [[ 9.82386400e-01 1.59578311e-01 9.72199808e-02 1.71816435e+02] [-1.58895013e-01 9.87184837e-01 -1.47807950e-02 -4.20448821e+01] [-9.83327852e-02 -9.27318180e-04 9.95153156e-01 -2.19730701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71824100799998 meters 0.06579925386572971 Centerline is valid? [True, True] Translation: X:171.88, Y:-42.05, Z:-21.98 [[ 9.82097450e-01 1.61269765e-01 9.73481498e-02 1.71877627e+02] [-1.60590906e-01 9.86909774e-01 -1.48209010e-02 -4.20516313e+01] [-9.84640037e-02 -1.07765851e-03 9.95140030e-01 -2.19789184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77824100799998 meters 0.06582602429840845 Centerline is valid? [True, True] Translation: X:171.94, Y:-42.06, Z:-21.99 [[ 9.82259716e-01 1.60829598e-01 9.64349047e-02 1.71937719e+02] [-1.60159035e-01 9.86981681e-01 -1.47052413e-02 -4.20592434e+01] [-9.75445224e-02 -1.00055517e-03 9.95230659e-01 -2.19903282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83824100799998 meters 0.0661392712561608 Centerline is valid? [True, True] Translation: X:172.00, Y:-42.07, Z:-22.00 [[ 9.82796115e-01 1.59809022e-01 9.25898039e-02 1.71998209e+02] [-1.59184237e-01 9.87147593e-01 -1.41424004e-02 -4.20685938e+01] [-9.36598853e-02 -8.39741081e-04 9.95603898e-01 -2.20019101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89824100799999 meters 0.06683697929292383 Centerline is valid? [True, True] Translation: X:172.06, Y:-42.08, Z:-22.01 [[ 9.83144122e-01 1.59896079e-01 8.86616014e-02 1.72058501e+02] [-1.59323103e-01 9.87133524e-01 -1.35482337e-02 -4.20774615e+01] [-8.96871485e-02 -8.05975161e-04 9.95969661e-01 -2.20148612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.958241008 meters 0.066887003676698 Centerline is valid? [True, True] Translation: X:172.12, Y:-42.09, Z:-22.02 [[ 9.83296742e-01 1.59650122e-01 8.74034132e-02 1.72119351e+02] [-1.59092363e-01 9.87173360e-01 -1.33558285e-02 -4.20880734e+01] [-8.84145807e-02 -7.72472876e-04 9.96083463e-01 -2.20220575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018241008 meters 0.06642843126872217 Centerline is valid? [True, True] Translation: X:172.18, Y:-42.10, Z:-22.03 [[ 9.83556848e-01 1.57318244e-01 8.86955311e-02 1.72179841e+02] [-1.56732446e-01 9.87547805e-01 -1.35747082e-02 -4.21016252e+01] [-8.97266263e-02 -5.49970307e-04 9.95966280e-01 -2.20282861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078241008 meters 0.06566133432967 Centerline is valid? [True, True] Translation: X:172.24, Y:-42.11, Z:-22.03 [[ 9.83736805e-01 1.54736434e-01 9.12059965e-02 1.72240360e+02] [-1.54103370e-01 9.87955742e-01 -1.39858385e-02 -4.21147267e+01] [-9.22716067e-02 -2.96767343e-04 9.95733831e-01 -2.20320659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.138241008 meters 0.06546246582780471 Centerline is valid? [True, True] Translation: X:172.30, Y:-42.12, Z:-22.04 [[ 9.84161617e-01 1.51735393e-01 9.16639642e-02 1.72300674e+02] [-1.51082980e-01 9.88421150e-01 -1.40557142e-02 -4.21249776e+01] [-9.27353503e-02 -1.57704631e-05 9.95690793e-01 -2.20396537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.198241008 meters 0.06533499963055787 Centerline is valid? [True, True] Translation: X:172.36, Y:-42.14, Z:-22.05 [[ 9.84169833e-01 1.52008298e-01 9.11219899e-02 1.72361068e+02] [-1.51362780e-01 9.88379217e-01 -1.39939935e-02 -4.21356912e+01] [-9.21902842e-02 -2.00114355e-05 9.95741408e-01 -2.20476104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25824100799997 meters 0.06548635141214323 Centerline is valid? [True, True] Translation: X:172.42, Y:-42.14, Z:-22.06 [[ 9.84169967e-01 1.52756261e-01 8.98610102e-02 1.72420609e+02] [-1.52129640e-01 9.88263892e-01 -1.38221779e-02 -4.21426302e+01] [-9.09178159e-02 -6.71507040e-05 9.95858397e-01 -2.20571528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31824100799997 meters 0.0658754934736166 Centerline is valid? [True, True] Translation: X:172.48, Y:-42.15, Z:-22.07 [[ 9.84288351e-01 1.53596368e-01 8.70895985e-02 1.72480636e+02] [-1.53009617e-01 9.88133665e-01 -1.34132953e-02 -4.21492354e+01] [-8.81163976e-02 -1.22995839e-04 9.96110177e-01 -2.20681081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37824100799997 meters 0.06554891790409714 Centerline is valid? [True, True] Translation: X:172.54, Y:-42.16, Z:-22.07 [[ 9.84594503e-01 1.52664603e-01 8.52477833e-02 1.72541275e+02] [-1.52098549e-01 9.88278057e-01 -1.31344393e-02 -4.21597205e+01] [-8.62536776e-02 -3.39673995e-05 9.96273206e-01 -2.20733298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43824100799998 meters 0.06522797364776771 Centerline is valid? [True, True] Translation: X:172.60, Y:-42.17, Z:-22.08 [[ 9.84704168e-01 1.51508823e-01 8.60394015e-02 1.72602420e+02] [-1.50926010e-01 9.88455901e-01 -1.32766937e-02 -4.21692679e+01] [-8.70576904e-02 8.80320834e-05 9.96203268e-01 -2.20786502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49824100799998 meters 0.06514401502078393 Centerline is valid? [True, True] Translation: X:172.66, Y:-42.18, Z:-22.09 [[ 9.84575868e-01 1.51625057e-01 8.72937720e-02 1.72662956e+02] [-1.51023662e-01 9.88438077e-01 -1.34915282e-02 -4.21762862e+01] [-8.83301419e-02 1.00007898e-04 9.96091249e-01 -2.20869058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55824100799998 meters 0.06499813478250359 Centerline is valid? [True, True] Translation: X:172.72, Y:-42.19, Z:-22.09 [[ 9.84386767e-01 1.52033574e-01 8.87044878e-02 1.72723524e+02] [-1.51412257e-01 9.88375326e-01 -1.37311039e-02 -4.21852237e+01] [-8.97609158e-02 8.57702900e-05 9.95963338e-01 -2.20920686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61824100799998 meters 0.06498386207832492 Centerline is valid? [True, True] Translation: X:172.78, Y:-42.19, Z:-22.10 [[ 9.84075989e-01 1.54278223e-01 8.82761440e-02 1.72784061e+02] [-1.53670244e-01 9.88027439e-01 -1.36834292e-02 -4.21889995e+01] [-8.93303077e-02 -9.98824372e-05 9.96002051e-01 -2.20990634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.678241008 meters 0.0648790707122118 Centerline is valid? [True, True] Translation: X:172.85, Y:-42.19, Z:-22.10 [[ 9.83554798e-01 1.56954659e-01 8.93599125e-02 1.72846521e+02] [-1.56340594e-01 9.87605756e-01 -1.38740423e-02 -4.21949947e+01] [-9.04299595e-02 -3.24700919e-04 9.95902765e-01 -2.21024656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.738241008 meters 0.06515336937373868 Centerline is valid? [True, True] Translation: X:172.91, Y:-42.20, Z:-22.11 [[ 9.83277105e-01 1.60007383e-01 8.69699524e-02 1.72906739e+02] [-1.59437442e-01 9.87115644e-01 -1.35058657e-02 -4.21992610e+01] [-8.80104387e-02 -5.86258171e-04 9.96119380e-01 -2.21123256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798241008 meters 0.0652306076102815 Centerline is valid? [True, True] Translation: X:172.97, Y:-42.21, Z:-22.12 [[ 9.83123756e-01 1.60110557e-01 8.85002234e-02 1.72968412e+02] [-1.59518758e-01 9.87098915e-01 -1.37657962e-02 -4.22068176e+01] [-8.95625239e-02 -5.83964511e-04 9.95981031e-01 -2.21192002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.858241008 meters 0.06492002478531744 Centerline is valid? [True, True] Translation: X:173.03, Y:-42.22, Z:-22.12 [[ 9.83142267e-01 1.58882978e-01 9.04847092e-02 1.73029871e+02] [-1.58257923e-01 9.87297310e-01 -1.40872792e-02 -4.22179861e+01] [-9.15735389e-02 -4.70122513e-04 9.95798205e-01 -2.21231059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.918241008 meters 0.06455586939356792 Centerline is valid? [True, True] Translation: X:173.09, Y:-42.23, Z:-22.13 [[ 9.83501798e-01 1.56466899e-01 9.07872434e-02 1.73090860e+02] [-1.55827058e-01 9.87683173e-01 -1.41377955e-02 -4.22311353e+01] [-9.18811297e-02 -2.42561788e-04 9.95769953e-01 -2.21279074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97824100799997 meters 0.06438444932336759 Centerline is valid? [True, True] Translation: X:173.15, Y:-42.24, Z:-22.13 [[ 9.83915407e-01 1.52322866e-01 9.33178273e-02 1.73152230e+02] [-1.51625712e-01 9.88330772e-01 -1.45577920e-02 -4.22413198e+01] [-9.44463649e-02 1.74253824e-04 9.95529936e-01 -2.21342998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03824100799997 meters 0.06420101212602868 Centerline is valid? [True, True] Translation: X:173.21, Y:-42.25, Z:-22.14 [[ 9.84206063e-01 1.50559454e-01 9.31143228e-02 1.73211564e+02] [-1.49857038e-01 9.88600895e-01 -1.45305907e-02 -4.22541092e+01] [-9.42406207e-02 3.47258903e-04 9.95549388e-01 -2.21407236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09824100799997 meters 0.06430090574445074 Centerline is valid? [True, True] Translation: X:173.27, Y:-42.26, Z:-22.15 [[ 9.84359309e-01 1.49509843e-01 9.31856107e-02 1.73273222e+02] [-1.48799910e-01 9.88760127e-01 -1.45601237e-02 -4.22612869e+01] [-9.43150981e-02 4.66382791e-04 9.95542287e-01 -2.21483064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15824100799998 meters 0.0644316959283162 Centerline is valid? [True, True] Translation: X:173.34, Y:-42.27, Z:-22.16 [[ 9.84190176e-01 1.50732095e-01 9.30028638e-02 1.73335186e+02] [-1.50028063e-01 9.88574578e-01 -1.45562340e-02 -4.22696228e+01] [-9.41343585e-02 3.73063053e-04 9.95559432e-01 -2.21563769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21824100799998 meters 0.06469417982629956 Centerline is valid? [True, True] Translation: X:173.40, Y:-42.28, Z:-22.16 [[ 9.84271364e-01 1.51561055e-01 9.07696444e-02 1.73396036e+02] [-1.50891796e-01 9.88447849e-01 -1.42308074e-02 -4.22768385e+01] [-9.18778960e-02 3.10581541e-04 9.95770232e-01 -2.21621101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27824100799998 meters 0.06490256810544529 Centerline is valid? [True, True] Translation: X:173.46, Y:-42.28, Z:-22.17 [[ 9.84225803e-01 1.51541126e-01 9.12954356e-02 1.73455436e+02] [-1.50862134e-01 9.88450897e-01 -1.43332077e-02 -4.22839496e+01] [-9.24131256e-02 3.34088560e-04 9.95720695e-01 -2.21724213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33824100799998 meters 0.06476521117860908 Centerline is valid? [True, True] Translation: X:173.52, Y:-42.29, Z:-22.18 [[ 9.84359560e-01 1.50279766e-01 9.19361100e-02 1.73516804e+02] [-1.49583901e-01 9.88643397e-01 -1.44530209e-02 -4.22943694e+01] [-9.30640247e-02 4.74807282e-04 9.95660013e-01 -2.21772381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39824100799999 meters 0.06482322158145916 Centerline is valid? [True, True] Translation: X:173.58, Y:-42.31, Z:-22.18 [[ 9.85186746e-01 1.44219857e-01 9.27777343e-02 1.73577174e+02] [-1.43482300e-01 9.89545082e-01 -1.46068430e-02 -4.23108185e+01] [-9.39143476e-02 1.07850539e-03 9.95579697e-01 -2.21830779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.458241008 meters 0.0655978466494008 Centerline is valid? [True, True] Translation: X:173.64, Y:-42.32, Z:-22.19 [[ 9.86298210e-01 1.37543557e-01 9.10912268e-02 1.73636548e+02] [-1.36801892e-01 9.90494247e-01 -1.43662682e-02 -4.23246884e+01] [-9.22013237e-02 1.70797241e-03 9.95738921e-01 -2.21935745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.518241008 meters 0.06626746074542385 Centerline is valid? [True, True] Translation: X:173.70, Y:-42.34, Z:-22.20 [[ 9.86829075e-01 1.34806398e-01 8.94181875e-02 1.73695800e+02] [-1.34080615e-01 9.90870083e-01 -1.41020168e-02 -4.23372994e+01] [-9.05028490e-02 1.92703462e-03 9.95894332e-01 -2.22027809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.578241008 meters 0.06705567727867806 Centerline is valid? [True, True] Translation: X:173.76, Y:-42.35, Z:-22.21 [[ 9.87782954e-01 1.28179793e-01 8.86271774e-02 1.73755332e+02] [-1.27438668e-01 9.91747723e-01 -1.39942898e-02 -4.23473149e+01] [-8.96895866e-02 2.52879149e-03 9.95966557e-01 -2.22105952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.638241008 meters 0.0679913531735579 Centerline is valid? [True, True] Translation: X:173.81, Y:-42.36, Z:-22.22 [[ 9.88522971e-01 1.22715642e-01 8.81090649e-02 1.73814612e+02] [-1.21960187e-01 9.92437273e-01 -1.39274096e-02 -4.23616964e+01] [-8.91518311e-02 3.02176632e-03 9.96013464e-01 -2.22171019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.698241008 meters 0.07028906198880197 Centerline is valid? [True, True] Translation: X:173.87, Y:-42.37, Z:-22.22 [[ 9.89244178e-01 1.15265175e-01 9.00549595e-02 1.73873387e+02] [-1.14443258e-01 9.93327505e-01 -1.42550914e-02 -4.23735348e+01] [-9.10971839e-02 3.79558325e-03 9.95834774e-01 -2.22235248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75824100799997 meters 0.0689850339770733 Centerline is valid? [True, True] Translation: X:173.94, Y:-42.38, Z:-22.23 [[ 9.89401383e-01 1.13565872e-01 9.04858855e-02 1.73935290e+02] [-1.12729371e-01 9.93522550e-01 -1.43189103e-02 -4.23776049e+01] [-9.15259073e-02 3.96673262e-03 9.95794795e-01 -2.22264907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81824100799997 meters 0.06962305616015042 Centerline is valid? [True, True] Translation: X:174.00, Y:-42.38, Z:-22.23 [[ 9.89370713e-01 1.14273868e-01 8.99281692e-02 1.73996920e+02] [-1.13448948e-01 9.93441650e-01 -1.42486318e-02 -4.23833510e+01] [-9.09666351e-02 3.89492281e-03 9.95846324e-01 -2.22349809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87824100799997 meters 0.069727060249386 Centerline is valid? [True, True] Translation: X:174.06, Y:-42.39, Z:-22.25 [[ 9.89190166e-01 1.16730045e-01 8.87519746e-02 1.74058866e+02] [-1.15934547e-01 9.93157003e-01 -1.40836120e-02 -4.23856757e+01] [-8.97886258e-02 3.64195051e-03 9.95954185e-01 -2.22451584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93824100799998 meters 0.06909820275635191 Centerline is valid? [True, True] Translation: X:174.12, Y:-42.39, Z:-22.25 [[ 9.88940855e-01 1.20361823e-01 8.66545859e-02 1.74120288e+02] [-1.19615433e-01 9.92724749e-01 -1.37739100e-02 -4.23886997e+01] [-8.76820050e-02 3.25635654e-03 9.96143194e-01 -2.22533817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99824100799998 meters 0.06801375224646461 Centerline is valid? [True, True] Translation: X:174.18, Y:-42.39, Z:-22.26 [[ 9.88211643e-01 1.26176697e-01 8.67017237e-02 1.74182591e+02] [-1.25451192e-01 9.92003974e-01 -1.37881490e-02 -4.23865839e+01] [-8.77481976e-02 2.74877481e-03 9.96138895e-01 -2.22603009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05824100799998 meters 0.06626565220413226 Centerline is valid? [True, True] Translation: X:174.24, Y:-42.39, Z:-22.26 [[ 9.87570000e-01 1.30118404e-01 8.81742326e-02 1.74244853e+02] [-1.29383487e-01 9.91495457e-01 -1.40240079e-02 -4.23859086e+01] [-8.92491326e-02 2.44139979e-03 9.96006341e-01 -2.22631398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11824100799998 meters 0.0659508554533074 Centerline is valid? [True, True] Translation: X:174.31, Y:-42.39, Z:-22.27 [[ 9.86772443e-01 1.34864939e-01 8.99532877e-02 1.74305095e+02] [-1.34119058e-01 9.90861850e-01 -1.43133451e-02 -4.23878017e+01] [-9.10616495e-02 2.05956431e-03 9.95843127e-01 -2.22708914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.178241008 meters 0.06640404279088571 Centerline is valid? [True, True] Translation: X:174.36, Y:-42.40, Z:-22.28 [[ 9.86276654e-01 1.36470400e-01 9.29203568e-02 1.74363922e+02] [-1.35681459e-01 9.90642180e-01 -1.47855591e-02 -4.23955951e+01] [-9.40686160e-02 1.97508219e-03 9.95563757e-01 -2.22802168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.238241008 meters 0.0658345081526675 Centerline is valid? [True, True] Translation: X:174.43, Y:-42.40, Z:-22.28 [[ 9.86181970e-01 1.35758900e-01 9.49454773e-02 1.74426837e+02] [-1.34931190e-01 9.90739691e-01 -1.51141962e-02 -4.23966471e+01] [-9.61181395e-02 2.09424158e-03 9.95367730e-01 -2.22842107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.298241008 meters 0.06659361203984059 Centerline is valid? [True, True] Translation: X:174.49, Y:-42.41, Z:-22.29 [[ 9.86739573e-01 1.32789579e-01 9.33377874e-02 1.74486766e+02] [-1.31974174e-01 9.91141425e-01 -1.48826386e-02 -4.24096189e+01] [-9.44872069e-02 2.36711104e-03 9.95523262e-01 -2.22915754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.358241008 meters 0.06691571440234191 Centerline is valid? [True, True] Translation: X:174.55, Y:-42.41, Z:-22.30 [[ 9.88267080e-01 1.24007425e-01 8.91646626e-02 1.74547896e+02] [-1.23227470e-01 9.92276551e-01 -1.42209733e-02 -4.24143600e+01] [-9.02395102e-02 3.06658398e-03 9.95915371e-01 -2.22984577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.418241008 meters 0.06825708409488686 Centerline is valid? [True, True] Translation: X:174.61, Y:-42.42, Z:-22.31 [[ 9.89261965e-01 1.19296569e-01 8.44339547e-02 1.74608227e+02] [-1.18579994e-01 9.92853138e-01 -1.34696388e-02 -4.24216031e+01] [-8.54373985e-02 3.31282353e-03 9.96338033e-01 -2.23098882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47824100799997 meters 0.07031355137097575 Centerline is valid? [True, True] Translation: X:174.67, Y:-42.43, Z:-22.32 [[ 9.90445783e-01 1.09772343e-01 8.34696515e-02 1.74668384e+02] [-1.09038104e-01 9.93948341e-01 -1.33187150e-02 -4.24328412e+01] [-8.44265482e-02 4.09009256e-03 9.96421311e-01 -2.23157054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53824100799997 meters 0.0733773030678511 Centerline is valid? [True, True] Translation: X:174.73, Y:-42.45, Z:-22.32 [[ 9.91428827e-01 9.92031560e-02 8.50153852e-02 1.74727387e+02] [-9.84024606e-02 9.95054203e-01 -1.35679125e-02 -4.24452412e+01] [-8.59408961e-02 5.08589650e-03 9.96287256e-01 -2.23215702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59824100799997 meters 0.081435919582652 Centerline is valid? [True, True] Translation: X:174.79, Y:-42.46, Z:-22.33 [[ 9.92632774e-01 8.67183839e-02 8.46173579e-02 1.74785638e+02] [-8.58801488e-02 9.96213963e-01 -1.35033118e-02 -4.24564779e+01] [-8.54679788e-02 6.13687858e-03 9.96322018e-01 -2.23300336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65824100799998 meters 0.07576487342167736 Centerline is valid? [True, True] Translation: X:174.85, Y:-42.44, Z:-22.33 [[ 9.92896662e-01 8.33158527e-02 8.49393199e-02 1.74849966e+02] [-8.24581652e-02 9.96502236e-01 -1.35625832e-02 -4.24440581e+01] [-8.57722004e-02 6.46230314e-03 9.96293816e-01 -2.23285926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71824100799998 meters 0.07591826078141117 Centerline is valid? [True, True] Translation: X:174.91, Y:-42.43, Z:-22.33 [[ 9.92963658e-01 8.34449116e-02 8.40245285e-02 1.74914389e+02] [-8.26065276e-02 9.96491992e-01 -1.34116365e-02 -4.24301567e+01] [-8.48489026e-02 6.37629312e-03 9.96373427e-01 -2.23333987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77824100799998 meters 0.0768783072399918 Centerline is valid? [True, True] Translation: X:174.98, Y:-42.43, Z:-22.34 [[ 9.92949873e-01 8.40806773e-02 8.35523181e-02 1.74976314e+02] [-8.32524924e-02 9.96439013e-01 -1.33534940e-02 -4.24317311e+01] [-8.43775602e-02 6.30341144e-03 9.96413917e-01 -2.23420380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83824100799998 meters 0.07708713306649567 Centerline is valid? [True, True] Translation: X:175.04, Y:-42.41, Z:-22.35 [[ 9.93063282e-01 8.40810142e-02 8.21930776e-02 1.75042477e+02] [-8.32781048e-02 9.96439518e-01 -1.31546022e-02 -4.24104668e+01] [-8.30064830e-02 6.21846874e-03 9.96529605e-01 -2.23462417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89824100799999 meters 0.07694689047766563 Centerline is valid? [True, True] Translation: X:175.11, Y:-42.40, Z:-22.35 [[ 9.93024258e-01 8.39151280e-02 8.28316053e-02 1.75107722e+02] [-8.30975970e-02 9.96452997e-01 -1.32745370e-02 -4.24016694e+01] [-8.36517359e-02 6.29882985e-03 9.96475144e-01 -2.23500662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.958241008 meters 0.07733475680345957 Centerline is valid? [True, True] Translation: X:175.17, Y:-42.38, Z:-22.35 [[ 9.93178661e-01 8.40337764e-02 8.08360748e-02 1.75173758e+02] [-8.32533450e-02 9.96443838e-01 -1.29829777e-02 -4.23814119e+01] [-8.16396173e-02 6.16454279e-03 9.96642850e-01 -2.23534230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.018241008 meters 0.07869475593568646 Centerline is valid? [True, True] Translation: X:175.24, Y:-42.37, Z:-22.36 [[ 9.93320963e-01 8.63275813e-02 7.65572494e-02 1.75237803e+02] [-8.56347090e-02 9.96250753e-01 -1.22936277e-02 -4.23694655e+01] [-7.73314966e-02 5.65556035e-03 9.96989395e-01 -2.23615603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.078241008 meters 0.07978115752113281 Centerline is valid? [True, True] Translation: X:175.30, Y:-42.35, Z:-22.37 [[ 9.92980643e-01 8.96564882e-02 7.71437383e-02 1.75300907e+02] [-8.89607578e-02 9.95957752e-01 -1.24153156e-02 -4.23516823e+01] [-7.79450178e-02 5.46540265e-03 9.96942678e-01 -2.23695004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.138241008 meters 0.07896977109366325 Centerline is valid? [True, True] Translation: X:175.37, Y:-42.33, Z:-22.38 [[ 9.92217217e-01 9.33733327e-02 8.23797011e-02 1.75365383e+02] [-9.25924800e-02 9.95615831e-01 -1.32570936e-02 -4.23322798e+01] [-8.32563936e-02 5.52617567e-03 9.96512837e-01 -2.23757482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.198241008 meters 0.07163445153778726 Centerline is valid? [True, True] Translation: X:175.43, Y:-42.31, Z:-22.38 [[ 9.91717193e-01 9.76576245e-02 8.34266002e-02 1.75431425e+02] [-9.68716101e-02 9.95206302e-01 -1.34278762e-02 -4.23090338e+01] [-8.43380127e-02 5.23498665e-03 9.96423451e-01 -2.23756793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25824100799997 meters 0.07117237334194486 Centerline is valid? [True, True] Translation: X:175.49, Y:-42.30, Z:-22.38 [[ 9.90916525e-01 1.05310511e-01 8.36309556e-02 1.75493757e+02] [-1.04547604e-01 9.94428765e-01 -1.34621514e-02 -4.22972298e+01] [-8.45827339e-02 4.59645222e-03 9.96405858e-01 -2.23847693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31824100799997 meters 0.06969362953577024 Centerline is valid? [True, True] Translation: X:175.56, Y:-42.27, Z:-22.39 [[ 9.89673785e-01 1.13644706e-01 8.73537594e-02 1.75557866e+02] [-1.12844307e-01 9.93513157e-01 -1.40630304e-02 -4.22743439e+01] [-8.83852983e-02 4.06043810e-03 9.96078085e-01 -2.23928860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37824100799997 meters 0.0695656021341522 Centerline is valid? [True, True] Translation: X:175.62, Y:-42.27, Z:-22.40 [[ 9.89272098e-01 1.14170482e-01 9.11362568e-02 1.75620429e+02] [-1.13301060e-01 9.93452332e-01 -1.46742292e-02 -4.22689507e+01] [-9.22148907e-02 4.19097104e-03 9.95730310e-01 -2.23995124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43824100799998 meters 0.07868402832569454 Centerline is valid? [True, True] Translation: X:175.68, Y:-42.27, Z:-22.42 [[ 9.89697268e-01 1.10117431e-01 9.15066594e-02 1.75680163e+02] [-1.09223381e-01 9.93907984e-01 -1.47367594e-02 -4.22748524e+01] [-9.25719735e-02 4.59026377e-03 9.95695415e-01 -2.24165878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49824100799998 meters 0.08230751864827737 Centerline is valid? [True, True] Translation: X:175.74, Y:-42.28, Z:-22.43 [[ 9.89853207e-01 1.07630239e-01 9.27704737e-02 1.75740661e+02] [-1.06700004e-01 9.94178948e-01 -1.49441589e-02 -4.22759298e+01] [-9.38388954e-02 4.89391373e-03 9.95575367e-01 -2.24258349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55824100799998 meters 0.08292041895633137 Centerline is valid? [True, True] Translation: X:175.80, Y:-42.26, Z:-22.43 [[ 9.90384664e-01 1.02026921e-01 9.34276490e-02 1.75803906e+02] [-1.01058179e-01 9.94766610e-01 -1.50544679e-02 -4.22612883e+01] [-9.44746667e-02 5.46808609e-03 9.95512249e-01 -2.24322543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61824100799998 meters 0.08495521396125508 Centerline is valid? [True, True] Translation: X:175.87, Y:-42.26, Z:-22.44 [[ 9.90873144e-01 9.68561151e-02 9.37513008e-02 1.75865892e+02] [-9.58574326e-02 9.95280406e-01 -1.51084630e-02 -4.22567368e+01] [-9.47721797e-02 5.98381123e-03 9.95481003e-01 -2.24396527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.678241008 meters 0.08986454393465235 Centerline is valid? [True, True] Translation: X:175.93, Y:-42.25, Z:-22.45 [[ 9.91469476e-01 9.08028534e-02 9.35046510e-02 1.75926862e+02] [-8.97824362e-02 9.95847363e-01 -1.50713048e-02 -4.22506932e+01] [-9.44848776e-02 6.54766333e-03 9.95504764e-01 -2.24472950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.738241008 meters 0.09053702942831249 Centerline is valid? [True, True] Translation: X:175.99, Y:-42.24, Z:-22.45 [[ 9.91333102e-01 9.06006192e-02 9.51325833e-02 1.75991714e+02] [-8.95441542e-02 9.95864947e-01 -1.53248933e-02 -4.22417880e+01] [-9.61276498e-02 6.67350729e-03 9.95346643e-01 -2.24539319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.798241008 meters 0.09041428787029336 Centerline is valid? [True, True] Translation: X:176.06, Y:-42.21, Z:-22.46 [[ 9.91310152e-01 9.32410105e-02 9.27916817e-02 1.76056852e+02] [-9.22440708e-02 9.95623666e-01 -1.49848869e-02 -4.22146835e+01] [-9.37828003e-02 6.29518805e-03 9.95572778e-01 -2.24647016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.858241008 meters 0.08951235495480794 Centerline is valid? [True, True] Translation: X:176.12, Y:-42.20, Z:-22.47 [[ 9.90951016e-01 9.56411638e-02 9.41745769e-02 1.76119740e+02] [-9.46244766e-02 9.95396790e-01 -1.52130896e-02 -4.22004780e+01] [-9.51960692e-02 6.16420654e-03 9.95439456e-01 -2.24700715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.918241008 meters 0.08736859830997695 Centerline is valid? [True, True] Translation: X:176.19, Y:-42.17, Z:-22.47 [[ 9.90195679e-01 9.87378762e-02 9.88096616e-02 1.76186398e+02] [-9.76335783e-02 9.95094423e-01 -1.59616232e-02 -4.21685299e+01] [-9.99009600e-02 6.15798952e-03 9.94978330e-01 -2.24724039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97824100799997 meters 0.08093539670512366 Centerline is valid? [True, True] Translation: X:176.25, Y:-42.14, Z:-22.47 [[ 9.89728511e-01 9.98398807e-02 1.02320444e-01 1.76253699e+02] [-9.86611895e-02 9.94983797e-01 -1.65291645e-02 -4.21422723e+01] [-1.03457454e-01 6.26432859e-03 9.94614153e-01 -2.24736522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03824100799997 meters 0.0834121038290775 Centerline is valid? [True, True] Translation: X:176.32, Y:-42.12, Z:-22.48 [[ 9.88956349e-01 1.02345944e-01 1.07194436e-01 1.76317825e+02] [-1.01065538e-01 9.94728921e-01 -1.73242614e-02 -4.21212069e+01] [-1.08402474e-01 6.29927492e-03 9.94087130e-01 -2.24786773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09824100799997 meters 0.08211822539234621 Centerline is valid? [True, True] Translation: X:176.38, Y:-42.10, Z:-22.49 [[ 9.88733550e-01 1.05348367e-01 1.06337618e-01 1.76380840e+02] [-1.04105688e-01 9.94417746e-01 -1.71858208e-02 -4.21019349e+01] [-1.07554512e-01 5.92184674e-03 9.94181552e-01 -2.24878285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15824100799998 meters 0.07607994365839633 Centerline is valid? [True, True] Translation: X:176.45, Y:-42.06, Z:-22.50 [[ 9.88362277e-01 1.09096142e-01 1.06009628e-01 1.76448119e+02] [-1.07882639e-01 9.94016007e-01 -1.71322286e-02 -4.20630100e+01] [-1.07244327e-01 5.49625007e-03 9.94217504e-01 -2.24955165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21824100799998 meters 0.06994075434553068 Centerline is valid? [True, True] Translation: X:176.51, Y:-42.04, Z:-22.50 [[ 9.88297775e-01 1.09783442e-01 1.05901388e-01 1.76514952e+02] [-1.08576466e-01 9.93940780e-01 -1.71136600e-02 -4.20375355e+01] [-1.07138504e-01 5.41499370e-03 9.94229359e-01 -2.25004129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27824100799998 meters 0.06905856359093587 Centerline is valid? [True, True] Translation: X:176.58, Y:-42.01, Z:-22.51 [[ 9.88175617e-01 1.08340213e-01 1.08495842e-01 1.76582041e+02] [-1.07061013e-01 9.94097300e-01 -1.75640900e-02 -4.20105489e+01] [-1.09758321e-01 5.74073070e-03 9.93941726e-01 -2.25051461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33824100799998 meters 0.06870799808905166 Centerline is valid? [True, True] Translation: X:176.65, Y:-42.00, Z:-22.51 [[ 9.87692630e-01 1.08977580e-01 1.12192491e-01 1.76646577e+02] [-1.07610147e-01 9.94026734e-01 -1.81908626e-02 -4.19994223e+01] [-1.13504731e-01 5.89393053e-03 9.93519973e-01 -2.25102667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39824100799999 meters 0.0683028723323397 Centerline is valid? [True, True] Translation: X:176.71, Y:-41.98, Z:-22.51 [[ 9.86684233e-01 1.11073022e-01 1.18815018e-01 1.76712929e+02] [-1.09549873e-01 9.93794001e-01 -1.92952960e-02 -4.19755048e+01] [-1.20220839e-01 6.02219414e-03 9.92728907e-01 -2.25139715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.458241008 meters 0.06849827795475939 Centerline is valid? [True, True] Translation: X:176.78, Y:-41.95, Z:-22.52 [[ 9.85478314e-01 1.15391189e-01 1.24568724e-01 1.76776912e+02] [-1.13749140e-01 9.93303336e-01 -2.02389681e-02 -4.19542044e+01] [-1.26069928e-01 5.77547897e-03 9.92004545e-01 -2.25212892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.518241008 meters 0.06838192298633343 Centerline is valid? [True, True] Translation: X:176.84, Y:-41.94, Z:-22.53 [[ 9.84611653e-01 1.20463272e-01 1.26603687e-01 1.76839030e+02] [-1.18808464e-01 9.92704105e-01 -2.05695933e-02 -4.19404306e+01] [-1.28157881e-01 5.21147153e-03 9.91740086e-01 -2.25289757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578241008 meters 0.06919364764292561 Centerline is valid? [True, True] Translation: X:176.90, Y:-41.93, Z:-22.54 [[ 9.84095093e-01 1.23234126e-01 1.27946078e-01 1.76902008e+02] [-1.21567065e-01 9.92365511e-01 -2.07880126e-02 -4.19317643e+01] [-1.29531067e-01 4.90335211e-03 9.91563240e-01 -2.25385738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638241008 meters 0.07028915568615521 Centerline is valid? [True, True] Translation: X:176.97, Y:-41.92, Z:-22.55 [[ 9.83906025e-01 1.22875698e-01 1.29732402e-01 1.76965123e+02] [-1.21157499e-01 9.92409334e-01 -2.10849112e-02 -4.19246413e+01] [-1.31338470e-01 5.02751780e-03 9.91324836e-01 -2.25483594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698241008 meters 0.07443126735668561 Centerline is valid? [True, True] Translation: X:177.02, Y:-41.93, Z:-22.55 [[ 9.83855645e-01 1.20142709e-01 1.32641617e-01 1.77024646e+02] [-1.18317514e-01 9.92741151e-01 -2.15864203e-02 -4.19284058e+01] [-1.34272242e-01 5.54409523e-03 9.90928972e-01 -2.25549205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75824100799997 meters 0.07903032247211028 Centerline is valid? [True, True] Translation: X:177.09, Y:-41.92, Z:-22.56 [[ 9.82881851e-01 1.14928864e-01 1.43995221e-01 1.77086889e+02] [-1.12719742e-01 9.93350435e-01 -2.34344472e-02 -4.19207759e+01] [-1.45731010e-01 6.80218862e-03 9.89300866e-01 -2.25625090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81824100799997 meters 0.08407748129944025 Centerline is valid? [True, True] Translation: X:177.15, Y:-41.92, Z:-22.57 [[ 9.81723137e-01 1.11421188e-01 1.54288696e-01 1.77147530e+02] [-1.08838755e-01 9.93742190e-01 -2.51114435e-02 -4.19249864e+01] [-1.56121134e-01 7.85989554e-03 9.87706644e-01 -2.25682068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87824100799997 meters 0.09436120432533451 Centerline is valid? [True, True] Translation: X:177.21, Y:-41.92, Z:-22.58 [[ 9.80047009e-01 1.03635385e-01 1.69610046e-01 1.77208501e+02] [-1.00392861e-01 9.94564800e-01 -2.76067527e-02 -4.19234823e+01] [-1.71549218e-01 1.00282775e-02 9.85124510e-01 -2.25781194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93824100799998 meters 0.10546460010483993 Centerline is valid? [True, False] Translation: X:177.25, Y:-41.92, Z:-22.57 [[ 9.87366386e-01 9.58745198e-02 1.26157424e-01 1.77248422e+02] [-9.36262545e-02 9.95326589e-01 -2.36453957e-02 -4.19221875e+01] [-1.27834829e-01 1.15350219e-02 9.91728390e-01 -2.25689462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1403.60 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%| | 0/6066 [00:00